Merge branch 'master' into mqb-long

.github/ISSUE_TEMPLATE/car_bug_report.yml

@@ -1,6 +1,6 @@
 name: Car bug report
 description: For issues with a particular car make or model
-labels: ["car bug"]
+labels: ["car", "bug"]
 body:
 
   - type: markdown

.github/workflows/badges.yaml

@@ -0,0 +1,54 @@
+name: badges
+on:
+  schedule:
+    - cron: '0 * * * *'
+  workflow_dispatch:
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
+
+  BUILD: |
+      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
+      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
+
+jobs:
+  badges:
+    name: create badges
+    runs-on: ubuntu-20.04
+    if: github.repository == 'commaai/openpilot'
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
+
+    - name: Build Docker image
+      run: eval "$BUILD"
+
+    - name: Push badges
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
+
+        git checkout --orphan badges
+        git rm -rf --cached .
+        git config user.email "badge-researcher@comma.ai"
+        git config user.name "Badge Researcher"
+
+        git add translation_badge_*.svg
+        git commit -m "Add/Update badges"
+        git push -f origin HEAD

.github/workflows/prebuilt.yaml

@@ -9,7 +9,7 @@ env:
   BASE_IMAGE: openpilot-base
   DOCKER_REGISTRY: ghcr.io/commaai
 
-  DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: |
       docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
       docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
@@ -25,7 +25,7 @@ jobs:
       IMAGE_NAME: openpilot-prebuilt
     steps:
     - name: Wait for green check mark
-      uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc
+      uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
       with:
         ref: master
         wait-interval: 30

.github/workflows/release.yaml

@@ -12,7 +12,7 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
     - name: Wait for green check mark
-      uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc
+      uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
       with:
         ref: master
         wait-interval: 30

.github/workflows/selfdrive_tests.yaml

@@ -11,18 +11,18 @@ env:
   DOCKER_REGISTRY: ghcr.io/commaai
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
-  DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: |
       docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
       docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
       docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
 
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
 
   BUILD_CL: |
       docker pull $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest || true
       docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
-  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $CL_BASE_IMAGE /bin/sh -c
+  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
 
   UNIT_TEST: coverage run --append -m unittest discover
 
@@ -39,6 +39,8 @@ jobs:
       with:
         fetch-depth: 0
         submodules: true
+    - name: Pull LFS
+      run: git lfs pull
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: release/check-submodules.sh
@@ -58,12 +60,22 @@ jobs:
       run: |
         TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
         cp Dockerfile.openpilot_base $STRIPPED_DIR
+        cp .pre-commit-config.yaml $STRIPPED_DIR
+        cp .pylintrc $STRIPPED_DIR
+        cp mypy.ini $STRIPPED_DIR
     - name: Build Docker image
-      run: eval "$BUILD"
+      run: |
+          eval "$BUILD"
+          rm $STRIPPED_DIR/Dockerfile.openpilot_base
     - name: Build openpilot and run checks
       run: |
           cd $STRIPPED_DIR
           ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py && \
+                          pre-commit run --all && \
+                          rm .pre-commit-config.yaml && \
+                          rm .pylintrc && \
+                          rm mypy.ini && \
+                          release/check-dirty.sh && \
                           python -m unittest discover selfdrive/car"
 
   build_all:
@@ -89,7 +101,7 @@ jobs:
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Build openpilot with all flags
-      run: ${{ env.RUN }} "scons -j$(nproc) --extras --test"
+      run: ${{ env.RUN }} "scons -j$(nproc) --extras --test && release/check-dirty.sh"
     - name: Cleanup scons cache
       run: |
           ${{ env.RUN }} "scons -j$(nproc) --extras --test && \
@@ -299,18 +311,22 @@ jobs:
                         $UNIT_TEST selfdrive/loggerd && \
                         $UNIT_TEST selfdrive/car && \
                         $UNIT_TEST selfdrive/locationd && \
+                        selfdrive/locationd/test/_test_locationd_lib.py && \
                         $UNIT_TEST selfdrive/athena && \
                         $UNIT_TEST selfdrive/thermald && \
-                        $UNIT_TEST selfdrive/hardware/tici && \
+                        $UNIT_TEST system/hardware/tici && \
                         $UNIT_TEST selfdrive/modeld && \
                         $UNIT_TEST tools/lib/tests && \
+                        ./selfdrive/ui/tests/create_test_translations.sh && \
+                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
+                        ./selfdrive/ui/tests/test_translations.py && \
                         ./common/tests/test_util && \
                         ./common/tests/test_swaglog && \
                         ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
                         ./selfdrive/loggerd/tests/test_logger &&\
                         ./system/proclogd/tests/test_proclog && \
-                        ./selfdrive/ui/replay/tests/test_replay && \
-                        ./selfdrive/camerad/test/ae_gray_test && \
+                        ./tools/replay/tests/test_replay && \
+                        ./system/camerad/test/ae_gray_test && \
                         coverage xml"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
@@ -364,7 +380,7 @@ jobs:
                         CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
-  
+
   model_replay_onnx:
     name: model replay onnx
     runs-on: ubuntu-20.04
@@ -503,3 +519,67 @@ jobs:
       run: |
         $DOCKER_LOGIN
         docker push $DOCKER_REGISTRY/openpilot-docs:latest
+
+  car_docs_diff:
+    name: comment on PR with car docs diff
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    if: github.event_name == 'pull_request'
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: true
+          ref: ${{ github.event.pull_request.base.ref }}
+      - name: Cache scons
+        id: scons-cache
+        # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+        uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+        env:
+          CACHE_SKIP_SAVE: true
+        with:
+          path: /tmp/scons_cache
+          key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          restore-keys: |
+            scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+            scons-
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Get base car info
+        run: |
+          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
+          sudo chown -R $USER:$USER ${{ github.workspace }}
+      - uses: actions/checkout@v3
+        with:
+          submodules: true
+      - name: Save car docs diff
+        id: save_diff
+        run: |
+          ${{ env.RUN }} "scons -j$(nproc)"
+          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") || true
+          output="${output//$'\n'/'%0A'}"
+          echo "::set-output name=diff::$output"
+      - name: Find comment
+        if: ${{ env.AZURE_TOKEN != '' }}
+        uses: peter-evans/find-comment@1769778a0c5bd330272d749d12c036d65e70d39d
+        id: fc
+        with:
+          issue-number: ${{ github.event.pull_request.number }}
+          body-includes: This PR makes changes to
+      - name: Update comment
+        if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
+        uses: peter-evans/create-or-update-comment@b95e16d2859ad843a14218d1028da5b2c4cbc4b4
+        with:
+          comment-id: ${{ steps.fc.outputs.comment-id }}
+          issue-number: ${{ github.event.pull_request.number }}
+          body: "${{ steps.save_diff.outputs.diff }}"
+          edit-mode: replace
+      - name: Delete comment
+        if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
+        uses: actions/github-script@v6
+        with:
+          script: |
+            github.rest.issues.deleteComment({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              comment_id: ${{ steps.fc.outputs.comment-id }}
+            })

.github/workflows/tools_tests.yaml

@@ -7,7 +7,7 @@ env:
   BASE_IMAGE: openpilot-base
   CL_BASE_IMAGE: openpilot-base-cl
   DOCKER_REGISTRY: ghcr.io/commaai
-  DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
 
   BUILD: |
       docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true

.gitignore

@@ -32,6 +32,7 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
+*.qm
 config.json
 clcache
 compile_commands.json
@@ -45,18 +46,15 @@ system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
-selfdrive/loggerd/loggerd
-selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
-selfdrive/camerad/camerad
-selfdrive/camerad/test/ae_gray_test
+system/camerad/camerad
+system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
 
 one
-/body/
 openpilot
 notebooks
 xx

.gitmodules

@@ -1,15 +1,18 @@
 [submodule "panda"]
-	path = panda
-	url = ../../commaai/panda.git
+  path = panda
+  url = ../../commaai/panda.git
 [submodule "opendbc"]
-	path = opendbc
-	url = ../../commaai/opendbc.git
+  path = opendbc
+  url = ../../commaai/opendbc.git
 [submodule "laika_repo"]
-	path = laika_repo
-	url = ../../commaai/laika.git
+  path = laika_repo
+  url = ../../commaai/laika.git
 [submodule "cereal"]
-	path = cereal
-	url = ../../commaai/cereal.git
+  path = cereal
+  url = ../../commaai/cereal.git
 [submodule "rednose_repo"]
-	path = rednose_repo
-	url = ../../commaai/rednose.git
+  path = rednose_repo
+  url = ../../commaai/rednose.git
+[submodule "body"]
+  path = body
+  url = ../../commaai/body.git

.pre-commit-config.yaml

@@ -20,7 +20,7 @@ repos:
     hooks:
     -   id: mypy
         exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
-        additional_dependencies: ['lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
+        additional_dependencies: ['types-PyYAML', 'lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
         args:
         - --warn-redundant-casts
         - --warn-return-any
@@ -54,7 +54,7 @@ repos:
         entry: cppcheck
         language: system
         types: [c++]
-        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)/|(installer/)'
+        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
         args:
         - --error-exitcode=1
         - --language=c++

Jenkinsfile

@@ -10,6 +10,7 @@ export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
+export AZURE_TOKEN='${env.AZURE_TOKEN}'
 
 source ~/.bash_profile
 if [ -f /TICI ]; then
@@ -45,6 +46,7 @@ pipeline {
     CI = "1"
     TEST_DIR = "/data/openpilot"
     SOURCE_DIR = "/data/openpilot_source/"
+    AZURE_TOKEN = credentials('azure_token')
   }
   options {
     timeout(time: 4, unit: 'HOURS')
@@ -68,7 +70,6 @@ pipeline {
         not {
           anyOf {
             branch 'master-ci'; branch 'devel'; branch 'devel-staging';
-            branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging';
             branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
             branch 'testing-closet*'; branch 'hotfix-*'
           }
@@ -88,8 +89,8 @@ pipeline {
           steps {
             sh "git config --global --add safe.directory ${WORKSPACE}"
             sh "git lfs pull"
-            sh "${WORKSPACE}/tools/sim/build_container.sh"
             lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
+              sh "${WORKSPACE}/tools/sim/build_container.sh"
               sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
               sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
             }
@@ -113,6 +114,7 @@ pipeline {
             phone_steps("tici", [
               ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
               ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["check dirty", "release/check-dirty.sh"],
               ["test manager", "python selfdrive/manager/test/test_manager.py"],
               ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
               ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
@@ -125,7 +127,7 @@ pipeline {
           steps {
             phone_steps("tici2", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test power draw", "python system/hardware/tici/test_power_draw.py"],
+              //["test power draw", "python system/hardware/tici/test_power_draw.py"],
               ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
               ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
               ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
@@ -139,8 +141,8 @@ pipeline {
           steps {
             phone_steps("tici-party", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
-              ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+              ["test camerad", "python system/camerad/test/test_camerad.py"],
+              ["test exposure", "python system/camerad/test/test_exposure.py"],
             ])
           }
         }

Pipfile

@@ -41,6 +41,8 @@ tenacity = "*"
 mpld3 = "*"
 carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"}
 ft4222 = "*"
+pandas = "*"
+tabulate = "*"
 
 [packages]
 atomicwrites = "*"
@@ -86,8 +88,6 @@ urllib3 = "*"
 utm = "*"
 websocket_client = "*"
 hatanaka = "==2.4"
-PyQt5 = "==5.15.4"
-PyQt5-sip = "==12.9.0"
 
 [requires]
 python_version = "3.8"

README.md

@@ -4,7 +4,7 @@ Table of Contents
 =======================
 
 * [What is openpilot?](#what-is-openpilot)
-* [Running in a car](#running-in-a-car)
+* [Running in a car](#running-on-a-dedicated-device-in-a-car)
 * [Running on PC](#running-on-pc)
 * [Community and Contributing](#community-and-contributing)
 * [User Data and comma Account](#user-data-and-comma-account)
@@ -105,21 +105,24 @@ Directory Structure
     ├── third_party         # External libraries
     ├── pyextra             # Extra python packages
     └── system              # Generic services
+        ├── camerad         # Driver to capture images from the camera sensors
+        ├── clocksd         # Broadcasts current time
+        ├── hardware        # Hardware abstraction classes
         ├── logcatd         # systemd journal as a service
         └── proclogd        # Logs information from /proc
     └── selfdrive           # Code needed to drive the car
         ├── assets          # Fonts, images, and sounds for UI
         ├── athena          # Allows communication with the app
         ├── boardd          # Daemon to talk to the board
-        ├── camerad         # Driver to capture images from the camera sensors
         ├── car             # Car specific code to read states and control actuators
-        ├── common          # Shared C/C++ code for the daemons
         ├── controls        # Planning and controls
         ├── debug           # Tools to help you debug and do car ports
         ├── locationd       # Precise localization and vehicle parameter estimation
         ├── loggerd         # Logger and uploader of car data
+        ├── manager         # Deamon that starts/stops all other daemons as needed
         ├── modeld          # Driving and monitoring model runners
-        ├── proclogd        # Logs information from proc
+        ├── monitoring      # Daemon to determine driver attention
+        ├── navd            # Turn-by-turn navigation
         ├── sensord         # IMU interface code
         ├── test            # Unit tests, system tests, and a car simulator
         └── ui              # The UI

RELEASES.md

@@ -1,20 +1,44 @@
-Version 0.8.15 (2022-XX-XX)
+Version 0.8.16 (2022-XX-XX)
+========================
+* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
+* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
+* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
+* Subaru Outback 2020-22 support
+
+Version 0.8.15 (2022-07-20)
 ========================
 * New driving model
+  * Path planning uses end-to-end output instead of lane lines at all times
+  * Reduced ping pong
+  * Improved lane centering
 * New lateral controller based on physical wheel torque model
-  * Much smoother control, consistent across the speed range
+  * Much smoother control that's consistent across the speed range
   * Effective feedforward that uses road roll
   * Simplified tuning, all car-specific parameters can be derived from data
+  * Used on select Toyota and Hyundai models at first
   * Significantly improved control on TSS-P Prius
 * New driver monitoring model
-  * takes a larger input frame
-  * outputs a driver state for both driver and passenger
-  * automatically determines which side the driver is on (soon)
-* Display speed limit while navigating
+  * Bigger model, covering full interior view from driver camera
+  * Works with a wider variety of mounting angles
+  * 3x more unique comma three training data than previous
+* Navigation improvements
+  * Speed limits shown while navigating
+  * Faster position fix by using raw GPS measurements
+* UI updates
+  * Multilanguage support for settings and home screen
+  * New font
+  * Refreshed max speed design
+  * More consistent camera view perspective across cars
 * Reduced power usage: device runs cooler and fan spins less
 * AGNOS 5
+  * Support VSCode remote SSH target
+  * Support for delta updates to reduce data usage on future OS updates
+* Chrysler ECU firmware fingerprinting thanks to realfast!
+* Honda Civic 2022 support
 * Hyundai Tucson 2021 support thanks to bluesforte!
+* Kia EV6 2022 support
 * Lexus NX Hybrid 2020 support thanks to AlexandreSato!
+* Ram 1500 2019-21 support thanks to realfast!
 
 Version 0.8.14 (2022-06-01)
 ========================

SConstruct

@@ -94,7 +94,7 @@ if arch == "larch64":
     "/usr/lib/aarch64-linux-gnu"
   ]
   cpppath += [
-    "#selfdrive/camerad/include",
+    "#system/camerad/include",
   ]
   cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
   cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
@@ -356,22 +356,27 @@ Export('cereal', 'messaging', 'visionipc')
 
 # Build rednose library and ekf models
 
+rednose_deps = [
+  "#selfdrive/locationd/models/constants.py",
+  "#selfdrive/locationd/models/gnss_helpers.py",
+]
+
 rednose_config = {
   'generated_folder': '#selfdrive/locationd/models/generated',
   'to_build': {
-    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
-    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
-    'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
+    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, [], rednose_deps),
+    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h'], rednose_deps),
+    'car': ('#selfdrive/locationd/models/car_kf.py', True, [], rednose_deps),
   },
 }
 
 if arch != "larch64":
   rednose_config['to_build'].update({
-    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
-    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
-    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
-    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
-    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
+    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps),
+    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
+    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
+    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []),
+    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, [], rednose_deps),
   })
 
 Export('rednose_config')
@@ -379,6 +384,7 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
+  'system/camerad/SConscript',
   'system/clocksd/SConscript',
   'system/proclogd/SConscript',
 ])
@@ -387,16 +393,19 @@ if arch != "Darwin":
 
 # Build openpilot
 
-SConscript(['cereal/SConscript'])
-SConscript(['panda/board/SConscript'])
-SConscript(['opendbc/can/SConscript'])
+# build submodules
+SConscript([
+  'cereal/SConscript',
+  'body/board/SConscript',
+  'panda/board/SConscript',
+  'opendbc/can/SConscript',
+])
 
 SConscript(['third_party/SConscript'])
 
 SConscript(['common/kalman/SConscript'])
 SConscript(['common/transformations/SConscript'])
 
-SConscript(['selfdrive/camerad/SConscript'])
 SConscript(['selfdrive/modeld/SConscript'])
 
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])
@@ -410,6 +419,9 @@ SConscript(['selfdrive/loggerd/SConscript'])
 SConscript(['selfdrive/locationd/SConscript'])
 SConscript(['selfdrive/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
+SConscript(['selfdrive/navd/SConscript'])
+
+SConscript(['tools/replay/SConscript'])
 
 if GetOption('test'):
   SConscript('panda/tests/safety/SConscript')

SECURITY.md

@@ -0,0 +1,5 @@
+# Security Policy
+
+## Reporting a Vulnerability
+
+Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.

body

@@ -0,0 +1 @@
+Subproject commit 04aeb30ce0bb14759989cd374158233877e1e151

cereal

@@ -1 +1 @@
-Subproject commit 6faf34064b70ab98c241d4a1cd9006b09ecaadfc
+Subproject commit 5ab19700178f01c14f362735532ee2662ab755fc

common/modeldata.h

@@ -24,12 +24,6 @@ constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
 constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
 constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
 
-namespace tici_dm_crop {
-  const int x_offset = -72;
-  const int y_offset = -144;
-  const int width = 954;
-};
-
 const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
                                            0.0, 2648.0, 1208.0 / 2,
                                            0.0, 0.0, 1.0}};
@@ -40,12 +34,13 @@ const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
                                            0.0, 567.0, 1208.0 / 2,
                                            0.0, 0.0, 1.0}};
 
-static inline mat3 get_model_yuv_transform(bool bayer = true) {
+static inline mat3 get_model_yuv_transform() {
   float db_s = 1.0;
   const mat3 transform = (mat3){{
     1.0, 0.0, 0.0,
     0.0, 1.0, 0.0,
     0.0, 0.0, 1.0
   }};
-  return bayer ? transform_scale_buffer(transform, db_s) : transform;
+  // Can this be removed since scale is 1?
+  return transform_scale_buffer(transform, db_s);
 }

common/params.cc

@@ -94,6 +94,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CompletedTrainingVersion", PERSISTENT},
     {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"DashcamOverride", PERSISTENT},
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"DisablePowerDown", PERSISTENT},
     {"DisableRadar_Allow", PERSISTENT},
@@ -123,11 +124,13 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsMetric", PERSISTENT},
     {"IsOffroad", CLEAR_ON_MANAGER_START},
     {"IsOnroad", PERSISTENT},
-    {"IsRHD", PERSISTENT},
+    {"IsRhdDetected", PERSISTENT},
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"IsTestedBranch", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
-    {"LaikadEphemeris", PERSISTENT},
+    {"LaikadEphemeris", PERSISTENT | DONT_LOG},
+    {"LanguageSetting", PERSISTENT},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
@@ -138,6 +141,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveParameters", PERSISTENT},
     {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"NavSettingTime24h", PERSISTENT},
+    {"NavSettingLeftSide", PERSISTENT},
     {"NavdRender", PERSISTENT},
     {"OpenpilotEnabledToggle", PERSISTENT},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
@@ -151,6 +155,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"SshEnabled", PERSISTENT},
     {"SubscriberInfo", PERSISTENT},
+    {"SwitchToBranch", CLEAR_ON_MANAGER_START},
     {"TermsVersion", PERSISTENT},
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},

common/params.py

@@ -1,8 +1,9 @@
-from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
+from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking # pylint: disable=no-name-in-module, import-error
 assert Params
 assert ParamKeyType
 assert UnknownKeyName
 assert put_nonblocking
+assert put_bool_nonblocking
 
 if __name__ == "__main__":
   import sys

common/params_pyx.pyx

@@ -100,11 +100,7 @@ cdef class Params:
     return self.p.getParamPath(key_bytes).decode("utf-8")
 
 def put_nonblocking(key, val, d=""):
-  def f(key, val):
-    params = Params(d)
-    cdef string k = ensure_bytes(key)
-    params.put(k, val)
-
-  t = threading.Thread(target=f, args=(key, val))
-  t.start()
-  return t
+  threading.Thread(target=lambda: Params(d).put(key, val)).start()
+
+def put_bool_nonblocking(key, bool val, d=""):
+  threading.Thread(target=lambda: Params(d).put_bool(key, val)).start()

common/swaglog.cc

@@ -66,8 +66,9 @@ static void log(int levelnum, const char* filename, int lineno, const char* func
   char levelnum_c = levelnum;
   zmq_send(s.sock, (levelnum_c + log_s).c_str(), log_s.length() + 1, ZMQ_NOBLOCK);
 }
+
 static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func,
-                            char* msg_buf, json11::Json::object msg_j={}) {
+                            char* msg_buf, const json11::Json::object &msg_j={}) {
   std::lock_guard lk(s.lock);
   if (!s.initialized) s.initialize();
 

common/tests/test_params.py

@@ -4,7 +4,7 @@ import tempfile
 import shutil
 import unittest
 
-from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking
+from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking
 
 class TestParams(unittest.TestCase):
   def setUp(self):
@@ -89,6 +89,15 @@ class TestParams(unittest.TestCase):
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
 
+  def test_put_bool_non_blocking_with_get_block(self):
+    q = Params(self.tmpdir)
+    def _delayed_writer():
+      time.sleep(0.1)
+      put_bool_nonblocking("CarParams", True, self.tmpdir)
+    threading.Thread(target=_delayed_writer).start()
+    assert q.get("CarParams") is None
+    assert q.get("CarParams", True) == b"1"
+
 
 if __name__ == "__main__":
   unittest.main()

common/transformations/camera.py

@@ -77,6 +77,7 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
   return np.hstack((view_from_road, [[0], [height], [0]]))
 
 
+
 # aka 'extrinsic_matrix'
 def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
   device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
@@ -94,12 +95,6 @@ def vp_from_ke(m):
   return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])
 
 
-def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
-  e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
-  ke = np.dot(intrinsics, e)
-  return vp_from_ke(ke)
-
-
 def roll_from_ke(m):
   # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
   return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
@@ -163,11 +158,3 @@ def img_from_device(pt_device):
   pt_img = pt_view/pt_view[:, 2:3]
   return pt_img.reshape(input_shape)[:, :2]
 
-
-def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
-  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  calib_frame_from_ground = np.dot(intrinsics,
-                                     get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
-  ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
-  camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
-  return camera_frame_from_calib_frame

common/transformations/model.py

@@ -1,10 +1,7 @@
 import numpy as np
 
 from common.transformations.camera import (FULL_FRAME_SIZE,
-                                           FOCAL,
-                                           get_view_frame_from_road_frame,
-                                           get_view_frame_from_calib_frame,
-                                           vp_from_ke)
+                                           get_view_frame_from_calib_frame)
 
 # segnet
 SEGNET_SIZE = (512, 384)
@@ -14,21 +11,6 @@ def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=
                    [0.0,  float(segnet_size[1]) / full_frame_size[1]]])
 segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
 
-# model
-MODEL_INPUT_SIZE = (320, 160)
-MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
-MODEL_CX = MODEL_INPUT_SIZE[0] / 2.
-MODEL_CY = 21.
-
-model_fl = 728.0
-model_height = 1.22
-
-# canonical model transform
-model_intrinsics = np.array([
-  [model_fl,  0.0,  MODEL_CX],
-  [0.0,  model_fl,  MODEL_CY],
-  [0.0,  0.0,            1.0]])
-
 
 # MED model
 MEDMODEL_INPUT_SIZE = (512, 256)
@@ -63,104 +45,73 @@ sbigmodel_intrinsics = np.array([
   [0.0,  sbigmodel_fl,      0.5 * (256 + MEDMODEL_CY)],
   [0.0,  0.0,                                     1.0]])
 
-model_frame_from_road_frame = np.dot(model_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
-
-bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
-
 bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
   get_view_frame_from_calib_frame(0, 0, 0, 0))
 
-sbigmodel_frame_from_road_frame = np.dot(sbigmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
 
 sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics,
   get_view_frame_from_calib_frame(0, 0, 0, 0))
 
-medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
-
 medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
   get_view_frame_from_calib_frame(0, 0, 0, 0))
 
-model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 
 
-# 'camera from model camera'
-def get_model_height_transform(camera_frame_from_road_frame, height):
-  camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
-    [1, 0, 0],
-    [0, 1, 0],
-    [0, 0, 0],
-    [0, 0, 1],
-  ]))
-
-  camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
-    [1, 0, 0],
-    [0, 1, 0],
-    [0, 0, height - model_height],
-    [0, 0, 1],
-  ]))
-
-  road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
-  high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame)
-
-  return high_camera_from_low_camera
-
-
-# camera_frame_from_model_frame aka 'warp matrix'
-# was: calibration.h/CalibrationTransform
-def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height, camera_fl=FOCAL):
-  vp = vp_from_ke(camera_frame_from_road_frame)
-
-  model_zoom = camera_fl / model_fl
-  model_camera_from_model_frame = np.array([
-    [model_zoom,  0.0,  vp[0] - MODEL_CX * model_zoom],
-    [0.0,  model_zoom,  vp[1] - MODEL_CY * model_zoom],
-    [0.0,  0.0,                                   1.0],
-  ])
-
-  # This function is super slow, so skip it if height is very close to canonical
-  # TODO: speed it up!
-  if abs(height - model_height) > 0.001:
-    camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height)
-  else:
-    camera_from_model_camera = np.eye(3)
+### This function mimics the update_calibration logic in modeld.cc
+### Manually verified to give similar results to xx.uncommon.utils.transform_img
+def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True):
+  from common.transformations.orientation import rot_from_euler
+  from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
 
-  return np.dot(camera_from_model_camera, model_camera_from_model_frame)
-
-
-def get_camera_frame_from_medmodel_frame(camera_frame_from_road_frame):
-  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
-
-  ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
-  camera_frame_from_medmodel_frame = np.dot(camera_frame_from_ground, ground_from_medmodel_frame)
+  if tici and wide_cam:
+    intrinsics = tici_ecam_intrinsics
+  elif tici:
+    intrinsics = tici_fcam_intrinsics
+  else:
+    intrinsics = eon_fcam_intrinsics
 
-  return camera_frame_from_medmodel_frame
+  if big_model:
+    sbigmodel_from_calib = sbigmodel_frame_from_calib_frame[:, (0,1,2)]
+    calib_from_model = np.linalg.inv(sbigmodel_from_calib)
+  else:
+    medmodel_from_calib = medmodel_frame_from_calib_frame[:, (0,1,2)]
+    calib_from_model = np.linalg.inv(medmodel_from_calib)
+  device_from_calib = rot_from_euler(rpy_calib)
+  camera_from_calib = intrinsics.dot(view_frame_from_device_frame.dot(device_from_calib))
+  warp_matrix = camera_from_calib.dot(calib_from_model)
+  return warp_matrix
 
 
-def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
-  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)]
+### This is old, just for debugging
+def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True):
+  from common.transformations.orientation import rot_from_euler
+  from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
 
-  ground_from_bigmodel_frame = np.linalg.inv(bigmodel_frame_from_ground)
-  camera_frame_from_bigmodel_frame = np.dot(camera_frame_from_ground, ground_from_bigmodel_frame)
 
-  return camera_frame_from_bigmodel_frame
+  def get_view_frame_from_road_frame(roll, pitch, yaw, height):
+    device_from_road = rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
+    view_from_road = view_frame_from_device_frame.dot(device_from_road)
+    return np.hstack((view_from_road, [[0], [height], [0]]))
 
+  if tici and wide_cam:
+    intrinsics = tici_ecam_intrinsics
+  elif tici:
+    intrinsics = tici_fcam_intrinsics
+  else:
+    intrinsics = eon_fcam_intrinsics
 
-def get_model_frame(snu_full, camera_frame_from_model_frame, size):
-  idxs = camera_frame_from_model_frame.dot(np.column_stack([np.tile(np.arange(size[0]), size[1]),
-                                                            np.tile(np.arange(size[1]), (size[0], 1)).T.flatten(),
-                                                            np.ones(size[0] * size[1])]).T).T.astype(int)
-  calib_flat = snu_full[idxs[:, 1], idxs[:, 0]]
-  if len(snu_full.shape) == 3:
-    calib = calib_flat.reshape((size[1], size[0], 3))
-  elif len(snu_full.shape) == 2:
-    calib = calib_flat.reshape((size[1], size[0]))
+  model_height = 1.22
+  if big_model:
+    model_from_road = np.dot(sbigmodel_intrinsics,
+             get_view_frame_from_road_frame(0, 0, 0, model_height))
   else:
-    raise ValueError("shape of input img is weird")
-  return calib
+    model_from_road = np.dot(medmodel_intrinsics,
+             get_view_frame_from_road_frame(0, 0, 0, model_height))
+  ground_from_model = np.linalg.inv(model_from_road[:, (0, 1, 3)])
+
+  E = get_view_frame_from_road_frame(*rpy_calib, 1.22)
+  camera_frame_from_road_frame = intrinsics.dot(E)
+  camera_frame_from_ground = camera_frame_from_road_frame[:,(0,1,3)]
+  warp_matrix = camera_frame_from_ground .dot(ground_from_model)
+  return warp_matrix

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.8.15"
+#define COMMA_VERSION "0.8.16"

common/watchdog.cc

@@ -1,12 +1,9 @@
 #include "common/watchdog.h"
-#include "common/timing.h"
 #include "common/util.h"
 
 const std::string watchdog_fn_prefix = "/dev/shm/wd_";  // + <pid>
 
-bool watchdog_kick() {
+bool watchdog_kick(uint64_t ts) {
   static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
-
-  uint64_t ts = nanos_since_boot();
   return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) > 0;
 }

common/watchdog.h

@@ -1,3 +1,5 @@
 #pragma once
 
-bool watchdog_kick();
+#include <cstdint>
+
+bool watchdog_kick(uint64_t ts);

docs/CARS.md

@@ -1,237 +1,278 @@
+<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+
 # Supported Cars
 
 A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
 
-Cars are organized into three tiers:
-
-- Gold - The best openpilot experience. Great highway driving and beyond.
-- Silver - A solid highway driving experience, but is limited by stock longitudinal. May be upgraded in the future.
-- Bronze - A good highway experience, but may have limited performance in traffic and on sharp turns.
-
-How We Rate The Cars
----
-
-### openpilot Adaptive Cruise Control (ACC)
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot is able to control the gas and brakes.
-- <a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - openpilot is able to control the gas and brakes with some restrictions.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system.
+## How We Rate The Cars
 
 ### Stop and Go
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Adaptive Cruise Control (ACC) operates down to 0 mph.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed.
+- [![star](assets/icon-star-full.svg)](##) - openpilot operates down to 0 mph.
+- [![star](assets/icon-star-empty.svg)](##) - openpilot operates only above a minimum speed. See your car's manual for the minimum speed.
 
 ### Steer to 0
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot can control the steering wheel down to 0 mph.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds.
+- [![star](assets/icon-star-full.svg)](##) - openpilot can control the steering wheel down to 0 mph.
+- [![star](assets/icon-star-empty.svg)](##) - No steering control below certain speeds. See your car's manual for the minimum speed.
 
 ### Steering Torque
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque to take tighter turns.
-- <a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make turns.
-
-### Actively Maintained
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Mainline software support, harness hardware sold by comma, lots of users, primary development target.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Low user count, community maintained, harness hardware not sold by comma.
-
-**All supported cars can move between the tiers as support changes.**
-
-# Gold - 28 cars
-
-|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|
-|comma|body|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G70 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Palisade 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Electric 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Electric 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Electric 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Telluride 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|UX Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Hatchback 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Mirai 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius Prime 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-
-# Silver - 76 cars
-
-|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|
-|Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G70 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G80 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Elantra 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Electric 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Kona 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Kona Electric 2018-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Kona Hybrid 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Forte 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Forte 2019-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|K5 2021-22|SCC|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Hybrid 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Hybrid 2022|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Optima 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Seltos 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Sorento 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Sorento 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Stinger 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX Hybrid 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Forester 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Octavia RS 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Scala 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Atlas 2018-19, 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-
-# Bronze - 69 cars
-
-|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Acura|RDX 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G90 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Accord 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Accord Hybrid 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|CR-V 2015-16|Touring|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|CR-V 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|e 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Fit 2018-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Freed 2020|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|HR-V 2019-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Insight 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Inspire 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Odyssey 2018-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Passport 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Pilot 2016-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Genesis 2015-16|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Tucson 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Altima 2019-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Leaf 2018-22|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Rogue 2018-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Ascent 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon 2018, 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat 2015-19[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+- [![star](assets/icon-star-full.svg)](##) - Car has enough steering torque to comfortably take most highway turns.
+- [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
 
 
+# 201 Supported Cars
+
+|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
+|---|---|---|:---:|:---:|:---:|:---:|
+|Acura|ILX 2016-19|AcuraWatch Plus|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Acura|RDX 2016-18|AcuraWatch Plus|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Acura|RDX 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Audi|A3 2014-19|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|Q2 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|Q3 2020-21|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|RS3 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|S3 2015-17|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chevrolet|Bolt EUV 2022-23|Premier/Premier Redline Trim|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica 2021|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|comma|body|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Genesis|G70 2018-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Genesis|G70 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Genesis|G80 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Genesis|G90 2017-18|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Honda|Accord 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Accord Hybrid 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Civic 2016-18|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Civic 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)[<sup>2</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Civic 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Civic Hatchback 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Honda|CR-V 2015-16|Touring Trim|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|CR-V 2017-22|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|e 2020|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Fit 2018-20|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Freed 2020|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|HR-V 2019-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Insight 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Inspire 2018|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Odyssey 2018-20|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Passport 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Pilot 2016-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Ridgeline 2017-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq 5 2022|Highway Driving Assist II|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Palisade 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Santa Fe 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Santa Fe 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Santa Fe Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Santa Fe Plug-in Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Sonata 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Sonata Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|EV6 2022|Highway Driving Assist II|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Forte 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|K5 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Electric 2019|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Electric 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Electric 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Electric 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Seltos 2021|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Telluride 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|ES 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|ES Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|ES Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|IS 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RC 2017-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX 2016-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|UX Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Mazda|CX-5 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Mazda|CX-9 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|Altima 2019-20|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|Leaf 2018-22|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|Rogue 2018-20|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|X-Trail 2017|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Ram|1500 2019-22|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|SEAT|Ateca 2018|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|SEAT|Leon 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Ascent 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Forester 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Outback 2020-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|XV 2018-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Subaru|XV 2020-21|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Karoq 2019-21[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Octavia 2015, 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Octavia RS 2016|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Scala 2020|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Superb 2015-18|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Alphard 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Alphard Hybrid 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon Hybrid 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon Hybrid 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|C-HR 2017-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|C-HR Hybrid 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry Hybrid 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry Hybrid 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla Cross (Non-US only) 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla Hatchback 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Mirai 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius Prime 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius v 2017|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Atlas 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|CC 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|e-Golf 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf GTD 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf GTE 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf GTI 2015-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat 2015-22[<sup>6,7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat GTE 2015-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Touran 2017|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+
 <a id="footnotes"></a>
-<sup>1</sup>Requires an <a href="https://comma.ai/shop/products/comma-car-harness">OBD-II car harness</a> and <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>1</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i> NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>3</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>4</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 <sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>6</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
-<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
+<sup>6</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway inside the dashboard, choose "VW J533 Development" from the vehicle drop-down for a suitable harness. (Some newer models are also observed to not have a J533 connector.) <br />
+<sup>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />
 
 ## Community Maintained Cars
-Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
+Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
+
+# Don't see your car here?
+
+**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
+If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you!
+
+### Which cars are able to be supported?
+
+openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016.
+
+If your car has the following packages or features, then it's a good candidate for support. If it does not, then it's unlikely able to be supported.
+
+| Make | Required Package/Features |
+| ---- | ------------------------- |
+| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
+| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
+| Nissan | Any car with ProPILOT will likely work. |
+| Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. |
+| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA comes standard on most newer models. Any form of SCC will work, such as NSCC. |
+| Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. |
+
+### FlexRay
+
+All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the cars in your computer can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay.
+
+### Toyota Security
+
+Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support.
+So far, this list includes:
+* Toyota RAV4 Prime 2021+
+* Toyota Sienna 2021+
+* Toyota Venza 2021+
+* Toyota Sequoia 2023+
+* Toyota Tundra 2022+
+* Toyota Corolla Cross 2022+ (only US model)
+* Lexus NX 2022+
+* Toyota bZ4x 2023+
+* Subaru Solterra 2023+

docs/Makefile

@@ -32,7 +32,7 @@ clean:
 	@echo "Copying docs & config to build folder..."
 	cp -a "$(DOCSDIR)" "$(BUILDDIR)"
 	cd "$(OPENPILOT_ROOT)" && \
-		find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" \) \
+		find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" -o -name "*.svg" \) \
 			-not -path "*/.*" \
 			-not -path "./build/*" \
 			-not -path "./docs/*" \

docs/assets/icon-star-empty.svg

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+<svg
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docs/assets/icon-star-full.svg

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docs/c_docs.rst

@@ -28,11 +28,9 @@ selfdrive
 camerad
 ^^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_camerad_cameras
+   :project: system_camerad_cameras
 .. autodoxygenindex::
-   :project: selfdrive_camerad_transforms
-.. autodoxygenindex::
-   :project: selfdrive_camerad_imgproc
+   :project: system_camerad_imgproc
 
 locationd
 ^^^^^^^^^
@@ -54,7 +52,7 @@ soundd
 replay
 """"""
 .. autodoxygenindex::
-   :project: selfdrive_ui_replay
+   :project: tools_replay
 
 qt
 ""

laika_repo

@@ -1 +1 @@
-Subproject commit 44f048bc1f58ae9e28dfdeb98e40aea3e0f2b699
+Subproject commit c8bc1fa01be9f22592efb991ee52d3d965d21968

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="5.1"
+  export AGNOS_VERSION="5.2"
 fi
 
 if [ -z "$PASSIVE" ]; then

opendbc

@@ -1 +1 @@
-Subproject commit a7b391cce88908824f1417f0c7abd35e3ae16f96
+Subproject commit c6665ed11b8d8c998e46f8dbee30e70a7d451e5e

panda

@@ -1 +1 @@
-Subproject commit 391b83d0a73e957e84383a9e04c1cad140ecada2
+Subproject commit 0e8854b48ff81cc61e30e9135091846ab5d9b887

rednose_repo

@@ -1 +1 @@
-Subproject commit 7663289f1e68860f53dc34337ef080dde69a2586
+Subproject commit 3b6bd703b7a7667e4f82d0b81ef9a454819b94bd

release/build_devel.sh

@@ -69,6 +69,15 @@ date: $DATETIME
 master commit: $GIT_HASH
 "
 
+# ensure files are within GitHub's limit
+BIG_FILES="$(find . -type f -not -path './.git/*' -size +95M)"
+if [ ! -z "$BIG_FILES" ]; then
+  printf '\n\n\n'
+  echo "Found files exceeding GitHub's 100MB limit:"
+  echo "$BIG_FILES"
+  exit 1
+fi
+
 if [ ! -z "$BRANCH" ]; then
   echo "[-] Pushing to $BRANCH T=$SECONDS"
   git push -f origin master-ci:$BRANCH

release/build_release.sh

@@ -40,6 +40,7 @@ cp -pR --parents $(cat $FILES_SRC) $BUILD_DIR/
 cd $BUILD_DIR
 
 rm -f panda/board/obj/panda.bin.signed
+rm -f panda/board/obj/panda_h7.bin.signed
 
 VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
 echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h
@@ -53,6 +54,7 @@ git branch --set-upstream-to=origin/$RELEASE_BRANCH
 pushd panda/
 CERT=/data/pandaextra/certs/release RELEASE=1 scons -u .
 mv board/obj/panda.bin.signed /tmp/panda.bin.signed
+mv board/obj/panda_h7.bin.signed /tmp/panda_h7.bin.signed
 popd
 
 # Build
@@ -81,6 +83,7 @@ rm selfdrive/modeld/models/supercombo.dlc
 # Move back signed panda fw
 mkdir -p panda/board/obj
 mv /tmp/panda.bin.signed panda/board/obj/panda.bin.signed
+mv /tmp/panda_h7.bin.signed panda/board/obj/panda_h7.bin.signed
 
 # Restore third_party
 git checkout third_party/

release/check-dirty.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+if [ ! -z "$(git status --porcelain)" ]; then
+  echo "Dirty working tree after build:"
+  git status --porcelain
+  exit 1
+fi

release/files_common

@@ -35,7 +35,6 @@ common/filter_simple.py
 common/stat_live.py
 common/spinner.py
 common/text_window.py
-common/SConscript
 
 common/kalman/.gitignore
 common/kalman/*
@@ -58,8 +57,11 @@ common/api/__init__.py
 
 release/*
 
+tools/__init__.py
 tools/lib/*
 tools/joystick/*
+tools/replay/*.cc
+tools/replay/*.h
 
 selfdrive/__init__.py
 selfdrive/sentry.py
@@ -101,10 +103,13 @@ selfdrive/car/interfaces.py
 selfdrive/car/vin.py
 selfdrive/car/disable_ecu.py
 selfdrive/car/fw_versions.py
+selfdrive/car/ecu_addrs.py
 selfdrive/car/isotp_parallel_query.py
 selfdrive/car/tests/__init__.py
 selfdrive/car/tests/test_car_interfaces.py
-selfdrive/car/torque_data.json
+selfdrive/car/torque_data/params.yaml
+selfdrive/car/torque_data/substitute.yaml
+selfdrive/car/torque_data/override.yaml
 
 selfdrive/car/body/*.py
 selfdrive/car/chrysler/*.py
@@ -124,7 +129,15 @@ system/clocksd/.gitignore
 system/clocksd/SConscript
 system/clocksd/clocksd.cc
 
-selfdrive/debug/*.py
+selfdrive/debug/can_printer.py
+selfdrive/debug/check_freq.py
+selfdrive/debug/dump.py
+selfdrive/debug/filter_log_message.py
+selfdrive/debug/get_fingerprint.py
+selfdrive/debug/uiview.py
+
+selfdrive/debug/hyundai_enable_radar_points.py
+selfdrive/debug/vw_mqb_config.py
 
 common/SConscript
 common/version.h
@@ -182,6 +195,10 @@ selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
 selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
 
+selfdrive/hardware
+
+system/__init__.py
+
 system/hardware/__init__.py
 system/hardware/base.h
 system/hardware/base.py
@@ -191,6 +208,7 @@ system/hardware/tici/hardware.h
 system/hardware/tici/hardware.py
 system/hardware/tici/pins.py
 system/hardware/tici/agnos.py
+system/hardware/tici/casync.py
 system/hardware/tici/agnos.json
 system/hardware/tici/amplifier.py
 system/hardware/tici/updater
@@ -211,10 +229,10 @@ selfdrive/locationd/generated/gps.h
 
 selfdrive/locationd/laikad.py
 selfdrive/locationd/laikad_helpers.py
-selfdrive/locationd/locationd.cc
 selfdrive/locationd/locationd.h
 selfdrive/locationd/locationd.cc
 selfdrive/locationd/paramsd.py
+selfdrive/locationd/models/__init__.py
 selfdrive/locationd/models/.gitignore
 selfdrive/locationd/models/car_kf.py
 selfdrive/locationd/models/gnss_kf.py
@@ -226,6 +244,7 @@ selfdrive/locationd/models/gnss_helpers.py
 
 selfdrive/locationd/calibrationd.py
 
+system/logcatd/.gitignore
 system/logcatd/SConscript
 system/logcatd/logcatd_systemd.cc
 
@@ -234,6 +253,7 @@ system/proclogd/main.cc
 system/proclogd/proclog.cc
 system/proclogd/proclog.h
 
+selfdrive/loggerd/.gitignore
 selfdrive/loggerd/SConscript
 selfdrive/loggerd/encoder/encoder.cc
 selfdrive/loggerd/encoder/encoder.h
@@ -283,6 +303,8 @@ selfdrive/ui/soundd/*.cc
 selfdrive/ui/soundd/*.h
 selfdrive/ui/soundd/soundd
 selfdrive/ui/soundd/.gitignore
+selfdrive/ui/translations/*.ts
+selfdrive/ui/translations/languages.json
 
 selfdrive/ui/qt/*.cc
 selfdrive/ui/qt/*.h
@@ -291,31 +313,22 @@ selfdrive/ui/qt/offroad/*.h
 selfdrive/ui/qt/offroad/*.qml
 selfdrive/ui/qt/widgets/*.cc
 selfdrive/ui/qt/widgets/*.h
-
-selfdrive/ui/replay/*.cc
-selfdrive/ui/replay/*.h
-
 selfdrive/ui/qt/maps/*.cc
 selfdrive/ui/qt/maps/*.h
 
-selfdrive/camerad/SConscript
-selfdrive/camerad/main.cc
+system/camerad/SConscript
+system/camerad/main.cc
 
-selfdrive/camerad/snapshot/*
-selfdrive/camerad/include/*
-selfdrive/camerad/cameras/camera_common.h
-selfdrive/camerad/cameras/camera_common.cc
-selfdrive/camerad/cameras/sensor2_i2c.h
+system/camerad/snapshot/*
+system/camerad/include/*
+system/camerad/cameras/camera_common.h
+system/camerad/cameras/camera_common.cc
+system/camerad/cameras/sensor2_i2c.h
 
-selfdrive/camerad/transforms/rgb_to_yuv.cc
-selfdrive/camerad/transforms/rgb_to_yuv.h
-selfdrive/camerad/transforms/rgb_to_yuv.cl
-selfdrive/camerad/transforms/rgb_to_yuv_test.cc
-
-selfdrive/camerad/imgproc/conv.cl
-selfdrive/camerad/imgproc/pool.cl
-selfdrive/camerad/imgproc/utils.cc
-selfdrive/camerad/imgproc/utils.h
+system/camerad/imgproc/conv.cl
+system/camerad/imgproc/pool.cl
+system/camerad/imgproc/utils.cc
+system/camerad/imgproc/utils.h
 
 selfdrive/manager/__init__.py
 selfdrive/manager/build.py
@@ -326,6 +339,7 @@ selfdrive/manager/process.py
 selfdrive/manager/test/__init__.py
 selfdrive/manager/test/test_manager.py
 
+selfdrive/modeld/__init__.py
 selfdrive/modeld/SConscript
 selfdrive/modeld/modeld.cc
 selfdrive/modeld/dmonitoringmodeld.cc
@@ -367,7 +381,9 @@ selfdrive/modeld/runners/run.h
 selfdrive/monitoring/dmonitoringd.py
 selfdrive/monitoring/driver_monitor.py
 
-selfdrive/navd/*.py
+selfdrive/navd/__init__.py
+selfdrive/navd/navd.py
+selfdrive/navd/helpers.py
 
 selfdrive/assets/.gitignore
 selfdrive/assets/assets.qrc
@@ -406,13 +422,30 @@ third_party/acados/x86_64/**
 third_party/acados/larch64/**
 third_party/acados/include/**
 
+third_party/qt5/larch64/bin/**
+
 scripts/update_now.sh
 scripts/stop_updater.sh
 
 pyextra/.gitignore
 pyextra/acados_template/**
 
+rednose/.gitignore
 rednose/**
+laika/**
+
+body/.gitignore
+body/board/SConscript
+body/board/*.h
+body/board/*.c
+body/board/*.s
+body/board/*.ld
+body/board/inc/**
+body/board/obj/
+body/board/bldc/**
+body/board/drivers/**
+body/certs/**
+body/crypto/**
 
 cereal/.gitignore
 cereal/__init__.py
@@ -471,7 +504,9 @@ opendbc/can/parser_pyx.pyx
 
 opendbc/comma_body.dbc
 
-opendbc/chrysler_pacifica_2017_hybrid.dbc
+opendbc/chrysler_ram_hd_generated.dbc
+opendbc/chrysler_ram_dt_generated.dbc
+opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
 opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
 
 opendbc/gm_global_a_powertrain_generated.dbc
@@ -495,6 +530,7 @@ opendbc/honda_odyssey_exl_2018_generated.dbc
 opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
 opendbc/honda_insight_ex_2019_can_generated.dbc
 opendbc/acura_ilx_2016_nidec.dbc
+opendbc/honda_civic_ex_2022_can_generated.dbc
 
 opendbc/kia_ev6.dbc
 opendbc/hyundai_kia_generic.dbc

release/files_tici

@@ -7,9 +7,9 @@ system/timezoned.py
 selfdrive/assets/navigation/*
 selfdrive/assets/training_wide/*
 
-selfdrive/camerad/cameras/camera_qcom2.cc
-selfdrive/camerad/cameras/camera_qcom2.h
-selfdrive/camerad/cameras/real_debayer.cl
+system/camerad/cameras/camera_qcom2.cc
+system/camerad/cameras/camera_qcom2.h
+system/camerad/cameras/real_debayer.cl
 
 selfdrive/ui/qt/spinner_larch64
 selfdrive/ui/qt/text_larch64

release/verify.sh

@@ -6,7 +6,7 @@ RED="\033[0;31m"
 GREEN="\033[0;32m"
 CLEAR="\033[0m"
 
-BRANCHES="devel dashcam dashcam3 release2 release3"
+BRANCHES="devel dashcam3 release3"
 for b in $BRANCHES; do
   if git diff --quiet origin/$b origin/$b-staging && [ "$(git rev-parse origin/$b)" = "$(git rev-parse origin/$b-staging)" ]; then
     printf "%-10s $GREEN ok $CLEAR\n" "$b"

selfdrive/athena/athenad.py

@@ -364,6 +364,11 @@ def uploadFilesToUrls(files_data):
       failed.append(fn)
       continue
 
+    # Skip item if already in queue
+    url = file['url'].split('?')[0]
+    if any(url == item['url'].split('?')[0] for item in listUploadQueue()):
+      continue
+
     item = UploadItem(
       path=path,
       url=file['url'],
@@ -493,7 +498,7 @@ def getNetworks():
 
 @dispatcher.add_method
 def takeSnapshot():
-  from selfdrive.camerad.snapshot.snapshot import jpeg_write, snapshot
+  from system.camerad.snapshot.snapshot import jpeg_write, snapshot
   ret = snapshot()
   if ret is not None:
     def b64jpeg(x):

selfdrive/athena/tests/test_athenad.py

@@ -124,7 +124,7 @@ class TestAthenadMethods(unittest.TestCase):
     fn = os.path.join(athenad.ROOT, 'qlog.bz2')
     Path(fn).touch()
     if fn.endswith('.bz2'):
-      self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4]) 
+      self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4])
 
 
   @with_http_server
@@ -142,9 +142,6 @@ class TestAthenadMethods(unittest.TestCase):
 
   @with_http_server
   def test_uploadFileToUrl(self, host):
-    not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {})
-    self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']})
-
     fn = os.path.join(athenad.ROOT, 'qlog.bz2')
     Path(fn).touch()
 
@@ -155,6 +152,24 @@ class TestAthenadMethods(unittest.TestCase):
     self.assertIsNotNone(resp['items'][0].get('id'))
     self.assertEqual(athenad.upload_queue.qsize(), 1)
 
+  @with_http_server
+  def test_uploadFileToUrl_duplicate(self, host):
+    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
+    Path(fn).touch()
+
+    url1 = f"{host}/qlog.bz2?sig=sig1"
+    dispatcher["uploadFileToUrl"]("qlog.bz2", url1, {})
+
+    # Upload same file again, but with different signature
+    url2 = f"{host}/qlog.bz2?sig=sig2"
+    resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {})
+    self.assertEqual(resp, {'enqueued': 0, 'items': []})
+
+  @with_http_server
+  def test_uploadFileToUrl_does_not_exist(self, host):
+    not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {})
+    self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']})
+
   @with_http_server
   def test_upload_handler(self, host):
     fn = os.path.join(athenad.ROOT, 'qlog.bz2')

selfdrive/boardd/boardd.cc

@@ -193,9 +193,11 @@ Panda *usb_connect(std::string serial="", uint32_t index=0) {
     return nullptr;
   }
 
+  // common panda config
   if (getenv("BOARDD_LOOPBACK")) {
     panda->set_loopback(true);
   }
+  panda->enable_deepsleep();
 
   // power on charging, only the first time. Panda can also change mode and it causes a brief disconneciton
 #ifndef __x86_64__

selfdrive/camerad/transforms/rgb_to_yuv.cc

@@ -1,36 +0,0 @@
-#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
-
-#include <cassert>
-#include <cstdio>
-
-Rgb2Yuv::Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) {
-  assert(width % 2 == 0 && height % 2 == 0);
-  char args[1024];
-  snprintf(args, sizeof(args),
-           "-cl-fast-relaxed-math -cl-denorms-are-zero "
-#ifdef CL_DEBUG
-           "-DCL_DEBUG "
-#endif
-           "-DWIDTH=%d -DHEIGHT=%d -DUV_WIDTH=%d -DUV_HEIGHT=%d -DRGB_STRIDE=%d -DRGB_SIZE=%d",
-           width, height, width / 2, height / 2, rgb_stride, width * height);
-
-  cl_program prg = cl_program_from_file(ctx, device_id, "transforms/rgb_to_yuv.cl", args);
-  krnl = CL_CHECK_ERR(clCreateKernel(prg, "rgb_to_yuv", &err));
-  CL_CHECK(clReleaseProgram(prg));
-
-  work_size[0] = (width + (width % 4 == 0 ? 0 : (4 - width % 4))) / 4;
-  work_size[1] = (height + (height % 4 == 0 ? 0 : (4 - height % 4))) / 4;
-}
-
-Rgb2Yuv::~Rgb2Yuv() {
-  CL_CHECK(clReleaseKernel(krnl));
-}
-
-void Rgb2Yuv::queue(cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl) {
-  CL_CHECK(clSetKernelArg(krnl, 0, sizeof(cl_mem), &rgb_cl));
-  CL_CHECK(clSetKernelArg(krnl, 1, sizeof(cl_mem), &yuv_cl));
-  cl_event event;
-  CL_CHECK(clEnqueueNDRangeKernel(q, krnl, 2, NULL, &work_size[0], NULL, 0, 0, &event));
-  CL_CHECK(clWaitForEvents(1, &event));
-  CL_CHECK(clReleaseEvent(event));
-}

selfdrive/camerad/transforms/rgb_to_yuv.h

@@ -1,14 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-
-class Rgb2Yuv {
-public:
-  Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride);
-  ~Rgb2Yuv();
-  void queue(cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl);
-private:
-  size_t work_size[2];
-  cl_kernel krnl;
-};
-

selfdrive/camerad/transforms/rgb_to_yuv_test.cc

@@ -1,191 +0,0 @@
-#include <fcntl.h>
-#include <getopt.h>
-#include <memory.h>
-#include <unistd.h>
-
-#include <cassert>
-#include <cmath>
-#include <csignal>
-#include <cstdint>
-#include <cstdlib>
-#include <fstream>
-#include <iomanip>
-#include <iostream>
-#include <string>
-#include <thread>
-#include <vector>
-
-#ifdef ANDROID
-
-#define MAXE 0
-#include <unistd.h>
-
-#else
-// The libyuv implementation on ARM is slightly different than on x86
-// Our implementation matches the ARM version, so accept errors of 1
-#define MAXE 1
-
-#endif
-
-#include <CL/cl.h>
-
-#include "libyuv.h"
-#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
-#include "common/clutil.h"
-
-static inline double millis_since_boot() {
-  struct timespec t;
-  clock_gettime(CLOCK_BOOTTIME, &t);
-  return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
-}
-
-void cl_init(cl_device_id &device_id, cl_context &context) {
-  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-}
-
-
-bool compare_results(uint8_t *a, uint8_t *b, int len, int stride, int width, int height, uint8_t *rgb) {
-  int min_diff = 0., max_diff = 0., max_e = 0.;
-  int e1 = 0, e0 = 0;
-  int e0y = 0, e0u = 0, e0v = 0, e1y = 0, e1u = 0, e1v = 0;
-  int max_e_i = 0;
-  for (int i = 0;i < len;i++) {
-    int e = ((int)a[i]) - ((int)b[i]);
-    if(e < min_diff) {
-      min_diff = e;
-    }
-    if(e > max_diff) {
-      max_diff = e;
-    }
-    int e_abs = std::abs(e);
-    if(e_abs > max_e) {
-      max_e = e_abs;
-      max_e_i = i;
-    }
-    if(e_abs < 1) {
-      e0++;
-      if(i < stride * height)
-        e0y++;
-      else if(i < stride * height + stride * height / 4)
-        e0u++;
-      else
-        e0v++;
-    } else {
-      e1++;
-      if(i < stride * height)
-        e1y++;
-      else if(i < stride * height + stride * height / 4)
-        e1u++;
-      else
-        e1v++;
-    }
-  }
-  //printf("max diff : %d, min diff : %d, e < 1: %d, e >= 1: %d\n", max_diff, min_diff, e0, e1);
-  //printf("Y: e < 1: %d, e >= 1: %d, U: e < 1: %d, e >= 1: %d, V: e < 1: %d, e >= 1: %d\n", e0y, e1y, e0u, e1u, e0v, e1v);
-  if(max_e <= MAXE) {
-    return true;
-  }
-  int row = max_e_i / stride;
-  if(row < height) {
-    printf("max error is Y: %d = (libyuv: %u - cl: %u), row: %d, col: %d\n", max_e, a[max_e_i], b[max_e_i], row, max_e_i % stride);
-  } else if(row >= height && row < (height + height / 4)) {
-    printf("max error is U: %d = %u - %u, row: %d, col: %d\n", max_e, a[max_e_i], b[max_e_i], (row - height) / 2, max_e_i % stride / 2);
-  } else {
-    printf("max error is V: %d = %u - %u, row: %d, col: %d\n", max_e, a[max_e_i], b[max_e_i], (row - height - height / 4) / 2, max_e_i % stride / 2);
-  }
-  return false;
-}
-
-int main(int argc, char** argv) {
-  srand(1337);
-
-  cl_device_id device_id;
-  cl_context context;
-  cl_init(device_id, context)	;
-
-  int err;
-  const cl_queue_properties props[] = {0}; //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
-  cl_command_queue q = clCreateCommandQueueWithProperties(context, device_id, props, &err);
-  if(err != 0) {
-    std::cout << "clCreateCommandQueueWithProperties error: " << err << std::endl;
-  }
-
-  int width = 1164;
-  int height = 874;
-
-  int opt = 0;
-  while ((opt = getopt(argc, argv, "f")) != -1)
-    {
-      switch (opt)
-        {
-        case 'f':
-          std::cout << "Using front camera dimensions" << std::endl;
-          int width = 1152;
-          int height = 846;
-        }
-  }
-
-  std::cout << "Width: " << width << " Height: " << height << std::endl;
-  uint8_t *rgb_frame = new uint8_t[width * height * 3];
-
-
-  RGBToYUVState rgb_to_yuv_state;
-  rgb_to_yuv_init(&rgb_to_yuv_state, context, device_id, width, height, width * 3);
-
-  int frame_yuv_buf_size = width * height * 3 / 2;
-  cl_mem yuv_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, frame_yuv_buf_size, (void*)NULL, &err));
-  uint8_t *frame_yuv_buf = new uint8_t[frame_yuv_buf_size];
-  uint8_t *frame_yuv_ptr_y = frame_yuv_buf;
-  uint8_t *frame_yuv_ptr_u = frame_yuv_buf + (width * height);
-  uint8_t *frame_yuv_ptr_v = frame_yuv_ptr_u + ((width/2) * (height/2));
-
-  cl_mem rgb_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, width * height * 3, (void*)NULL, &err));
-  int mismatched = 0;
-  int counter = 0;
-  srand (time(NULL));
-
-  for (int i = 0; i < 100; i++) {
-    for (int i = 0; i < width * height * 3; i++) {
-      rgb_frame[i] = (uint8_t)rand();
-    }
-
-    double t1 = millis_since_boot();
-    libyuv::RGB24ToI420((uint8_t*)rgb_frame, width * 3,
-                        frame_yuv_ptr_y, width,
-                        frame_yuv_ptr_u, width/2,
-                        frame_yuv_ptr_v, width/2,
-                        width, height);
-    double t2 = millis_since_boot();
-    //printf("Libyuv: rgb to yuv: %.2fms\n", t2-t1);
-
-    clEnqueueWriteBuffer(q, rgb_cl, CL_TRUE, 0, width * height * 3, (void *)rgb_frame, 0, NULL, NULL);
-    t1 = millis_since_boot();
-    rgb_to_yuv_queue(&rgb_to_yuv_state, q, rgb_cl, yuv_cl);
-    t2 = millis_since_boot();
-
-    //printf("OpenCL: rgb to yuv: %.2fms\n", t2-t1);
-    uint8_t *yyy = (uint8_t *)clEnqueueMapBuffer(q, yuv_cl, CL_TRUE,
-                                                 CL_MAP_READ, 0, frame_yuv_buf_size,
-                                                 0, NULL, NULL, &err);
-    if(!compare_results(frame_yuv_ptr_y, yyy, frame_yuv_buf_size, width, width, height, (uint8_t*)rgb_frame))
-      mismatched++;
-    clEnqueueUnmapMemObject(q, yuv_cl, yyy, 0, NULL, NULL);
-
-    // std::this_thread::sleep_for(std::chrono::milliseconds(20));
-    if(counter++ % 100 == 0)
-      printf("Matched: %d, Mismatched: %d\n", counter - mismatched, mismatched);
-
-  }
-  printf("Matched: %d, Mismatched: %d\n", counter - mismatched, mismatched);
-
-  delete[] frame_yuv_buf;
-  rgb_to_yuv_destroy(&rgb_to_yuv_state);
-  clReleaseContext(context);
-  delete[] rgb_frame;
-
-  if (mismatched == 0)
-    return 0;
-  else
-    return -1;
-}

selfdrive/car/CARS_template.md

@@ -1,20 +1,15 @@
 {% set footnote_tag = '[<sup>{}</sup>](#footnotes)' -%}
-{% set star_icon = '<a href="##"><img valign="top" src="assets/icon-star-{}.svg" width="22" /></a>' -%}
+{% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' -%}
+
+<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
 # Supported Cars
 
 A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
 
-Cars are organized into three tiers:
-
-{% for tier in tiers %}
-- {{tier.name.title()}} - {{tier.value}}
-{% endfor %}
-
-How We Rate The Cars
----
+## How We Rate The Cars
 
-{% for star_row in star_descriptions.values() %}
+{% for star_row in STAR_DESCRIPTIONS.values() %}
 {% for name, stars in star_row.items() %}
 ### {{name}}
 {% for star, description in stars %}
@@ -23,20 +18,16 @@ How We Rate The Cars
 
 {% endfor %}
 {% endfor %}
-**All supported cars can move between the tiers as support changes.**
 
-{% for tier, cars in tiers.items() %}
-# {{tier.name.title()}} - {{cars | length}} cars
+# {{all_car_info | length}} Supported Cars
 
 |{{Column | map(attribute='value') | join('|')}}|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|
-{% for car_info in cars %}
+|---|---|---|:---:|:---:|:---:|:---:|
+{% for car_info in all_car_info %}
 |{% for column in Column %}{{car_info.get_column(column, star_icon, footnote_tag)}}|{% endfor %}
 
 {% endfor %}
 
-{% endfor %}
-
 <a id="footnotes"></a>
 {% for footnote in footnotes %}
 <sup>{{loop.index}}</sup>{{footnote}} <br />
@@ -44,3 +35,42 @@ How We Rate The Cars
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
+
+# Don't see your car here?
+
+**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
+If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you!
+
+### Which cars are able to be supported?
+
+openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016.
+
+If your car has the following packages or features, then it's a good candidate for support. If it does not, then it's unlikely able to be supported.
+
+| Make | Required Package/Features |
+| ---- | ------------------------- |
+| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
+| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
+| Nissan | Any car with ProPILOT will likely work. |
+| Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. |
+| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA comes standard on most newer models. Any form of SCC will work, such as NSCC. |
+| Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. |
+
+### FlexRay
+
+All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the cars in your computer can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay.
+
+### Toyota Security
+
+Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support.
+So far, this list includes:
+* Toyota RAV4 Prime 2021+
+* Toyota Sienna 2021+
+* Toyota Venza 2021+
+* Toyota Sequoia 2023+
+* Toyota Tundra 2022+
+* Toyota Corolla Cross 2022+ (only US model)
+* Lexus NX 2022+
+* Toyota bZ4x 2023+
+* Subaru Solterra 2023+

selfdrive/car/body/bodycan.py

@@ -1,9 +1,7 @@
-def create_control(packer, torque_l, torque_r, idx):
-  can_bus = 0
-
+def create_control(packer, torque_l, torque_r):
   values = {
     "TORQUE_L": torque_l,
     "TORQUE_R": torque_r,
   }
 
-  return packer.make_can_msg("TORQUE_CMD", can_bus, values, idx)
+  return packer.make_can_msg("TORQUE_CMD", 0, values)

selfdrive/car/body/carcontroller.py

@@ -1,8 +1,8 @@
 import numpy as np
 
 from common.realtime import DT_CTRL
-from selfdrive.car.body import bodycan
 from opendbc.can.packer import CANPacker
+from selfdrive.car.body import bodycan
 from selfdrive.car.body.values import SPEED_FROM_RPM
 from selfdrive.controls.lib.pid import PIDController
 
@@ -14,7 +14,7 @@ MAX_POS_INTEGRATOR = 0.2   # meters
 MAX_TURN_INTEGRATOR = 0.1  # meters
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.frame = 0
     self.packer = CANPacker(dbc_name)
@@ -61,8 +61,8 @@ class CarController():
 
       speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
       turn_error = speed_diff_measured - speed_diff_desired
-      freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_POS_INTEGRATOR) or
-                           (turn_error > 0 and self.turn_pid.error_integral >= MAX_POS_INTEGRATOR))
+      freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_TURN_INTEGRATOR) or
+                           (turn_error > 0 and self.turn_pid.error_integral >= MAX_TURN_INTEGRATOR))
       torque_diff = self.turn_pid.update(turn_error, freeze_integrator=freeze_integrator)
 
       # Combine 2 PIDs outputs
@@ -80,7 +80,7 @@ class CarController():
       torque_l = int(np.clip(self.torque_l_filtered, -MAX_TORQUE, MAX_TORQUE))
 
     can_sends = []
-    can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r, self.frame // 2))
+    can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
 
     new_actuators = CC.actuators.copy()
     new_actuators.accel = torque_l

selfdrive/car/car_helpers.py

@@ -7,8 +7,8 @@ from common.basedir import BASEDIR
 from system.version import is_comma_remote, is_tested_branch
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
-from selfdrive.car.vin import get_vin, VIN_UNKNOWN
-from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
+from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
+from selfdrive.car.fw_versions import get_fw_versions_ordered, match_fw_to_car, get_present_ecus
 from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
@@ -79,6 +79,7 @@ interfaces = load_interfaces(interface_names)
 def fingerprint(logcan, sendcan):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
+  ecu_rx_addrs = set()
 
   if not fixed_fingerprint and not skip_fw_query:
     # Vin query only reliably works thorugh OBDII
@@ -92,19 +93,20 @@ def fingerprint(logcan, sendcan):
 
     if False and cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
       cloudlog.warning("Using cached CarParams")
-      vin = cached_params.carVin
+      vin, vin_rx_addr = cached_params.carVin, 0
       car_fw = list(cached_params.carFw)
     else:
       cloudlog.warning("Getting VIN & FW versions")
-      _, vin = get_vin(logcan, sendcan, bus)
-      car_fw = get_fw_versions(logcan, sendcan)
+      _, vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
+      ecu_rx_addrs = get_present_ecus(logcan, sendcan)
+      car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs)
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
   else:
-    vin = VIN_UNKNOWN
+    vin, vin_rx_addr = VIN_UNKNOWN, 0
     exact_fw_match, fw_candidates, car_fw = True, set(), []
 
-  if len(vin) != 17:
+  if not is_valid_vin(vin):
     cloudlog.event("Malformed VIN", vin=vin, error=True)
     vin = VIN_UNKNOWN
   cloudlog.warning("VIN %s", vin)
@@ -113,7 +115,7 @@ def fingerprint(logcan, sendcan):
   finger = gen_empty_fingerprint()
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
   frame = 0
-  frame_fingerprint = 25  # 0.25s
+  frame_fingerprint = 100  # 1s
   car_fingerprint = None
   done = False
 
@@ -163,8 +165,8 @@ def fingerprint(logcan, sendcan):
     car_fingerprint = fixed_fingerprint
     source = car.CarParams.FingerprintSource.fixed
 
-  cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint,
-                 source=source, fuzzy=not exact_match, fw_count=len(car_fw))
+  cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match,
+                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, error=True)
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 

selfdrive/car/chrysler/carcontroller.py

@@ -1,8 +1,8 @@
-from cereal import car
 from opendbc.can.packer import CANPacker
+from common.realtime import DT_CTRL
 from selfdrive.car import apply_toyota_steer_torque_limits
-from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_wheel_buttons
-from selfdrive.car.chrysler.values import CAR, CarControllerParams
+from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
+from selfdrive.car.chrysler.values import CAR, RAM_CARS, CarControllerParams
 
 
 class CarController:
@@ -10,61 +10,72 @@ class CarController:
     self.CP = CP
     self.apply_steer_last = 0
     self.frame = 0
-    self.prev_lkas_frame = -1
+
     self.hud_count = 0
-    self.car_fingerprint = CP.carFingerprint
-    self.gone_fast_yet = False
-    self.steer_rate_limited = False
+    self.last_lkas_falling_edge = 0
+    self.lkas_control_bit_prev = False
+    self.last_button_frame = 0
 
     self.packer = CANPacker(dbc_name)
+    self.params = CarControllerParams(CP)
 
   def update(self, CC, CS):
-    # this seems needed to avoid steering faults and to force the sync with the EPS counter
-    if self.prev_lkas_frame == CS.lkas_counter:
-      return car.CarControl.Actuators.new_message(), []
-
-    actuators = CC.actuators
-
-    # steer torque
-    new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
-    apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
-                                                   CS.out.steeringTorqueEps, CarControllerParams)
-    self.steer_rate_limited = new_steer != apply_steer
-
-    moving_fast = CS.out.vEgo > self.CP.minSteerSpeed  # for status message
-    if CS.out.vEgo > (self.CP.minSteerSpeed - 0.5):  # for command high bit
-      self.gone_fast_yet = True
-    elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
+    can_sends = []
+
+    # TODO: can we make this more sane? why is it different for all the cars?
+    lkas_control_bit = self.lkas_control_bit_prev
+    if CS.out.vEgo > self.CP.minSteerSpeed:
+      lkas_control_bit = True
+    elif self.CP.carFingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
       if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
-        self.gone_fast_yet = False  # < 14.5m/s stock turns off this bit, but fine down to 13.5
-    lkas_active = moving_fast and CC.enabled
+        lkas_control_bit = False
+    elif self.CP.carFingerprint in RAM_CARS:
+      if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
+        lkas_control_bit = False
 
-    if not lkas_active:
-      apply_steer = 0
+    # EPS faults if LKAS re-enables too quickly
+    lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
+    lkas_active = CC.latActive and self.lkas_control_bit_prev
 
-    self.apply_steer_last = apply_steer
+    # *** control msgs ***
 
-    can_sends = []
+    # cruise buttons
+    if (self.frame - self.last_button_frame)*DT_CTRL > 0.05:
+      das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
 
-    # *** control msgs ***
+      # ACC cancellation
+      if CC.cruiseControl.cancel:
+        self.last_button_frame = self.frame
+        can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
 
-    if CC.cruiseControl.cancel:
-      can_sends.append(create_wheel_buttons(self.packer, CS.button_counter + 1, cancel=True))
+      # ACC resume from standstill
+      elif CC.cruiseControl.resume:
+        self.last_button_frame = self.frame
+        can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
 
-    # LKAS_HEARTBIT is forwarded by Panda so no need to send it here.
-    # frame is 100Hz (0.01s period)
-    if self.frame % 25 == 0:  # 0.25s period
+    # HUD alerts
+    if self.frame % 25 == 0:
       if CS.lkas_car_model != -1:
-        can_sends.append(create_lkas_hud(self.packer, CS.out.gearShifter, lkas_active,
-                                         CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model))
+        can_sends.append(create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
         self.hud_count += 1
 
-    can_sends.append(create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, CS.lkas_counter))
+    # steering
+    if self.frame % 2 == 0:
+      # steer torque
+      new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
+      apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
+      if not lkas_active:
+        apply_steer = 0
+      self.apply_steer_last = apply_steer
+
+      can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
 
     self.frame += 1
-    self.prev_lkas_frame = CS.lkas_counter
+    if not lkas_control_bit and self.lkas_control_bit_prev:
+      self.last_lkas_falling_edge = self.frame
+    self.lkas_control_bit_prev = lkas_control_bit
 
-    new_actuators = actuators.copy()
-    new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+    new_actuators = CC.actuators.copy()
+    new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
 
     return new_actuators, can_sends

selfdrive/car/chrysler/carstate.py

@@ -3,150 +3,203 @@ from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD
+from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
 
 
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
+    self.CP = CP
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
+
+    self.auto_high_beam = 0
+    self.button_counter = 0
+    self.lkas_car_model = -1
+
+    if CP.carFingerprint in RAM_CARS:
+      self.shifter_values = can_define.dv["Transmission_Status"]["Gear_State"]
+    else:
+      self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
 
   def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
 
-    self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"])
+    # lock info
+    ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
+                        cp.vl["BCM_1"]["DOOR_OPEN_FR"],
+                        cp.vl["BCM_1"]["DOOR_OPEN_RL"],
+                        cp.vl["BCM_1"]["DOOR_OPEN_RR"]])
+    ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1
 
-    ret.doorOpen = any([cp.vl["DOORS"]["DOOR_OPEN_FL"],
-                        cp.vl["DOORS"]["DOOR_OPEN_FR"],
-                        cp.vl["DOORS"]["DOOR_OPEN_RL"],
-                        cp.vl["DOORS"]["DOOR_OPEN_RR"]])
-    ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1
-
-    ret.brakePressed = cp.vl["BRAKE_2"]["BRAKE_PRESSED_2"] == 5  # human-only
+    # brake pedal
     ret.brake = 0
-    ret.gas = cp.vl["ACCEL_GAS_134"]["ACCEL_134"]
-    ret.gasPressed = ret.gas > 1e-5
+    ret.brakePressed = cp.vl["ESP_1"]['Brake_Pedal_State'] == 1  # Physical brake pedal switch
 
-    ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1)
+    # gas pedal
+    ret.gas = cp.vl["ECM_5"]["Accelerator_Position"]
+    ret.gasPressed = ret.gas > 1e-5
 
+    # car speed
+    if self.CP.carFingerprint in RAM_CARS:
+      ret.vEgoRaw = cp.vl["ESP_8"]["Vehicle_Speed"] * CV.KPH_TO_MS
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["Transmission_Status"]["Gear_State"], None))
+    else:
+      ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = not ret.vEgoRaw > 0.001
     ret.wheelSpeeds = self.get_wheel_speeds(
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_FL"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_FR"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_RL"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_RR"],
       unit=1,
     )
-    ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = not ret.vEgoRaw > 0.001
 
+    # button presses
     ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
     ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
-    ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
+    ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1
+
+    # steering wheel
+    ret.steeringAngleDeg = cp.vl["STEERING"]["STEERING_ANGLE"] + cp.vl["STEERING"]["STEERING_ANGLE_HP"]
     ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
+    ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
+    ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
+    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
 
-    ret.cruiseState.enabled = cp.vl["ACC_2"]["ACC_STATUS_2"] == 7  # ACC is green.
-    ret.cruiseState.available = ret.cruiseState.enabled  # FIXME: for now same as enabled
-    ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
-    # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
-    ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
-    ret.accFaulted = cp.vl["ACC_2"]["ACC_FAULTED"] != 0
+    # cruise state
+    cp_cruise = cp_cam if self.CP.carFingerprint in RAM_CARS else cp
 
-    ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
-    ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-    steer_state = cp.vl["EPS_STATUS"]["LKAS_STATE"]
-    ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
+    ret.cruiseState.available = cp_cruise.vl["DAS_3"]["ACC_AVAILABLE"] == 1
+    ret.cruiseState.enabled = cp_cruise.vl["DAS_3"]["ACC_ACTIVE"] == 1
+    ret.cruiseState.speed = cp_cruise.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS
+    ret.cruiseState.nonAdaptive = cp_cruise.vl["DAS_4"]["ACC_STATE"] in (1, 2)  # 1 NormalCCOn and 2 NormalCCSet
+    ret.cruiseState.standstill = cp_cruise.vl["DAS_3"]["ACC_STANDSTILL"] == 1
+    ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0
 
-    ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_FLASH"])
+    if self.CP.carFingerprint in RAM_CARS:
+      self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']  # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
+      ret.steerFaultTemporary  = cp.vl["EPS_3"]["DASM_FAULT"] == 1
+    else:
+      ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4
 
+    # blindspot sensors
     if self.CP.enableBsm:
-      ret.leftBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_LEFT"] == 1
-      ret.rightBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_RIGHT"] == 1
+      ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
+      ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
 
-    self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
-    self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"]
-    self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]
-    self.button_counter = cp.vl["WHEEL_BUTTONS"]["COUNTER"]
+    self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
+    self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
 
     return ret
 
+  @staticmethod
+  def get_cruise_signals():
+    signals = [
+      ("ACC_AVAILABLE", "DAS_3"),
+      ("ACC_ACTIVE", "DAS_3"),
+      ("ACC_FAULTED", "DAS_3"),
+      ("ACC_STANDSTILL", "DAS_3"),
+      ("COUNTER", "DAS_3"),
+      ("ACC_SET_SPEED_KPH", "DAS_4"),
+      ("ACC_STATE", "DAS_4"),
+    ]
+    checks = [
+      ("DAS_3", 50),
+      ("DAS_4", 50),
+    ]
+    return signals, checks
+
   @staticmethod
   def get_can_parser(CP):
     signals = [
       # sig_name, sig_address
-      ("PRNDL", "GEAR"),
-      ("DOOR_OPEN_FL", "DOORS"),
-      ("DOOR_OPEN_FR", "DOORS"),
-      ("DOOR_OPEN_RL", "DOORS"),
-      ("DOOR_OPEN_RR", "DOORS"),
-      ("BRAKE_PRESSED_2", "BRAKE_2"),
-      ("ACCEL_134", "ACCEL_GAS_134"),
-      ("SPEED_LEFT", "SPEED_1"),
-      ("SPEED_RIGHT", "SPEED_1"),
-      ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"),
-      ("STEER_ANGLE", "STEERING"),
+      ("DOOR_OPEN_FL", "BCM_1"),
+      ("DOOR_OPEN_FR", "BCM_1"),
+      ("DOOR_OPEN_RL", "BCM_1"),
+      ("DOOR_OPEN_RR", "BCM_1"),
+      ("Brake_Pedal_State", "ESP_1"),
+      ("Accelerator_Position", "ECM_5"),
+      ("WHEEL_SPEED_FL", "ESP_6"),
+      ("WHEEL_SPEED_RR", "ESP_6"),
+      ("WHEEL_SPEED_RL", "ESP_6"),
+      ("WHEEL_SPEED_FR", "ESP_6"),
+      ("STEERING_ANGLE", "STEERING"),
+      ("STEERING_ANGLE_HP", "STEERING"),
       ("STEERING_RATE", "STEERING"),
       ("TURN_SIGNALS", "STEERING_LEVERS"),
-      ("ACC_STATUS_2", "ACC_2"),
-      ("ACC_FAULTED", "ACC_2"),
-      ("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
-      ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"),
-      ("CRUISE_STATE", "DASHBOARD"),
-      ("TORQUE_DRIVER", "EPS_STATUS"),
-      ("TORQUE_MOTOR", "EPS_STATUS"),
-      ("LKAS_STATE", "EPS_STATUS"),
-      ("COUNTER", "EPS_STATUS",),
-      ("TRACTION_OFF", "TRACTION_BUTTON"),
-      ("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS"),
-      ("COUNTER", "WHEEL_BUTTONS"),
+      ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"),
+      ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"),
+      ("COUNTER", "EPS_2",),
+      ("COLUMN_TORQUE", "EPS_2"),
+      ("EPS_TORQUE_MOTOR", "EPS_2"),
+      ("LKAS_STATE", "EPS_2"),
+      ("COUNTER", "CRUISE_BUTTONS"),
     ]
 
     checks = [
       # sig_address, frequency
-      ("BRAKE_2", 50),
-      ("EPS_STATUS", 100),
-      ("SPEED_1", 100),
-      ("WHEEL_SPEEDS", 50),
+      ("ESP_1", 50),
+      ("EPS_2", 100),
+      ("ESP_6", 50),
       ("STEERING", 100),
-      ("ACC_2", 50),
-      ("GEAR", 50),
-      ("ACCEL_GAS_134", 50),
-      ("WHEEL_BUTTONS", 50),
-      ("DASHBOARD", 15),
+      ("ECM_5", 50),
+      ("CRUISE_BUTTONS", 50),
       ("STEERING_LEVERS", 10),
-      ("SEATBELT_STATUS", 2),
-      ("DOORS", 1),
-      ("TRACTION_BUTTON", 1),
+      ("ORC_1", 2),
+      ("BCM_1", 1),
     ]
 
     if CP.enableBsm:
       signals += [
-        ("BLIND_SPOT_RIGHT", "BLIND_SPOT_WARNINGS"),
-        ("BLIND_SPOT_LEFT", "BLIND_SPOT_WARNINGS"),
+        ("RIGHT_STATUS", "BSM_1"),
+        ("LEFT_STATUS", "BSM_1"),
+      ]
+      checks.append(("BSM_1", 2))
+
+    if CP.carFingerprint in RAM_CARS:
+      signals += [
+        ("DASM_FAULT", "EPS_3"),
+        ("Vehicle_Speed", "ESP_8"),
+        ("Gear_State", "Transmission_Status"),
+      ]
+      checks += [
+        ("ESP_8", 50),
+        ("EPS_3", 50),
+        ("Transmission_Status", 50),
+      ]
+    else:
+      signals += [
+        ("PRNDL", "GEAR"),
+        ("SPEED_LEFT", "SPEED_1"),
+        ("SPEED_RIGHT", "SPEED_1"),
       ]
-      checks.append(("BLIND_SPOT_WARNINGS", 2))
+      checks += [
+        ("GEAR", 50),
+        ("SPEED_1", 100),
+      ]
+      signals += CarState.get_cruise_signals()[0]
+      checks += CarState.get_cruise_signals()[1]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
 
   @staticmethod
   def get_cam_can_parser(CP):
     signals = [
-      # sig_name, sig_address
-      ("COUNTER", "LKAS_COMMAND"),
-      ("CAR_MODEL", "LKAS_HUD"),
-      ("LKAS_STATUS_OK", "LKAS_HEARTBIT")
+      # sig_name, sig_address, default
+      ("CAR_MODEL", "DAS_6"),
     ]
     checks = [
-      ("LKAS_COMMAND", 100),
-      ("LKAS_HEARTBIT", 10),
-      ("LKAS_HUD", 4),
+      ("DAS_6", 4),
     ]
 
+    if CP.carFingerprint in RAM_CARS:
+      signals += [
+        ("AUTO_HIGH_BEAM_ON", "DAS_6"),
+      ]
+      signals += CarState.get_cruise_signals()[0]
+      checks += CarState.get_cruise_signals()[1]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)

selfdrive/car/chrysler/chryslercan.py

@@ -1,57 +1,71 @@
 from cereal import car
-from selfdrive.car import make_can_msg
-
+from selfdrive.car.chrysler.values import RAM_CARS
 
 GearShifter = car.CarState.GearShifter
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model):
-  # LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
+def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
+  # LKAS_HUD - Controls what lane-keeping icon is displayed
+
+  # == Color ==
+  # 0 hidden?
+  # 1 white
+  # 2 green
+  # 3 ldw
 
-  if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
-    msg = b'\x00\x00\x00\x03\x00\x00\x00\x00'
-    return make_can_msg(0x2a6, msg, 0)
+  # == Lines ==
+  # 03 white Lines
+  # 04 grey lines
+  # 09 left lane close
+  # 0A right lane close
+  # 0B left Lane very close
+  # 0C right Lane very close
+  # 0D left cross cross
+  # 0E right lane cross
 
-  color = 1  # default values are for park or neutral in 2017 are 0 0, but trying 1 1 for 2019
-  lines = 1
-  alerts = 0
+  # == Alerts ==
+  # 7 Normal
+  # 6 lane departure place hands on wheel
+
+  color = 2 if lkas_active else 1
+  lines = 3 if lkas_active else 0
+  alerts = 7 if lkas_active else 0
 
   if hud_count < (1 * 4):  # first 3 seconds, 4Hz
     alerts = 1
-  # CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID
-  # had color = 1 and lines = 1 but trying 2017 hybrid style for now.
-  if gear in (GearShifter.drive, GearShifter.reverse, GearShifter.low):
-    if lkas_active:
-      color = 2  # control active, display green.
-      lines = 6
-    else:
-      color = 1  # control off, display white.
-      lines = 1
+
+  if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired):
+    color = 4
+    lines = 0
+    alerts = 6
 
   values = {
-    "LKAS_ICON_COLOR": color,  # byte 0, last 2 bits
-    "CAR_MODEL": lkas_car_model,  # byte 1
-    "LKAS_LANE_LINES": lines,  # byte 2, last 4 bits
-    "LKAS_ALERTS": alerts,  # byte 3, last 4 bits
-    }
+    "LKAS_ICON_COLOR": color,
+    "CAR_MODEL": car_model,
+    "LKAS_LANE_LINES": lines,
+    "LKAS_ALERTS": alerts,
+  }
+
+  if CP.carFingerprint in RAM_CARS:
+    values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
 
-  return packer.make_can_msg("LKAS_HUD", 0, values)  # 0x2a6
+  return packer.make_can_msg("DAS_6", 0, values)
 
 
-def create_lkas_command(packer, apply_steer, moving_fast, frame):
-  # LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel.
+def create_lkas_command(packer, CP, apply_steer, lkas_control_bit):
+  # LKAS_COMMAND Lane-keeping signal to turn the wheel
+  enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
   values = {
-    "LKAS_STEERING_TORQUE": apply_steer,
-    "LKAS_HIGH_TORQUE": int(moving_fast),
-    "COUNTER": frame % 0x10,
+    "STEERING_TORQUE": apply_steer,
+    "LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
   }
   return packer.make_can_msg("LKAS_COMMAND", 0, values)
 
 
-def create_wheel_buttons(packer, frame, cancel=False):
-  # WHEEL_BUTTONS (571) Message sent to cancel ACC.
+def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
   values = {
-    "ACC_CANCEL": cancel,
-    "COUNTER": frame % 0x10
+    "ACC_Cancel": cancel,
+    "ACC_Resume": resume,
+    "COUNTER": frame % 0x10,
   }
-  return packer.make_can_msg("WHEEL_BUTTONS", 0, values)
+  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)

selfdrive/car/chrysler/interface.py

@@ -1,7 +1,8 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.chrysler.values import CAR
+from panda import Panda
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -10,30 +11,71 @@ class CarInterface(CarInterfaceBase):
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "chrysler"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
 
-    # Speed conversion:              20, 45 mph
-    ret.wheelbase = 3.089  # in meters for Pacifica Hybrid 2017
-    ret.steerRatio = 16.2  # Pacifica Hybrid 2017
-    ret.mass = 2242. + STD_CARGO_KG  # kg curb weight Pacifica Hybrid 2017
-    ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
-    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
-    ret.lateralTuning.pid.kf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
+    ret.dashcamOnly = candidate in RAM_HD
+
+    ret.radarOffCan = DBC[candidate]['radar'] is None
+
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.4
 
-    if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
-      ret.wheelbase = 2.91  # in meters
-      ret.steerRatio = 12.7
-      ret.steerActuatorDelay = 0.2  # in seconds
-
-    ret.centerToFront = ret.wheelbase * 0.44
+    # safety config
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
+    if candidate in RAM_HD:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
+    elif candidate in RAM_DT:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
 
     ret.minSteerSpeed = 3.8  # m/s
     if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
-      # TODO allow 2019 cars to steer down to 13 m/s if already engaged.
+      # TODO: allow 2019 cars to steer down to 13 m/s if already engaged.
       ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
 
+    # Chrysler
+    if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):
+      ret.mass = 2242. + STD_CARGO_KG
+      ret.wheelbase = 3.089
+      ret.steerRatio = 16.2  # Pacifica Hybrid 2017
+      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
+      ret.lateralTuning.pid.kf = 0.00006
+
+    # Jeep
+    elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
+      ret.mass = 1778 + STD_CARGO_KG
+      ret.wheelbase = 2.71
+      ret.steerRatio = 16.7
+      ret.steerActuatorDelay = 0.2
+      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
+      ret.lateralTuning.pid.kf = 0.00006
+
+    # Ram
+    elif candidate == CAR.RAM_1500:
+      ret.steerActuatorDelay = 0.2
+      ret.wheelbase = 3.88
+      ret.steerRatio = 16.3
+      ret.mass = 2493. + STD_CARGO_KG
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      ret.minSteerSpeed = 14.5
+      if car_fw is not None:
+        for fw in car_fw:
+          if fw.ecu == 'eps' and fw.fwVersion in (b"68312176AE", b"68312176AG", b"68273275AG"):
+            ret.minSteerSpeed = 0.
+
+    elif candidate == CAR.RAM_HD:
+      ret.steerActuatorDelay = 0.2
+      ret.wheelbase = 3.785
+      ret.steerRatio = 15.61
+      ret.mass = 3405. + STD_CARGO_KG
+      ret.minSteerSpeed = 16
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
+
+    else:
+      raise ValueError(f"Unsupported car: {candidate}")
+
+    ret.centerToFront = ret.wheelbase * 0.44
+
     # starting with reasonable value for civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
 
@@ -45,23 +87,23 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  # returns a car.CarState
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
-
     # events
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
 
-    if ret.vEgo < self.CP.minSteerSpeed:
+    # Low speed steer alert hysteresis logic
+    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
+      self.low_speed_alert = True
+    elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
+      self.low_speed_alert = False
+    if self.low_speed_alert:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
     ret.events = events.to_msg()
 
     return ret
 
-  # pass in a car.CarControl
-  # to be called @ 100hz
   def apply(self, c):
     return self.CC.update(c, self.CS)

selfdrive/car/chrysler/radar_interface.py

@@ -10,6 +10,10 @@ LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
 NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
 
 def _create_radar_can_parser(car_fingerprint):
+  dbc = DBC[car_fingerprint]['radar']
+  if dbc is None:
+    return None
+
   msg_n = len(RADAR_MSGS_C)
   # list of [(signal name, message name or number), (...)]
   # [('RADAR_STATE', 1024),
@@ -46,6 +50,9 @@ class RadarInterface(RadarInterfaceBase):
     self.trigger_msg = LAST_MSG
 
   def update(self, can_strings):
+    if self.rcp is None:
+      return super().update(None)
+
     vls = self.rcp.update_strings(can_strings)
     self.updated_messages.update(vls)
 
@@ -81,4 +88,4 @@ class RadarInterface(RadarInterfaceBase):
     ret.points = [x for x in self.pts.values() if x.dRel != 0]
 
     self.updated_messages.clear()
-    return ret
+    return ret

selfdrive/car/chrysler/values.py

@@ -2,43 +2,72 @@ from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Optional, Union
 
+from cereal import car
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarInfo, Harness
-from cereal import car
 Ecu = car.CarParams.Ecu
 
 
-class CarControllerParams:
-  STEER_MAX = 261         # 262 faults
-  STEER_DELTA_UP = 3      # 3 is stock. 100 is fine. 200 is too much it seems
-  STEER_DELTA_DOWN = 3    # no faults on the way down it seems
-  STEER_ERROR_MAX = 80
-
-
 class CAR:
+  # Chrysler
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
   PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
   PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
-  PACIFICA_2018 = "CHRYSLER PACIFICA 2018"  # includes 2017 Pacifica
+  PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
   PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
-  JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # includes 2017 Trailhawk
-  JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"  # includes 2020 Trailhawk
 
+  # Jeep
+  JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"   # includes 2017 Trailhawk
+  JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
+
+  # Ram
+  RAM_1500 = "RAM 1500 5TH GEN"
+  RAM_HD = "RAM HD 5TH GEN"
+
+
+class CarControllerParams:
+  def __init__(self, CP):
+    self.STEER_ERROR_MAX = 80
+    if CP.carFingerprint in RAM_HD:
+      self.STEER_DELTA_UP = 14
+      self.STEER_DELTA_DOWN = 14
+      self.STEER_MAX = 361  # higher than this faults the EPS
+    elif CP.carFingerprint in RAM_DT:
+      self.STEER_DELTA_UP = 6
+      self.STEER_DELTA_DOWN = 6
+      self.STEER_MAX = 261  # EPS allows more, up to 350?
+    else:
+      self.STEER_DELTA_UP = 3
+      self.STEER_DELTA_DOWN = 3
+      self.STEER_MAX = 261  # higher than this faults the EPS
+
+STEER_THRESHOLD = 120
+
+RAM_DT = {CAR.RAM_1500, }
+RAM_HD = {CAR.RAM_HD, }
+RAM_CARS = RAM_DT | RAM_HD
 
 @dataclass
 class ChryslerCarInfo(CarInfo):
-  package: str = "Adaptive Cruise"
+  package: str = "Adaptive Cruise Control"
   harness: Enum = Harness.fca
 
-
 CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
   CAR.PACIFICA_2018_HYBRID: None,  # same platforms
-  CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-21"),
+  CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"),
   CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
-  CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2020"),
+  CAR.PACIFICA_2020: [
+    ChryslerCarInfo("Chrysler Pacifica 2019-20"),
+    ChryslerCarInfo("Chrysler Pacifica 2021", package="All"),
+  ],
   CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
-  CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-20", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
+  CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
+  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram),
+  CAR.RAM_HD: [
+    ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram),
+    ChryslerCarInfo("Ram 3500 2020-22", harness=Harness.ram),
+  ],
 }
 
 # Unique CAN messages:
@@ -85,10 +114,14 @@ FINGERPRINTS = {
   },
     # Based on "8190c7275a24557b|2020-02-24--09-57-23"
   {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
+    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1536: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
   }],
   CAR.JEEP_CHEROKEE: [{
     55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+  },
+    # Based on c88f65eeaee4003a|2022-08-04--15-37-16
+  {
+    257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 671: 8, 672: 8, 678: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1235: 8, 1242: 8, 1252: 8, 1792: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1892: 8, 1927: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   }],
   CAR.JEEP_CHEROKEE_2019: [{
     # Jeep Grand Cherokee 2019, including most 2020 models
@@ -96,15 +129,110 @@ FINGERPRINTS = {
   }],
 }
 
+FW_VERSIONS = {
+  CAR.RAM_1500: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68294063AH',
+      b'68294063AG',
+      b'68434860AC',
+      b'68527375AD',
+      b'68453503AC',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68441329AB',
+      b'68490898AA',
+      b'68428609AB',
+      b'68500728AA',
+    ],
+    (Ecu.esp, 0x747, None): [
+      b'68432418AD',
+      b'68432418AB',
+      b'68436004AE',
+      b'68438454AD',
+      b'68436004AD',
+      b'68535469AB',
+      b'68438454AC',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'68320950AL',
+      b'68320950AJ',
+      b'68454268AB',
+      b'68475160AG',
+      b'04672892AB',
+      b'68475160AE',
+    ],
+    (Ecu.eps, 0x75A, None): [
+      b'68273275AG',
+      b'68469901AA',
+      b'68552788AA',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68448163AJ',
+      b'68500630AD',
+      b'68539650AD',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'68360078AL',
+      b'68384328AD',
+      b'68360085AL',
+      b'68360081AM',
+      b'68502994AD',
+      b'68445533AB',
+      b'68540431AB',
+      b'68484467AC',
+    ],
+    (Ecu.gateway, 0x18DACBF1, None): [
+      b'68402660AB',
+      b'68445283AB',
+      b'68533631AB',
+      b'68500483AB',
+    ],
+  },
+
+  CAR.RAM_HD: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68361606AH',
+      b'68492693AD',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68399794AC',
+      b'68428503AA',
+      b'68428505AA',
+    ],
+    (Ecu.esp, 0x747, None): [
+      b'68334977AH',
+      b'68504022AB',
+      b'68530686AB',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672895AB',
+      b'56029827AG',
+      b'68484694AE',
+    ],
+    (Ecu.eps, 0x761, None): [
+      b'68421036AC',
+      b'68507906AB',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'52421132AF',
+      b'M2370131MB',
+      b'M2421132MB',
+    ],
+    (Ecu.gateway, 0x18DACBF1, None): [
+      b'68488419AB',
+      b'68535476AB',
+    ],
+  },
+}
 
 DBC = {
-  CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),
+  CAR.RAM_HD: dbc_dict('chrysler_ram_hd_generated', None),
 }
-
-STEER_THRESHOLD = 120

selfdrive/car/disable_ecu.py

@@ -6,6 +6,7 @@ EXT_DIAG_RESPONSE = b'\x50\x03'
 
 COM_CONT_RESPONSE = b''
 
+
 def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
   """Silence an ECU by disabling sending and receiving messages using UDS 0x28.
   The ECU will stay silent as long as openpilot keeps sending Tester Present.
@@ -26,9 +27,22 @@ def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01'
 
         cloudlog.warning("ecu disabled")
         return True
+
     except Exception:
       cloudlog.exception("ecu disable exception")
 
     print(f"ecu disable retry ({i+1}) ...")
   cloudlog.warning("ecu disable failed")
   return False
+
+
+if __name__ == "__main__":
+  import time
+  import cereal.messaging as messaging
+  sendcan = messaging.pub_sock('sendcan')
+  logcan = messaging.sub_sock('can')
+  time.sleep(1)
+
+  # honda bosch radar disable
+  disabled = disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False)
+  print(f"disabled: {disabled}")

selfdrive/car/docs.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import argparse
+from collections import defaultdict
 import jinja2
 import os
 from enum import Enum
@@ -7,26 +8,26 @@ from natsort import natsorted
 from typing import Dict, List
 
 from common.basedir import BASEDIR
-from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, CarInfo, Column, Star, Tier
+from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, StarColumns, TierColumns, CarInfo, Column, Star
 from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR as HKG_RADAR_START_ADDR
-from selfdrive.car.tests.routes import non_tested_cars
 
 
-def get_all_footnotes() -> Dict[Enum, int]:
+def get_all_footnotes(only_tier_cols: bool = False) -> Dict[Enum, int]:
   all_footnotes = []
+  hide_cols = set(StarColumns) - set(TierColumns) if only_tier_cols else []
   for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
-    all_footnotes += footnotes
+    all_footnotes.extend([fn for fn in footnotes if fn.value.column not in hide_cols])
   return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
 
 
-ALL_FOOTNOTES: Dict[Enum, int] = get_all_footnotes()
 CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
 CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
 
 
-def get_all_car_info() -> List[CarInfo]:
+def get_all_car_info(only_tier_cols: bool = False) -> List[CarInfo]:
   all_car_info: List[CarInfo] = []
+  footnotes = get_all_footnotes(only_tier_cols)
   for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
     # Hyundai exception: those with radar have openpilot longitudinal
     fingerprint = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}}
@@ -40,32 +41,37 @@ def get_all_car_info() -> List[CarInfo]:
       car_info = (car_info,)
 
     for _car_info in car_info:
-      all_car_info.append(_car_info.init(CP, non_tested_cars, ALL_FOOTNOTES))
+      if not hasattr(_car_info, "row"):
+        _car_info.init(CP, footnotes)
+      all_car_info.append(_car_info)
 
   # Sort cars by make and model + year
-  sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: (car.make + car.model).lower())
+  sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower())
   return sorted_cars
 
 
-def sort_by_tier(all_car_info: List[CarInfo]) -> Dict[Tier, List[CarInfo]]:
-  tier_car_info: Dict[Tier, List[CarInfo]] = {tier: [] for tier in Tier}
+def group_by_make(all_car_info: List[CarInfo]) -> Dict[str, List[CarInfo]]:
+  sorted_car_info = defaultdict(list)
   for car_info in all_car_info:
-    tier_car_info[car_info.tier].append(car_info)
-
-  # Sort cars by make and model + year
-  for tier, cars in tier_car_info.items():
-    tier_car_info[tier] = natsorted(cars, key=lambda car: (car.make + car.model).lower())
-
-  return tier_car_info
+    sorted_car_info[car_info.make].append(car_info)
+  return dict(sorted_car_info)
 
 
-def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str:
+def generate_cars_md(all_car_info: List[CarInfo], template_fn: str, only_tier_cols: bool) -> str:
   with open(template_fn, "r") as f:
     template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
 
-  footnotes = [fn.value.text for fn in ALL_FOOTNOTES]
-  cars_md: str = template.render(tiers=sort_by_tier(all_car_info), all_car_info=all_car_info,
-                                 footnotes=footnotes, Star=Star, Column=Column, star_descriptions=STAR_DESCRIPTIONS)
+  cols = list(Column)
+  if only_tier_cols:
+    hide_cols = set(StarColumns) - set(TierColumns)
+    cols = [c for c in cols if c not in hide_cols]
+    for car in all_car_info:
+      for c in hide_cols:
+        del car.row[c]
+
+  footnotes = [fn.value.text for fn in get_all_footnotes(only_tier_cols)]
+  cars_md: str = template.render(all_car_info=all_car_info, group_by_make=group_by_make,
+                                 footnotes=footnotes, Star=Star, Column=cols, STAR_DESCRIPTIONS=STAR_DESCRIPTIONS)
   return cars_md
 
 
@@ -73,10 +79,11 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
 
+  parser.add_argument("--tier-columns", action="store_true", help="Include only columns that count in the tier")
   parser.add_argument("--template", default=CARS_MD_TEMPLATE, help="Override default template filename")
   parser.add_argument("--out", default=CARS_MD_OUT, help="Override default generated filename")
   args = parser.parse_args()
 
   with open(args.out, 'w') as f:
-    f.write(generate_cars_md(get_all_car_info(), args.template))
+    f.write(generate_cars_md(get_all_car_info(args.tier_columns), args.template, args.tier_columns))
   print(f"Generated and written to {args.out}")

selfdrive/car/docs_definitions.py

@@ -1,20 +1,24 @@
-import math
-
-from cereal import car
+import re
 from collections import namedtuple
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from enum import Enum
-from typing import Dict, List, Optional, Union, no_type_check
+from typing import Dict, List, Optional, Tuple, Union, no_type_check
+
+from cereal import car
+from common.conversions import Conversions as CV
 
-TACO_TORQUE_THRESHOLD = 2.5  # m/s^2
-GREAT_TORQUE_THRESHOLD = 1.4  # m/s^2
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
+MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
+
+# Makes that lack auto-resume with stock long, and auto resume in any configuration
+NO_AUTO_RESUME_STOCK_LONG = {"toyota", "gm"}
+NO_AUTO_RESUME = NO_AUTO_RESUME_STOCK_LONG | {"nissan", "subaru"}
 
 
 class Tier(Enum):
-  GOLD = "The best openpilot experience. Great highway driving and beyond."
-  SILVER = "A solid highway driving experience, but is limited by stock longitudinal. May be upgraded in the future."
-  BRONZE = "A good highway experience, but may have limited performance in traffic and on sharp turns."
+  GOLD = 0
+  SILVER = 1
+  BRONZE = 2
 
 
 class Column(Enum):
@@ -25,7 +29,6 @@ class Column(Enum):
   FSR_LONGITUDINAL = "Stop and Go"
   FSR_STEERING = "Steer to 0"
   STEERING_TORQUE = "Steering Torque"
-  MAINTAINED = "Actively Maintained"
 
 
 class Star(Enum):
@@ -35,16 +38,41 @@ class Star(Enum):
 
 
 StarColumns = list(Column)[3:]
+TierColumns = (Column.FSR_LONGITUDINAL, Column.FSR_STEERING, Column.STEERING_TORQUE)
 CarFootnote = namedtuple("CarFootnote", ["text", "column", "star"], defaults=[None])
 
 
-def get_footnote(footnotes: Optional[List[Enum]], column: Column) -> Optional[Enum]:
-  # Returns applicable footnote given current column
-  if footnotes is not None:
-    for fn in footnotes:
-      if fn.value.column == column:
-        return fn
-  return None
+def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]:
+  # Returns applicable footnotes given current column
+  return [fn for fn in footnotes if fn.value.column == column]
+
+
+# TODO: store years as a list
+def get_year_list(years):
+  years_list = []
+  if len(years) == 0:
+    return years_list
+
+  for year in years.split(','):
+    year = year.strip()
+    if len(year) == 4:
+      years_list.append(str(year))
+    elif "-" in year and len(year) == 7:
+      start, end = year.split("-")
+      years_list.extend(map(str, range(int(start), int(f"20{end}") + 1)))
+    else:
+      raise Exception(f"Malformed year string: {years}")
+  return years_list
+
+
+def split_name(name: str) -> Tuple[str, str, str]:
+  make, model = name.split(" ", 1)
+  years = ""
+  match = re.search(MODEL_YEARS_RE, model)
+  if match is not None:
+    years = model[match.start():]
+    model = model[:match.start() - 1]
+  return make, model, years
 
 
 @dataclass
@@ -52,47 +80,40 @@ class CarInfo:
   name: str
   package: str
   video_link: Optional[str] = None
-  footnotes: Optional[List[Enum]] = None
+  footnotes: List[Enum] = field(default_factory=list)
   min_steer_speed: Optional[float] = None
   min_enable_speed: Optional[float] = None
-  good_torque: bool = False
   harness: Optional[Enum] = None
 
-  def init(self, CP: car.CarParams, non_tested_cars: List[str], all_footnotes: Dict[Enum, int]):
+  def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
     # TODO: set all the min steer speeds in carParams and remove this
-    min_steer_speed = CP.minSteerSpeed
     if self.min_steer_speed is not None:
-      min_steer_speed = self.min_steer_speed
       assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarInfo and CarParams"
-
-    assert self.harness is not None, f"{CP.carFingerprint}: Need to specify car harness"
+    else:
+      self.min_steer_speed = CP.minSteerSpeed
 
     # TODO: set all the min enable speeds in carParams correctly and remove this
-    min_enable_speed = CP.minEnableSpeed
-    if self.min_enable_speed is not None:
-      min_enable_speed = self.min_enable_speed
+    if self.min_enable_speed is None:
+      self.min_enable_speed = CP.minEnableSpeed
 
     self.car_name = CP.carName
-    self.make, self.model = self.name.split(' ', 1)
+    self.car_fingerprint = CP.carFingerprint
+    self.make, self.model, self.years = split_name(self.name)
     self.row = {
       Column.MAKE: self.make,
       Column.MODEL: self.model,
       Column.PACKAGE: self.package,
       # StarColumns
       Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY,
-      Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY,
-      Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY,
-      Column.STEERING_TORQUE: Star.FULL if self.good_torque else Star.EMPTY,  # TODO: remove hardcoding and use maxLateralAccel
-      Column.MAINTAINED: Star.FULL if CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none else Star.EMPTY,
+      Column.FSR_LONGITUDINAL: Star.FULL if self.min_enable_speed <= 0. else Star.EMPTY,
+      Column.FSR_STEERING: Star.FULL if self.min_steer_speed <= 0. else Star.EMPTY,
+      Column.STEERING_TORQUE: Star.EMPTY,
     }
 
-    if not math.isnan(CP.maxLateralAccel):
-      if CP.maxLateralAccel >= GREAT_TORQUE_THRESHOLD:
-        self.row[Column.STEERING_TORQUE] = Star.FULL
-      elif CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
-        self.row[Column.STEERING_TORQUE] = Star.HALF
-      else:
-        self.row[Column.STEERING_TORQUE] = Star.EMPTY
+    # Set steering torque star from max lateral acceleration
+    assert CP.maxLateralAccel > 0.1
+    if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
+      self.row[Column.STEERING_TORQUE] = Star.FULL
 
     if CP.notCar:
       for col in StarColumns:
@@ -101,32 +122,76 @@ class CarInfo:
     self.all_footnotes = all_footnotes
     for column in StarColumns:
       # Demote if footnote specifies a star
-      footnote = get_footnote(self.footnotes, column)
-      if footnote is not None and footnote.value.star is not None:
-        self.row[column] = footnote.value.star
+      for fn in get_footnotes(self.footnotes, column):
+        if fn.value.star is not None:
+          self.row[column] = fn.value.star
+
+    # openpilot ACC star doesn't count for tiers
+    full_stars = [s for col, s in self.row.items() if col in TierColumns].count(Star.FULL)
+    if full_stars == len(TierColumns):
+      self.tier = Tier.GOLD
+    elif full_stars == len(TierColumns) - 1:
+      self.tier = Tier.SILVER
+    else:
+      self.tier = Tier.BRONZE
+
+    self.year_list = get_year_list(self.years)
+    self.detail_sentence = self.get_detail_sentence(CP)
 
-    self.tier = {5: Tier.GOLD, 4: Tier.SILVER}.get(list(self.row.values()).count(Star.FULL), Tier.BRONZE)
     return self
 
+  def get_detail_sentence(self, CP):
+    if not CP.notCar:
+      sentence_builder = "openpilot upgrades your <strong>{car_model}</strong> with automated lane centering{alc} and adaptive cruise control{acc}."
+
+      if self.min_steer_speed > self.min_enable_speed:
+        alc = f" <strong>above {self.min_steer_speed * CV.MS_TO_MPH:.0f} mph</strong>," if self.min_steer_speed > 0 else " <strong>at all speeds</strong>,"
+      else:
+        alc = ""
+
+      # Exception for cars which do not auto-resume yet
+      acc = ""
+      if self.min_enable_speed > 0:
+        acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>"
+      elif CP.carName not in NO_AUTO_RESUME or (CP.carName in NO_AUTO_RESUME_STOCK_LONG and CP.openpilotLongitudinalControl):
+        acc = " <strong>that automatically resumes from a stop</strong>"
+
+      if self.row[Column.STEERING_TORQUE] != Star.FULL:
+        sentence_builder += " This car may not be able to take tight turns on its own."
+
+      return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
+
+    else:
+      if CP.carFingerprint == "COMMA BODY":
+        return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com'>Learn more.</a>"
+      else:
+        raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
+
   @no_type_check
   def get_column(self, column: Column, star_icon: str, footnote_tag: str) -> str:
     item: Union[str, Star] = self.row[column]
     if column in StarColumns:
       item = star_icon.format(item.value)
+    elif column == Column.MODEL and len(self.years):
+      item += f" {self.years}"
 
-    footnote = get_footnote(self.footnotes, column)
-    if footnote is not None:
-      item += footnote_tag.format(self.all_footnotes[footnote])
+    footnotes = get_footnotes(self.footnotes, column)
+    if len(footnotes):
+      sups = sorted([self.all_footnotes[fn] for fn in footnotes])
+      item += footnote_tag.format(f'{",".join(map(str, sups))}')
 
     return item
 
 
 class Harness(Enum):
   nidec = "Honda Nidec"
-  bosch = "Honda Bosch A"
+  bosch_a = "Honda Bosch A"
+  bosch_b = "Honda Bosch B"
   toyota = "Toyota"
-  subaru = "Subaru"
+  subaru_a = "Subaru A"
+  subaru_b = "Subaru B"
   fca = "FCA"
+  ram = "Ram"
   vw = "VW"
   j533 = "J533"
   hyundai_a = "Hyundai A"
@@ -144,8 +209,11 @@ class Harness(Enum):
   hyundai_m = "Hyundai M"
   hyundai_n = "Hyundai N"
   hyundai_o = "Hyundai O"
+  hyundai_p = "Hyundai P"
+  hyundai_q = "Hyundai Q"
   custom = "Developer"
   obd_ii = "OBD-II"
+  gm = "GM"
   nissan_a = "Nissan A"
   nissan_b = "Nissan B"
   mazda = "Mazda"
@@ -154,31 +222,19 @@ class Harness(Enum):
 
 STAR_DESCRIPTIONS = {
   "Gas & Brakes": {  # icon and row name
-    "openpilot Adaptive Cruise Control (ACC)": [  # star column
-      [Star.FULL.value, "openpilot is able to control the gas and brakes."],
-      [Star.HALF.value, "openpilot is able to control the gas and brakes with some restrictions."],
-      [Star.EMPTY.value, "The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system."],
-    ],
     Column.FSR_LONGITUDINAL.value: [
-      [Star.FULL.value, "Adaptive Cruise Control (ACC) operates down to 0 mph."],
-      [Star.EMPTY.value, "Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed."],
+      [Star.FULL.value, "openpilot operates down to 0 mph."],
+      [Star.EMPTY.value, "openpilot operates only above a minimum speed. See your car's manual for the minimum speed."],
     ],
   },
   "Steering": {
     Column.FSR_STEERING.value: [
       [Star.FULL.value, "openpilot can control the steering wheel down to 0 mph."],
-      [Star.EMPTY.value, "No steering control below certain speeds."],
+      [Star.EMPTY.value, "No steering control below certain speeds. See your car's manual for the minimum speed."],
     ],
     Column.STEERING_TORQUE.value: [
-      [Star.FULL.value, "Car has enough steering torque to take tighter turns."],
-      [Star.HALF.value, "Car has enough steering torque for comfortable highway driving."],
-      [Star.EMPTY.value, "Limited ability to make turns."],
-    ],
-  },
-  "Support": {
-    Column.MAINTAINED.value: [
-      [Star.FULL.value, "Mainline software support, harness hardware sold by comma, lots of users, primary development target."],
-      [Star.EMPTY.value, "Low user count, community maintained, harness hardware not sold by comma."],
+      [Star.FULL.value, "Car has enough steering torque to comfortably take most highway turns."],
+      [Star.EMPTY.value, "Limited ability to make tighter turns."],
     ],
   },
 }

selfdrive/car/ecu_addrs.py

@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+import capnp
+import time
+import traceback
+from typing import Optional, Set, Tuple
+
+import cereal.messaging as messaging
+from panda.python.uds import SERVICE_TYPE
+from selfdrive.car import make_can_msg
+from selfdrive.boardd.boardd import can_list_to_can_capnp
+from system.swaglog import cloudlog
+
+
+def make_tester_present_msg(addr, bus, subaddr=None):
+  dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
+  if subaddr is not None:
+    dat.insert(0, subaddr)
+
+  dat.extend([0x0] * (8 - len(dat)))
+  return make_can_msg(addr, bytes(dat), bus)
+
+
+def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: Optional[int] = None) -> bool:
+  # ISO-TP messages are always padded to 8 bytes
+  # tester present response is always a single frame
+  dat_offset = 1 if subaddr is not None else 0
+  if len(msg.dat) == 8 and 1 <= msg.dat[dat_offset] <= 7:
+    # success response
+    if msg.dat[dat_offset + 1] == (SERVICE_TYPE.TESTER_PRESENT + 0x40):
+      return True
+    # error response
+    if msg.dat[dat_offset + 1] == 0x7F and msg.dat[dat_offset + 2] == SERVICE_TYPE.TESTER_PRESENT:
+      return True
+  return False
+
+
+def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[Tuple[int, Optional[int], int]]:
+  addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
+  queries: Set[Tuple[int, Optional[int], int]] = {(addr, None, bus) for addr in addr_list}
+  responses = queries
+  return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug)
+
+
+def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[Tuple[int, Optional[int], int]],
+                  responses: Set[Tuple[int, Optional[int], int]], timeout: float = 1, debug: bool = False) -> Set[Tuple[int, Optional[int], int]]:
+  ecu_responses: Set[Tuple[int, Optional[int], int]] = set()  # set((addr, subaddr, bus),)
+  try:
+    msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
+
+    messaging.drain_sock_raw(logcan)
+    sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
+    start_time = time.monotonic()
+    while time.monotonic() - start_time < timeout:
+      can_packets = messaging.drain_sock(logcan, wait_for_one=True)
+      for packet in can_packets:
+        for msg in packet.can:
+          subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
+          if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr):
+            if debug:
+              print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}")
+              if (msg.address, subaddr, msg.src) in ecu_responses:
+                print(f"Duplicate ECU address: {hex(msg.address)}")
+            ecu_responses.add((msg.address, subaddr, msg.src))
+  except Exception:
+    cloudlog.warning(f"ECU addr scan exception: {traceback.format_exc()}")
+  return ecu_responses
+
+
+if __name__ == "__main__":
+  import argparse
+
+  parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
+  parser.add_argument('--debug', action='store_true')
+  args = parser.parse_args()
+
+  logcan = messaging.sub_sock('can')
+  sendcan = messaging.pub_sock('sendcan')
+
+  time.sleep(1.0)
+
+  print("Getting ECU addresses ...")
+  ecu_addrs = get_all_ecu_addrs(logcan, sendcan, 1, debug=args.debug)
+
+  print()
+  print("Found ECUs on addresses:")
+  for addr, subaddr, bus in ecu_addrs:
+    msg = f"  0x{hex(addr)}"
+    if subaddr is not None:
+      msg += f" (sub-address: 0x{hex(subaddr)})"
+    print(msg)

selfdrive/car/ford/carcontroller.py

@@ -1,8 +1,8 @@
 from cereal import car
 from common.numpy_fast import clip, interp
+from opendbc.can.packer import CANPacker
 from selfdrive.car.ford import fordcan
 from selfdrive.car.ford.values import CarControllerParams
-from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -17,19 +17,19 @@ def apply_ford_steer_angle_limits(apply_steer, apply_steer_last, vEgo):
   return apply_steer
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.VM = VM
     self.packer = CANPacker(dbc_name)
+    self.frame = 0
 
     self.apply_steer_last = 0
-    self.steer_rate_limited = False
     self.main_on_last = False
     self.lkas_enabled_last = False
     self.steer_alert_last = False
 
-  def update(self, CC, CS, frame):
+  def update(self, CC, CS):
     can_sends = []
 
     actuators = CC.actuators
@@ -45,10 +45,9 @@ class CarController():
     # apply rate limits
     new_steer = actuators.steeringAngleDeg
     apply_steer = apply_ford_steer_angle_limits(new_steer, self.apply_steer_last, CS.out.vEgo)
-    self.steer_rate_limited = new_steer != apply_steer
 
     # send steering commands at 20Hz
-    if (frame % CarControllerParams.LKAS_STEER_STEP) == 0:
+    if (self.frame % CarControllerParams.LKAS_STEER_STEP) == 0:
       lca_rq = 1 if CC.latActive else 0
 
       # use LatCtlPath_An_Actl to actuate steering for now until curvature control is implemented
@@ -69,15 +68,14 @@ class CarController():
       can_sends.append(fordcan.create_tja_command(self.packer, lca_rq, ramp_type, precision,
                                                   path_offset, path_angle, curvature_rate, curvature))
 
-
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
 
     # send lkas ui command at 1Hz or if ui state changes
-    if (frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
+    if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
       can_sends.append(fordcan.create_lkas_ui_command(self.packer, main_on, CC.latActive, steer_alert, CS.lkas_status_stock_values))
 
     # send acc ui command at 20Hz or if ui state changes
-    if (frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
+    if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
       can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, CC.latActive, CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on
@@ -87,4 +85,5 @@ class CarController():
     new_actuators = actuators.copy()
     new_actuators.steeringAngleDeg = apply_steer
 
+    self.frame += 1
     return new_actuators, can_sends

selfdrive/car/ford/carstate.py

@@ -1,5 +1,3 @@
-from typing import Dict
-
 from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
@@ -51,8 +49,8 @@ class CarState(CarStateBase):
 
     # gear
     if self.CP.transmissionType == TransmissionType.automatic:
-      gear = int(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"])
-      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
+      gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"], None)
+      ret.gearShifter = self.parse_gear_shifter(gear)
     elif self.CP.transmissionType == TransmissionType.manual:
       ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
       if bool(cp.vl["BCM_Lamp_Stat_FD1"]["RvrseLghtOn_B_Stat"]):
@@ -85,14 +83,6 @@ class CarState(CarStateBase):
 
     return ret
 
-  @staticmethod
-  def parse_gear_shifter(gear: str) -> car.CarState.GearShifter:
-    d: Dict[str, car.CarState.GearShifter] = {
-        'Park': GearShifter.park, 'Reverse': GearShifter.reverse, 'Neutral': GearShifter.neutral,
-        'Manual': GearShifter.manumatic, 'Drive': GearShifter.drive,
-    }
-    return d.get(gear, GearShifter.unknown)
-
   @staticmethod
   def get_can_parser(CP):
     signals = [

selfdrive/car/ford/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
-from selfdrive.car.ford.values import TransmissionType, CAR
+from selfdrive.car.ford.values import CAR, TransmissionType, GearShifter
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -70,14 +70,10 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
-
-    events = self.create_common_events(ret)
+    events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
     ret.events = events.to_msg()
 
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS, self.frame)
-    self.frame += 1
-    return ret
+    return self.CC.update(c, self.CS)

selfdrive/car/ford/values.py

@@ -7,6 +7,7 @@ from selfdrive.car.docs_definitions import CarInfo
 
 Ecu = car.CarParams.Ecu
 TransmissionType = car.CarParams.TransmissionType
+GearShifter = car.CarState.GearShifter
 
 AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
 

selfdrive/car/fw_versions.py

@@ -3,11 +3,12 @@ import struct
 import traceback
 from collections import defaultdict
 from dataclasses import dataclass, field
-from typing import Any, List
+from typing import Any, List, Optional, Set, Tuple
 from tqdm import tqdm
 
 import panda.python.uds as uds
 from cereal import car
+from selfdrive.car.ecu_addrs import get_ecu_addrs
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
@@ -15,6 +16,7 @@ from selfdrive.car.toyota.values import CAR as TOYOTA
 from system.swaglog import cloudlog
 
 Ecu = car.CarParams.Ecu
+ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
 
 
 def p16(val):
@@ -90,6 +92,18 @@ SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
 SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 
+CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xf132)
+CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(0xf132)
+
+CHRYSLER_RX_OFFSET = -0x280
+
+FORD_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+FORD_VERSION_RESPONSE =  bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+
 
 @dataclass
 class Request:
@@ -130,16 +144,19 @@ REQUESTS: List[Request] = [
     "toyota",
     [SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
     [SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
+    bus=0,
   ),
   Request(
     "toyota",
     [SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST],
     [SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE],
+    bus=0,
   ),
   Request(
     "toyota",
     [TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST],
     [TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE],
+    bus=0,
   ),
   # Volkswagen
   Request(
@@ -186,6 +203,32 @@ REQUESTS: List[Request] = [
     [TESTER_PRESENT_RESPONSE, UDS_VERSION_RESPONSE],
     bus=0,
   ),
+  # Chrysler / FCA / Stellantis
+  Request(
+    "chrysler",
+    [CHRYSLER_VERSION_REQUEST],
+    [CHRYSLER_VERSION_RESPONSE],
+    rx_offset=CHRYSLER_RX_OFFSET,
+  ),
+  Request(
+    "chrysler",
+    [CHRYSLER_VERSION_REQUEST],
+    [CHRYSLER_VERSION_RESPONSE],
+  ),
+  # Ford
+  Request(
+    "ford",
+    [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
+    [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
+    whitelist_ecus=[Ecu.engine],
+  ),
+  Request(
+    "ford",
+    [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
+    [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
+    bus=0,
+    whitelist_ecus=[Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera],
+  ),
 ]
 
 
@@ -194,13 +237,23 @@ def chunks(l, n=128):
     yield l[i:i + n]
 
 
-def build_fw_dict(fw_versions):
-  fw_versions_dict = {}
+def build_fw_dict(fw_versions, filter_brand=None):
+  fw_versions_dict = defaultdict(set)
   for fw in fw_versions:
-    addr = fw.address
-    sub_addr = fw.subAddress if fw.subAddress != 0 else None
-    fw_versions_dict[(addr, sub_addr)] = fw.fwVersion
-  return fw_versions_dict
+    if filter_brand is None or fw.brand == filter_brand:
+      addr = fw.address
+      sub_addr = fw.subAddress if fw.subAddress != 0 else None
+      fw_versions_dict[(addr, sub_addr)].add(fw.fwVersion)
+  return dict(fw_versions_dict)
+
+
+def get_brand_addrs():
+  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
+  brand_addrs = defaultdict(set)
+  for brand, cars in versions.items():
+    for fw in cars.values():
+      brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()}
+  return brand_addrs
 
 
 def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
@@ -214,7 +267,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
   # time and only one is in our database.
   exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
 
-  # Build lookup table from (addr, subaddr, fw) to list of candidate cars
+  # Build lookup table from (addr, sub_addr, fw) to list of candidate cars
   all_fw_versions = defaultdict(list)
   for candidate, fw_by_addr in FW_VERSIONS.items():
     if candidate == exclude:
@@ -228,17 +281,18 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
 
   match_count = 0
   candidate = None
-  for addr, version in fw_versions_dict.items():
-    # All cars that have this FW response on the specified address
-    candidates = all_fw_versions[(addr[0], addr[1], version)]
-
-    if len(candidates) == 1:
-      match_count += 1
-      if candidate is None:
-        candidate = candidates[0]
-      # We uniquely matched two different cars. No fuzzy match possible
-      elif candidate != candidates[0]:
-        return set()
+  for addr, versions in fw_versions_dict.items():
+    for version in versions:
+      # All cars that have this FW response on the specified address
+      candidates = all_fw_versions[(addr[0], addr[1], version)]
+
+      if len(candidates) == 1:
+        match_count += 1
+        if candidate is None:
+          candidate = candidates[0]
+        # We uniquely matched two different cars. No fuzzy match possible
+        elif candidate != candidates[0]:
+          return set()
 
   if match_count >= 2:
     if log:
@@ -260,63 +314,140 @@ def match_fw_to_car_exact(fw_versions_dict):
     for ecu, expected_versions in fws.items():
       ecu_type = ecu[0]
       addr = ecu[1:]
-      found_version = fw_versions_dict.get(addr, None)
-      ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
-      if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and found_version is None:
+      found_versions = fw_versions_dict.get(addr, set())
+      if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and not len(found_versions):
         continue
 
       # On some Toyota models, the engine can show on two different addresses
-      if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and found_version is None:
+      if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and not len(found_versions):
         continue
 
       # Ignore non essential ecus
-      if ecu_type not in ESSENTIAL_ECUS and found_version is None:
+      if ecu_type not in ESSENTIAL_ECUS and not len(found_versions):
         continue
 
       # Virtual debug ecu doesn't need to match the database
       if ecu_type == Ecu.debug:
         continue
 
-      if found_version not in expected_versions:
+      if not any([found_version in expected_versions for found_version in found_versions]):
         invalid.append(candidate)
         break
 
   return set(candidates.keys()) - set(invalid)
 
 
-def match_fw_to_car(fw_versions, allow_fuzzy=True):
-  fw_versions_dict = build_fw_dict(fw_versions)
-  matches = match_fw_to_car_exact(fw_versions_dict)
+def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
+  # Try exact matching first
+  exact_matches = []
+  if allow_exact:
+    exact_matches = [(True, match_fw_to_car_exact)]
+  if allow_fuzzy:
+    exact_matches.append((False, match_fw_to_car_fuzzy))
 
-  exact_match = True
-  if allow_fuzzy and len(matches) == 0:
-    matches = match_fw_to_car_fuzzy(fw_versions_dict)
+  brands = get_interface_attr('FW_VERSIONS', ignore_none=True).keys()
+  for exact_match, match_func in exact_matches:
+    # For each brand, attempt to fingerprint using all FW returned from its queries
+    matches = set()
+    for brand in brands:
+      fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
+      matches |= match_func(fw_versions_dict)
 
-    # Fuzzy match found
-    if len(matches) == 1:
-      exact_match = False
+    if len(matches):
+      return exact_match, matches
 
-  return exact_match, matches
+  return True, set()
 
 
-def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progress=False):
-  ecu_types = {}
+def get_present_ecus(logcan, sendcan):
+  queries = list()
+  parallel_queries = list()
+  responses = set()
+  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
 
-  # Extract ECU addresses to query from fingerprints
-  # ECUs using a subadress need be queried one by one, the rest can be done in parallel
-  addrs = []
-  parallel_addrs = []
+  for r in REQUESTS:
+    if r.brand not in versions:
+      continue
+
+    for brand_versions in versions[r.brand].values():
+      for ecu_type, addr, sub_addr in brand_versions:
+        # Only query ecus in whitelist if whitelist is not empty
+        if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
+          a = (addr, sub_addr, r.bus)
+          # Build set of queries
+          if sub_addr is None:
+            if a not in parallel_queries:
+              parallel_queries.append(a)
+          else:  # subaddresses must be queried one by one
+            if [a] not in queries:
+              queries.append([a])
 
+          # Build set of expected responses to filter
+          response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
+          responses.add((response_addr, sub_addr, r.bus))
+
+  queries.insert(0, parallel_queries)
+
+  ecu_responses: Set[Tuple[int, Optional[int], int]] = set()
+  for query in queries:
+    ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
+  return ecu_responses
+
+
+def get_brand_ecu_matches(ecu_rx_addrs):
+  """Returns dictionary of brands and matches with ECUs in their FW versions"""
+
+  brand_addrs = get_brand_addrs()
+  brand_matches = {r.brand: set() for r in REQUESTS}
+
+  brand_rx_offsets = set((r.brand, r.rx_offset) for r in REQUESTS)
+  for addr, sub_addr, _ in ecu_rx_addrs:
+    # Since we can't know what request an ecu responded to, add matches for all possible rx offsets
+    for brand, rx_offset in brand_rx_offsets:
+      a = (uds.get_rx_addr_for_tx_addr(addr, -rx_offset), sub_addr)
+      if a in brand_addrs[brand]:
+        brand_matches[brand].add(a)
+
+  return brand_matches
+
+
+def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=False, progress=False):
+  """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
+
+  all_car_fw = []
+  brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
+
+  for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
+    car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress)
+    all_car_fw.extend(car_fw)
+    # Try to match using FW returned from this brand only
+    matches = match_fw_to_car_exact(build_fw_dict(car_fw))
+    if len(matches) == 1:
+      break
+
+  return all_car_fw
+
+
+def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False):
   versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
+  if query_brand is not None:
+    versions = {query_brand: versions[query_brand]}
+
   if extra is not None:
     versions.update(extra)
 
+  # Extract ECU addresses to query from fingerprints
+  # ECUs using a subaddress need be queried one by one, the rest can be done in parallel
+  addrs = []
+  parallel_addrs = []
+  ecu_types = {}
+
   for brand, brand_versions in versions.items():
     for c in brand_versions.values():
       for ecu_type, addr, sub_addr in c.keys():
         a = (brand, addr, sub_addr)
         if a not in ecu_types:
-          ecu_types[(addr, sub_addr)] = ecu_type
+          ecu_types[a] = ecu_type
 
         if sub_addr is None:
           if a not in parallel_addrs:
@@ -327,36 +458,35 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr
 
   addrs.insert(0, parallel_addrs)
 
-  fw_versions = {}
-  for i, addr in enumerate(tqdm(addrs, disable=not progress)):
+  # Get versions and build capnp list to put into CarParams
+  car_fw = []
+  requests = [r for r in REQUESTS if query_brand is None or r.brand == query_brand]
+  for addr in tqdm(addrs, disable=not progress):
     for addr_chunk in chunks(addr):
-      for r in REQUESTS:
+      for r in requests:
         try:
           addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any') and
-                   (len(r.whitelist_ecus) == 0 or ecu_types[(a, s)] in r.whitelist_ecus)]
+                   (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
 
           if addrs:
             query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
-            t = 2 * timeout if i == 0 else timeout
-            fw_versions.update({addr: (version, r.request, r.rx_offset) for addr, version in query.get_data(t).items()})
-        except Exception:
-          cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
+            for (addr, rx_addr), version in query.get_data(timeout).items():
+              f = car.CarParams.CarFw.new_message()
 
-  # Build capnp list to put into CarParams
-  car_fw = []
-  for addr, (version, request, rx_offset) in fw_versions.items():
-    f = car.CarParams.CarFw.new_message()
+              f.ecu = ecu_types.get((r.brand, addr[0], addr[1]), Ecu.unknown)
+              f.fwVersion = version
+              f.address = addr[0]
+              f.responseAddress = rx_addr
+              f.request = r.request
+              f.brand = r.brand
+              f.bus = r.bus
 
-    f.ecu = ecu_types[addr]
-    f.fwVersion = version
-    f.address = addr[0]
-    f.responseAddress = addr[0] + rx_offset
-    f.request = request
+              if addr[1] is not None:
+                f.subAddress = addr[1]
 
-    if addr[1] is not None:
-      f.subAddress = addr[1]
-
-    car_fw.append(f)
+              car_fw.append(f)
+        except Exception:
+          cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
 
   return car_fw
 
@@ -370,6 +500,7 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
   parser.add_argument('--scan', action='store_true')
   parser.add_argument('--debug', action='store_true')
+  parser.add_argument('--brand', help='Only query addresses/with requests for this brand')
   args = parser.parse_args()
 
   logcan = messaging.sub_sock('can')
@@ -389,21 +520,22 @@ if __name__ == "__main__":
 
   t = time.time()
   print("Getting vin...")
-  addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
-  print(f"VIN: {vin}")
+  addr, vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
+  print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}')
   print(f"Getting VIN took {time.time() - t:.3f} s")
   print()
 
   t = time.time()
-  fw_vers = get_fw_versions(logcan, sendcan, extra=extra, debug=args.debug, progress=True)
+  fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, debug=args.debug, progress=True)
   _, candidates = match_fw_to_car(fw_vers)
 
   print()
   print("Found FW versions")
   print("{")
+  padding = max([len(fw.brand) for fw in fw_vers] or [0])
   for version in fw_vers:
     subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-    print(f"  (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
+    print(f"  Brand: {version.brand:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
   print("}")
 
   print()

selfdrive/car/gm/carcontroller.py

@@ -1,32 +1,34 @@
 from cereal import car
 from common.conversions import Conversions as CV
-from common.realtime import DT_CTRL
 from common.numpy_fast import interp
+from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams
+from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, EV_CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
+NetworkLocation = car.CarParams.NetworkLocation
 
 
 class CarController:
   def __init__(self, dbc_name, CP, VM):
+    self.CP = CP
     self.start_time = 0.
     self.apply_steer_last = 0
     self.apply_gas = 0
     self.apply_brake = 0
     self.frame = 0
+    self.last_button_frame = 0
 
     self.lka_steering_cmd_counter_last = -1
     self.lka_icon_status_last = (False, False)
-    self.steer_rate_limited = False
 
     self.params = CarControllerParams()
 
-    self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
-    self.packer_obj = CANPacker(DBC[CP.carFingerprint]['radar'])
-    self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
+    self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
+    self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
+    self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
 
   def update(self, CC, CS):
     actuators = CC.actuators
@@ -45,11 +47,9 @@ class CarController:
     if CS.lka_steering_cmd_counter != self.lka_steering_cmd_counter_last:
       self.lka_steering_cmd_counter_last = CS.lka_steering_cmd_counter
     elif (self.frame % self.params.STEER_STEP) == 0:
-      lkas_enabled = CC.latActive and CS.out.vEgo > self.params.MIN_STEER_SPEED
-      if lkas_enabled:
+      if CC.latActive:
         new_steer = int(round(actuators.steer * self.params.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
-        self.steer_rate_limited = new_steer != apply_steer
       else:
         apply_steer = 0
 
@@ -58,50 +58,61 @@ class CarController:
       # moment of disengaging, increment the counter based on the last message known to pass Panda safety checks.
       idx = (CS.lka_steering_cmd_counter + 1) % 4
 
-      can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
-
-    # Gas/regen and brakes - all at 25Hz
-    if (self.frame % 4) == 0:
-      if not CC.longActive:
-        # Stock ECU sends max regen when not enabled
-        self.apply_gas = self.params.MAX_ACC_REGEN
-        self.apply_brake = 0
-      else:
-        self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
-        self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
-
-      idx = (self.frame // 4) % 4
-
-      at_full_stop = CC.longActive and CS.out.standstill
-      near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
-      # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
-      can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
-      can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
-
-    # Send dashboard UI commands (ACC status), 25hz
-    if (self.frame % 4) == 0:
-      send_fcw = hud_alert == VisualAlert.fcw
-      can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
-                                                          hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
-
-    # Radar needs to know current speed and yaw rate (50hz),
-    # and that ADAS is alive (10hz)
-    time_and_headlights_step = 10
-    tt = self.frame * DT_CTRL
-
-    if self.frame % time_and_headlights_step == 0:
-      idx = (self.frame // time_and_headlights_step) % 4
-      can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
-      can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
-
-    speed_and_accelerometer_step = 2
-    if self.frame % speed_and_accelerometer_step == 0:
-      idx = (self.frame // speed_and_accelerometer_step) % 4
-      can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
-      can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
-
-    if self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
-      can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
+      can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
+
+    if self.CP.openpilotLongitudinalControl:
+      # Gas/regen, brakes, and UI commands - all at 25Hz
+      if self.frame % 4 == 0:
+        if not CC.longActive:
+          # Stock ECU sends max regen when not enabled
+          self.apply_gas = self.params.MAX_ACC_REGEN
+          self.apply_brake = 0
+        else:
+          if self.CP.carFingerprint in EV_CAR:
+            self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+          else:
+            self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+
+        idx = (self.frame // 4) % 4
+
+        at_full_stop = CC.longActive and CS.out.standstill
+        near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
+        # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
+        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
+        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
+
+        # Send dashboard UI commands (ACC status)
+        send_fcw = hud_alert == VisualAlert.fcw
+        can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
+                                                            hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
+
+      # Radar needs to know current speed and yaw rate (50hz),
+      # and that ADAS is alive (10hz)
+      if not self.CP.radarOffCan:
+        tt = self.frame * DT_CTRL
+        time_and_headlights_step = 10
+        if self.frame % time_and_headlights_step == 0:
+          idx = (self.frame // time_and_headlights_step) % 4
+          can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
+          can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
+
+        speed_and_accelerometer_step = 2
+        if self.frame % speed_and_accelerometer_step == 0:
+          idx = (self.frame // speed_and_accelerometer_step) % 4
+          can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
+          can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
+
+      if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
+        can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
+
+    else:
+      # Stock longitudinal, integrated at camera
+      if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
+        if CC.cruiseControl.cancel:
+          self.last_button_frame = self.frame
+          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CruiseButtons.CANCEL))
 
     # Show green icon when LKA torque is applied, and
     # alarming orange icon when approaching torque limit.
@@ -110,7 +121,9 @@ class CarController:
     lka_active = CS.lkas_status == 1
     lka_critical = lka_active and abs(actuators.steer) > 0.9
     lka_icon_status = (lka_active, lka_critical)
-    if self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
+
+    # SW_GMLAN not yet on cam harness, no HUD alerts
+    if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
       steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
       can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
       self.lka_icon_status_last = lka_icon_status

selfdrive/car/gm/carstate.py

@@ -1,19 +1,23 @@
 from cereal import car
+from common.conversions import Conversions as CV
 from common.numpy_fast import mean
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, STEER_THRESHOLD
+from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
+
+TransmissionType = car.CarParams.TransmissionType
+NetworkLocation = car.CarParams.NetworkLocation
 
 
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    self.shifter_values = can_define.dv["ECMPRDNL"]["PRNDL"]
+    self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
     self.lka_steering_cmd_counter = 0
 
-  def update(self, pt_cp, loopback_cp):
+  def update(self, pt_cp, cam_cp, loopback_cp):
     ret = car.CarState.new_message()
 
     self.prev_cruise_buttons = self.cruise_buttons
@@ -28,14 +32,18 @@ class CarState(CarStateBase):
     ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.standstill = ret.vEgoRaw < 0.01
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]["PRNDL"], None))
+
+    if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
+      ret.gearShifter = self.parse_gear_shifter("T")
+    else:
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
 
     # Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed.
     ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
     ret.brakePressed = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] >= 10
 
     # Regen braking is braking
-    if self.car_fingerprint == CAR.VOLT:
+    if self.CP.transmissionType == TransmissionType.direct:
       ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
 
     ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
@@ -71,9 +79,21 @@ class CarState(CarStateBase):
 
     ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
+    if self.CP.networkLocation == NetworkLocation.fwdCamera:
+      ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
 
     return ret
 
+  @staticmethod
+  def get_cam_can_parser(CP):
+    signals = []
+    checks = []
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      signals.append(("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"))
+      checks.append(("ASCMActiveCruiseControlStatus", 25))
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.CAMERA)
+
   @staticmethod
   def get_can_parser(CP):
     signals = [
@@ -95,7 +115,8 @@ class CarState(CarStateBase):
       ("FRWheelSpd", "EBCMWheelSpdFront"),
       ("RLWheelSpd", "EBCMWheelSpdRear"),
       ("RRWheelSpd", "EBCMWheelSpdRear"),
-      ("PRNDL", "ECMPRDNL"),
+      ("PRNDL2", "ECMPRDNL2"),
+      ("ManualMode", "ECMPRDNL2"),
       ("LKADriverAppldTrq", "PSCMStatus"),
       ("LKATorqueDelivered", "PSCMStatus"),
       ("LKATorqueDeliveredStatus", "PSCMStatus"),
@@ -106,7 +127,7 @@ class CarState(CarStateBase):
 
     checks = [
       ("BCMTurnSignals", 1),
-      ("ECMPRDNL", 10),
+      ("ECMPRDNL2", 10),
       ("PSCMStatus", 10),
       ("ESPStatus", 10),
       ("BCMDoorBeltStatus", 10),
@@ -120,7 +141,7 @@ class CarState(CarStateBase):
       ("EBCMBrakePedalPosition", 100),
     ]
 
-    if CP.carFingerprint == CAR.VOLT:
+    if CP.transmissionType == TransmissionType.direct:
       signals.append(("RegenPaddle", "EBCMRegenPaddle"))
       checks.append(("EBCMRegenPaddle", 50))
 
@@ -133,7 +154,9 @@ class CarState(CarStateBase):
     ]
 
     checks = [
-      ("ASCMLKASteeringCmd", 50),
+      ("ASCMLKASteeringCmd", 10), # 10 Hz is the stock inactive rate (every 100ms).
+      #                             While active 50 Hz (every 20 ms) is normal
+      #                             EPS will tolerate around 200ms when active before faulting
     ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK)

selfdrive/car/gm/gmcan.py

@@ -1,5 +1,9 @@
 from selfdrive.car import make_can_msg
 
+def create_buttons(packer, bus, button):
+  values = {"ACCButtons": button}
+  return packer.make_can_msg("ASCMSteeringButton", bus, values)
+
 def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
 
   values = {
@@ -59,8 +63,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
   return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
 
 def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight, fcw):
-  # Not a bit shift, dash can round up based on low 4 bits.
-  target_speed = int(target_speed_kph * 16) & 0xfff
+  target_speed = min(target_speed_kph, 255)
 
   values = {
     "ACCAlwaysOne" : 1,

selfdrive/car/gm/interface.py

@@ -1,14 +1,18 @@
 #!/usr/bin/env python3
 from cereal import car
 from math import fabs
+from panda import Panda
 
 from common.conversions import Conversions as CV
 from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
-from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams
+from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
 from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
+GearShifter = car.CarState.GearShifter
+TransmissionType = car.CarParams.TransmissionType
+NetworkLocation = car.CarParams.NetworkLocation
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
 
@@ -45,25 +49,36 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
-    ret.pcmCruise = False  # stock cruise control is kept off
+
+    if candidate in EV_CAR:
+      ret.transmissionType = TransmissionType.direct
+    else:
+      ret.transmissionType = TransmissionType.automatic
+
+    if candidate in CAMERA_ACC_CAR:
+      ret.openpilotLongitudinalControl = False
+      ret.networkLocation = NetworkLocation.fwdCamera
+      ret.radarOffCan = True  # no radar
+      ret.pcmCruise = True
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+    else:  # ASCM, OBD-II harness
+      ret.openpilotLongitudinalControl = True
+      ret.networkLocation = NetworkLocation.gateway
+      ret.radarOffCan = False
+      ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
 
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
     ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL}
 
-    # Presence of a camera on the object bus is ok.
-    # Have to go to read_only if ASCM is online (ACC-enabled cars),
-    # or camera is on powertrain bus (LKA cars without ACC).
-    ret.openpilotLongitudinalControl = True
-    tire_stiffness_factor = 0.444  # not optimized yet
-
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
     ret.minSteerSpeed = 7 * CV.MPH_TO_MS
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
     ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
     ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
+    tire_stiffness_factor = 0.444  # not optimized yet
 
     ret.longitudinalTuning.kpBP = [5., 35.]
     ret.longitudinalTuning.kpV = [2.4, 1.5]
@@ -80,14 +95,14 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1607. + STD_CARGO_KG
       ret.wheelbase = 2.69
       ret.steerRatio = 17.7  # Stock 15.7, LiveParameters
-      tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
-      ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
+      tire_stiffness_factor = 0.469  # Stock Michelin Energy Saver A/S, LiveParameters
+      ret.centerToFront = ret.wheelbase * 0.45  # Volt Gen 1, TODO corner weigh
 
       ret.lateralTuning.pid.kpBP = [0., 40.]
       ret.lateralTuning.pid.kpV = [0., 0.17]
       ret.lateralTuning.pid.kiBP = [0.]
       ret.lateralTuning.pid.kiV = [0.]
-      ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
+      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_volt()
       ret.steerActuatorDelay = 0.2
 
     elif candidate == CAR.MALIBU:
@@ -110,6 +125,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.4  # end to end is 13.46
       ret.centerToFront = ret.wheelbase * 0.4
       ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_acadia()
+      ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
 
     elif candidate == CAR.BUICK_REGAL:
       ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG  # (3849+3708)/2
@@ -134,6 +150,16 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kf = 0.000045
       tire_stiffness_factor = 1.0
 
+    elif candidate == CAR.BOLT_EUV:
+      ret.minEnableSpeed = -1
+      ret.mass = 1669. + STD_CARGO_KG
+      ret.wheelbase = 2.675
+      ret.steerRatio = 16.8
+      ret.centerToFront = ret.wheelbase * 0.4
+      tire_stiffness_factor = 1.0
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
@@ -147,9 +173,7 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_loopback)
-
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
 
     if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
       be = create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)
@@ -160,7 +184,9 @@ class CarInterface(CarInterfaceBase):
 
       ret.buttonEvents = [be]
 
-    events = self.create_common_events(ret, pcm_enable=False)
+    events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
+                                                         GearShifter.eco, GearShifter.manumatic],
+                                       pcm_enable=self.CP.pcmCruise)
 
     if ret.vEgo < self.CP.minEnableSpeed:
       events.add(EventName.belowEngageSpeed)
@@ -170,12 +196,11 @@ class CarInterface(CarInterfaceBase):
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
     # handle button presses
-    events.events.extend(create_button_enable_events(ret.buttonEvents))
+    events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
 
     ret.events = events.to_msg()
 
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
-    return ret
+    return self.CC.update(c, self.CS)

selfdrive/car/gm/values.py

@@ -1,4 +1,5 @@
-from dataclasses import dataclass
+from collections import defaultdict
+from dataclasses import dataclass, field
 from enum import Enum
 from typing import Dict, List, Union
 
@@ -9,11 +10,10 @@ Ecu = car.CarParams.Ecu
 
 
 class CarControllerParams:
-  STEER_MAX = 300  # Safety limit, not LKA max. Trucks use 600.
-  STEER_STEP = 2  # control frames per command
-  STEER_DELTA_UP = 7
+  STEER_MAX = 300  # GM limit is 3Nm. Used by carcontroller to generate LKA output
+  STEER_STEP = 2  # Control frames per command (50hz)
+  STEER_DELTA_UP = 7  # Delta rates require review due to observed EPS weakness
   STEER_DELTA_DOWN = 17
-  MIN_STEER_SPEED = 3.  # m/s
   STEER_DRIVER_ALLOWANCE = 50
   STEER_DRIVER_MULTIPLIER = 4
   STEER_DRIVER_FACTOR = 100
@@ -24,26 +24,31 @@ class CarControllerParams:
   CAMERA_KEEPALIVE_STEP = 100
 
   # Volt gasbrake lookups
-  MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
-  ZERO_GAS = 2048 # Coasting
-  MAX_BRAKE = 350 # ~ -3.5 m/s^2 with regen
+  # TODO: These values should be confirmed on non-Volt vehicles
+  MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
+  ZERO_GAS = 2048  # Coasting
+  MAX_BRAKE = 350  # ~ -3.5 m/s^2 with regen
+  MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
 
   # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
   # perform the closed loop control, and might need some
   # to apply some more braking if we're on a downhill slope.
   # Our controller should still keep the 2 second average above
   # -3.5 m/s^2 as per planner limits
-  ACCEL_MAX = 2. # m/s^2
-  ACCEL_MIN = -4. # m/s^2
+  ACCEL_MAX = 2.  # m/s^2
+  ACCEL_MIN = -4.  # m/s^2
+
+  EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
+  EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
+
+  # ICE has much less engine braking force compared to regen in EVs,
+  # lower threshold removes some braking deadzone
+  GAS_LOOKUP_BP = [-0.1, 0., ACCEL_MAX]
+  BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1]
 
-  MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
-  GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
   GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
-  BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
   BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
 
-STEER_THRESHOLD = 1.0
-
 
 class CAR:
   HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
@@ -53,30 +58,32 @@ class CAR:
   ACADIA = "GMC ACADIA DENALI 2018"
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
+  BOLT_EUV = "CHEVROLET BOLT EUV 2022"
 
 
 class Footnote(Enum):
   OBD_II = CarFootnote(
-    'Requires an <a href="https://comma.ai/shop/products/comma-car-harness">OBD-II car harness</a> and ' +
-    '<a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. ' +
+    'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. ' +
     '<b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b>',
     Column.MODEL)
 
 
 @dataclass
 class GMCarInfo(CarInfo):
-  package: str = "Adaptive Cruise"
-  harness: Enum = Harness.none
+  package: str = "Adaptive Cruise Control"
+  harness: Enum = Harness.obd_ii
+  footnotes: List[Enum] = field(default_factory=lambda: [Footnote.OBD_II])
 
 
 CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
-  CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017", harness=Harness.custom),
-  CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", footnotes=[Footnote.OBD_II], min_enable_speed=0, harness=Harness.custom),
+  CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"),
+  CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0),
   CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
-  CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017", harness=Harness.custom),
-  CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo", footnotes=[Footnote.OBD_II]),
+  CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
+  CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
   CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
-  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "ACC + LKAS", footnotes=[Footnote.OBD_II]),
+  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
+  CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier/Premier Redline Trim", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
 }
 
 
@@ -97,13 +104,16 @@ class AccState:
 class CanBus:
   POWERTRAIN = 0
   OBSTACLE = 1
+  CAMERA = 2
   CHASSIS = 2
   SW_GMLAN = 3
   LOOPBACK = 128
+  DROPPED = 192
 
 FINGERPRINTS = {
+  CAR.HOLDEN_ASTRA: [
   # Astra BK MY17, ASCM unplugged
-  CAR.HOLDEN_ASTRA: [{
+  {
     190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7,
   }],
   CAR.VOLT: [
@@ -143,14 +153,17 @@ FINGERPRINTS = {
   {
     309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
   }],
+  CAR.BOLT_EUV: [
+  {
+    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
+  }],
 }
 
-DBC = {
-  CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.VOLT: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.MALIBU: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.ACADIA: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.BUICK_REGAL: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.ESCALADE_ESV: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-}
+DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
+
+EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
+
+# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
+CAMERA_ACC_CAR = {CAR.BOLT_EUV}
+
+STEER_THRESHOLD = 1.0

selfdrive/car/honda/carcontroller.py

@@ -7,7 +7,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import create_gas_interceptor_command
 from selfdrive.car.honda import hondacan
-from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
+from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from selfdrive.controls.lib.drive_helpers import rate_limit
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -155,9 +155,8 @@ class CarController:
         can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
 
     # Send steering command.
-    idx = self.frame % 4
     can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, CC.latActive, self.CP.carFingerprint,
-                                                      idx, CS.CP.openpilotLongitudinalControl))
+                                                      CS.CP.openpilotLongitudinalControl))
 
     # wind brake from air resistance decel at high speed
     wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
@@ -189,19 +188,17 @@ class CarController:
       pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * 0xc6)
 
     if not self.CP.openpilotLongitudinalControl:
-      if self.frame % 2 == 0:
-        idx = self.frame // 2
-        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint, idx))
+      if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:  # radarless cars don't have supplemental message
+        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint))
       # If using stock ACC, spam cancel command to kill gas when OP disengages.
       if pcm_cancel_cmd:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, self.CP.carFingerprint))
-      elif CS.out.cruiseState.standstill:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, self.CP.carFingerprint))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, self.CP.carFingerprint))
+      elif CC.cruiseControl.resume:
+        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
 
     else:
       # Send gas and brake commands.
       if self.frame % 2 == 0:
-        idx = self.frame // 2
         ts = self.frame * DT_CTRL
 
         if self.CP.carFingerprint in HONDA_BOSCH:
@@ -210,7 +207,7 @@ class CarController:
 
           stopping = actuators.longControlState == LongCtrlState.stopping
           can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas,
-                                                        idx, stopping, self.CP.carFingerprint))
+                                                        stopping, self.CP.carFingerprint))
         else:
           apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
           apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
@@ -218,7 +215,7 @@ class CarController:
 
           pcm_override = True
           can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
-                                                         pcm_override, pcm_cancel_cmd, fcw_display, idx,
+                                                         pcm_override, pcm_cancel_cmd, fcw_display,
                                                          self.CP.carFingerprint, CS.stock_brake))
           self.apply_brake_last = apply_brake
           self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX
@@ -234,14 +231,13 @@ class CarController:
               self.gas = clip(gas_mult * (gas - brake + wind_brake * 3 / 4), 0., 1.)
             else:
               self.gas = 0.0
-            can_sends.append(create_gas_interceptor_command(self.packer, self.gas, idx))
+            can_sends.append(create_gas_interceptor_command(self.packer, self.gas, self.frame // 2))
 
     # Send dashboard UI commands.
     if self.frame % 10 == 0:
-      idx = (self.frame // 10) % 4
       hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
                     hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
 
       if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
         self.speed = pcm_speed

selfdrive/car/honda/carstate.py

@@ -5,8 +5,9 @@ from common.conversions import Conversions as CV
 from common.numpy_fast import interp
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from selfdrive.car.honda.hondacan import get_pt_bus
+from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 
 TransmissionType = car.CarParams.TransmissionType
 
@@ -80,7 +81,8 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     checks.append(("EPB_STATUS", 50))
 
   if CP.carFingerprint in HONDA_BOSCH:
-    if not CP.openpilotLongitudinalControl:
+    # these messages are on camera bus on radarless cars
+    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
       signals += [
         ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
         ("CRUISE_SPEED", "ACC_HUD"),
@@ -100,23 +102,16 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     else:
       checks.append(("CRUISE_PARAMS", 50))
 
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
     signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
-  elif CP.carFingerprint == CAR.ODYSSEY_CHN:
+  elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
     signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"))
-  elif CP.carFingerprint in (CAR.FREED, CAR.HRV):
-    signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"),
-                ("WHEELS_MOVING", "STANDSTILL")]
   else:
     signals += [("DOOR_OPEN_FL", "DOORS_STATUS"),
                 ("DOOR_OPEN_FR", "DOORS_STATUS"),
                 ("DOOR_OPEN_RL", "DOORS_STATUS"),
-                ("DOOR_OPEN_RR", "DOORS_STATUS"),
-                ("WHEELS_MOVING", "STANDSTILL")]
-    checks += [
-      ("DOORS_STATUS", 3),
-      ("STANDSTILL", 50),
-    ]
+                ("DOOR_OPEN_RR", "DOORS_STATUS")]
+    checks.append(("DOORS_STATUS", 3))
 
   # add gas interceptor reading if we are using it
   if CP.enableGasInterceptor:
@@ -175,7 +170,8 @@ class CarState(CarStateBase):
     # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
     # panda checks if the signal is non-zero
     ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+    # TODO: find a common signal across all cars
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
     elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
       ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
@@ -235,11 +231,15 @@ class CarState(CarStateBase):
 
     if self.CP.carFingerprint in HONDA_BOSCH:
       if not self.CP.openpilotLongitudinalControl:
-        ret.cruiseState.nonAdaptive = cp.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
-        ret.cruiseState.standstill = cp.vl["ACC_HUD"]["CRUISE_SPEED"] == 252.
+        # ACC_HUD is on camera bus on radarless cars
+        acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
+        ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
+        ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
 
+        # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
+        conversion_factor = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS
         # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
-        ret.cruiseState.speed = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]["CRUISE_SPEED"] > 160.0 else cp.vl["ACC_HUD"]["CRUISE_SPEED"] * CV.KPH_TO_MS
+        ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion_factor
         self.v_cruise_pcm_prev = ret.cruiseState.speed
     else:
       ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
@@ -269,17 +269,20 @@ class CarState(CarStateBase):
         ret.brakePressed = True
 
     if self.CP.carFingerprint in HONDA_BOSCH:
-      ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
+      # TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts
+      if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
+        ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
     else:
       ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
 
-    if self.CP.carFingerprint in HONDA_BOSCH:
-      self.stock_hud = False
-      ret.stockFcw = False
-    else:
+    self.acc_hud = False
+    self.lkas_hud = False
+    if self.CP.carFingerprint not in HONDA_BOSCH:
       ret.stockFcw = cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0
-      self.stock_hud = cp_cam.vl["ACC_HUD"]
+      self.acc_hud = cp_cam.vl["ACC_HUD"]
       self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
+    if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+      self.lkas_hud = cp_cam.vl["LKAS_HUD"]
 
     if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ):
       # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
@@ -291,8 +294,7 @@ class CarState(CarStateBase):
 
   def get_can_parser(self, CP):
     signals, checks = get_can_signals(CP, self.gearbox_msg, self.main_on_sig_msg)
-    bus_pt = 1 if CP.carFingerprint in HONDA_BOSCH else 0
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus_pt)
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_pt_bus(CP.carFingerprint))
 
   @staticmethod
   def get_cam_can_parser(CP):
@@ -301,7 +303,17 @@ class CarState(CarStateBase):
       ("STEERING_CONTROL", 100),
     ]
 
-    if CP.carFingerprint not in HONDA_BOSCH:
+    if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+      signals.append(("LKAS_PROBLEM", "LKAS_HUD"))
+      checks.append(("LKAS_HUD", 10))
+      if not CP.openpilotLongitudinalControl:
+        signals += [
+          ("CRUISE_SPEED", "ACC_HUD"),
+          ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
+        ]
+        checks.append(("ACC_HUD", 10))
+
+    elif CP.carFingerprint not in HONDA_BOSCH:
       signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND"),
                   ("AEB_REQ_1", "BRAKE_COMMAND"),
                   ("FCW", "BRAKE_COMMAND"),

selfdrive/car/honda/hondacan.py

@@ -1,5 +1,5 @@
 from common.conversions import Conversions as CV
-from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, CAR, CarControllerParams
+from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
 
 # CAN bus layout with relay
 # 0 = ACC-CAN - radar side
@@ -7,8 +7,9 @@ from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, CAR, CarControll
 # 2 = ACC-CAN - camera side
 # 3 = F-CAN A - OBDII port
 
+
 def get_pt_bus(car_fingerprint):
-  return 1 if car_fingerprint in HONDA_BOSCH else 0
+  return 1 if car_fingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) else 0
 
 
 def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
@@ -18,7 +19,8 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
   # normally steering commands are sent to radar, which forwards them to powertrain bus
   return 0
 
-def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, stock_brake):
+
+def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
   # TODO: do we loose pressure if we keep pump off for long?
   brakelights = apply_brake > 0
   brake_rq = apply_brake > 0
@@ -40,10 +42,10 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
     "AEB_STATUS": 0,
   }
   bus = get_pt_bus(car_fingerprint)
-  return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
+  return packer.make_can_msg("BRAKE_COMMAND", bus, values)
 
 
-def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_fingerprint):
+def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_fingerprint):
   commands = []
   bus = get_pt_bus(car_fingerprint)
   min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
@@ -65,7 +67,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_
     "STANDSTILL": standstill,
     "STANDSTILL_RELEASE": standstill_release,
   }
-  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values, idx))
+  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
 
   acc_control_on_values = {
     "SET_TO_3": 0x03,
@@ -74,20 +76,21 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_
     "SET_TO_75": 0x75,
     "SET_TO_30": 0x30,
   }
-  commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values, idx))
+  commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))
 
   return commands
 
-def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, radar_disabled):
+
+def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, radar_disabled):
   values = {
     "STEER_TORQUE": apply_steer if lkas_active else 0,
     "STEER_TORQUE_REQUEST": lkas_active,
   }
   bus = get_lkas_cmd_bus(car_fingerprint, radar_disabled)
-  return packer.make_can_msg("STEERING_CONTROL", bus, values, idx)
+  return packer.make_can_msg("STEERING_CONTROL", bus, values)
 
 
-def create_bosch_supplemental_1(packer, car_fingerprint, idx):
+def create_bosch_supplemental_1(packer, car_fingerprint):
   # non-active params
   values = {
     "SET_ME_X04": 0x04,
@@ -95,10 +98,10 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx):
     "SET_ME_X10": 0x10,
   }
   bus = get_lkas_cmd_bus(car_fingerprint)
-  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)
+  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)
 
 
-def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud):
+def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
   commands = []
   bus_pt = get_pt_bus(CP.carFingerprint)
   radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
@@ -108,7 +111,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc
     acc_hud_values = {
       'CRUISE_SPEED': hud.v_cruise,
       'ENABLE_MINI_CAR': 1,
-      'HUD_DISTANCE': 3,  # max distance setting on display
+      'HUD_DISTANCE': 0,  # max distance setting on display
       'IMPERIAL_UNIT': int(not is_metric),
       'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
       'SET_ME_X01_2': 1,
@@ -122,11 +125,11 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc
       acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH
       acc_hud_values['PCM_GAS'] = hud.pcm_accel
       acc_hud_values['SET_ME_X01'] = 1
-      acc_hud_values['FCM_OFF'] = stock_hud['FCM_OFF']
-      acc_hud_values['FCM_OFF_2'] = stock_hud['FCM_OFF_2']
-      acc_hud_values['FCM_PROBLEM'] = stock_hud['FCM_PROBLEM']
-      acc_hud_values['ICONS'] = stock_hud['ICONS']
-    commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values, idx))
+      acc_hud_values['FCM_OFF'] = acc_hud['FCM_OFF']
+      acc_hud_values['FCM_OFF_2'] = acc_hud['FCM_OFF_2']
+      acc_hud_values['FCM_PROBLEM'] = acc_hud['FCM_PROBLEM']
+      acc_hud_values['ICONS'] = acc_hud['ICONS']
+    commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values))
 
   lkas_hud_values = {
     'SET_ME_X41': 0x41,
@@ -135,32 +138,39 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc
     'BEEP': 0,
   }
 
+  if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+    lkas_hud_values['LANE_LINES'] = 3
+    lkas_hud_values['DASHED_LANES'] = hud.lanes_visible
+    # car likely needs to see LKAS_PROBLEM fall within a specific time frame, so forward from camera
+    lkas_hud_values['LKAS_PROBLEM'] = lkas_hud['LKAS_PROBLEM']
+
   if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
     lkas_hud_values['SET_ME_X48'] = 0x48
 
   if CP.flags & HondaFlags.BOSCH_EXT_HUD and not CP.openpilotLongitudinalControl:
-    commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values, idx))
-    commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values, idx))
+    commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values))
+    commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values))
   else:
-    commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
+    commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values))
 
   if radar_disabled and CP.carFingerprint in HONDA_BOSCH:
     radar_hud_values = {
       'CMBS_OFF': 0x01,
       'SET_TO_1': 0x01,
     }
-    commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values, idx))
+    commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values))
 
     if CP.carFingerprint == CAR.CIVIC_BOSCH:
-      commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus_pt, {}, idx))
+      commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus_pt, {}))
 
   return commands
 
 
-def spam_buttons_command(packer, button_val, idx, car_fingerprint):
+def spam_buttons_command(packer, button_val, car_fingerprint):
   values = {
     'CRUISE_BUTTONS': button_val,
     'CRUISE_SETTING': 0,
   }
-  bus = get_pt_bus(car_fingerprint)
-  return packer.make_can_msg("SCM_BUTTONS", bus, values, idx)
+  # send buttons to camera on radarless cars
+  bus = 2 if car_fingerprint in HONDA_BOSCH_RADARLESS else get_pt_bus(car_fingerprint)
+  return packer.make_can_msg("SCM_BUTTONS", bus, values)

selfdrive/car/honda/interface.py

@@ -3,7 +3,7 @@ from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
 from common.numpy_fast import interp
-from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
+from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
 from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
@@ -37,9 +37,10 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
       ret.radarOffCan = True
 
-      # Disable the radar and let openpilot control longitudinal
-      # WARNING: THIS DISABLES AEB!
-      ret.openpilotLongitudinalControl = disable_radar
+      if candidate not in HONDA_BOSCH_RADARLESS:
+        # Disable the radar and let openpilot control longitudinal
+        # WARNING: THIS DISABLES AEB!
+        ret.openpilotLongitudinalControl = disable_radar
 
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
@@ -104,7 +105,7 @@ class CarInterface(CarInterfaceBase):
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
       tire_stiffness_factor = 1.
 
-    elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
+    elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
       stop_and_go = True
       ret.mass = CivicParams.MASS
       ret.wheelbase = CivicParams.WHEELBASE
@@ -304,6 +305,9 @@ class CarInterface(CarInterfaceBase):
     if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
 
+    if candidate in HONDA_BOSCH_RADARLESS:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
+
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
     # conflict with PCM acc
@@ -325,7 +329,7 @@ class CarInterface(CarInterfaceBase):
 
   @staticmethod
   def init(CP, logcan, sendcan):
-    if CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl:
+    if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
       disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
 
   # returns a car.CarState

selfdrive/car/honda/values.py

@@ -75,6 +75,7 @@ class CAR:
   CIVIC = "HONDA CIVIC 2016"
   CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
   CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
+  CIVIC_2022 = "HONDA CIVIC 2022"
   ACURA_ILX = "ACURA ILX 2016"
   CRV = "HONDA CR-V 2016"
   CRV_5G = "HONDA CR-V 2017"
@@ -108,33 +109,37 @@ class HondaCarInfo(CarInfo):
 
 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.ACCORD: [
-    HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
-    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
+    HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   ],
-  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
+  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec),
   CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch),
-    HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch),
+    HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a),
   ],
   CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
+  CAR.CIVIC_2022: [
+    HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
+    HondaCarInfo("Honda Civic Hatchback 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
+  ],
   CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec),
-  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring", harness=Harness.nidec),
-  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch),
+  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", harness=Harness.nidec),
+  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", harness=Harness.bosch_a),
   CAR.CRV_EU: None,  # HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
-  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch),
-  CAR.FIT: HondaCarInfo("Honda Fit 2018-19", harness=Harness.nidec),
+  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a),
+  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", harness=Harness.nidec),
   CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec),
-  CAR.HRV: HondaCarInfo("Honda HR-V 2019-20", harness=Harness.nidec),
+  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec),
   CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec),
   CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
   CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec),
-  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
-  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-21", harness=Harness.nidec),
+  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", harness=Harness.nidec),
   CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec),
   CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec),
-  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
-  CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
+  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
 }
 
 
@@ -1298,6 +1303,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TXM-A070\x00\x00',
+      b'36802-TXM-A080\x00\x00',
     ],
     (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TXM-A050\x00\x00',
@@ -1336,6 +1342,7 @@ FW_VERSIONS = {
       b'36161-T7A-A140\x00\x00',
       b'36161-T7A-A240\x00\x00',
       b'36161-T7A-C440\x00\x00',
+      b'36161-T7A-A040\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-T7A-A230\x00\x00',
@@ -1346,6 +1353,7 @@ FW_VERSIONS = {
       b'78109-THX-A210\x00\x00',
       b'78109-THX-A220\x00\x00',
       b'78109-THX-C220\x00\x00',
+      b'78109-THW-A110\x00\x00',
     ],
   },
   CAR.ACURA_ILX: {
@@ -1392,6 +1400,48 @@ FW_VERSIONS = {
       b'57114-TYF-E030\x00\x00'
     ],
   },
+  CAR.CIVIC_2022: {
+    (Ecu.eps, 0x18DA30F1, None): [
+      b'39990-T39-A130\x00\x00',
+      b'39990-T43-J020\x00\x00',
+    ],
+    (Ecu.gateway, 0x18DAEFF1, None): [
+      b'38897-T20-A020\x00\x00',
+      b'38897-T20-A510\x00\x00',
+      b'38897-T21-A010\x00\x00',
+      b'38897-T20-A210\x00\x00',
+      b'38897-T20-A310\x00\x00',
+    ],
+    (Ecu.srs, 0x18DA53F1, None): [
+      b'77959-T20-A970\x00\x00',
+      b'77959-T47-A940\x00\x00',
+      b'77959-T47-A950\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18DA60F1, None): [
+      b'78108-T21-A220\x00\x00',
+      b'78108-T21-A620\x00\x00',
+      b'78108-T23-A110\x00\x00',
+      b'78108-T21-A230\x00\x00',
+      b'78108-T22-A020\x00\x00',
+    ],
+    (Ecu.vsa, 0x18DA28F1, None): [
+      b'57114-T20-AB40\x00\x00',
+      b'57114-T43-JB30\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-65D-A020\x00\x00',
+      b'28101-65D-A120\x00\x00',
+      b'28101-65H-A020\x00\x00',
+      b'28101-65H-A120\x00\x00',
+    ],
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-64L-A540\x00\x00',
+      b'37805-64S-A540\x00\x00',
+      b'37805-64S-A720\x00\x00',
+      b'37805-64A-A540\x00\x00',
+      b'37805-64A-A620\x00\x00',
+    ],
+  },
 }
 
 DBC = {
@@ -1417,6 +1467,7 @@ DBC = {
   CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
   CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None),
+  CAR.CIVIC_2022: dbc_dict('honda_civic_ex_2022_can_generated', None),
 }
 
 STEER_THRESHOLD = {
@@ -1429,5 +1480,6 @@ HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
 HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
                                 CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE}
 HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
-               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E}
+               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022}
 HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G}
+HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022}

selfdrive/car/hyundai/carcontroller.py

@@ -1,11 +1,11 @@
 from cereal import car
-from common.realtime import DT_CTRL
-from common.numpy_fast import clip, interp
 from common.conversions import Conversions as CV
-from selfdrive.car import apply_std_steer_torque_limits
-from selfdrive.car.hyundai import hda2can, hyundaican
-from selfdrive.car.hyundai.values import Buttons, CarControllerParams, HDA2_CAR, CAR
+from common.numpy_fast import clip, interp
+from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
+from selfdrive.car import apply_std_steer_torque_limits
+from selfdrive.car.hyundai import hyundaicanfd, hyundaican
+from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CANFD_CAR, CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -43,7 +43,6 @@ class CarController:
 
     self.apply_steer_last = 0
     self.car_fingerprint = CP.carFingerprint
-    self.steer_rate_limited = False
     self.last_button_frame = 0
     self.accel = 0
 
@@ -52,9 +51,13 @@ class CarController:
     hud_control = CC.hudControl
 
     # Steering Torque
-    new_steer = int(round(actuators.steer * self.params.STEER_MAX))
+
+    # These cars have significantly more torque than most HKG.  Limit to 70% of max.
+    steer = actuators.steer
+    if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
+      steer = clip(steer, -0.7, 0.7)
+    new_steer = int(round(steer * self.params.STEER_MAX))
     apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
-    self.steer_rate_limited = new_steer != apply_steer
 
     if not CC.latActive:
       apply_steer = 0
@@ -66,20 +69,23 @@ class CarController:
 
     can_sends = []
 
-    if self.CP.carFingerprint in HDA2_CAR:
+    if self.CP.carFingerprint in CANFD_CAR:
       # steering control
-      can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, self.frame, CC.latActive, apply_steer))
+      can_sends.append(hyundaicanfd.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
+
+      if self.frame % 5 == 0:
+        can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
 
       # cruise cancel
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
         if CC.cruiseControl.cancel:
           for _ in range(20):
-            can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, True, False))
+            can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
           self.last_button_frame = self.frame
 
         # cruise standstill resume
-        elif CC.enabled and CS.out.cruiseState.standstill:
-          can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, False, True))
+        elif CC.cruiseControl.resume:
+          can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
           self.last_button_frame = self.frame
     else:
 
@@ -95,12 +101,12 @@ class CarController:
 
       if not self.CP.openpilotLongitudinalControl:
         if CC.cruiseControl.cancel:
-          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL))
-        elif CS.out.cruiseState.standstill:
+          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
+        elif CC.cruiseControl.resume:
           # send resume at a max freq of 10Hz
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
             # send 25 messages at a time to increases the likelihood of resume being accepted
-            can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
+            can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
             self.last_button_frame = self.frame
 
       if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
@@ -122,7 +128,7 @@ class CarController:
 
       # 20 Hz LFA MFA message
       if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
-                                                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
+                                                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.KONA_EV_2022,
                                                           CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
                                                           CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
         can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))

selfdrive/car/hyundai/carstate.py

@@ -5,10 +5,10 @@ from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons
+from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 
-PREV_BUTTON_SAMPLES = 4
+PREV_BUTTON_SAMPLES = 8
 
 
 class CarState(CarStateBase):
@@ -19,7 +19,7 @@ class CarState(CarStateBase):
     self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
     self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
 
-    if CP.carFingerprint in HDA2_CAR:
+    if CP.carFingerprint in CANFD_CAR:
       self.shifter_values = can_define.dv["ACCELERATOR"]["GEAR"]
     elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
       self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
@@ -32,12 +32,16 @@ class CarState(CarStateBase):
     self.park_brake = False
     self.buttons_counter = 0
 
+    self.params = CarControllerParams(CP)
+
   def update(self, cp, cp_cam):
-    if self.CP.carFingerprint in HDA2_CAR:
-      return self.update_hda2(cp, cp_cam)
+    if self.CP.carFingerprint in CANFD_CAR:
+      return self.update_canfd(cp, cp_cam)
 
     ret = car.CarState.new_message()
 
+    cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
+
     ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
                         cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]])
 
@@ -61,7 +65,7 @@ class CarState(CarStateBase):
       50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"])
     ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"]
     ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"]
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
+    ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD
     ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
 
     # cruise state
@@ -71,11 +75,11 @@ class CarState(CarStateBase):
       ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
       ret.cruiseState.standstill = False
     else:
-      ret.cruiseState.available = cp.vl["SCC11"]["MainMode_ACC"] == 1
-      ret.cruiseState.enabled = cp.vl["SCC12"]["ACCMode"] != 0
-      ret.cruiseState.standstill = cp.vl["SCC11"]["SCCInfoDisplay"] == 4.
+      ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
+      ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
+      ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
       speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS
-      ret.cruiseState.speed = cp.vl["SCC11"]["VSetDis"] * speed_conv
+      ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
 
     # TODO: Find brake pressure
     ret.brake = 0
@@ -108,11 +112,11 @@ class CarState(CarStateBase):
 
     if not self.CP.openpilotLongitudinalControl:
       if self.CP.carFingerprint in FEATURES["use_fca"]:
-        ret.stockAeb = cp.vl["FCA11"]["FCA_CmdAct"] != 0
-        ret.stockFcw = cp.vl["FCA11"]["CF_VSM_Warn"] == 2
+        ret.stockAeb = cp_cruise.vl["FCA11"]["FCA_CmdAct"] != 0
+        ret.stockFcw = cp_cruise.vl["FCA11"]["CF_VSM_Warn"] == 2
       else:
-        ret.stockAeb = cp.vl["SCC12"]["AEB_CmdAct"] != 0
-        ret.stockFcw = cp.vl["SCC12"]["CF_VSM_Warn"] == 2
+        ret.stockAeb = cp_cruise.vl["SCC12"]["AEB_CmdAct"] != 0
+        ret.stockFcw = cp_cruise.vl["SCC12"]["CF_VSM_Warn"] == 2
 
     if self.CP.enableBsm:
       ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
@@ -129,7 +133,7 @@ class CarState(CarStateBase):
 
     return ret
 
-  def update_hda2(self, cp, cp_cam):
+  def update_canfd(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
     ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
@@ -157,7 +161,7 @@ class CarState(CarStateBase):
     ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
     ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
     ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
+    ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD
 
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"],
                                                                       cp.vl["BLINKERS"]["RIGHT_LAMP"])
@@ -169,14 +173,18 @@ class CarState(CarStateBase):
     speed_factor = CV.MPH_TO_MS if cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] == 1 else CV.KPH_TO_MS
     ret.cruiseState.speed = cp.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
 
-    self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["_COUNTER"]
+    self.cruise_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["CRUISE_BUTTONS"])
+    self.main_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["ADAPTIVE_CRUISE_MAIN_BTN"])
+    self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
+
+    self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
 
     return ret
 
   @staticmethod
   def get_can_parser(CP):
-    if CP.carFingerprint in HDA2_CAR:
-      return CarState.get_can_parser_hda2(CP)
+    if CP.carFingerprint in CANFD_CAR:
+      return CarState.get_can_parser_canfd(CP)
 
     signals = [
       # signal_name, signal_address
@@ -245,7 +253,7 @@ class CarState(CarStateBase):
       ("SAS11", 100),
     ]
 
-    if not CP.openpilotLongitudinalControl:
+    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
       signals += [
         ("MainMode_ACC", "SCC11"),
         ("VSetDis", "SCC11"),
@@ -310,8 +318,10 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_cam_can_parser(CP):
-    if CP.carFingerprint in HDA2_CAR:
-      return None
+    if CP.carFingerprint in CANFD_CAR:
+      signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
+      checks = [("CAM_0x2a4", 20)]
+      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
 
     signals = [
       # signal_name, signal_address
@@ -335,10 +345,35 @@ class CarState(CarStateBase):
       ("LKAS11", 100)
     ]
 
+    if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
+      signals += [
+        ("MainMode_ACC", "SCC11"),
+        ("VSetDis", "SCC11"),
+        ("SCCInfoDisplay", "SCC11"),
+        ("ACC_ObjDist", "SCC11"),
+        ("ACCMode", "SCC12"),
+      ]
+      checks += [
+        ("SCC11", 50),
+        ("SCC12", 50),
+      ]
+
+      if CP.carFingerprint in FEATURES["use_fca"]:
+        signals += [
+          ("FCA_CmdAct", "FCA11"),
+          ("CF_VSM_Warn", "FCA11"),
+        ]
+        checks.append(("FCA11", 50))
+      else:
+        signals += [
+          ("AEB_CmdAct", "SCC12"),
+          ("CF_VSM_Warn", "SCC12"),
+        ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
 
   @staticmethod
-  def get_can_parser_hda2(CP):
+  def get_can_parser_canfd(CP):
     signals = [
       ("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
       ("WHEEL_SPEED_2", "WHEEL_SPEEDS"),
@@ -357,7 +392,9 @@ class CarState(CarStateBase):
       ("CRUISE_ACTIVE", "SCC1"),
       ("SET_SPEED", "CRUISE_INFO"),
       ("CRUISE_STANDSTILL", "CRUISE_INFO"),
-      ("_COUNTER", "CRUISE_BUTTONS"),
+      ("COUNTER", "CRUISE_BUTTONS"),
+      ("CRUISE_BUTTONS", "CRUISE_BUTTONS"),
+      ("ADAPTIVE_CRUISE_MAIN_BTN", "CRUISE_BUTTONS"),
 
       ("DISTANCE_UNIT", "CLUSTER_INFO"),
 

selfdrive/car/hyundai/hyundaican.py

@@ -1,5 +1,5 @@
 import crcmod
-from selfdrive.car.hyundai.values import CAR, CHECKSUM
+from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 
@@ -18,8 +18,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
 
   if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
-                         CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022,
-                         CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
+                         CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
+                         CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 
@@ -62,11 +62,13 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
   return packer.make_can_msg("LKAS11", 0, values)
 
 
-def create_clu11(packer, frame, clu11, button):
+def create_clu11(packer, frame, clu11, button, car_fingerprint):
   values = clu11
   values["CF_Clu_CruiseSwState"] = button
   values["CF_Clu_AliveCnt1"] = frame % 0x10
-  return packer.make_can_msg("CLU11", 0, values)
+  # send buttons to camera on camera-scc based cars
+  bus = 2 if car_fingerprint in CAMERA_SCC_CAR else 0
+  return packer.make_can_msg("CLU11", bus, values)
 
 
 def create_lfahda_mfc(packer, enabled, hda_set_speed=0):

selfdrive/car/hyundai/hyundaicanfd.py

@@ -1,4 +1,4 @@
-def create_lkas(packer, enabled, frame, lat_active, apply_steer):
+def create_lkas(packer, enabled, lat_active, apply_steer):
   values = {
     "LKA_MODE": 2,
     "LKA_ICON": 2 if enabled else 1,
@@ -10,14 +10,18 @@ def create_lkas(packer, enabled, frame, lat_active, apply_steer):
     "NEW_SIGNAL_1": 0,
     "NEW_SIGNAL_2": 0,
   }
-  return packer.make_can_msg("LKAS", 4, values, frame % 255)
+  return packer.make_can_msg("LKAS", 4, values)
 
+def create_cam_0x2a4(packer, camera_values):
+  camera_values.update({
+    "BYTE7": 0,
+  })
+  return packer.make_can_msg("CAM_0x2a4", 4, camera_values)
 
-def create_buttons(packer, cnt, cancel, resume):
+def create_buttons(packer, cnt, btn):
   values = {
-    "_COUNTER": cnt % 0xf,
+    "COUNTER": cnt,
     "SET_ME_1": 1,
-    "DISTANCE_BTN": 1 if resume else 0,
-    "PAUSE_RESUME_BTN": 1 if cancel else 0,
+    "CRUISE_BUTTONS": btn,
   }
   return packer.make_can_msg("CRUISE_BUTTONS", 5, values)

selfdrive/car/hyundai/interface.py

@@ -1,14 +1,12 @@
 #!/usr/bin/env python3
-import os
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import CAR, DBC, HDA2_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
-from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -27,11 +25,10 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
 
     ret.carName = "hyundai"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
     ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 
     # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
-    ret.openpilotLongitudinalControl = disable_radar and (candidate not in LEGACY_SAFETY_MODE_CAR)
+    ret.openpilotLongitudinalControl = disable_radar and (candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR))
 
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 
@@ -39,8 +36,6 @@ class CarInterface(CarInterfaceBase):
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
     ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
-    if candidate in HDA2_CAR:
-      ret.dashcamOnly = not os.path.exists('/data/enable-ev6')
 
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerLimitTimer = 0.4
@@ -54,7 +49,6 @@ class CarInterface(CarInterfaceBase):
     ret.stopAccel = 0.0
 
     ret.longitudinalActuatorDelayUpperBound = 1.0  # s
-    torque_params = CarInterfaceBase.get_torque_params(candidate)
     if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
@@ -69,7 +63,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.84
       ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
       tire_stiffness_factor = 0.65
-      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.SONATA_LF:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 4497. * CV.LB_TO_KG
@@ -83,8 +77,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.90
       ret.steerRatio = 15.6 * 1.15
       tire_stiffness_factor = 0.63
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1275. + STD_CARGO_KG
@@ -99,13 +92,13 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.72
       ret.steerRatio = 12.9
       tire_stiffness_factor = 0.65
-      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.ELANTRA_HEV_2021:
       ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
       ret.wheelbase = 2.72
       ret.steerRatio = 12.9
       tire_stiffness_factor = 0.65
-      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.HYUNDAI_GENESIS:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 2060. + STD_CARGO_KG
@@ -121,9 +114,9 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
       ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
       ret.minSteerSpeed = 60 * CV.KPH_TO_MS
-    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
+    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
       ret.lateralTuning.pid.kf = 0.00005
-      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG
+      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG
       ret.wheelbase = 2.6
       ret.steerRatio = 13.42  # Spec
       tire_stiffness_factor = 0.385
@@ -207,8 +200,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.80
       ret.steerRatio = 13.75
       tire_stiffness_factor = 0.5
-      torque_params = CarInterfaceBase.get_torque_params(CAR.KIA_OPTIMA)
-      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.KIA_STINGER:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 1825. + STD_CARGO_KG
@@ -245,13 +237,14 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2055 + STD_CARGO_KG
       ret.wheelbase = 2.9
       ret.steerRatio = 16.
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
-                           get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
       tire_stiffness_factor = 0.65
-
-      ret.maxLateralAccel = 2.
-      # TODO override until there is more data
-      set_torque_tune(ret.lateralTuning, 2.0, 0.05)
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    elif candidate == CAR.IONIQ_5:
+      ret.mass = 2012 + STD_CARGO_KG
+      ret.wheelbase = 3.0
+      ret.steerRatio = 16.
+      tire_stiffness_factor = 0.65
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     # Genesis
     elif candidate == CAR.GENESIS_G70:
@@ -289,15 +282,28 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
 
-    # these cars require a special panda safety mode due to missing counters and checksums in the messages
-    if candidate in LEGACY_SAFETY_MODE_CAR:
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
-
-    # set appropriate safety param for gas signal
-    if candidate in HYBRID_CAR:
-      ret.safetyConfigs[0].safetyParam = 2
-    elif candidate in EV_CAR:
-      ret.safetyConfigs[0].safetyParam = 1
+    # panda safety config
+    if candidate in CANFD_CAR:
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
+                           get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]
+    else:
+      if candidate in LEGACY_SAFETY_MODE_CAR:
+        # these cars require a special panda safety mode due to missing counters and checksums in the messages
+        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
+      else:
+        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
+
+      # set appropriate safety param for gas signal
+      if candidate in HYBRID_CAR:
+        ret.safetyConfigs[0].safetyParam = 2
+      elif candidate in EV_CAR:
+        ret.safetyConfigs[0].safetyParam = 1
+
+      if ret.openpilotLongitudinalControl:
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
+
+      if candidate in CAMERA_SCC_CAR:
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
 
     ret.centerToFront = ret.wheelbase * 0.4
 
@@ -312,9 +318,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.enableBsm = 0x58b in fingerprint[0]
 
-    if ret.openpilotLongitudinalControl:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
-
     return ret
 
   @staticmethod
@@ -324,14 +327,12 @@ class CarInterface(CarInterfaceBase):
 
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
     # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
     # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
     # Main button also can trigger an engagement on these cars
     allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
-    allow_enable = allow_enable or self.CP.carFingerprint in HDA2_CAR
-    events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable or True)
+    events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
 
     if self.CS.brake_error:
       events.add(EventName.brakeUnavailable)
@@ -358,5 +359,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
-    return ret
+    return self.CC.update(c, self.CS)

selfdrive/car/hyundai/values.py

@@ -13,21 +13,29 @@ class CarControllerParams:
   ACCEL_MAX = 2.0 # m/s
 
   def __init__(self, CP):
+    self.STEER_DELTA_UP = 3
+    self.STEER_DELTA_DOWN = 7
+    self.STEER_DRIVER_ALLOWANCE = 50
+    self.STEER_DRIVER_MULTIPLIER = 2
+    self.STEER_DRIVER_FACTOR = 1
+    self.STEER_THRESHOLD = 150
+
+    if CP.carFingerprint in CANFD_CAR:
+      self.STEER_MAX = 270
+      self.STEER_DRIVER_ALLOWANCE = 250
+      self.STEER_DRIVER_MULTIPLIER = 2
+      self.STEER_THRESHOLD = 250
+
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
-    if CP.carFingerprint in HDA2_CAR:
-      self.STEER_MAX = 150
     elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
-                             CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
-                             CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
+                               CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
+                               CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
       self.STEER_MAX = 255
+
+    # Default for most HKG
     else:
       self.STEER_MAX = 384
-    self.STEER_DELTA_UP = 3
-    self.STEER_DELTA_DOWN = 7
-    self.STEER_DRIVER_ALLOWANCE = 50
-    self.STEER_DRIVER_MULTIPLIER = 2
-    self.STEER_DRIVER_FACTOR = 1
 
 
 class CAR:
@@ -45,6 +53,7 @@ class CAR:
   IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020"
   KONA = "HYUNDAI KONA 2020"
   KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
+  KONA_EV_2022 = "HYUNDAI KONA ELECTRIC 2022"
   KONA_HEV = "HYUNDAI KONA HYBRID 2020"
   SANTA_FE = "HYUNDAI SANTA FE 2019"
   SANTA_FE_2022 = "HYUNDAI SANTA FE 2022"
@@ -56,6 +65,7 @@ class CAR:
   PALISADE = "HYUNDAI PALISADE 2020"
   VELOSTER = "HYUNDAI VELOSTER 2019"
   SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
+  IONIQ_5 = "HYUNDAI IONIQ 5 2022"
 
   # Kia
   KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
@@ -82,25 +92,25 @@ class CAR:
 class HyundaiCarInfo(CarInfo):
   # TODO: we can probably remove LKAS. LKAS is standard on many
   # HKG and for others, it's likely packaged together with SCC
-  package: str = "SCC + LKAS"
-  good_torque: bool = True
+  package: str = "Smart Cruise Control (SCC) & LKAS"
 
 
 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b),
   CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
-  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
+  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", "Smart Cruise Control (SCC)", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
   CAR.ELANTRA_GT_I30: None,  # dashcamOnly and same platform as CAR.ELANTRA
   CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j),
   CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c),
-  CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "SCC + LFA", harness=Harness.hyundai_h),
+  CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "Smart Cruise Control (SCC) & LFA", harness=Harness.hyundai_h),
   CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c),
   CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", harness=Harness.hyundai_h),
   CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c),
-  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", harness=Harness.hyundai_h),
-  CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b),
+  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", "Smart Cruise Control (SCC)", harness=Harness.hyundai_h),
+  CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", "Smart Cruise Control (SCC)", harness=Harness.hyundai_b),
   CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g),
-  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", harness=Harness.hyundai_i),
+  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", "Smart Cruise Control (SCC)", harness=Harness.hyundai_o),
+  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i),
   CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d),
   CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", harness=Harness.hyundai_l),
   CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l),
@@ -108,28 +118,30 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
   CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e),
   CAR.TUCSON: [
-    HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
-    HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
+    HyundaiCarInfo("Hyundai Tucson 2021", "Smart Cruise Control (SCC)", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
+    HyundaiCarInfo("Hyundai Tucson Diesel 2019", "Smart Cruise Control (SCC)", harness=Harness.hyundai_l),
   ],
   CAR.PALISADE: [
-    HyundaiCarInfo("Hyundai Palisade 2020-21", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
-    HyundaiCarInfo("Kia Telluride 2020", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Kia Telluride 2020", "All", harness=Harness.hyundai_h),
   ],
-  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
+  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", "Smart Cruise Control (SCC)", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
   CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
+  CAR.IONIQ_5: HyundaiCarInfo("Hyundai Ioniq 5 2022", "Highway Driving Assist II", harness=Harness.hyundai_q),
 
   # Kia
   CAR.KIA_FORTE: [
     HyundaiCarInfo("Kia Forte 2018", harness=Harness.hyundai_b),
-    HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
+    HyundaiCarInfo("Kia Forte 2019-21", "All", harness=Harness.hyundai_g),
   ],
-  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC", harness=Harness.hyundai_a),
+  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
   CAR.KIA_NIRO_EV: [
-    HyundaiCarInfo("Kia Niro Electric 2019-20", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
+    HyundaiCarInfo("Kia Niro Electric 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Kia Niro Electric 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
     HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
     HyundaiCarInfo("Kia Niro Electric 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
   ],
-  CAR.KIA_NIRO_HEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2019", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
+  CAR.KIA_NIRO_HEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
   CAR.KIA_NIRO_HEV_2021: [
     HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f),  # TODO: could be hyundai_d, verify
     HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h),
@@ -138,21 +150,21 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Optima 2017", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b),
     HyundaiCarInfo("Kia Optima 2019", harness=Harness.hyundai_g),
   ],
-  CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima 2017, 2019"),  # TODO: info may be incorrect
-  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
+  CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017, 2019"),  # TODO: info may be incorrect
+  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
   CAR.KIA_SORENTO: [
     HyundaiCarInfo("Kia Sorento 2018", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
     HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
   ],
-  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
+  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
   CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
-  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.none),
+  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "Highway Driving Assist II", harness=Harness.hyundai_p),
 
   # Genesis
-  CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018", "All", harness=Harness.hyundai_f),
+  CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
   CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f),
-  CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018", "All", harness=Harness.hyundai_h),
-  CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2018", "All", harness=Harness.hyundai_c),
+  CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2017-19", "All", harness=Harness.hyundai_h),
+  CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c),
 }
 
 class Buttons:
@@ -160,7 +172,7 @@ class Buttons:
   RES_ACCEL = 1
   SET_DECEL = 2
   GAP_DIST = 3
-  CANCEL = 4
+  CANCEL = 4  # on newer models, this is a pause/resume button
 
 FINGERPRINTS = {
   CAR.ELANTRA: [{
@@ -235,6 +247,9 @@ FINGERPRINTS = {
   CAR.KONA_EV: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
   }],
+  CAR.KONA_EV_2022: [{
+    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8
+  }],
   CAR.KIA_NIRO_EV: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
   }],
@@ -376,7 +391,7 @@ FW_VERSIONS = {
       b'\xf1\x8799110L0000\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
     ],
     (Ecu.esp, 0x7d1, None): [
-      b'\xf1\x00DN ESC \a 106 \a\x01 58910-L0100',
+      b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
       b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300',
       b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300',
       b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
@@ -406,8 +421,8 @@ FW_VERSIONS = {
       b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B',
     ],
     (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware
-      b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware
+      b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',  # modified firmware
+      b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',  # modified firmware
       b'\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
@@ -486,6 +501,9 @@ FW_VERSIONS = {
       b'\xf1\x87SAMFBA9283024GJ2wwwwEUuWwwgwwwwwwwww\x87/\xfb\xff\x98w\x8f\xff<\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
       b'\xf1\x87SAMFBA9708354GJ2wwwwVf\x86h\x88wx\x87xww\x87\x88\x88\x88\x88w/\xfa\xff\x97w\x8f\xff\x86\xa0\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
       b'\xf1\x87SANDB45316691GC6\x99\x99\x99\x99\x88\x88\xa8\x8avfwfwwww\x87wxwT\x9f\xfd\xff\x88wo\xff\x1c\xfa\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB3\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALFBA7460044GJ2gx\x87\x88Vf\x86hx\x88\x87\x88wwwwgw\x86wd?\xfa\xff\x86U_\xff\xaf\x1f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SAMFBA8105254GJ2wx\x87\x88Vf\x86hx\x88\x87\x88wwwwwwww\x86O\xfa\xff\x99\x88\x7f\xffZG\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SANFB45889451GC7wx\x87\x88gw\x87x\x88\x88x\x88\x87wxw\x87wxw\x87\x8f\xfc\xffeU\x8f\xff+Q\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
     ],
   },
   CAR.SONATA_LF: {
@@ -610,6 +628,7 @@ FW_VERSIONS = {
       b'\xf1\x82TACVN5GSI3XXXH0A',
       b'\xf1\x82TMCFD5MMCXXXXG0A',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A',
+      b'\xf1\x81HM6M2_0a0_G00',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56370-S2AA0 0B19',
@@ -628,6 +647,7 @@ FW_VERSIONS = {
       b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6\x06\x88\xf7',
       b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00',
       b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6',
+      b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15',
     ],
   },
   CAR.SANTA_FE_HEV_2022: {
@@ -700,7 +720,7 @@ FW_VERSIONS = {
   },
   CAR.PALISADE: {
     (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\000LX2_ SCC F-CUP      1.00 1.05 99110-S8100         ',
+      b'\xf1\x00LX2_ SCC F-CUP      1.00 1.05 99110-S8100         ',
       b'\xf1\x00LX2 SCC FHCUP      1.00 1.04 99110-S8100         ',
       b'\xf1\x00LX2_ SCC FHCU-      1.00 1.05 99110-S8100         ',
       b'\xf1\x00LX2_ SCC FHCUP      1.00 1.00 99110-S8110         ',
@@ -710,7 +730,7 @@ FW_VERSIONS = {
     ],
     (Ecu.esp, 0x7d1, None): [
       b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360',
-      b'\xf1\x00LX ESC \x01 103\x31\t\020 58910-S8360',
+      b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360',
       b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330',
       b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330',
       b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330',
@@ -718,6 +738,7 @@ FW_VERSIONS = {
       b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360',
       b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
       b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
+      b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -725,7 +746,7 @@ FW_VERSIONS = {
       b'\xf1\x81640S1051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', # modified firmware
+      b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103',
       b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103',
       b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104',
       b'\xf1\x00ON  MDPS C 1.00 1.00 56340-S9000 8B13',
@@ -738,6 +759,7 @@ FW_VERSIONS = {
       b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.08 99211-S8100 200903',
       b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9100 181105',
       b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.03 99211-S9100 200720',
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.00 99211-S8110 210226',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
@@ -745,7 +767,7 @@ FW_VERSIONS = {
       b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1',
       b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
       b'\xf1\x87LBLUFN655162KF36\x98\x88\x88\x88\x98\x88\x88\x88x\x99\xa7\x89x\x99\xa7\x89x\x99\x97\x89g\x7f\xf7\xffwU_\xff\xe9!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
-      b'\xf1\x87LBLUFN731381KF36\xb9\x99\x89\x98\x98\x88\x88\x88\x89\x99\xa8\x99\x88\x99\xa8\x89\x88\x88\x98\x88V\177\xf6\xff\x99w\x8f\xff\xad\xd8\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\000bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
+      b'\xf1\x87LBLUFN731381KF36\xb9\x99\x89\x98\x98\x88\x88\x88\x89\x99\xa8\x99\x88\x99\xa8\x89\x88\x88\x98\x88V\x7f\xf6\xff\x99w\x8f\xff\xad\xd8\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
       b'\xf1\x87LDKVAA0028604HH1\xa8\x88x\x87vgvw\x88\x99\xa8\x89gw\x86ww\x88\x97x\x97o\xf9\xff\x97w\x7f\xffo\x02\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
       b'\xf1\x87LDKVAA3068374HH1wwww\x87xw\x87y\x99\xa7\x99w\x88\x87xw\x88\x97x\x85\xaf\xfa\xffvU/\xffU\xdc\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
       b'\xf1\x87LDKVBN382172KF26\x98\x88\x88\x88\xa8\x88\x88\x88x\x99\xa7\x89\x87\x88\x98x\x98\x99\xa9\x89\xa5_\xf6\xffDDO\xff\xcd\x16\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
@@ -786,6 +808,8 @@ FW_VERSIONS = {
       b'\xf1\x87LDMVBN895969KF37vefV\x87vgfx\x99\xa7\x89\x99\x99\xb9\x99f\x88\x96he_\xf7\xffxwo\xff\x14\xf9\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
       b'\xf1\x87LDMVBN899222KF37\xa8\x88x\x87\x97www\x98\x99\x99\x89\x88\x99\x98\x89f\x88\x96hdo\xf7\xff\xbb\xaa\x9f\xff\xe2U\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
       b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8",
+      b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
+      b'\xf1\x87LDLVAA4478824HH1\x87wwwvfvg\x89\x99\xa8\x99w\x88\x87x\x89\x99\xa8\x99\xa6o\xfa\xfffU/\xffu\x92\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
     ],
   },
   CAR.VELOSTER: {
@@ -846,6 +870,12 @@ FW_VERSIONS = {
       b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
+  CAR.GENESIS_G90: {
+    (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7'],
+    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00HI__ SCC F-CUP      1.00 1.01 96400-D2100         '],
+    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00HI  LKAS AT USA LHD 1.00 1.00 95895-D2020 160302'],
+    (Ecu.engine, 0x7e0, None): [b'\xf1\x810000000000\x00'],
+  },
   CAR.KONA: {
     (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP      1.00 1.00 95655-J9200         ', ],
     (Ecu.esp, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ],
@@ -951,9 +981,33 @@ FW_VERSIONS = {
       b'\xf1\x00OSev SCC FNCUP      1.00 1.01 99110-K4000         ',
     ],
   },
+  CAR.KONA_EV_2022: {
+    (Ecu.esp, 0x7D1, None): [
+      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x02 101 \x11\x13 58520-K4010',
+      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010',
+      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
+      # TODO: these return from the MULTI request, above return from LONG
+      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xee\xff\xe0\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xffP\xf5\xff\xfd\x00\x00\x00\x00\xfc\x00\x01',
+      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xdb\x00\x00\x00\x00\xff\xb1\xff\xd9\xff\xd2\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xff\xd6\xf5\x00\x06\x00\x00\x00\x14\xfd\x00\x04',
+      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xf4\xff\xd9\x00\xc0',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00OSP LKA  AT CND LHD 1.00 1.02 99211-J9110 802',
+      b'\xf1\x00OSP LKA  AT EUR RHD 1.00 1.02 99211-J9110 802',
+      b'\xf1\x00OSP LKA  AT AUS RHD 1.00 1.04 99211-J9200 904',
+    ],
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
+    ],
+    (Ecu.fwdRadar, 0x7D0, None): [
+      b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-K4500      \x00\x00\x00',
+    ],
+  },
   CAR.KIA_NIRO_EV: {
     (Ecu.fwdRadar, 0x7D0, None): [
       b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
+      b'\xf1\x00DEev SCC F-CUP      1.00 1.02 96400-Q4000         ',
       b'\xf1\x00DEev SCC F-CUP      1.00 1.02 96400-Q4100         ',
       b'\xf1\x00DEev SCC F-CUP      1.00 1.03 96400-Q4100         ',
       b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
@@ -966,6 +1020,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105',
       b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105',
+      b'\xf1\x00DE  MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4100 200706',
@@ -973,24 +1028,29 @@ FW_VERSIONS = {
       b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.00 99211-Q4000 191211',
       b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.03 95740-Q4000 180821',
       b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.01 99211-Q4500 210428',
+      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.03 95740-Q4000 180821',
     ],
   },
   CAR.KIA_NIRO_HEV: {
     (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6F4051\000\000\000\000\000\000\000\000',
+      b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
-      b"\xf1\x816U3J2051\000\000\xf1\0006U3H0_C2\000\0006U3J2051\000\000PDE0G16NS2\xf4\'\\\x91",
-      b'\xf1\x816U3J2051\000\000\xf1\0006U3H0_C2\000\0006U3J2051\000\000PDE0G16NS2\000\000\000\000',
+      b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91",
+      b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00',
+      b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00',
+      b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92',
     ],
     (Ecu.eps, 0x7D4, None): [
-      b'\xf1\000DE  MDPS C 1.00 1.09 56310G5301\000 4DEHC109',
+      b'\xf1\x00DE  MDPS C 1.00 1.09 56310G5301\x00 4DEHC109',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
-      b'\xf1\000DEP MFC  AT USA LHD 1.00 1.01 95740-G5010 170424',
+      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.01 95740-G5010 170424',
+      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.00 95740-G5010 170117',
     ],
     (Ecu.fwdRadar, 0x7D0, None): [
-      b'\xf1\000DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
+      b'\xf1\x00DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
     ],
   },
   CAR.KIA_NIRO_HEV_2021: {
@@ -1039,18 +1099,27 @@ FW_VERSIONS = {
     ],
   },
   CAR.KIA_OPTIMA: {
-    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4110         '],
-    (Ecu.esp, 0x7d1, None): [b'\xf1\x00JF ESC \v 11 \x18\x030 58920-D5180',],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4110         ',
+    ],
+    (Ecu.esp, 0x7d1, None): [
+      b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180',
+    ],
     (Ecu.engine, 0x7e0, None): [
-      b'\x01TJFAJNU06F201H03',
       b'\xf1\x89F1JF600AISEIU702\xf1\x82F1JF600AISEIU702',
     ],
-    (Ecu.eps, 0x7d4, None): [b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409'],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409',
+    ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32',
       b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.02 95895-D5000 h31',
     ],
-    (Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW'],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW',
+      b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.',
+      b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',
+    ],
   },
   CAR.ELANTRA_2021: {
     (Ecu.fwdRadar, 0x7d0, None): [
@@ -1140,9 +1209,6 @@ FW_VERSIONS = {
       b'\xf1\000DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
       b'\xf1\x8799110L5000\xf1\000DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
     ],
-    (Ecu.esp, 0x7b0, None): [
-      b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102',
       b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',
@@ -1199,6 +1265,23 @@ FW_VERSIONS = {
       b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.05 99210-CV000 211027',
     ],
   },
+  CAR.IONIQ_5: {
+    (Ecu.esp, 0x7d1, None): [
+      b'\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
+      b'\xf1\x8758520GI010\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00NE  MDPS R 1.00 1.06 57700GI000  4NEDR106',
+      b'\xf1\x8757700GI000 \xf1\x00NE  MDPS R 1.00 1.06 57700GI000  4NEDR106',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
+      b'\xf1\x8799110GI000\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
+    ],
+  },
 }
 
 CHECKSUM = {
@@ -1210,16 +1293,19 @@ FEATURES = {
   # which message has the gear
   "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
   "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
-  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019},
+  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022},
 
   # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON},
+  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
 }
 
-HDA2_CAR = {CAR.KIA_EV6, }
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5}
+
+# The camera does SCC on these cars, rather than the radar
+CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 
 HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019}  # these cars use a different gas signal
-EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV}
+EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
 LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
@@ -1254,6 +1340,7 @@ DBC = {
   CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
   CAR.KONA: dbc_dict('hyundai_kia_generic', None),
   CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
+  CAR.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None),
   CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None),
   CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
   CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None),
@@ -1267,6 +1354,5 @@ DBC = {
   CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_EV6: dbc_dict('kia_ev6', None),
   CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
+  CAR.IONIQ_5: dbc_dict('kia_ev6', None),
 }
-
-STEER_THRESHOLD = 150

selfdrive/car/interfaces.py

@@ -1,8 +1,8 @@
-import json
+import yaml
 import os
 import time
 from abc import abstractmethod, ABC
-from typing import Any, Dict, Tuple, List
+from typing import Any, Dict, Optional, Tuple, List
 
 from cereal import car
 from common.basedir import BASEDIR
@@ -20,7 +20,34 @@ EventName = car.CarEvent.EventName
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
-TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data.json')
+
+TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml')
+TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml')
+TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml')
+
+
+def get_torque_params(candidate):
+  with open(TORQUE_SUBSTITUTE_PATH) as f:
+    sub = yaml.load(f, Loader=yaml.CSafeLoader)
+  if candidate in sub:
+    candidate = sub[candidate]
+
+  with open(TORQUE_PARAMS_PATH) as f:
+    params = yaml.load(f, Loader=yaml.CSafeLoader)
+  with open(TORQUE_OVERRIDE_PATH) as f:
+    override = yaml.load(f, Loader=yaml.CSafeLoader)
+
+  # Ensure no overlap
+  if sum([candidate in x for x in [sub, params, override]]) > 1:
+    raise RuntimeError(f'{candidate} is defined twice in torque config')
+
+  if candidate in override:
+    out = override[candidate]
+  elif candidate in params:
+    out = params[candidate]
+  else:
+    raise NotImplementedError(f"Did not find torque params for {candidate}")
+  return {key: out[i] for i, key in enumerate(params['legend'])}
 
 
 # generic car and radar interfaces
@@ -34,6 +61,7 @@ class CarInterfaceBase(ABC):
     self.steering_unpressed = 0
     self.low_speed_alert = False
     self.silent_steer_warning = True
+    self.v_ego_cluster_seen = False
 
     self.CS = None
     self.can_parsers = []
@@ -83,7 +111,7 @@ class CarInterfaceBase(ABC):
     ret.steerControlType = car.CarParams.SteerControlType.torque
     ret.minSteerSpeed = 0.
     ret.wheelSpeedFactor = 1.0
-    ret.maxLateralAccel = CarInterfaceBase.get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
+    ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
 
     ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
     ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
@@ -108,10 +136,16 @@ class CarInterfaceBase(ABC):
     return ret
 
   @staticmethod
-  def get_torque_params(candidate, default=float('NaN')):
-    with open(TORQUE_PARAMS_PATH) as f:
-      data = json.load(f)
-    return {key: data[key].get(candidate, default) for key in data}
+  def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
+    params = get_torque_params(candidate)
+
+    tune.init('torque')
+    tune.torque.useSteeringAngle = use_steering_angle
+    tune.torque.kp = 1.0 / params['LAT_ACCEL_FACTOR']
+    tune.torque.kf = 1.0 / params['LAT_ACCEL_FACTOR']
+    tune.torque.ki = 0.1 / params['LAT_ACCEL_FACTOR']
+    tune.torque.friction = params['FRICTION']
+    tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
 
   @abstractmethod
   def _update(self, c: car.CarControl) -> car.CarState:
@@ -129,6 +163,14 @@ class CarInterfaceBase(ABC):
     ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None)
     ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None)
 
+    if ret.vEgoCluster == 0.0 and not self.v_ego_cluster_seen:
+      ret.vEgoCluster = ret.vEgo
+    else:
+      self.v_ego_cluster_seen = True
+
+    if ret.cruiseState.speedCluster == 0:
+      ret.cruiseState.speedCluster = ret.cruiseState.speed
+
     # copy back for next iteration
     reader = ret.as_reader()
     if self.CS is not None:
@@ -279,13 +321,22 @@ class CarStateBase(ABC):
     return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0)
 
   @staticmethod
-  def parse_gear_shifter(gear: str) -> car.CarState.GearShifter:
+  def parse_gear_shifter(gear: Optional[str]) -> car.CarState.GearShifter:
+    if gear is None:
+      return GearShifter.unknown
+
     d: Dict[str, car.CarState.GearShifter] = {
-        'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
-        'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
-        'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake
+        'P': GearShifter.park, 'PARK': GearShifter.park,
+        'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
+        'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
+        'E': GearShifter.eco, 'ECO': GearShifter.eco,
+        'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic,
+        'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
+        'S': GearShifter.sport, 'SPORT': GearShifter.sport,
+        'L': GearShifter.low, 'LOW': GearShifter.low,
+        'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
     }
-    return d.get(gear, GearShifter.unknown)
+    return d.get(gear.upper(), GearShifter.unknown)
 
   @staticmethod
   def get_cam_can_parser(CP):

selfdrive/car/isotp_parallel_query.py

@@ -126,7 +126,7 @@ class IsoTpParallelQuery:
             msg.send(self.request[counter + 1])
             request_counter[tx_addr] += 1
           else:
-            results[tx_addr] = dat[len(expected_response):]
+            results[(tx_addr, msg._can_client.rx_addr)] = dat[len(expected_response):]
             request_done[tx_addr] = True
         else:
           error_code = dat[2] if len(dat) > 2 else -1
@@ -135,6 +135,7 @@ class IsoTpParallelQuery:
             if self.debug:
               cloudlog.warning(f"iso-tp query response pending: {tx_addr}")
           else:
+            response_timeouts[tx_addr] = 0
             request_done[tx_addr] = True
             cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
 

selfdrive/car/mazda/carcontroller.py

@@ -1,67 +1,64 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
+from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.mazda import mazdacan
 from selfdrive.car.mazda.values import CarControllerParams, Buttons
-from selfdrive.car import apply_std_steer_torque_limits
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-class CarController():
+
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.apply_steer_last = 0
     self.packer = CANPacker(dbc_name)
-    self.steer_rate_limited = False
     self.brake_counter = 0
+    self.frame = 0
 
-  def update(self, c, CS, frame):
+  def update(self, CC, CS):
     can_sends = []
 
     apply_steer = 0
-    self.steer_rate_limited = False
 
-    if c.latActive:
+    if CC.latActive:
       # calculate steer and also set limits due to driver torque
-      new_steer = int(round(c.actuators.steer * CarControllerParams.STEER_MAX))
+      new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
                                                   CS.out.steeringTorque, CarControllerParams)
-      self.steer_rate_limited = new_steer != apply_steer
-
-    if c.enabled:
-      if CS.out.standstill and frame % 5 == 0:
-        # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
-        # Send Resume button at 20hz if we're engaged at standstill to support full stop and go!
-        # TODO: improve the resume trigger logic by looking at actual radar data
-        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
 
-    if c.cruiseControl.cancel:
+    if CC.cruiseControl.cancel:
       # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
       # a race condition with the stock system, where the second cancel from openpilot
       # will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
       # read 3 messages and most likely sync state before we attempt cancel.
       self.brake_counter = self.brake_counter + 1
-      if frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
+      if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
         # Cancel Stock ACC if it's enabled while OP is disengaged
         # Send at a rate of 10hz until we sync with stock ACC state
         can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
     else:
       self.brake_counter = 0
+      if CC.cruiseControl.resume and self.frame % 5 == 0:
+        # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
+        # Send Resume button when planner wants car to move
+        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
 
     self.apply_steer_last = apply_steer
 
     # send HUD alerts
-    if frame % 50 == 0:
-      ldw = c.hudControl.visualAlert == VisualAlert.ldw
-      steer_required = c.hudControl.visualAlert == VisualAlert.steerRequired
+    if self.frame % 50 == 0:
+      ldw = CC.hudControl.visualAlert == VisualAlert.ldw
+      steer_required = CC.hudControl.visualAlert == VisualAlert.steerRequired
       # TODO: find a way to silence audible warnings so we can add more hud alerts
       steer_required = steer_required and CS.lkas_allowed_speed
       can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
 
     # send steering command
     can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint,
-                                                      frame, apply_steer, CS.cam_lkas))
+                                                      self.frame, apply_steer, CS.cam_lkas))
 
-    new_actuators = c.actuators.copy()
+    new_actuators = CC.actuators.copy()
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
 
+    self.frame += 1
     return new_actuators, can_sends

selfdrive/car/mazda/carstate.py

@@ -79,6 +79,7 @@ class CarState(CarStateBase):
     #       it should be used for carState.cruiseState.nonAdaptive instead
     ret.cruiseState.available = cp.vl["CRZ_CTRL"]["CRZ_AVAILABLE"] == 1
     ret.cruiseState.enabled = cp.vl["CRZ_CTRL"]["CRZ_ACTIVE"] == 1
+    ret.cruiseState.standstill = cp.vl["PEDALS"]["STANDSTILL"] == 1
     ret.cruiseState.speed = cp.vl["CRZ_EVENTS"]["CRZ_SPEED"] * CV.KPH_TO_MS
 
     if ret.cruiseState.enabled:

selfdrive/car/mazda/interface.py

@@ -28,34 +28,24 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.8
     tire_stiffness_factor = 0.70   # not optimized yet
 
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     if candidate in (CAR.CX5, CAR.CX5_2022):
       ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.7
       ret.steerRatio = 15.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
-      ret.lateralTuning.pid.kf = 0.00006
     elif candidate in (CAR.CX9, CAR.CX9_2021):
       ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 3.1
       ret.steerRatio = 17.6
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
-      ret.lateralTuning.pid.kf = 0.00006
     elif candidate == CAR.MAZDA3:
       ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.7
       ret.steerRatio = 14.0
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
-      ret.lateralTuning.pid.kf = 0.00006
     elif candidate == CAR.MAZDA6:
       ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.83
       ret.steerRatio = 15.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
-      ret.lateralTuning.pid.kf = 0.00006
 
     if candidate not in (CAR.CX5_2022, ):
       ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
@@ -90,6 +80,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS, self.frame)
-    self.frame += 1
-    return ret
+    return self.CC.update(c, self.CS)