Merge branch 'master' into mqb-long

.github/PULL_REQUEST_TEMPLATE/car_bugfix.md

@@ -1,6 +1,6 @@
 ---
 name: Car Bug fix
-about: For vehicle/brand specifc bug fixes
+about: For vehicle/brand specific bug fixes
 title: ''
 labels: 'car bug fix'
 assignees: ''

.github/workflows/badges.yaml

@@ -7,12 +7,7 @@ on:
 env:
   BASE_IMAGE: openpilot-base
   DOCKER_REGISTRY: ghcr.io/commaai
-
+  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 $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c
-  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:
@@ -23,23 +18,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-
+    - uses: ./.github/workflows/setup
-    - 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"
@@ -49,6 +28,6 @@ jobs:
         git config user.email "badge-researcher@comma.ai"
         git config user.name "Badge Researcher"
 
-        git add translation_badge_*.svg
+        git add translation_badge.svg
         git commit -m "Add/Update badges"
         git push -f origin HEAD

.github/workflows/selfdrive_tests.yaml

@@ -17,7 +17,7 @@ env:
       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
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -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
@@ -27,11 +27,10 @@ env:
   UNIT_TEST: coverage run --append -m unittest discover
 
 jobs:
-  # TODO: once actions/cache supports read only mode, use the cache for all jobs
   build_release:
     name: build release
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 30
     env:
       STRIPPED_DIR: /tmp/releasepilot
     steps:
@@ -39,44 +38,31 @@ jobs:
       with:
         fetch-depth: 0
         submodules: true
-    - name: Pull LFS
+    - name: Build devel
-      run: git lfs pull
+      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+    - uses: ./.github/workflows/setup
+      with:
+        save-cache: true
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: release/check-submodules.sh
-    - name: Cache scons
+    - name: Build openpilot and run checks
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: true
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
-    - name: Build devel
       run: |
-        TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+        cd $STRIPPED_DIR
-        cp Dockerfile.openpilot_base $STRIPPED_DIR
+        ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py"
+    - name: Run tests
+      run: |
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "release/check-dirty.sh && \
+                        python -m unittest discover selfdrive/car"
+    - name: pre-commit
+      run: |
+        cd $GITHUB_WORKSPACE
         cp .pre-commit-config.yaml $STRIPPED_DIR
         cp .pylintrc $STRIPPED_DIR
         cp mypy.ini $STRIPPED_DIR
-    - name: Build Docker image
+        cd $STRIPPED_DIR
-      run: |
+        ${{ env.RUN }} "pre-commit run --all"
-          eval "$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:
     name: build all
@@ -86,27 +72,13 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache scons
+    - uses: ./.github/workflows/setup
-      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: ${{ github.ref != 'refs/heads/master' || github.repository != 'commaai/openpilot' }}
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-${{ steps.date.outputs.time }}
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
-    - name: Build Docker image
-      run: eval "$BUILD"
     - name: Build openpilot with all flags
-      run: ${{ env.RUN }} "scons -j$(nproc) --extras --test && release/check-dirty.sh"
+      run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh"
     - name: Cleanup scons cache
       run: |
-          ${{ env.RUN }} "scons -j$(nproc) --extras --test && \
+          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
-                          rm -rf /tmp/scons_cache/* && \
+                          scons -j$(nproc) --extras --cache-populate"
-                          scons -j$(nproc) --extras --test --cache-populate"
 
   #build_mac:
   #  name: build macos
@@ -165,41 +137,6 @@ jobs:
   #      done
   #      comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
 
-  build_webcam:
-    name: build webcam
-    runs-on: ubuntu-20.04
-    timeout-minutes: 90
-    env:
-      IMAGE_NAME: openpilotwebcamci
-    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"
-        docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
-        docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/webcam/Dockerfile .
-    - name: Build openpilot
-      run: docker run --shm-size 1G --rm -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot $DOCKER_REGISTRY/$IMAGE_NAME /bin/sh -c "cd /tmp/openpilot && USE_WEBCAM=1 scons -j$(nproc)"
-    - name: Push to container registry
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
-      run: |
-        $DOCKER_LOGIN
-        docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest
-
   docker_push:
     name: docker push
     runs-on: ubuntu-20.04
@@ -244,30 +181,11 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache dependencies
+    - uses: ./.github/workflows/setup
-      id: dependency-cache
-      uses: actions/cache@v2
-      with:
-        path: /tmp/comma_download_cache
-        key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/test_valgrind_replay.py') }}
-    - name: Cache scons
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: true
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
-    - name: Build Docker image
-      run: eval "$BUILD"
     - name: Run valgrind
       run: |
         ${{ env.RUN }} "scons -j$(nproc) && \
-                        FILEREADER_CACHE=1 python selfdrive/test/test_valgrind_replay.py"
+                        python selfdrive/test/test_valgrind_replay.py"
     - name: Print logs
       if: always()
       run: cat selfdrive/test/valgrind_logs.txt
@@ -277,32 +195,14 @@ jobs:
     runs-on: ubuntu-20.04
     timeout-minutes: 50
     steps:
-    - name: Get current date
-      id: date
-      run: echo "::set-output name=time::$(date +'%s')"
-    - name: Output timestamp
-      run: echo $TIMESTAMP
-      env:
-        TIMESTAMP: ${{ steps.date.outputs.time }}
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache scons
+    - uses: ./.github/workflows/setup
-      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: ${{ github.ref != 'refs/heads/master' || github.repository != 'commaai/openpilot' }}
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-${{ steps.date.outputs.time }}
-        restore-keys: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-    - name: Build Docker image
-      run: eval "$BUILD"
     - name: Run unit tests
       run: |
         ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
-                        scons -j$(nproc) --test && \
+                        scons -j$(nproc) && \
                         $UNIT_TEST common && \
                         $UNIT_TEST opendbc/can && \
                         $UNIT_TEST selfdrive/boardd && \
@@ -339,30 +239,17 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache dependencies
+    - uses: ./.github/workflows/setup
+    - name: Cache test routes
       id: dependency-cache
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       with:
         path: /tmp/comma_download_cache
-        key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_processes.py') }}
+        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
-    - 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: Run replay
       run: |
         ${{ env.RUN }} "scons -j$(nproc) && \
-                        FILEREADER_CACHE=1 CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+                        CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                         coverage xml"
     - name: Print diff
       if: always()
@@ -389,35 +276,16 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Pull LFS
+    - uses: ./.github/workflows/setup
-      run: git lfs pull
-    - name: Cache dependencies
-      id: dependency-cache
-      uses: actions/cache@v2
-      with:
-        path: /tmp/comma_download_cache
-        key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/model_replay.py') }}
-    - name: Cache scons
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: true
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
     - name: Build Docker image
-      # Sim docker is needed to get the intel OPENCL drivers
+      # Sim docker is needed to get the OpenCL drivers
       run: eval "$BUILD_CL"
     - name: Run replay
       run: |
         ${{ env.RUN_CL }} "scons -j$(nproc) && \
-                            ONNXCPU=1 FILEREADER_CACHE=1 CI=1 coverage run \
+                           ONNXCPU=1 CI=1 coverage run \
-                            selfdrive/test/process_replay/model_replay.py -j$(nproc) && \
+                           selfdrive/test/process_replay/model_replay.py -j$(nproc) && \
-                            coverage xml"
+                           coverage xml"
 
   test_longitudinal:
     name: longitudinal
@@ -427,20 +295,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache scons
+    - uses: ./.github/workflows/setup
-      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: Test longitudinal
       run: |
         ${{ env.RUN }} "mkdir -p selfdrive/test/out && \
@@ -469,30 +324,17 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Cache dependencies
+    - uses: ./.github/workflows/setup
+    - name: Cache test routes
       id: dependency-cache
-      uses: actions/cache@v2
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
       with:
         path: /tmp/comma_download_cache
         key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
-    - name: Cache scons
-      id: scons-cache
-      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-      env:
-        CACHE_SKIP_SAVE: true
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-        restore-keys: |
-          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
-          scons-
-    - name: Build Docker image
-      run: eval "$BUILD"
     - name: Test car models
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) --test && \
+        ${{ env.RUN }} "scons -j$(nproc) && \
-                        FILEREADER_CACHE=1 coverage run -m pytest selfdrive/car/tests/test_models.py && \
+                        coverage run -m pytest selfdrive/car/tests/test_models.py && \
                         coverage xml && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
@@ -530,20 +372,7 @@ jobs:
         with:
           submodules: true
           ref: ${{ github.event.pull_request.base.ref }}
-      - name: Cache scons
+      - uses: ./.github/workflows/setup
-        id: scons-cache
-        # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
-        uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
-        env:
-          CACHE_SKIP_SAVE: true
-        with:
-          path: /tmp/scons_cache
-          key: scons-${{ 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"

.github/workflows/setup/action.yaml

@@ -0,0 +1,45 @@
+name: 'openpilot env setup'
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
+  BUILD: |
+      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
+      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+
+inputs:
+  save-cache:
+    default: false
+    required: false
+
+runs:
+  using: "composite"
+  steps:
+    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
+    - shell: bash
+      run: git lfs pull
+
+    # build cache
+    - id: date
+      shell: bash
+      run: echo "::set-output name=date::$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d')"
+    - shell: bash
+      run: echo "${{ steps.date.outputs.date }}"
+    - shell: bash
+      run: echo "CACHE_SKIP_SAVE=true" >> $GITHUB_ENV
+      if: github.ref != 'refs/heads/master' || inputs.save-cache == 'false'
+    - id: scons-cache
+      # TODO: change the version to the released version
+      # when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ steps.date.outputs.date }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ steps.date.outputs.date }}-
+          scons-
+
+    # build our docker image
+    - shell: bash
+      run: eval "$BUILD"

.github/workflows/tools_tests.yaml

@@ -21,46 +21,6 @@ env:
        GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
 
 jobs:
-  build_latest_ubuntu:
-    name: build latest ubuntu
-    runs-on: ubuntu-20.04
-    timeout-minutes: 60
-    steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: true
-    - name: Cache pyenv
-      id: ubuntu-latest-pyenv
-      uses: actions/cache@v3
-      with:
-        path: |
-          ~/.pyenv
-          ~/.local/share/virtualenvs/
-        key: ubuntu-latest-python-${{ hashFiles('tools/ubuntu_setup.sh') }}-
-    - name: Cache scons
-      id: ubuntu-latest-scons
-      uses: actions/cache@v3
-      with:
-        path: /tmp/scons_cache
-        key: ubuntu-latest-scons-${{ hashFiles('.github/workflows/tools_test.yaml') }}-
-        restore-keys: |
-          ubuntu-latest-scons-${{ hashFiles('.github/workflows/tools_test.yaml') }}-
-          ubuntu-latest-scons-
-
-    - name: tools/ubuntu_setup.sh
-      run: |
-        source tools/openpilot_env.sh
-        tools/ubuntu_setup.sh
-    - name: Build openpilot
-      run: |
-        source tools/openpilot_env.sh
-        pipenv run scons -j$(nproc) --extras --test
-    - name: Cleanup scons cache
-      run: |
-        source tools/openpilot_env.sh
-        rm -rf /tmp/scons_cache/*
-        pipenv run scons -j$(nproc) --extras --test --cache-populate
-
   plotjuggler:
     name: plotjuggler
     runs-on: ubuntu-20.04

.gitignore

@@ -36,6 +36,7 @@ a.out
 config.json
 clcache
 compile_commands.json
+compare_runtime*.html
 
 persist
 board/obj/

.gitmodules

@@ -16,3 +16,6 @@
 [submodule "body"]
   path = body
   url = ../../commaai/body.git
+[submodule "tinygrad"]
+  path = tinygrad_repo
+  url = https://github.com/geohot/tinygrad.git

.pre-commit-config.yaml

@@ -15,11 +15,20 @@ repos:
     -   id: check-symlinks
     -   id: check-added-large-files
         args: ['--maxkb=100']
+-   repo: https://github.com/codespell-project/codespell
+    rev: v2.2.1
+    hooks:
+    -   id: codespell
+        exclude: '^(pyextra/)|(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(include/)|(selfdrive/ui/translations/.*.ts)|(selfdrive/controls/lib/cluster)'
+        args:
+        # if you've got a short variable name that's getting flagged, add it here
+        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup
+        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/pre-commit/mirrors-mypy
     rev: v0.931
     hooks:
     -   id: mypy
-        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
+        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/|(tinygrad/)|(tinygrad_repo/)'
         additional_dependencies: ['types-PyYAML', 'lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
         args:
         - --warn-redundant-casts
@@ -31,7 +40,7 @@ repos:
     rev: 4.0.1
     hooks:
     -   id: flake8
-        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/debug/)/'
+        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/'
         additional_dependencies: ['flake8-no-implicit-concat']
         args:
         - --indent-size=2
@@ -46,7 +55,11 @@ repos:
         entry: pylint
         language: system
         types: [python]
-        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)'
+        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
+        args:
+        - -rn
+        - -sn
+        - --rcfile=.pylintrc
 -   repo: local
     hooks:
     -   id: cppcheck

Jenkinsfile

@@ -131,7 +131,8 @@ pipeline {
               ["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"],
-              ["test sensord", "python selfdrive/sensord/test/test_sensord.py"],
+              ["test sensord", "python selfdrive/sensord/tests/test_sensord.py"],
+              ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"],
             ])
           }
         }

Pipfile

@@ -88,6 +88,7 @@ urllib3 = "*"
 utm = "*"
 websocket_client = "*"
 hatanaka = "==2.4"
+PySide2 = "*"
 
 [requires]
 python_version = "3.8"

README.md

@@ -17,7 +17,7 @@ Table of Contents
 What is openpilot?
 ------
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
 
 <table>
   <tr>
@@ -40,9 +40,9 @@ Running on a dedicated device in a car
 
 To use openpilot in a car, you need four things
 * A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
-* This software. The setup procedure of the comma three allows the user to enter a url for custom software.
+* This software. The setup procedure of the comma three allows the user to enter a URL for custom software.
-The url, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another github username can install a fork.
+The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
-* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
+* One of [the 200+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
 
 We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
@@ -50,13 +50,13 @@ We have detailed instructions for [how to mount the device in a car](https://com
 Running on PC
 ------
 
-All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data.
+All openpilot services can run as usual on a PC without requiring special hardware or a car. You can also run openpilot on recorded or simulated data to develop or experiment with openpilot.
 
-With openpilot's tools you can plot logs, replay drives and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
+With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
 
-You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.
+You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
 
-A PC running openpilot can also control your vehicle if it is connected to a [a webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and [a harness](https://comma.ai/shop/products/car-harness).
+A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).
 
 Community and Contributing
 ------
@@ -78,8 +78,8 @@ By default, openpilot uploads the driving data to our servers. You can also acce
 
 openpilot is open source software: the user is free to disable data collection if they wish to do so.
 
-openpilot logs the road facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
 
 By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
 
@@ -87,11 +87,11 @@ Safety and Testing
 ----
 
 * openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
-* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
+* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
 * The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
-* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
-* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
+* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
-* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
 * We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
 
 Directory Structure
@@ -119,7 +119,7 @@ Directory Structure
         ├── 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
+        ├── manager         # Daemon that starts/stops all other daemons as needed
         ├── modeld          # Driving and monitoring model runners
         ├── monitoring      # Daemon to determine driver attention
         ├── navd            # Turn-by-turn navigation

RELEASES.md

@@ -1,8 +1,24 @@
-Version 0.8.16 (2022-XX-XX)
+Version 0.8.17 (2022-XX-XX)
 ========================
+* New driving model
+  * Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate.
+
+Version 0.8.16 (2022-08-26)
+========================
+* New driving model
+  * Reduced turn cutting
+* Auto-detect right hand drive setting with driver monitoring model
+* Improved fan controller for comma three
+* New translations
+  * Japanese thanks to cydia2020!
+  * Brazilian Portuguese thanks to AlexandreSato!
 * Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
+* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
+* GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
 * Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
 * Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
+* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
+* Subaru Legacy 2020-22 support thanks to martinl!
 * Subaru Outback 2020-22 support
 
 Version 0.8.15 (2022-07-20)
@@ -62,7 +78,7 @@ Version 0.8.14 (2022-06-01)
 Version 0.8.13 (2022-02-18)
 ========================
  * Improved driver monitoring
-   * Retuned driver pose learner for relaxed driving positions
+   * Re-tuned driver pose learner for relaxed driving positions
    * Added reliance on driving model to be more scene adaptive
    * Matched strictness between comma two and comma three
  * Improved performance in turns by compensating for the road bank angle
@@ -208,7 +224,7 @@ Version 0.8.4 (2021-05-17)
  * Delay controls start until system is ready
  * Fuzzy car identification, enabled with Community Features toggle
  * Localizer optimized for increased precision and less CPU usage
- * Retuned lateral control to be more aggressive when model is confident
+ * Re-tuned lateral control to be more aggressive when model is confident
  * Toyota Mirai 2021 support
  * Lexus NX 300 2020 support thanks to goesreallyfast!
  * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
@@ -373,7 +389,7 @@ Version 0.7 (2019-12-13)
  * Improve GM longitudinal control: proper computations for 15Hz radar
  * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
  * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
- * Refactor Panda code towards ISO26262 and SIL2 compliancy
+ * Refactor Panda code towards ISO26262 and SIL2 compliance
  * Forward stock FCW for Honda Nidec
  * Volkswagen port now standard: comma Harness intercepts stock camera
 

SConstruct

@@ -10,10 +10,6 @@ AGNOS = TICI
 
 Decider('MD5-timestamp')
 
-AddOption('--test',
-          action='store_true',
-          help='build test files')
-
 AddOption('--extras',
           action='store_true',
           help='build misc extras, like setup and installer files')
@@ -53,6 +49,17 @@ AddOption('--no-thneed',
           dest='no_thneed',
           help='avoid using thneed')
 
+AddOption('--pc-thneed',
+          action='store_true',
+          dest='pc_thneed',
+          help='use thneed on pc')
+
+AddOption('--no-test',
+          action='store_false',
+          dest='test',
+          default=os.path.islink(Dir('#laika/').abspath),
+          help='skip building test files')
+
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
@@ -60,7 +67,6 @@ if platform.system() == "Darwin":
 if arch == "aarch64" and AGNOS:
   arch = "larch64"
 
-USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
 
 lenv = {
   "PATH": os.environ['PATH'],
@@ -69,7 +75,7 @@ lenv = {
 
   "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
   "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
-  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
+  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
 }
 
 rpath = lenv["LD_LIBRARY_PATH"].copy()
@@ -106,6 +112,9 @@ else:
 
   # MacOS
   if arch == "Darwin":
+    if real_arch == "x86_64":
+      lenv["TERA_PATH"] = Dir("#").abspath + f"/third_party/acados/Darwin_x86_64/t_renderer"
+
     brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
     yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
@@ -114,9 +123,13 @@ else:
       f"{brew_prefix}/Library",
       f"{brew_prefix}/opt/openssl/lib",
       f"{brew_prefix}/Cellar",
-      f"#third_party/acados/{arch}/lib",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
+    if real_arch == "x86_64":
+      libpath.append(f"#third_party/acados/Darwin_x86_64/lib")
+    else:
+      libpath.append(f"#third_party/acados/{arch}/lib")
+
     cflags += ["-DGL_SILENCE_DEPRECATION"]
     cxxflags += ["-DGL_SILENCE_DEPRECATION"]
     cpppath += [
@@ -253,7 +266,7 @@ def abspath(x):
     # rpath works elsewhere
     return x[0].path.rsplit("/", 1)[1][:-3]
 
-# Cython build enviroment
+# Cython build environment
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
@@ -329,7 +342,7 @@ if GetOption("clazy"):
   qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
   qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
 
-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED')
 
 SConscript(['common/SConscript'])
 Import('_common', '_gpucommon')

cereal

@@ -1 +1 @@
-Subproject commit 5ab19700178f01c14f362735532ee2662ab755fc
+Subproject commit cea51afd67b5c56f7a18207ef91c5e45d6345526

common/clutil.cc

@@ -78,7 +78,8 @@ cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const ch
 }
 
 cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, (const char*[]){src.c_str()}, NULL, &err));
+  const char *csrc = src.c_str();
+  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
   if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
     cl_print_build_errors(prg, device_id);
     assert(0);
@@ -87,7 +88,7 @@ cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const
 }
 
 cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args) {
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, (const uint8_t*[]){binary}, NULL, &err));
+  cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, &binary, NULL, &err));
   if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
     cl_print_build_errors(prg, device_id);
     assert(0);

common/gpio.py

@@ -1,3 +1,5 @@
+from typing import Optional
+
 def gpio_init(pin: int, output: bool) -> None:
   try:
     with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
@@ -5,10 +7,19 @@ def gpio_init(pin: int, output: bool) -> None:
   except Exception as e:
     print(f"Failed to set gpio {pin} direction: {e}")
 
-
 def gpio_set(pin: int, high: bool) -> None:
   try:
     with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
       f.write(b"1" if high else b"0")
   except Exception as e:
     print(f"Failed to set gpio {pin} value: {e}")
+
+def gpio_read(pin: int) -> Optional[bool]:
+  val = None
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
+      val = bool(int(f.read().strip()))
+  except Exception as e:
+    print(f"Failed to set gpio {pin} value: {e}")
+
+  return val

common/params.cc

@@ -84,9 +84,12 @@ private:
 
 std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"AssistNowToken", PERSISTENT},
     {"AthenadPid", PERSISTENT},
     {"AthenadUploadQueue", PERSISTENT},
     {"CalibrationParams", PERSISTENT},
+    {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
+    {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
     {"CarBatteryCapacity", PERSISTENT},
     {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"CarParamsCache", CLEAR_ON_MANAGER_START},
@@ -97,6 +100,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DashcamOverride", PERSISTENT},
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"DisablePowerDown", PERSISTENT},
+    {"EndToEndLong", PERSISTENT},
     {"DisableRadar_Allow", PERSISTENT},
     {"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB
     {"DisableUpdates", PERSISTENT},
@@ -151,6 +155,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
     {"ReleaseNotes", PERSISTENT},
+    {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"ShouldDoUpdate", CLEAR_ON_MANAGER_START},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"SshEnabled", PERSISTENT},

common/params_pyx.pyx

@@ -90,7 +90,7 @@ cdef class Params:
     with nogil:
       self.p.putBool(k, val)
 
-  def delete(self, key):
+  def remove(self, key):
     cdef string k = self.check_key(key)
     with nogil:
       self.p.remove(k)

common/tests/test_params.py

@@ -59,13 +59,13 @@ class TestParams(unittest.TestCase):
     with self.assertRaises(UnknownKeyName):
       self.params.put_bool("swag", True)
 
-  def test_delete_not_there(self):
+  def test_remove_not_there(self):
     assert self.params.get("CarParams") is None
-    self.params.delete("CarParams")
+    self.params.remove("CarParams")
     assert self.params.get("CarParams") is None
 
   def test_get_bool(self):
-    self.params.delete("IsMetric")
+    self.params.remove("IsMetric")
     self.assertFalse(self.params.get_bool("IsMetric"))
 
     self.params.put_bool("IsMetric", True)

common/tests/test_util.cc

@@ -136,7 +136,7 @@ TEST_CASE("util::create_directories") {
     REQUIRE(util::create_directories(dir + "/file", 0755) == false);
     REQUIRE(util::create_directories(dir + "/file/1/2/3", 0755) == false);
   }
-  SECTION("end with slashs") {
+  SECTION("end with slashes") {
     REQUIRE(util::create_directories(dir + "/", 0755));
   }
   SECTION("empty") {

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.8.16"
+#define COMMA_VERSION "0.8.17"

docs/CARS.md

@@ -2,228 +2,217 @@
 
 # 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.
+A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
 
-## How We Rate The Cars
+# 205 Supported Cars
 
-### Stop and Go
+|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
-- [![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.
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-
+|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-### Steer to 0
+|Acura|RDX 2019-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-- [![star](assets/icon-star-full.svg)](##) - openpilot can control the steering wheel down to 0 mph.
+|Audi|A3 2014-19|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-- [![star](assets/icon-star-empty.svg)](##) - No steering control below certain speeds. See your car's manual for the minimum speed.
+|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-
+|Audi|Q2 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-### Steering Torque
+|Audi|Q3 2020-21|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-- [![star](assets/icon-star-full.svg)](##) - Car has enough steering torque to comfortably take most highway turns.
+|Audi|RS3 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-- [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
+|Audi|S3 2015-17|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-
+|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
-# 201 Supported Cars
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
-
+|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|---|---|---|:---:|:---:|:---:|:---:|
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|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)](##)|
+|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|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)](##)|
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|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)](##)|
+|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|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)](##)|
+|comma|body|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|
-|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)](##)|
+|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|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)](##)|
+|Genesis|G70 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|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)](##)|
+|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|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)](##)|
+|Genesis|G90 2017-18|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|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)](##)|
+|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|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)](##)|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
-|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)](##)|
+|Honda|Accord 2018-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|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)](##)|
+|Honda|Accord Hybrid 2018-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|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)](##)|
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|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)](##)|
+|Honda|Civic 2019-21|All|Stock|0 mph|2 mph[<sup>2</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|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)](##)|
+|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
-|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)](##)|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|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)](##)|
+|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
-|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)](##)|
+|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|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)](##)|
+|Honda|CR-V 2017-22|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|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)](##)|
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|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)](##)|
+|Honda|e 2020|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|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)](##)|
+|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|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|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|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|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|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|Insight 2019-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|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|Inspire 2018|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|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|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|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|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|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|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|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|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|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)](##)|
+|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
-|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)](##)|
+|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
-|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)](##)|
+|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
-|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)](##)|
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
-|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)](##)|
+|Hyundai|Ioniq 5 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
-|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)](##)|
+|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|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)](##)|
+|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|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)](##)|
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|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)](##)|
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|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)](##)|
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|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)](##)|
+|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|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)](##)|
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
-|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|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
-|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|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|
-|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|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|
-|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|Palisade 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|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|Santa Fe 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|
-|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|Santa Fe 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|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|Santa Fe Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|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|Santa Fe Plug-in Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|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|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|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|Sonata 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|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|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|Hyundai|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|Tucson 2021|Smart Cruise Control (SCC)|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|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|Tucson Diesel 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|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|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|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|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|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)](##)|
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|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)](##)|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|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)](##)|
+|Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|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)](##)|
+|Kia|EV6 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
-|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)](##)|
+|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
-|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)](##)|
+|Kia|Forte 2019-21|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
-|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)](##)|
+|Kia|K5 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|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)](##)|
+|Kia|Niro Electric 2019|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|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)](##)|
+|Kia|Niro Electric 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|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)](##)|
+|Kia|Niro Electric 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|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)](##)|
+|Kia|Niro Electric 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|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)](##)|
+|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|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)](##)|
+|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|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|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|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|Optima 2017|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
-|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|Optima 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
-|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|Seltos 2021|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|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|Sorento 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|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|Sorento 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Kia|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|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|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|Telluride 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|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)](##)|
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|
+|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|
+|Lexus|ES Hybrid 2017-18|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|
+|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|
+|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|
+|Lexus|NX 2018-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|
+|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|
+|Lexus|NX Hybrid 2018-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|
+|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|
+|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|
+|Lexus|RX 2016-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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|RX Hybrid 2016-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|
+|Mazda|CX-5 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
-|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)](##)|
+|Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
-|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)](##)|
+|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|
-|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)](##)|
+|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
-|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)](##)|
+|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
-|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)](##)|
+|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
-|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)](##)|
+|Ram|1500 2019-22|Adaptive Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|
-|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)](##)|
+|SEAT|Ateca 2018|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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)](##)|
+|SEAT|Leon 2014-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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)](##)|
+|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|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)](##)|
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|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)](##)|
+|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|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)](##)|
+|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|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)](##)|
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|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)](##)|
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|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)](##)|
+|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
-|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)](##)|
+|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
-|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)](##)|
+|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|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)](##)|
+|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|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)](##)|
+|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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)](##)|
+|Škoda|Karoq 2019-21[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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)](##)|
+|Škoda|Kodiaq 2018-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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)](##)|
+|Škoda|Octavia 2015, 2018-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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)](##)|
+|Škoda|Octavia RS 2016|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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)](##)|
+|Škoda|Scala 2020|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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)](##)|
+|Škoda|Superb 2015-18|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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)](##)|
+|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|
+|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|
+|Toyota|Avalon 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|
+|Toyota|Avalon 2017-18|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|
+|Toyota|Avalon 2019-21|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|
+|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|
+|Toyota|Avalon Hybrid 2019-21|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|
+|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|
+|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|
+|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|Camry 2018-20|All|Stock|0 mph[<sup>4</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|Camry 2021-22|All|openpilot|0 mph[<sup>4</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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|Corolla 2017-19|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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|Corolla Cross (Non-US only) 2020-21|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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|Highlander 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|Highlander 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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|Highlander Hybrid 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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|Prius 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|Prius 2017-20|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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|Prius Prime 2017-20|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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|Prius v 2017|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|RAV4 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|RAV4 2017-18|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|RAV4 Hybrid 2017-18|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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|Sienna 2018-20|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|
+|Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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)](##)|
+|Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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)](##)|
+|Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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)](##)|
+|Volkswagen|Atlas 2018-23[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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)](##)|
+|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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)](##)|
+|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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)](##)|
+|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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)](##)|
+|Volkswagen|CC 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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)](##)|
+|Volkswagen|e-Golf 2014-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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)](##)|
+|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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|Golf Alltrack 2015-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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|Golf GTD 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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|Golf GTE 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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|Golf GTI 2015-21|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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|Golf R 2015-19[<sup>8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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|Golf SportsVan 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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|Jetta 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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|Passat 2015-22[<sup>6,7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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|Passat GTE 2015-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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|Polo 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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|Teramont 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|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|Touran 2017|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
-|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 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 />
@@ -241,13 +230,13 @@ Although they're not upstream, the community has openpilot running on other make
 # 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!
+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.
+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 [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control) and any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering), then it almost certainly has these interfaces. These features generally started shipping on cars around 2016. Note that manufacturers will often make their own [marketing terms](https://en.wikipedia.org/wiki/Adaptive_cruise_control#Vehicle_models_supporting_adaptive_cruise_control) for these features, such as Hyundai's "Smart Cruise Control" branding of Adaptive Cruise Control.
 
-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.
+If your car has the following packages or features, then it's a good candidate for support.
 
 | Make | Required Package/Features |
 | ---- | ------------------------- |
@@ -265,8 +254,9 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi
 
 ### Toyota Security
 
-Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support.
+openpilot does not yet support these Toyota models due to a new message authentication method.
-So far, this list includes:
+[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models.
+
 * Toyota RAV4 Prime 2021+
 * Toyota Sienna 2021+
 * Toyota Venza 2021+
@@ -275,4 +265,4 @@ So far, this list includes:
 * Toyota Corolla Cross 2022+ (only US model)
 * Lexus NX 2022+
 * Toyota bZ4x 2023+
-* Subaru Solterra 2023+
+* Subaru Solterra 2023+

docs/c_docs.rst

@@ -72,8 +72,6 @@ modeld
    :project: selfdrive_modeld_transforms
 .. autodoxygenindex::
    :project: selfdrive_modeld_models
-.. autodoxygenindex::
-   :project: selfdrive_modeld_thneed
 .. autodoxygenindex::
    :project: selfdrive_modeld_runners
 

opendbc

@@ -1 +1 @@
-Subproject commit c6665ed11b8d8c998e46f8dbee30e70a7d451e5e
+Subproject commit 83d4cb9fd871a563f4a0af0102992c0b52c94310

release/build_release.sh

@@ -78,7 +78,7 @@ find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf panda/board panda/certs panda/crypto
 rm -rf .sconsign.dblite Jenkinsfile release/
-rm selfdrive/modeld/models/supercombo.dlc
+rm selfdrive/modeld/models/supercombo.onnx
 
 # Move back signed panda fw
 mkdir -p panda/board/obj

release/files_common

@@ -90,8 +90,6 @@ selfdrive/boardd/boardd_api_impl.pyx
 selfdrive/boardd/can_list_to_can_capnp.cc
 selfdrive/boardd/panda.cc
 selfdrive/boardd/panda.h
-selfdrive/boardd/pigeon.cc
-selfdrive/boardd/pigeon.h
 selfdrive/boardd/set_time.py
 selfdrive/boardd/pandad.py
 
@@ -175,7 +173,6 @@ selfdrive/controls/lib/alerts_offroad.json
 selfdrive/controls/lib/desire_helper.py
 selfdrive/controls/lib/drive_helpers.py
 selfdrive/controls/lib/events.py
-selfdrive/controls/lib/lane_planner.py
 selfdrive/controls/lib/latcontrol_angle.py
 selfdrive/controls/lib/latcontrol_indi.py
 selfdrive/controls/lib/latcontrol_torque.py
@@ -282,6 +279,7 @@ selfdrive/sensord/sensors_qcom2.cc
 selfdrive/sensord/sensors/*.cc
 selfdrive/sensord/sensors/*.h
 selfdrive/sensord/sensord
+selfdrive/sensord/pigeond.py
 
 selfdrive/thermald/thermald.py
 selfdrive/thermald/power_monitoring.py
@@ -353,7 +351,7 @@ selfdrive/modeld/models/driving.cc
 selfdrive/modeld/models/driving.h
 selfdrive/modeld/models/dmonitoring.cc
 selfdrive/modeld/models/dmonitoring.h
-selfdrive/modeld/models/supercombo.dlc
+selfdrive/modeld/models/supercombo.onnx
 selfdrive/modeld/models/dmonitoring_model_q.dlc
 
 selfdrive/modeld/transforms/loadyuv.cc
@@ -364,12 +362,11 @@ selfdrive/modeld/transforms/transform.h
 selfdrive/modeld/transforms/transform.cl
 
 selfdrive/modeld/thneed/*.py
-selfdrive/modeld/thneed/thneed.*
+selfdrive/modeld/thneed/thneed.h
+selfdrive/modeld/thneed/thneed_common.cc
+selfdrive/modeld/thneed/thneed_qcom2.cc
 selfdrive/modeld/thneed/serialize.cc
-selfdrive/modeld/thneed/compile.cc
-selfdrive/modeld/thneed/optimizer.cc
 selfdrive/modeld/thneed/include/*
-selfdrive/modeld/thneed/kernels/*.cl
 
 selfdrive/modeld/runners/snpemodel.cc
 selfdrive/modeld/runners/snpemodel.h
@@ -513,6 +510,8 @@ opendbc/gm_global_a_powertrain_generated.dbc
 opendbc/gm_global_a_object.dbc
 opendbc/gm_global_a_chassis.dbc
 
+opendbc/FORD_CADS.dbc
+opendbc/ford_fusion_2018_adas.dbc
 opendbc/ford_lincoln_base_pt.dbc
 
 opendbc/honda_accord_2018_can_generated.dbc
@@ -532,7 +531,7 @@ 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_canfd.dbc
 opendbc/hyundai_kia_generic.dbc
 opendbc/hyundai_kia_mando_front_radar.dbc
 
@@ -552,8 +551,22 @@ opendbc/toyota_nodsu_pt_generated.dbc
 opendbc/toyota_adas.dbc
 opendbc/toyota_tss2_adas.dbc
 
+opendbc/vw_golf_mk4.dbc
 opendbc/vw_mqb_2010.dbc
 
 opendbc/tesla_can.dbc
 opendbc/tesla_radar.dbc
 opendbc/tesla_powertrain.dbc
+
+tinygrad_repo/openpilot/compile.py
+tinygrad_repo/accel/opencl/*
+tinygrad_repo/extra/onnx.py
+tinygrad_repo/extra/utils.py
+tinygrad_repo/tinygrad/llops/ops_gpu.py
+tinygrad_repo/tinygrad/llops/ops_opencl.py
+tinygrad_repo/tinygrad/helpers.py
+tinygrad_repo/tinygrad/mlops.py
+tinygrad_repo/tinygrad/ops.py
+tinygrad_repo/tinygrad/shapetracker.py
+tinygrad_repo/tinygrad/tensor.py
+tinygrad_repo/tinygrad/nn/__init__.py

release/files_tici

@@ -11,5 +11,7 @@ system/camerad/cameras/camera_qcom2.cc
 system/camerad/cameras/camera_qcom2.h
 system/camerad/cameras/real_debayer.cl
 
+selfdrive/sensord/rawgps/*
+
 selfdrive/ui/qt/spinner_larch64
 selfdrive/ui/qt/text_larch64

selfdrive/athena/athenad.py

@@ -739,14 +739,14 @@ def main():
       break
     except (ConnectionError, TimeoutError, WebSocketException):
       conn_retries += 1
-      params.delete("LastAthenaPingTime")
+      params.remove("LastAthenaPingTime")
     except socket.timeout:
-      params.delete("LastAthenaPingTime")
+      params.remove("LastAthenaPingTime")
     except Exception:
       cloudlog.exception("athenad.main.exception")
 
       conn_retries += 1
-      params.delete("LastAthenaPingTime")
+      params.remove("LastAthenaPingTime")
 
     time.sleep(backoff(conn_retries))
 

selfdrive/athena/manage_athenad.py

@@ -27,7 +27,7 @@ def main():
   except Exception:
     cloudlog.exception("manage_athenad.exception")
   finally:
-    params.delete(ATHENA_MGR_PID_PARAM)
+    params.remove(ATHENA_MGR_PID_PARAM)
 
 
 if __name__ == '__main__':

selfdrive/athena/tests/helpers.py

@@ -116,7 +116,7 @@ def with_http_server(func):
     with Timeout(2, 'HTTP Server seeding failed'):
       while True:
         try:
-          requests.put(f'http://{host}:{port}/qlog.bz2', data='')
+          requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10)
           break
         except requests.exceptions.ConnectionError:
           time.sleep(0.1)

selfdrive/boardd/SConscript

@@ -1,7 +1,7 @@
 Import('env', 'envCython', 'common', 'cereal', 'messaging')
 
 libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj']
-env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=libs)
+env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc'], LIBS=libs)
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
 
 envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])

selfdrive/boardd/boardd.cc

@@ -29,14 +29,12 @@
 #include "common/util.h"
 #include "system/hardware/hw.h"
 
-#include "selfdrive/boardd/pigeon.h"
-
 // -- Multi-panda conventions --
 // Ordering:
 // - The internal panda will always be the first panda
 // - Consecutive pandas will be sorted based on panda type, and then serial number
 // Connecting:
-// - If a panda connection is dropped, boardd wil reconnect to all pandas
+// - If a panda connection is dropped, boardd will reconnect to all pandas
 // - If a panda is added, we will only reconnect when we are offroad
 // CAN buses:
 // - Each panda will have it's block of 4 buses. E.g.: the second panda will use
@@ -46,7 +44,7 @@
 // Safety:
 // - SafetyConfig is a list, which is mapped to the connected pandas
 // - If there are more pandas connected than there are SafetyConfigs,
-//   the excess pandas will remain in "silent" ot "noOutput" mode
+//   the excess pandas will remain in "silent" or "noOutput" mode
 // Ignition:
 // - If any of the ignition sources in any panda is high, ignition is high
 
@@ -197,13 +195,7 @@ Panda *usb_connect(std::string serial="", uint32_t index=0) {
   if (getenv("BOARDD_LOOPBACK")) {
     panda->set_loopback(true);
   }
-  panda->enable_deepsleep();
+  //panda->enable_deepsleep();
-
-  // power on charging, only the first time. Panda can also change mode and it causes a brief disconneciton
-#ifndef __x86_64__
-  static std::once_flag connected_once;
-  std::call_once(connected_once, &Panda::set_usb_power_mode, panda, cereal::PeripheralState::UsbPowerMode::CDP);
-#endif
 
   sync_time(panda.get(), SyncTimeDir::FROM_PANDA);
   return panda.release();
@@ -372,6 +364,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     ps.setAlternativeExperience(health.alternative_experience_pkt);
     ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
     ps.setInterruptLoad(health.interrupt_load);
+    ps.setFanPower(health.fan_power);
 
     // Convert faults bitset to capnp list
     std::bitset<sizeof(health.faults_pkt) * 8> fault_bits(health.faults_pkt);
@@ -392,13 +385,6 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
 }
 
 void send_peripheral_state(PubMaster *pm, Panda *panda) {
-  auto pandaState_opt = panda->get_state();
-  if (!pandaState_opt) {
-    return;
-  }
-
-  health_t pandaState = *pandaState_opt;
-
   // build msg
   MessageBuilder msg;
   auto evt = msg.initEvent();
@@ -416,7 +402,6 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) {
   }
 
   uint16_t fan_speed_rpm = panda->get_fan_speed();
-  ps.setUsbPowerMode(cereal::PeripheralState::UsbPowerMode(pandaState.usb_power_mode_pkt));
   ps.setFanSpeedRpm(fan_speed_rpm);
 
   pm->send("peripheralState", msg);
@@ -492,7 +477,6 @@ void peripheral_control_thread(Panda *panda) {
   uint16_t prev_fan_speed = 999;
   uint16_t ir_pwr = 0;
   uint16_t prev_ir_pwr = 999;
-  bool prev_charging_disabled = false;
   unsigned int cnt = 0;
 
   FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
@@ -501,23 +485,9 @@ void peripheral_control_thread(Panda *panda) {
     cnt++;
     sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update?
 
-    if (!Hardware::PC() && sm.updated("deviceState")) {
-      // Charging mode
-      bool charging_disabled = sm["deviceState"].getDeviceState().getChargingDisabled();
-      if (charging_disabled != prev_charging_disabled) {
-        if (charging_disabled) {
-          panda->set_usb_power_mode(cereal::PeripheralState::UsbPowerMode::CLIENT);
-          LOGW("TURN OFF CHARGING!\n");
-        } else {
-          panda->set_usb_power_mode(cereal::PeripheralState::UsbPowerMode::CDP);
-          LOGW("TURN ON CHARGING!\n");
-        }
-        prev_charging_disabled = charging_disabled;
-      }
-    }
-
     // Other pandas don't have fan/IR to control
     if (panda->hw_type != cereal::PandaState::PandaType::UNO && panda->hw_type != cereal::PandaState::PandaType::DOS) continue;
+
     if (sm.updated("deviceState")) {
       // Fan speed
       uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired();
@@ -542,6 +512,7 @@ void peripheral_control_thread(Panda *panda) {
         ir_pwr = 100.0 * (MIN_IR_POWER + ((cur_integ_lines - CUTOFF_IL) * (MAX_IR_POWER - MIN_IR_POWER) / (SATURATE_IL - CUTOFF_IL)));
       }
     }
+
     // Disable ir_pwr on front frame timeout
     uint64_t cur_t = nanos_since_boot();
     if (cur_t - last_front_frame_t > 1e9) {
@@ -560,56 +531,6 @@ void peripheral_control_thread(Panda *panda) {
   }
 }
 
-static void pigeon_publish_raw(PubMaster &pm, const std::string &dat) {
-  // create message
-  MessageBuilder msg;
-  msg.initEvent().setUbloxRaw(capnp::Data::Reader((uint8_t*)dat.data(), dat.length()));
-  pm.send("ubloxRaw", msg);
-}
-
-void pigeon_thread(Panda *panda) {
-  util::set_thread_name("boardd_pigeon");
-
-  PubMaster pm({"ubloxRaw"});
-  bool ignition_last = false;
-
-  std::unique_ptr<Pigeon> pigeon(Hardware::TICI() ? Pigeon::connect("/dev/ttyHS0") : Pigeon::connect(panda));
-
-  while (!do_exit && panda->connected) {
-    bool need_reset = false;
-    bool ignition_local = ignition;
-    std::string recv = pigeon->receive();
-
-    // Check based on null bytes
-    if (ignition_local && recv.length() > 0 && recv[0] == (char)0x00) {
-      need_reset = true;
-      LOGW("received invalid ublox message while onroad, resetting panda GPS");
-    }
-
-    if (recv.length() > 0) {
-      pigeon_publish_raw(pm, recv);
-    }
-
-    // init pigeon on rising ignition edge
-    // since it was turned off in low power mode
-    if((ignition_local && !ignition_last) || need_reset) {
-      pigeon_active = true;
-      pigeon->init();
-    } else if (!ignition_local && ignition_last) {
-      // power off on falling edge of ignition
-      LOGD("powering off pigeon\n");
-      pigeon->stop();
-      pigeon->set_power(false);
-      pigeon_active = false;
-    }
-
-    ignition_last = ignition_local;
-
-    // 10ms - 100 Hz
-    util::sleep_for(10);
-  }
-}
-
 void boardd_main_thread(std::vector<std::string> serials) {
   PubMaster pm({"pandaStates", "peripheralState"});
   LOGW("attempting to connect");
@@ -648,7 +569,6 @@ void boardd_main_thread(std::vector<std::string> serials) {
 
     threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr);
     threads.emplace_back(peripheral_control_thread, peripheral_panda);
-    threads.emplace_back(pigeon_thread, peripheral_panda);
 
     threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr);
     threads.emplace_back(can_recv_thread, pandas);

selfdrive/boardd/panda.cc

@@ -342,10 +342,6 @@ void Panda::enable_deepsleep() {
   usb_write(0xfb, 0, 0);
 }
 
-void Panda::set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode) {
-  usb_write(0xe6, (uint16_t)power_mode, 0);
-}
-
 void Panda::send_heartbeat(bool engaged) {
   usb_write(0xf3, engaged, 0);
 }

selfdrive/boardd/panda.h

@@ -86,7 +86,6 @@ class Panda {
   std::optional<std::string> get_serial();
   void set_power_saving(bool power_saving);
   void enable_deepsleep();
-  void set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode);
   void send_heartbeat(bool engaged);
   void set_can_speed_kbps(uint16_t bus, uint16_t speed);
   void set_data_speed_kbps(uint16_t bus, uint16_t speed);

selfdrive/boardd/pandad.py

@@ -83,7 +83,7 @@ def main() -> NoReturn:
 
   while True:
     try:
-      params.delete("PandaSignatures")
+      params.remove("PandaSignatures")
 
       # Flash all Pandas in DFU mode
       for p in PandaDFU.list():

selfdrive/boardd/pigeon.cc

@@ -1,333 +0,0 @@
-#include "selfdrive/boardd/pigeon.h"
-
-#include <fcntl.h>
-#include <termios.h>
-#include <unistd.h>
-
-#include <cassert>
-#include <cerrno>
-#include <optional>
-
-#include "common/gpio.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "selfdrive/locationd/ublox_msg.h"
-
-// Termios on macos doesn't define all baud rate constants
-#ifndef B460800
-#define   B460800 0010004
-#endif
-
-using namespace std::string_literals;
-
-extern ExitHandler do_exit;
-
-const std::string ack = "\xb5\x62\x05\x01\x02\x00";
-const std::string nack = "\xb5\x62\x05\x00\x02\x00";
-const std::string sos_save_ack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x01\x00\x00\x00";
-const std::string sos_save_nack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x00\x00\x00\x00";
-
-Pigeon * Pigeon::connect(Panda * p) {
-  PandaPigeon * pigeon = new PandaPigeon();
-  pigeon->connect(p);
-
-  return pigeon;
-}
-
-Pigeon * Pigeon::connect(const char * tty) {
-  TTYPigeon * pigeon = new TTYPigeon();
-  pigeon->connect(tty);
-
-  return pigeon;
-}
-
-bool Pigeon::wait_for_ack(const std::string &ack_, const std::string &nack_, int timeout_ms) {
-  std::string s;
-  const double start_t = millis_since_boot();
-  while (!do_exit) {
-    s += receive();
-
-    if (s.find(ack_) != std::string::npos) {
-      LOGD("Received ACK from ublox");
-      return true;
-    } else if (s.find(nack_) != std::string::npos) {
-      LOGE("Received NACK from ublox");
-      return false;
-    } else if (s.size() > 0x1000 || ((millis_since_boot() - start_t) > timeout_ms)) {
-      LOGE("No response from ublox");
-      return false;
-    }
-
-    util::sleep_for(1); // Allow other threads to be scheduled
-  }
-  return false;
-}
-
-bool Pigeon::wait_for_ack() {
-  return wait_for_ack(ack, nack);
-}
-
-bool Pigeon::send_with_ack(const std::string &cmd) {
-  send(cmd);
-  return wait_for_ack();
-}
-
-sos_restore_response Pigeon::wait_for_backup_restore_status(int timeout_ms) {
-  std::string s;
-  const double start_t = millis_since_boot();
-  while (!do_exit) {
-    s += receive();
-
-    size_t position = s.find("\xb5\x62\x09\x14\x08\x00\x03");
-    if (position != std::string::npos && s.size() >= (position + 11)) {
-      return static_cast<sos_restore_response>(s[position + 10]);
-    } else if (s.size() > 0x1000 || ((millis_since_boot() - start_t) > timeout_ms)) {
-      LOGE("No backup restore response from ublox");
-      return error;
-    }
-
-    util::sleep_for(1); // Allow other threads to be scheduled
-  }
-  return error;
-}
-
-void Pigeon::init() {
-  for (int i = 0; i < 10; i++) {
-    if (do_exit) return;
-    LOGW("panda GPS start");
-
-    // power off pigeon
-    set_power(false);
-    util::sleep_for(100);
-
-    // 9600 baud at init
-    set_baud(9600);
-
-    // power on pigeon
-    set_power(true);
-    util::sleep_for(500);
-
-    // baud rate upping
-    send("\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A"s);
-    util::sleep_for(100);
-
-    // set baud rate to 460800
-    set_baud(460800);
-
-    // init from ubloxd
-    // To generate this data, run selfdrive/locationd/test/ubloxd.py
-    if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x00\x00\x00\x06\x18"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x00\x01\x00\x01\x08\x22"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x00\x01\x00\x03\x0A\x24"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x24\x00\x00\x2A\x84"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x23\x00\x00\x29\x81"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x1E\x00\x00\x24\x72"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x39\x00\x00\x3F\xC3"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70"s)) continue;
-    if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74"s)) continue;
-
-    // check the backup restore status
-    send("\xB5\x62\x09\x14\x00\x00\x1D\x60"s);
-    sos_restore_response restore_status = wait_for_backup_restore_status();
-    switch(restore_status) {
-      case restored:
-        LOGW("almanac backup restored");
-        // clear the backup
-        send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74"s);
-        break;
-      case no_backup:
-        LOGW("no almanac backup found");
-        break;
-      default:
-        LOGE("failed to restore almanac backup, status: %d", restore_status);
-    }
-
-    auto time = util::get_time();
-    if (util::time_valid(time)) {
-      LOGW("Sending current time to ublox");
-      send(ublox::build_ubx_mga_ini_time_utc(time));
-    }
-
-    LOGW("panda GPS on");
-    return;
-  }
-  LOGE("failed to initialize panda GPS");
-}
-
-void Pigeon::stop() {
-  LOGW("Storing almanac in ublox flash");
-
-  // Controlled GNSS stop
-  send("\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74"s);
-
-  // Store almanac in flash
-  send("\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC"s);
-
-  if (wait_for_ack(sos_save_ack, sos_save_nack)) {
-    LOGW("Done storing almanac");
-  } else {
-    LOGE("Error storing almanac");
-  }
-}
-
-void PandaPigeon::connect(Panda * p) {
-  panda = p;
-}
-
-void PandaPigeon::set_baud(int baud) {
-  panda->usb_write(0xe2, 1, 0);
-  panda->usb_write(0xe4, 1, baud/300);
-}
-
-void PandaPigeon::send(const std::string &s) {
-  int len = s.length();
-  const char * dat = s.data();
-
-  unsigned char a[0x20+1];
-  a[0] = 1;
-  for (int i=0; i<len; i+=0x20) {
-    int ll = std::min(0x20, len-i);
-    memcpy(&a[1], &dat[i], ll);
-
-    panda->usb_bulk_write(2, a, ll+1);
-  }
-}
-
-std::string PandaPigeon::receive() {
-  std::string r;
-  r.reserve(0x1000 + 0x40);
-  unsigned char dat[0x40];
-  while (r.length() < 0x1000) {
-    int len = panda->usb_read(0xe0, 1, 0, dat, sizeof(dat));
-    if (len <= 0) break;
-    r.append((char*)dat, len);
-  }
-
-  return r;
-}
-
-void PandaPigeon::set_power(bool power) {
-  panda->usb_write(0xd9, power, 0);
-}
-
-PandaPigeon::~PandaPigeon() {
-}
-
-void handle_tty_issue(int err, const char func[]) {
-  LOGE_100("tty error %d \"%s\" in %s", err, strerror(err), func);
-}
-
-void TTYPigeon::connect(const char * tty) {
-  pigeon_tty_fd = HANDLE_EINTR(open(tty, O_RDWR));
-  if (pigeon_tty_fd < 0) {
-    handle_tty_issue(errno, __func__);
-    assert(pigeon_tty_fd >= 0);
-  }
-  int err = tcgetattr(pigeon_tty_fd, &pigeon_tty);
-  assert(err == 0);
-
-  // configure tty
-  pigeon_tty.c_cflag &= ~PARENB;                                            // disable parity
-  pigeon_tty.c_cflag &= ~CSTOPB;                                            // single stop bit
-  pigeon_tty.c_cflag |= CS8;                                                // 8 bits per byte
-  pigeon_tty.c_cflag &= ~CRTSCTS;                                           // no RTS/CTS flow control
-  pigeon_tty.c_cflag |= CREAD | CLOCAL;                                     // turn on READ & ignore ctrl lines
-  pigeon_tty.c_lflag &= ~ICANON;                                            // disable canonical mode
-  pigeon_tty.c_lflag &= ~ISIG;                                              // disable interpretation of INTR, QUIT and SUSP
-  pigeon_tty.c_iflag &= ~(IXON | IXOFF | IXANY);                            // turn off software flow ctrl
-  pigeon_tty.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL);   // disable any special handling of received bytes
-  pigeon_tty.c_oflag &= ~OPOST;                                             // prevent special interpretation of output bytes
-  pigeon_tty.c_oflag &= ~ONLCR;                                             // prevent conversion of newline to carriage return/line feed
-
-  // configure blocking behavior
-  pigeon_tty.c_cc[VMIN] = 0;  // min amount of characters returned
-  pigeon_tty.c_cc[VTIME] = 0; // max blocking time in s/10 (0=inf)
-
-  err = tcsetattr(pigeon_tty_fd, TCSANOW, &pigeon_tty);
-  assert(err == 0);
-}
-
-void TTYPigeon::set_baud(int baud) {
-  speed_t baud_const = 0;
-  switch(baud) {
-  case 9600:
-    baud_const = B9600;
-    break;
-  case 460800:
-    baud_const = B460800;
-    break;
-  default:
-    assert(false);
-  }
-
-  // make sure everything is tx'ed before changing baud
-  int err = tcdrain(pigeon_tty_fd);
-  assert(err == 0);
-
-  // change baud
-  err = tcgetattr(pigeon_tty_fd, &pigeon_tty);
-  assert(err == 0);
-  err = cfsetspeed(&pigeon_tty, baud_const);
-  assert(err == 0);
-  err = tcsetattr(pigeon_tty_fd, TCSANOW, &pigeon_tty);
-  assert(err == 0);
-
-  // flush
-  err = tcflush(pigeon_tty_fd, TCIOFLUSH);
-  assert(err == 0);
-}
-
-void TTYPigeon::send(const std::string &s) {
-  int err = HANDLE_EINTR(write(pigeon_tty_fd, s.data(), s.length()));
-
-  if(err < 0) { handle_tty_issue(err, __func__); }
-  err = tcdrain(pigeon_tty_fd);
-  if(err < 0) { handle_tty_issue(err, __func__); }
-}
-
-std::string TTYPigeon::receive() {
-  std::string r;
-  r.reserve(0x1000 + 0x40);
-  char dat[0x40];
-  while (r.length() < 0x1000) {
-    int len = read(pigeon_tty_fd, dat, sizeof(dat));
-    if(len < 0) {
-      handle_tty_issue(len, __func__);
-    } else if (len == 0) {
-      break;
-    } else {
-      r.append(dat, len);
-    }
-
-  }
-  return r;
-}
-
-void TTYPigeon::set_power(bool power) {
-#ifdef QCOM2
-  int err = 0;
-  err += gpio_init(GPIO_UBLOX_RST_N, true);
-  err += gpio_init(GPIO_UBLOX_SAFEBOOT_N, true);
-  err += gpio_init(GPIO_UBLOX_PWR_EN, true);
-
-  err += gpio_set(GPIO_UBLOX_RST_N, power);
-  err += gpio_set(GPIO_UBLOX_SAFEBOOT_N, power);
-  err += gpio_set(GPIO_UBLOX_PWR_EN, power);
-  assert(err == 0);
-#endif
-}
-
-TTYPigeon::~TTYPigeon() {
-  close(pigeon_tty_fd);
-}

selfdrive/boardd/pigeon.h

@@ -1,58 +0,0 @@
-#pragma once
-
-#include <termios.h>
-
-#include <atomic>
-#include <string>
-
-#include "selfdrive/boardd/panda.h"
-
-enum sos_restore_response : int {
-  unknown = 0,
-  failed = 1,
-  restored = 2,
-  no_backup = 3,
-  error = -1
-};
-
-class Pigeon {
- public:
-  static Pigeon* connect(Panda * p);
-  static Pigeon* connect(const char * tty);
-  virtual ~Pigeon(){};
-
-  void init();
-  void stop();
-  bool wait_for_ack();
-  bool wait_for_ack(const std::string &ack, const std::string &nack, int timeout_ms = 1000);
-  bool send_with_ack(const std::string &cmd);
-  sos_restore_response wait_for_backup_restore_status(int timeout_ms = 1000);
-  virtual void set_baud(int baud) = 0;
-  virtual void send(const std::string &s) = 0;
-  virtual std::string receive() = 0;
-  virtual void set_power(bool power) = 0;
-};
-
-class PandaPigeon : public Pigeon {
-  Panda * panda = NULL;
-public:
-  ~PandaPigeon();
-  void connect(Panda * p);
-  void set_baud(int baud);
-  void send(const std::string &s);
-  std::string receive();
-  void set_power(bool power);
-};
-
-
-class TTYPigeon : public Pigeon {
-  int pigeon_tty_fd = -1;
-  struct termios pigeon_tty;
-public:
-  ~TTYPigeon();
-  void connect(const char* tty);
-  void set_baud(int baud);
-  void send(const std::string &s);
-  std::string receive();
-  void set_power(bool power);
-};

selfdrive/boardd/tests/boardd_old.py

@@ -1,245 +0,0 @@
-#!/usr/bin/env python3
-# pylint: skip-file
-
-# This file is not used by openpilot. Only boardd.cc is used.
-# The python version is slower, but has more options for development.
-
-# TODO: merge the extra functionalities of this file (like MOCK) in boardd.c and
-# delete this python version of boardd
-
-import os
-import struct
-import time
-
-import cereal.messaging as messaging
-from common.realtime import Ratekeeper
-from system.swaglog import cloudlog
-from selfdrive.boardd.boardd import can_capnp_to_can_list
-from cereal import car
-
-SafetyModel = car.CarParams.SafetyModel
-
-# USB is optional
-try:
-  import usb1
-  from usb1 import USBErrorIO, USBErrorOverflow  # pylint: disable=no-name-in-module
-except Exception:
-  pass
-
-# *** serialization functions ***
-def can_list_to_can_capnp(can_msgs, msgtype='can'):
-  dat = messaging.new_message(msgtype, len(can_msgs))
-  for i, can_msg in enumerate(can_msgs):
-    if msgtype == 'sendcan':
-      cc = dat.sendcan[i]
-    else:
-      cc = dat.can[i]
-    cc.address = can_msg[0]
-    cc.busTime = can_msg[1]
-    cc.dat = bytes(can_msg[2])
-    cc.src = can_msg[3]
-  return dat
-
-
-# *** can driver ***
-def can_health():
-  while 1:
-    try:
-      dat = handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd2, 0, 0, 0x16)
-      break
-    except (USBErrorIO, USBErrorOverflow):
-      cloudlog.exception("CAN: BAD HEALTH, RETRYING")
-  v, i = struct.unpack("II", dat[0:8])
-  ign_line, ign_can = struct.unpack("BB", dat[20:22])
-  return {"voltage": v, "current": i, "ignition_line": bool(ign_line), "ignition_can": bool(ign_can)}
-
-def __parse_can_buffer(dat):
-  ret = []
-  for j in range(0, len(dat), 0x10):
-    ddat = dat[j:j+0x10]
-    f1, f2 = struct.unpack("II", ddat[0:8])
-    ret.append((f1 >> 21, f2 >> 16, ddat[8:8 + (f2 & 0xF)], (f2 >> 4) & 0xFF))
-  return ret
-
-def can_send_many(arr):
-  snds = []
-  for addr, _, dat, alt in arr:
-    if addr < 0x800:  # only support 11 bit addr
-      snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat
-      snd = snd.ljust(0x10, b'\x00')
-      snds.append(snd)
-  while 1:
-    try:
-      handle.bulkWrite(3, b''.join(snds))
-      break
-    except (USBErrorIO, USBErrorOverflow):
-      cloudlog.exception("CAN: BAD SEND MANY, RETRYING")
-
-def can_recv():
-  dat = b""
-  while 1:
-    try:
-      dat = handle.bulkRead(1, 0x10*256)
-      break
-    except (USBErrorIO, USBErrorOverflow):
-      cloudlog.exception("CAN: BAD RECV, RETRYING")
-  return __parse_can_buffer(dat)
-
-def can_init():
-  global handle, context
-  handle = None
-  cloudlog.info("attempting can init")
-
-  context = usb1.USBContext()
-  #context.setDebug(9)
-
-  for device in context.getDeviceList(skip_on_error=True):
-    if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc:
-      handle = device.open()
-      handle.claimInterface(0)
-      handle.controlWrite(0x40, 0xdc, SafetyModel.allOutput, 0, b'')
-
-  if handle is None:
-    cloudlog.warning("CAN NOT FOUND")
-    exit(-1)
-
-  cloudlog.info("got handle")
-  cloudlog.info("can init done")
-
-def boardd_mock_loop():
-  can_init()
-  handle.controlWrite(0x40, 0xdc, SafetyModel.allOutput, 0, b'')
-
-  logcan = messaging.sub_sock('can')
-  sendcan = messaging.pub_sock('sendcan')
-
-  while 1:
-    tsc = messaging.drain_sock(logcan, wait_for_one=True)
-    snds = map(lambda x: can_capnp_to_can_list(x.can), tsc)
-    snd = []
-    for s in snds:
-      snd += s
-    snd = list(filter(lambda x: x[-1] <= 2, snd))
-    snd_0 = len(list(filter(lambda x: x[-1] == 0, snd)))
-    snd_1 = len(list(filter(lambda x: x[-1] == 1, snd)))
-    snd_2 = len(list(filter(lambda x: x[-1] == 2, snd)))
-    can_send_many(snd)
-
-    # recv @ 100hz
-    can_msgs = can_recv()
-    got_0 = len(list(filter(lambda x: x[-1] == 0+0x80, can_msgs)))
-    got_1 = len(list(filter(lambda x: x[-1] == 1+0x80, can_msgs)))
-    got_2 = len(list(filter(lambda x: x[-1] == 2+0x80, can_msgs)))
-    print("sent %3d (%3d/%3d/%3d) got %3d (%3d/%3d/%3d)" %
-      (len(snd), snd_0, snd_1, snd_2, len(can_msgs), got_0, got_1, got_2))
-    m = can_list_to_can_capnp(can_msgs, msgtype='sendcan')
-    sendcan.send(m.to_bytes())
-
-def boardd_test_loop():
-  can_init()
-  cnt = 0
-  while 1:
-    can_send_many([[0xbb, 0, "\xaa\xaa\xaa\xaa", 0], [0xaa, 0, "\xaa\xaa\xaa\xaa"+struct.pack("!I", cnt), 1]])
-    #can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",0]])
-    #can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",1]])
-    # recv @ 100hz
-    can_msgs = can_recv()
-    print("got %d" % (len(can_msgs)))
-    time.sleep(0.01)
-    cnt += 1
-
-# *** main loop ***
-def boardd_loop(rate=100):
-  rk = Ratekeeper(rate)
-
-  can_init()
-
-  # *** publishes can and health
-  logcan = messaging.pub_sock('can')
-  health_sock = messaging.pub_sock('pandaStates')
-
-  # *** subscribes to can send
-  sendcan = messaging.sub_sock('sendcan')
-
-  # drain sendcan to delete any stale messages from previous runs
-  messaging.drain_sock(sendcan)
-
-  while 1:
-    # health packet @ 2hz
-    if (rk.frame % (rate // 2)) == 0:
-      health = can_health()
-      msg = messaging.new_message('pandaStates', 1)
-
-      # store the health to be logged
-      msg.pandaState[0].voltage = health['voltage']
-      msg.pandaState[0].current = health['current']
-      msg.pandaState[0].ignitionLine = health['ignition_line']
-      msg.pandaState[0].ignitionCan = health['ignition_can']
-      msg.pandaState[0].controlsAllowed = True
-
-      health_sock.send(msg.to_bytes())
-
-    # recv @ 100hz
-    can_msgs = can_recv()
-
-    # publish to logger
-    # TODO: refactor for speed
-    if len(can_msgs) > 0:
-      dat = can_list_to_can_capnp(can_msgs).to_bytes()
-      logcan.send(dat)
-
-    # send can if we have a packet
-    tsc = messaging.recv_sock(sendcan)
-    if tsc is not None:
-      can_send_many(can_capnp_to_can_list(tsc.sendcan))
-
-    rk.keep_time()
-
-# *** main loop ***
-def boardd_proxy_loop(rate=100, address="192.168.2.251"):
-  rk = Ratekeeper(rate)
-
-  can_init()
-
-  # *** subscribes can
-  logcan = messaging.sub_sock('can', addr=address)
-  # *** publishes to can send
-  sendcan = messaging.pub_sock('sendcan')
-
-  # drain sendcan to delete any stale messages from previous runs
-  messaging.drain_sock(sendcan)
-
-  while 1:
-    # recv @ 100hz
-    can_msgs = can_recv()
-    #for m in can_msgs:
-    #  print("R: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex")))
-
-    # publish to logger
-    # TODO: refactor for speed
-    if len(can_msgs) > 0:
-      dat = can_list_to_can_capnp(can_msgs, "sendcan")
-      sendcan.send(dat)
-
-    # send can if we have a packet
-    tsc = messaging.recv_sock(logcan)
-    if tsc is not None:
-      cl = can_capnp_to_can_list(tsc.can)
-      #for m in cl:
-      #  print("S: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex")))
-      can_send_many(cl)
-
-    rk.keep_time()
-
-def main():
-  if os.getenv("MOCK") is not None:
-    boardd_mock_loop()
-  elif os.getenv("PROXY") is not None:
-    boardd_proxy_loop()
-  elif os.getenv("BOARDTEST") is not None:
-    boardd_test_loop()
-  else:
-    boardd_loop()
-
-if __name__ == "__main__":
-  main()

selfdrive/boardd/tests/replay_many.py

@@ -1,83 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import time
-import signal
-import traceback
-import usb1
-from panda import Panda, PandaDFU
-from multiprocessing import Pool
-
-jungle = "JUNGLE" in os.environ
-if jungle:
-  from panda_jungle import PandaJungle  # pylint: disable=import-error
-
-import cereal.messaging as messaging
-from selfdrive.boardd.boardd import can_capnp_to_can_list
-
-def initializer():
-  """Ignore CTRL+C in the worker process.
-  source: https://stackoverflow.com/a/44869451 """
-  signal.signal(signal.SIGINT, signal.SIG_IGN)
-
-def send_thread(sender_serial):
-  while True:
-    try:
-      if jungle:
-        sender = PandaJungle(sender_serial)
-      else:
-        sender = Panda(sender_serial)
-        sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
-      sender.set_can_loopback(False)
-      can_sock = messaging.sub_sock('can')
-
-      while True:
-        tsc = messaging.recv_one(can_sock)
-        snd = can_capnp_to_can_list(tsc.can)
-        snd = list(filter(lambda x: x[-1] <= 2, snd))
-
-        try:
-          sender.can_send_many(snd)
-        except usb1.USBErrorTimeout:
-          pass
-
-        # Drain panda message buffer
-        sender.can_recv()
-    except Exception:
-      traceback.print_exc()
-      time.sleep(1)
-
-if __name__ == "__main__":
-  if jungle:
-    serials = PandaJungle.list()
-  else:
-    serials = Panda.list()
-  num_senders = len(serials)
-
-  if num_senders == 0:
-    print("No senders found. Exiting")
-    sys.exit(1)
-  else:
-    print("%d senders found. Starting broadcast" % num_senders)
-
-  if "FLASH" in os.environ:
-    for s in PandaDFU.list():
-      PandaDFU(s).recover()
-
-    time.sleep(1)
-    for s in serials:
-      Panda(s).recover()
-      Panda(s).flash()
-
-  pool = Pool(num_senders, initializer=initializer)
-  pool.map_async(send_thread, serials)
-
-  while True:
-    try:
-      time.sleep(10)
-    except KeyboardInterrupt:
-      pool.terminate()
-      pool.join()
-      raise
-

selfdrive/boardd/tests/test_boardd_api.py

@@ -1,77 +0,0 @@
-import random
-import numpy as np
-
-import selfdrive.boardd.tests.boardd_old as boardd_old
-import selfdrive.boardd.boardd as boardd
-
-from common.realtime import sec_since_boot
-from cereal import log
-import unittest
-
-
-def generate_random_can_data_list():
-  can_list = []
-  cnt = random.randint(1, 64)
-  for _ in range(cnt):
-    can_data = np.random.bytes(random.randint(1, 8))
-    can_list.append([random.randint(0, 128), random.randint(0, 128), can_data, random.randint(0, 128)])
-  return can_list, cnt
-
-
-class TestBoarddApiMethods(unittest.TestCase):
-  def test_correctness(self):
-    for i in range(1000):
-      can_list, _ = generate_random_can_data_list()
-
-      # Sendcan
-      # Old API
-      m_old = boardd_old.can_list_to_can_capnp(can_list, 'sendcan').to_bytes()
-      # new API
-      m = boardd.can_list_to_can_capnp(can_list, 'sendcan')
-
-      ev_old = log.Event.from_bytes(m_old)
-      ev = log.Event.from_bytes(m)
-
-      self.assertEqual(ev_old.which(), ev.which())
-      self.assertEqual(len(ev.sendcan), len(ev_old.sendcan))
-      for i in range(len(ev.sendcan)):
-        attrs = ['address', 'busTime', 'dat', 'src']
-        for attr in attrs:
-          self.assertEqual(getattr(ev.sendcan[i], attr, 'new'), getattr(ev_old.sendcan[i], attr, 'old'))
-
-      # Can
-      m_old = boardd_old.can_list_to_can_capnp(can_list, 'can').to_bytes()
-      # new API
-      m = boardd.can_list_to_can_capnp(can_list, 'can')
-
-      ev_old = log.Event.from_bytes(m_old)
-      ev = log.Event.from_bytes(m)
-      self.assertEqual(ev_old.which(), ev.which())
-      self.assertEqual(len(ev.can), len(ev_old.can))
-      for i in range(len(ev.can)):
-        attrs = ['address', 'busTime', 'dat', 'src']
-        for attr in attrs:
-          self.assertEqual(getattr(ev.can[i], attr, 'new'), getattr(ev_old.can[i], attr, 'old'))
-
-  def test_performance(self):
-    can_list, _ = generate_random_can_data_list()
-    recursions = 1000
-
-    n1 = sec_since_boot()
-    for _ in range(recursions):
-      boardd_old.can_list_to_can_capnp(can_list, 'sendcan').to_bytes()
-    n2 = sec_since_boot()
-    elapsed_old = n2 - n1
-
-    # print('Old API, elapsed time: {} secs'.format(elapsed_old))
-    n1 = sec_since_boot()
-    for _ in range(recursions):
-      boardd.can_list_to_can_capnp(can_list)
-    n2 = sec_since_boot()
-    elapsed_new = n2 - n1
-    # print('New API, elapsed time: {} secs'.format(elapsed_new))
-    self.assertTrue(elapsed_new < elapsed_old / 2)
-
-
-if __name__ == '__main__':
-  unittest.main()

selfdrive/car/CARS_template.md

@@ -5,24 +5,12 @@
 
 # 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.
+A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
-
-## How We Rate The Cars
-
-{% for star_row in STAR_DESCRIPTIONS.values() %}
-{% for name, stars in star_row.items() %}
-### {{name}}
-{% for star, description in stars %}
-- {{star_icon.format(star)}} - {{description}}
-{% endfor %}
-
-{% endfor %}
-{% endfor %}
 
 # {{all_car_info | length}} Supported Cars
 
 |{{Column | map(attribute='value') | join('|')}}|
-|---|---|---|:---:|:---:|:---:|:---:|
+|---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
 {% for car_info in all_car_info %}
 |{% for column in Column %}{{car_info.get_column(column, star_icon, footnote_tag)}}|{% endfor %}
 
@@ -39,13 +27,13 @@ Although they're not upstream, the community has openpilot running on other make
 # 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!
+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.
+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 [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control) and any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering), then it almost certainly has these interfaces. These features generally started shipping on cars around 2016. Note that manufacturers will often make their own [marketing terms](https://en.wikipedia.org/wiki/Adaptive_cruise_control#Vehicle_models_supporting_adaptive_cruise_control) for these features, such as Hyundai's "Smart Cruise Control" branding of Adaptive Cruise Control.
 
-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.
+If your car has the following packages or features, then it's a good candidate for support.
 
 | Make | Required Package/Features |
 | ---- | ------------------------- |
@@ -63,8 +51,9 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi
 
 ### Toyota Security
 
-Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support.
+openpilot does not yet support these Toyota models due to a new message authentication method.
-So far, this list includes:
+[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models.
+
 * Toyota RAV4 Prime 2021+
 * Toyota Sienna 2021+
 * Toyota Venza 2021+
@@ -74,3 +63,4 @@ So far, this list includes:
 * Lexus NX 2022+
 * Toyota bZ4x 2023+
 * Subaru Solterra 2023+
+

selfdrive/car/__init__.py

@@ -38,7 +38,7 @@ def create_button_enable_events(buttonEvents: capnp.lib.capnp._DynamicListBuilde
 
 
 def gen_empty_fingerprint():
-  return {i: {} for i in range(0, 4)}
+  return {i: {} for i in range(0, 8)}
 
 
 # FIXME: hardcoding honda civic 2016 touring params so they can be used to

selfdrive/car/body/values.py

@@ -2,7 +2,7 @@ from typing import Dict
 
 from cereal import car
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness
+from selfdrive.car.docs_definitions import CarInfo
 Ecu = car.CarParams.Ecu
 
 SPEED_FROM_RPM = 0.008587
@@ -18,7 +18,7 @@ class CAR:
   BODY = "COMMA BODY"
 
 CAR_INFO: Dict[str, CarInfo] = {
-  CAR.BODY: CarInfo("comma body", package="All", harness=Harness.none),
+  CAR.BODY: CarInfo("comma body", package="All"),
 }
 
 FW_VERSIONS = {

selfdrive/car/car_helpers.py

@@ -82,7 +82,7 @@ def fingerprint(logcan, sendcan):
   ecu_rx_addrs = set()
 
   if not fixed_fingerprint and not skip_fw_query:
-    # Vin query only reliably works thorugh OBDII
+    # Vin query only reliably works through OBDII
     bus = 1
 
     cached_params = Params().get("CarParamsCache")

selfdrive/car/chrysler/carcontroller.py

@@ -22,23 +22,8 @@ class CarController:
   def update(self, CC, CS):
     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):
-        lkas_control_bit = False
-    elif self.CP.carFingerprint in RAM_CARS:
-      if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
-        lkas_control_bit = False
-
-    # 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
 
-    # *** control msgs ***
-
     # 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
@@ -61,19 +46,35 @@ class CarController:
 
     # steering
     if self.frame % 2 == 0:
+
+      # 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):
+          lkas_control_bit = False
+      elif self.CP.carFingerprint in RAM_CARS:
+        if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
+          lkas_control_bit = False
+
+      # EPS faults if LKAS re-enables too quickly
+      lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
+
+      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
+
       # 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:
+      if not lkas_active or not lkas_control_bit:
         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
-    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 = CC.actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX

selfdrive/car/chrysler/carstate.py

@@ -58,8 +58,8 @@ class CarState(CarStateBase):
     )
 
     # button presses
-    ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(200, cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1,
-    ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
+                                                                       cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2)
     ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1
 
     # steering wheel

selfdrive/car/chrysler/interface.py

@@ -60,7 +60,7 @@ class CarInterface(CarInterfaceBase):
       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"):
+          if fw.ecu == 'eps' and fw.fwVersion[:8] in (b"68312176", b"68273275"):
             ret.minSteerSpeed = 0.
 
     elif candidate == CAR.RAM_HD:

selfdrive/car/chrysler/values.py

@@ -130,6 +130,11 @@ FINGERPRINTS = {
 }
 
 FW_VERSIONS = {
+  CAR.PACIFICA_2019_HYBRID: {
+    (Ecu.hcp, 0x7e2, None): [],
+    (Ecu.abs, 0x7e4, None): [],
+  },
+
   CAR.RAM_1500: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68294063AH',
@@ -144,7 +149,7 @@ FW_VERSIONS = {
       b'68428609AB',
       b'68500728AA',
     ],
-    (Ecu.esp, 0x747, None): [
+    (Ecu.abs, 0x747, None): [
       b'68432418AD',
       b'68432418AB',
       b'68436004AE',
@@ -170,6 +175,7 @@ FW_VERSIONS = {
       b'68448163AJ',
       b'68500630AD',
       b'68539650AD',
+      b'68378758AM ',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'68360078AL',
@@ -199,7 +205,7 @@ FW_VERSIONS = {
       b'68428503AA',
       b'68428505AA',
     ],
-    (Ecu.esp, 0x747, None): [
+    (Ecu.abs, 0x747, None): [
       b'68334977AH',
       b'68504022AB',
       b'68530686AB',

selfdrive/car/docs.py

@@ -8,16 +8,16 @@ from natsort import natsorted
 from typing import Dict, List
 
 from common.basedir import BASEDIR
-from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, StarColumns, TierColumns, CarInfo, Column, Star
+from selfdrive.car import gen_empty_fingerprint
+from selfdrive.car.docs_definitions import CarInfo, Column
 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
 
 
-def get_all_footnotes(only_tier_cols: bool = False) -> Dict[Enum, int]:
+def get_all_footnotes() -> 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.extend([fn for fn in footnotes if fn.value.column not in hide_cols])
+    all_footnotes.extend(footnotes)
   return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
 
 
@@ -25,12 +25,13 @@ 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(only_tier_cols: bool = False) -> List[CarInfo]:
+def get_all_car_info() -> List[CarInfo]:
   all_car_info: List[CarInfo] = []
-  footnotes = get_all_footnotes(only_tier_cols)
+  footnotes = get_all_footnotes()
   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: {}}
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[1] = {HKG_RADAR_START_ADDR: 8}
     CP = interfaces[model][0].get_params(model, fingerprint=fingerprint, disable_radar=True)
 
     if CP.dashcamOnly or car_info is None:
@@ -57,21 +58,13 @@ def group_by_make(all_car_info: List[CarInfo]) -> Dict[str, List[CarInfo]]:
   return dict(sorted_car_info)
 
 
-def generate_cars_md(all_car_info: List[CarInfo], template_fn: str, only_tier_cols: bool) -> str:
+def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str:
   with open(template_fn, "r") as f:
     template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
 
-  cols = list(Column)
+  footnotes = [fn.value.text for fn in get_all_footnotes()]
-  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)
+                                 footnotes=footnotes, Column=Column)
   return cars_md
 
 
@@ -79,11 +72,10 @@ 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.tier_columns), args.template, args.tier_columns))
+    f.write(generate_cars_md(get_all_car_info(), args.template))
   print(f"Generated and written to {args.out}")

selfdrive/car/docs_definitions.py

@@ -2,7 +2,7 @@ import re
 from collections import namedtuple
 from dataclasses import dataclass, field
 from enum import Enum
-from typing import Dict, List, Optional, Tuple, Union, no_type_check
+from typing import Dict, List, Optional, Tuple, Union
 
 from cereal import car
 from common.conversions import Conversions as CV
@@ -10,25 +10,17 @@ from common.conversions import Conversions as CV
 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 = 0
-  SILVER = 1
-  BRONZE = 2
-
 
 class Column(Enum):
   MAKE = "Make"
   MODEL = "Model"
   PACKAGE = "Supported Package"
-  LONGITUDINAL = "openpilot ACC"
+  LONGITUDINAL = "ACC"
-  FSR_LONGITUDINAL = "Stop and Go"
+  FSR_LONGITUDINAL = "No ACC accel below"
-  FSR_STEERING = "Steer to 0"
+  FSR_STEERING = "No ALC below"
   STEERING_TORQUE = "Steering Torque"
+  AUTO_RESUME = "Resume from stop"
+  HARNESS = "Harness"
 
 
 class Star(Enum):
@@ -37,9 +29,46 @@ class Star(Enum):
   EMPTY = "empty"
 
 
-StarColumns = list(Column)[3:]
+class Harness(Enum):
-TierColumns = (Column.FSR_LONGITUDINAL, Column.FSR_STEERING, Column.STEERING_TORQUE)
+  nidec = "Honda Nidec"
-CarFootnote = namedtuple("CarFootnote", ["text", "column", "star"], defaults=[None])
+  bosch_a = "Honda Bosch A"
+  bosch_b = "Honda Bosch B"
+  toyota = "Toyota"
+  subaru_a = "Subaru A"
+  subaru_b = "Subaru B"
+  fca = "FCA"
+  ram = "Ram"
+  vw = "VW"
+  j533 = "J533"
+  hyundai_a = "Hyundai A"
+  hyundai_b = "Hyundai B"
+  hyundai_c = "Hyundai C"
+  hyundai_d = "Hyundai D"
+  hyundai_e = "Hyundai E"
+  hyundai_f = "Hyundai F"
+  hyundai_g = "Hyundai G"
+  hyundai_h = "Hyundai H"
+  hyundai_i = "Hyundai I"
+  hyundai_j = "Hyundai J"
+  hyundai_k = "Hyundai K"
+  hyundai_l = "Hyundai L"
+  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"
+  ford_q3 = "Ford Q3"
+  ford_q4 = "Ford Q4"
+  none = "None"
+
+
+CarFootnote = namedtuple("CarFootnote", ["text", "column"], defaults=[None])
 
 
 def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]:
@@ -83,7 +112,7 @@ class CarInfo:
   footnotes: List[Enum] = field(default_factory=list)
   min_steer_speed: Optional[float] = None
   min_enable_speed: Optional[float] = None
-  harness: Optional[Enum] = None
+  harness: Enum = Harness.none
 
   def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
     # TODO: set all the min steer speeds in carParams and remove this
@@ -103,11 +132,12 @@ class CarInfo:
       Column.MAKE: self.make,
       Column.MODEL: self.model,
       Column.PACKAGE: self.package,
-      # StarColumns
+      Column.LONGITUDINAL: "openpilot" if CP.openpilotLongitudinalControl and not CP.radarOffCan else "Stock",
-      Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY,
+      Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
-      Column.FSR_LONGITUDINAL: Star.FULL if self.min_enable_speed <= 0. else Star.EMPTY,
+      Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
-      Column.FSR_STEERING: Star.FULL if self.min_steer_speed <= 0. else Star.EMPTY,
       Column.STEERING_TORQUE: Star.EMPTY,
+      Column.AUTO_RESUME: Star.FULL if CP.autoResumeSng else Star.EMPTY,
+      Column.HARNESS: self.harness.value,
     }
 
     # Set steering torque star from max lateral acceleration
@@ -115,26 +145,7 @@ class CarInfo:
     if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
       self.row[Column.STEERING_TORQUE] = Star.FULL
 
-    if CP.notCar:
-      for col in StarColumns:
-        self.row[col] = Star.FULL
-
     self.all_footnotes = all_footnotes
-    for column in StarColumns:
-      # Demote if footnote specifies a 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)
 
@@ -153,7 +164,7 @@ class CarInfo:
       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):
+      elif CP.autoResumeSng:
         acc = " <strong>that automatically resumes from a stop</strong>"
 
       if self.row[Column.STEERING_TORQUE] != Star.FULL:
@@ -167,10 +178,9 @@ class CarInfo:
       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:
+    if isinstance(item, Star):
       item = star_icon.format(item.value)
     elif column == Column.MODEL and len(self.years):
       item += f" {self.years}"
@@ -181,60 +191,3 @@ class CarInfo:
       item += footnote_tag.format(f'{",".join(map(str, sups))}')
 
     return item
-
-
-class Harness(Enum):
-  nidec = "Honda Nidec"
-  bosch_a = "Honda Bosch A"
-  bosch_b = "Honda Bosch B"
-  toyota = "Toyota"
-  subaru_a = "Subaru A"
-  subaru_b = "Subaru B"
-  fca = "FCA"
-  ram = "Ram"
-  vw = "VW"
-  j533 = "J533"
-  hyundai_a = "Hyundai A"
-  hyundai_b = "Hyundai B"
-  hyundai_c = "Hyundai C"
-  hyundai_d = "Hyundai D"
-  hyundai_e = "Hyundai E"
-  hyundai_f = "Hyundai F"
-  hyundai_g = "Hyundai G"
-  hyundai_h = "Hyundai H"
-  hyundai_i = "Hyundai I"
-  hyundai_j = "Hyundai J"
-  hyundai_k = "Hyundai K"
-  hyundai_l = "Hyundai L"
-  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"
-  none = "None"
-
-
-STAR_DESCRIPTIONS = {
-  "Gas & Brakes": {  # icon and row name
-    Column.FSR_LONGITUDINAL.value: [
-      [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. See your car's manual for the minimum speed."],
-    ],
-    Column.STEERING_TORQUE.value: [
-      [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/ford/carstate.py

@@ -203,7 +203,8 @@ class CarState(CarStateBase):
       ("DasStats_D_Dsply", "IPMA_Data"),            # DAS status
       ("DasWarn_D_Dsply", "IPMA_Data"),             # DAS warning
       ("AhbHiBeam_D_Rq", "IPMA_Data"),              # AHB status
-      ("Set_Me_X1", "IPMA_Data"),
+      ("Passthru_63", "IPMA_Data"),
+      ("Passthru_48", "IPMA_Data"),
     ]
 
     checks = [

selfdrive/car/ford/fordcan.py

@@ -51,7 +51,7 @@ def create_tja_command(packer, lca_rq: int, ramp_type: int, precision: int, path
   return packer.make_can_msg("LateralMotionControl", 0, values)
 
 
-def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bool, stock_values):
+def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bool, stock_values: dict):
   """
   Creates a CAN message for the Ford IPC IPMA/LKAS status.
 
@@ -72,25 +72,14 @@ def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bo
     lines = 30
 
   values = {
-    "FeatConfigIpmaActl": stock_values["FeatConfigIpmaActl"],       # [0|65535]
+    **stock_values,
-    "FeatNoIpmaActl": stock_values["FeatNoIpmaActl"],               # [0|65535]
+    "LaActvStats_D_Dsply": lines,                           # LKAS status (lines) [0|31]
-    "PersIndexIpma_D_Actl": stock_values["PersIndexIpma_D_Actl"],   # [0|7]
+    "LaHandsOff_D_Dsply": 2 if steer_alert else 0,          # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
-    "AhbcRampingV_D_Rq": stock_values["AhbcRampingV_D_Rq"],         # AHB ramping [0|3]
-    "LaActvStats_D_Dsply": lines,                                   # LKAS status (lines) [0|31]
-    "LaDenyStats_B_Dsply": stock_values["LaDenyStats_B_Dsply"],     # LKAS error [0|1]
-    "LaHandsOff_D_Dsply": 2 if steer_alert else 0,                  # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
-    "CamraDefog_B_Req": stock_values["CamraDefog_B_Req"],           # Windshield heater? [0|1]
-    "CamraStats_D_Dsply": stock_values["CamraStats_D_Dsply"],       # Camera status [0|3]
-    "DasAlrtLvl_D_Dsply": stock_values["DasAlrtLvl_D_Dsply"],       # DAS alert level [0|7]
-    "DasStats_D_Dsply": stock_values["DasStats_D_Dsply"],           # DAS status [0|3]
-    "DasWarn_D_Dsply": stock_values["DasWarn_D_Dsply"],             # DAS warning [0|3]
-    "AhbHiBeam_D_Rq": stock_values["AhbHiBeam_D_Rq"],               # AHB status [0|3]
-    "Set_Me_X1": stock_values["Set_Me_X1"],                         # [0|15]
   }
   return packer.make_can_msg("IPMA_Data", 0, values)
 
 
-def create_acc_ui_command(packer, main_on: bool, enabled: bool, stock_values):
+def create_acc_ui_command(packer, main_on: bool, enabled: bool, stock_values: dict):
   """
   Creates a CAN message for the Ford IPC adaptive cruise, forward collision
   warning and traffic jam assist status.
@@ -101,32 +90,8 @@ def create_acc_ui_command(packer, main_on: bool, enabled: bool, stock_values):
   """
 
   values = {
-    "HaDsply_No_Cs": stock_values["HaDsply_No_Cs"],                     # [0|255]
+    **stock_values,
-    "HaDsply_No_Cnt": stock_values["HaDsply_No_Cnt"],                   # [0|15]
+    "Tja_D_Stat": 2 if enabled else (1 if main_on else 0),  # TJA status: 0=Off, 1=Standby, 2=Active, 3=InterventionLeft, 4=InterventionRight, 5=WarningLeft, 6=WarningRight, 7=NotUsed [0|7]
-    "AccStopStat_D_Dsply": stock_values["AccStopStat_D_Dsply"],         # ACC stopped status message: 0=NoDisplay, 1=ResumeReady, 2=Stopped, 3=PressResume [0|3]
-    "AccTrgDist2_D_Dsply": stock_values["AccTrgDist2_D_Dsply"],         # ACC target distance [0|15]
-    "AccStopRes_B_Dsply": stock_values["AccStopRes_B_Dsply"],           # [0|1]
-    "TjaWarn_D_Rq": stock_values["TjaWarn_D_Rq"],                       # TJA warning: 0=NoWarning, 1=Cancel, 2=HardTakeOverLevel1, 3=HardTakeOverLevel2 [0|7]
-    "Tja_D_Stat": 2 if enabled else (1 if main_on else 0),              # TJA status: 0=Off, 1=Standby, 2=Active, 3=InterventionLeft, 4=InterventionRight, 5=WarningLeft, 6=WarningRight, 7=NotUsed [0|7]
-    "TjaMsgTxt_D_Dsply": stock_values["TjaMsgTxt_D_Dsply"],             # TJA text [0|7]
-    "IaccLamp_D_Rq": stock_values["IaccLamp_D_Rq"],                     # iACC status icon [0|3]
-    "AccMsgTxt_D2_Rq": stock_values["AccMsgTxt_D2_Rq"],                 # ACC text [0|15]
-    "FcwDeny_B_Dsply": stock_values["FcwDeny_B_Dsply"],                 # FCW disabled [0|1]
-    "FcwMemStat_B_Actl": stock_values["FcwMemStat_B_Actl"],             # FCW enabled setting [0|1]
-    "AccTGap_B_Dsply": stock_values["AccTGap_B_Dsply"],                 # ACC time gap display setting [0|1]
-    "CadsAlignIncplt_B_Actl": stock_values["CadsAlignIncplt_B_Actl"],   # Radar alignment? [0|1]
-    "AccFllwMde_B_Dsply": stock_values["AccFllwMde_B_Dsply"],           # ACC follow mode display setting [0|1]
-    "CadsRadrBlck_B_Actl": stock_values["CadsRadrBlck_B_Actl"],         # Radar blocked? [0|1]
-    "CmbbPostEvnt_B_Dsply": stock_values["CmbbPostEvnt_B_Dsply"],       # AEB event status [0|1]
-    "AccStopMde_B_Dsply": stock_values["AccStopMde_B_Dsply"],           # ACC stop mode display setting [0|1]
-    "FcwMemSens_D_Actl": stock_values["FcwMemSens_D_Actl"],             # FCW sensitivity setting [0|3]
-    "FcwMsgTxt_D_Rq": stock_values["FcwMsgTxt_D_Rq"],                   # FCW text [0|7]
-    "AccWarn_D_Dsply": stock_values["AccWarn_D_Dsply"],                 # ACC warning [0|3]
-    "FcwVisblWarn_B_Rq": stock_values["FcwVisblWarn_B_Rq"],             # FCW alert: 0=Off, 1=On [0|1]
-    "FcwAudioWarn_B_Rq": stock_values["FcwAudioWarn_B_Rq"],             # FCW audio: 0=Off, 1=On [0|1]
-    "AccTGap_D_Dsply": stock_values["AccTGap_D_Dsply"],                 # ACC time gap: 1=Time_Gap_1, 2=Time_Gap_2, ..., 5=Time_Gap_5 [0|7]
-    "AccMemEnbl_B_RqDrv": stock_values["AccMemEnbl_B_RqDrv"],           # ACC setting: 0=NormalCruise, 1=AdaptiveCruise [0|1]
-    "FdaMem_B_Stat": stock_values["FdaMem_B_Stat"],                     # FDA enabled setting [0|1]
   }
   return packer.make_can_msg("ACCDATA_3", 0, values)
 

selfdrive/car/ford/radar_interface.py

@@ -1,33 +1,63 @@
 #!/usr/bin/env python3
+from math import cos, sin
 from cereal import car
-from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
-from selfdrive.car.ford.values import CANBUS, DBC
+from common.conversions import Conversions as CV
+from selfdrive.car.ford.values import CANBUS, DBC, RADAR
 from selfdrive.car.interfaces import RadarInterfaceBase
 
-RADAR_MSGS = list(range(0x500, 0x540))
+DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
 
+DELPHI_MRR_RADAR_START_ADDR = 0x120
+DELPHI_MRR_RADAR_MSG_COUNT = 64
 
-def _create_radar_can_parser(car_fingerprint):
-  if DBC[car_fingerprint]['radar'] is None:
-    return None
 
-  msg_n = len(RADAR_MSGS)
+def _create_delphi_esr_radar_can_parser():
+  msg_n = len(DELPHI_ESR_RADAR_MSGS)
   signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
-                     RADAR_MSGS * 3))
+                     DELPHI_ESR_RADAR_MSGS * 3))
-  checks = list(zip(RADAR_MSGS, [20] * msg_n))
+  checks = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n))
+
+  return CANParser(RADAR.DELPHI_ESR, signals, checks, CANBUS.radar)
+
+
+def _create_delphi_mrr_radar_can_parser():
+  signals = []
+  checks = []
+
+  for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
+    msg = f"MRR_Detection_{i:03d}"
+    signals += [
+      (f"CAN_DET_VALID_LEVEL_{i:02d}", msg),
+      (f"CAN_DET_AZIMUTH_{i:02d}", msg),
+      (f"CAN_DET_RANGE_{i:02d}", msg),
+      (f"CAN_DET_RANGE_RATE_{i:02d}", msg),
+      (f"CAN_DET_AMPLITUDE_{i:02d}", msg),
+      (f"CAN_SCAN_INDEX_2LSB_{i:02d}", msg),
+    ]
+    checks += [(msg, 20)]
+
+  return CANParser(RADAR.DELPHI_MRR, signals, checks, CANBUS.radar)
 
-  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CANBUS.radar)
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
-    self.validCnt = {key: 0 for key in RADAR_MSGS}
-    self.track_id = 0
 
-    self.rcp = _create_radar_can_parser(CP.carFingerprint)
-    self.trigger_msg = 0x53f
     self.updated_messages = set()
+    self.track_id = 0
+    self.radar = DBC[CP.carFingerprint]['radar']
+    if self.radar is None:
+      self.rcp = None
+    elif self.radar == RADAR.DELPHI_ESR:
+      self.rcp = _create_delphi_esr_radar_can_parser()
+      self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1]
+      self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS}
+    elif self.radar == RADAR.DELPHI_MRR:
+      self.rcp = _create_delphi_mrr_radar_can_parser()
+      self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
+    else:
+      raise ValueError(f"Unsupported radar: {self.radar}")
 
   def update(self, can_strings):
     if self.rcp is None:
@@ -45,20 +75,30 @@ class RadarInterface(RadarInterfaceBase):
       errors.append("canError")
     ret.errors = errors
 
+    if self.radar == RADAR.DELPHI_ESR:
+      self._update_delphi_esr()
+    elif self.radar == RADAR.DELPHI_MRR:
+      self._update_delphi_mrr()
+
+    ret.points = list(self.pts.values())
+    self.updated_messages.clear()
+    return ret
+
+  def _update_delphi_esr(self):
     for ii in sorted(self.updated_messages):
       cpt = self.rcp.vl[ii]
 
       if cpt['X_Rel'] > 0.00001:
-        self.validCnt[ii] = 0    # reset counter
+        self.valid_cnt[ii] = 0    # reset counter
 
       if cpt['X_Rel'] > 0.00001:
-        self.validCnt[ii] += 1
+        self.valid_cnt[ii] += 1
       else:
-        self.validCnt[ii] = max(self.validCnt[ii] - 1, 0)
+        self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0)
-      #print ii, self.validCnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle']
+      #print ii, self.valid_cnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle']
 
       # radar point only valid if there have been enough valid measurements
-      if self.validCnt[ii] > 0:
+      if self.valid_cnt[ii] > 0:
         if ii not in self.pts:
           self.pts[ii] = car.RadarData.RadarPoint.new_message()
           self.pts[ii].trackId = self.track_id
@@ -73,6 +113,36 @@ class RadarInterface(RadarInterfaceBase):
         if ii in self.pts:
           del self.pts[ii]
 
-    ret.points = list(self.pts.values())
+  def _update_delphi_mrr(self):
-    self.updated_messages.clear()
+    for ii in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
-    return ret
+      msg = self.rcp.vl[f"MRR_Detection_{ii:03d}"]
+
+      # SCAN_INDEX rotates through 0..3 on each message
+      # treat these as separate points
+      scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"]
+      i = (ii - 1) * 4 + scanIndex
+
+      if i not in self.pts:
+        self.pts[i] = car.RadarData.RadarPoint.new_message()
+        self.pts[i].trackId = self.track_id
+        self.pts[i].aRel = float('nan')
+        self.pts[i].yvRel = float('nan')
+        self.track_id += 1
+
+      valid = bool(msg[f"CAN_DET_VALID_LEVEL_{ii:02d}"])
+      amplitude = msg[f"CAN_DET_AMPLITUDE_{ii:02d}"]            # dBsm [-64|63]
+
+      if valid and 0 < amplitude <= 15:
+        azimuth = msg[f"CAN_DET_AZIMUTH_{ii:02d}"]              # rad [-3.1416|3.13964]
+        dist = msg[f"CAN_DET_RANGE_{ii:02d}"]                   # m [0|255.984]
+        distRate = msg[f"CAN_DET_RANGE_RATE_{ii:02d}"]          # m/s [-128|127.984]
+
+        # *** openpilot radar point ***
+        self.pts[i].dRel = cos(azimuth) * dist                  # m from front of car
+        self.pts[i].yRel = -sin(azimuth) * dist                 # in car frame's y axis, left is positive
+        self.pts[i].vRel = distRate                             # m/s
+
+        self.pts[i].measured = True
+
+      else:
+        del self.pts[i]

selfdrive/car/ford/values.py

@@ -24,6 +24,11 @@ class CarControllerParams:
   STEER_RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
 
 
+class RADAR:
+  DELPHI_ESR = 'ford_fusion_2018_adas'
+  DELPHI_MRR = 'FORD_CADS'
+
+
 class CANBUS:
   main = 0
   radar = 1
@@ -46,7 +51,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x730, None): [
       b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x760, None): [
+    (Ecu.abs, 0x760, None): [
       b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
@@ -63,7 +68,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x730, None): [
       b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x760, None): [
+    (Ecu.abs, 0x760, None): [
       b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
@@ -80,6 +85,6 @@ FW_VERSIONS = {
 
 
 DBC = {
-  CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', None),
+  CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR),
-  CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', None),
+  CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR),
 }

selfdrive/car/fw_versions.py

@@ -16,7 +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]
+ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
 
 
 def p16(val):
@@ -97,6 +97,11 @@ CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
 CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
   p16(0xf132)
 
+CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
+CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
+
 CHRYSLER_RX_OFFSET = -0x280
 
 FORD_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
@@ -208,12 +213,20 @@ REQUESTS: List[Request] = [
     "chrysler",
     [CHRYSLER_VERSION_REQUEST],
     [CHRYSLER_VERSION_RESPONSE],
+    whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.gateway, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter],
     rx_offset=CHRYSLER_RX_OFFSET,
   ),
   Request(
     "chrysler",
     [CHRYSLER_VERSION_REQUEST],
     [CHRYSLER_VERSION_RESPONSE],
+    whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission],
+  ),
+  Request(
+    "chrysler",
+    [CHRYSLER_SOFTWARE_VERSION_REQUEST],
+    [CHRYSLER_SOFTWARE_VERSION_RESPONSE],
+    whitelist_ecus=[Ecu.engine, Ecu.transmission],
   ),
   # Ford
   Request(
@@ -227,7 +240,7 @@ REQUESTS: List[Request] = [
     [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
     [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
     bus=0,
-    whitelist_ecus=[Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera],
+    whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera],
   ),
 ]
 
@@ -315,7 +328,7 @@ def match_fw_to_car_exact(fw_versions_dict):
       ecu_type = ecu[0]
       addr = ecu[1:]
       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):
+      if ecu_type == Ecu.abs and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and not len(found_versions):
         continue
 
       # On some Toyota models, the engine can show on two different addresses

selfdrive/car/gm/carcontroller.py

@@ -109,10 +109,10 @@ class CarController:
 
     else:
       # Stock longitudinal, integrated at camera
-      if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
+      if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
         if CC.cruiseControl.cancel:
           self.last_button_frame = self.frame
-          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CruiseButtons.CANCEL))
+          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
     # Show green icon when LKA torque is applied, and
     # alarming orange icon when approaching torque limit.

selfdrive/car/gm/carstate.py

@@ -16,12 +16,14 @@ class CarState(CarStateBase):
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
     self.lka_steering_cmd_counter = 0
+    self.buttons_counter = 0
 
   def update(self, pt_cp, cam_cp, loopback_cp):
     ret = car.CarState.new_message()
 
     self.prev_cruise_buttons = self.cruise_buttons
     self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+    self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
 
     ret.wheelSpeeds = self.get_wheel_speeds(
       pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
@@ -109,6 +111,7 @@ class CarState(CarStateBase):
       ("AcceleratorPedal2", "AcceleratorPedal2"),
       ("CruiseState", "AcceleratorPedal2"),
       ("ACCButtons", "ASCMSteeringButton"),
+      ("RollingCounter", "ASCMSteeringButton"),
       ("SteeringWheelAngle", "PSCMSteeringAngle"),
       ("SteeringWheelRate", "PSCMSteeringAngle"),
       ("FLWheelSpd", "EBCMWheelSpdFront"),

selfdrive/car/gm/gmcan.py

@@ -1,7 +1,10 @@
 from selfdrive.car import make_can_msg
 
-def create_buttons(packer, bus, button):
+def create_buttons(packer, bus, idx, button):
-  values = {"ACCButtons": button}
+  values = {
+    "ACCButtons": button,
+    "RollingCounter": idx,
+  }
   return packer.make_can_msg("ASCMSteeringButton", bus, values)
 
 def create_steering_control(packer, bus, apply_steer, idx, lkas_active):

selfdrive/car/gm/interface.py

@@ -4,7 +4,7 @@ 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 import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -49,6 +49,7 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
+    ret.autoResumeSng = False
 
     if candidate in EV_CAR:
       ret.transmissionType = TransmissionType.direct
@@ -73,7 +74,7 @@ class CarInterface(CarInterfaceBase):
     ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL}
 
     # 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.minSteerSpeed = 10 * CV.KPH_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
@@ -160,6 +161,15 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    elif candidate == CAR.SILVERADO:
+      ret.minEnableSpeed = -1
+      ret.mass = 2200. + STD_CARGO_KG
+      ret.wheelbase = 3.75
+      ret.steerRatio = 16.3
+      ret.centerToFront = ret.wheelbase * 0.5
+      tire_stiffness_factor = 1.0
+      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)
@@ -195,9 +205,6 @@ class CarInterface(CarInterfaceBase):
     if ret.vEgo < self.CP.minSteerSpeed:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
-    # handle button presses
-    events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
-
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/gm/values.py

@@ -59,6 +59,7 @@ class CAR:
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
   BOLT_EUV = "CHEVROLET BOLT EUV 2022"
+  SILVERADO = "CHEVROLET SILVERADO 1500 2020"
 
 
 class Footnote(Enum):
@@ -83,7 +84,11 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
   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", "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),
+  CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
+  CAR.SILVERADO: [
+    GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm),
+    GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", footnotes=[], harness=Harness.gm),
+  ],
 }
 
 
@@ -157,6 +162,10 @@ FINGERPRINTS = {
   {
     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
   }],
+  CAR.SILVERADO: [
+  {
+    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 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, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
+  }],
 }
 
 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'))
@@ -164,6 +173,6 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_power
 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}
+CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO}
 
 STEER_THRESHOLD = 1.0

selfdrive/car/honda/interface.py

@@ -4,7 +4,7 @@ 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, 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 import STD_CARGO_KG, CivicParams, 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
 
@@ -86,7 +86,6 @@ class CarInterface(CarInterfaceBase):
         eps_modified = True
 
     if candidate == CAR.CIVIC:
-      stop_and_go = True
       ret.mass = CivicParams.MASS
       ret.wheelbase = CivicParams.WHEELBASE
       ret.centerToFront = CivicParams.CENTER_TO_FRONT
@@ -106,7 +105,6 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 1.
 
     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
       ret.centerToFront = CivicParams.CENTER_TO_FRONT
@@ -116,7 +114,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate in (CAR.ACCORD, CAR.ACCORDH):
-      stop_and_go = True
       ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.83
       ret.centerToFront = ret.wheelbase * 0.39
@@ -130,7 +127,6 @@ class CarInterface(CarInterfaceBase):
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.ACURA_ILX:
-      stop_and_go = False
       ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.37
@@ -140,7 +136,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate in (CAR.CRV, CAR.CRV_EU):
-      stop_and_go = False
       ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.62
       ret.centerToFront = ret.wheelbase * 0.41
@@ -151,7 +146,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.CRV_5G:
-      stop_and_go = True
       ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.66
       ret.centerToFront = ret.wheelbase * 0.41
@@ -169,7 +163,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.CRV_HYBRID:
-      stop_and_go = True
       ret.mass = 1667. + STD_CARGO_KG  # mean of 4 models in kg
       ret.wheelbase = 2.66
       ret.centerToFront = ret.wheelbase * 0.41
@@ -180,7 +173,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.FIT:
-      stop_and_go = False
       ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.53
       ret.centerToFront = ret.wheelbase * 0.39
@@ -190,7 +182,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
 
     elif candidate == CAR.FREED:
-      stop_and_go = False
       ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.74
       # the remaining parameters were copied from FIT
@@ -201,7 +192,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
 
     elif candidate == CAR.HRV:
-      stop_and_go = False
       ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.61
       ret.centerToFront = ret.wheelbase * 0.41
@@ -212,7 +202,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.ACURA_RDX:
-      stop_and_go = False
       ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.68
       ret.centerToFront = ret.wheelbase * 0.38
@@ -222,7 +211,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate == CAR.ACURA_RDX_3G:
-      stop_and_go = True
       ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.75
       ret.centerToFront = ret.wheelbase * 0.41
@@ -232,7 +220,6 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.677
 
     elif candidate == CAR.ODYSSEY:
-      stop_and_go = False
       ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 3.00
       ret.centerToFront = ret.wheelbase * 0.41
@@ -242,7 +229,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
 
     elif candidate == CAR.ODYSSEY_CHN:
-      stop_and_go = False
       ret.mass = 1849.2 + STD_CARGO_KG  # mean of 4 models in kg
       ret.wheelbase = 2.90
       ret.centerToFront = ret.wheelbase * 0.41  # from CAR.ODYSSEY
@@ -252,7 +238,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
 
     elif candidate in (CAR.PILOT, CAR.PASSPORT):
-      stop_and_go = False
       ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG  # average weight
       ret.wheelbase = 2.82
       ret.centerToFront = ret.wheelbase * 0.428
@@ -262,7 +247,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
 
     elif candidate == CAR.RIDGELINE:
-      stop_and_go = False
       ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 3.18
       ret.centerToFront = ret.wheelbase * 0.41
@@ -272,7 +256,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
 
     elif candidate == CAR.INSIGHT:
-      stop_and_go = True
       ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.7
       ret.centerToFront = ret.wheelbase * 0.39
@@ -282,7 +265,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.HONDA_E:
-      stop_and_go = True
       ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.5
       ret.centerToFront = ret.wheelbase * 0.5
@@ -311,7 +293,8 @@ class CarInterface(CarInterfaceBase):
     # 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
-    ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS
+    stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
+    ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS
 
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
@@ -369,9 +352,6 @@ class CarInterface(CarInterfaceBase):
     if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
       events.add(EventName.manualRestart)
 
-    # handle button presses
-    events.events.extend(create_button_enable_events(ret.buttonEvents, self.CP.pcmCruise))
-
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/honda/values.py

@@ -113,7 +113,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
     HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   ],
   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: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"),
   CAR.CIVIC_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),

selfdrive/car/hyundai/carcontroller.py

@@ -5,7 +5,7 @@ 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
+from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -15,6 +15,7 @@ def process_hud_alert(enabled, fingerprint, hud_control):
   sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
 
   # initialize to no line visible
+  # TODO: this is not accurate for all cars
   sys_state = 1
   if hud_control.leftLaneVisible and hud_control.rightLaneVisible or sys_warning:  # HUD alert only display when LKAS status is active
     sys_state = 3 if enabled or sys_warning else 4
@@ -71,22 +72,33 @@ class CarController:
 
     if self.CP.carFingerprint in CANFD_CAR:
       # steering control
-      can_sends.append(hyundaicanfd.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
+      can_sends.append(hyundaicanfd.create_lkas(self.packer, self.CP, CC.enabled, CC.latActive, apply_steer))
 
-      if self.frame % 5 == 0:
+      # block LFA on HDA2
+      if self.frame % 5 == 0 and (self.CP.flags & HyundaiFlags.CANFD_HDA2):
         can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
 
-      # cruise cancel
+      # LFA and HDA icons
+      if self.frame % 2 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_HDA2):
+        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, CC.enabled))
+
+      # button presses
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
+        # cruise cancel
         if CC.cruiseControl.cancel:
-          for _ in range(20):
+          if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-            can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
+            can_sends.append(hyundaicanfd.create_cruise_info(self.packer, CS.cruise_info_copy, True))
-          self.last_button_frame = self.frame
+            self.last_button_frame = self.frame
+          else:
+            for _ in range(20):
+              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.cruiseControl.resume:
-          can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
+          if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
-          self.last_button_frame = self.frame
+            can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
+            self.last_button_frame = self.frame
     else:
 
       # tester present - w/ no response (keeps radar disabled)

selfdrive/car/hyundai/carstate.py

@@ -5,7 +5,7 @@ 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, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import HyundaiFlags, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
@@ -20,7 +20,7 @@ class CarState(CarStateBase):
     self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
 
     if CP.carFingerprint in CANFD_CAR:
-      self.shifter_values = can_define.dv["ACCELERATOR"]["GEAR"]
+      self.shifter_values = can_define.dv["GEAR_SHIFTER"]["GEAR"]
     elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
       self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
     elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
@@ -136,14 +136,17 @@ class CarState(CarStateBase):
   def update_canfd(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
-    ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
+    if self.CP.flags & HyundaiFlags.CANFD_HDA2:
-    ret.gasPressed = ret.gas > 1e-3
+      ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
+    else:
+      ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023.
+    ret.gasPressed = ret.gas > 1e-5
     ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1
 
     ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1
     ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0
 
-    gear = cp.vl["ACCELERATOR"]["GEAR"]
+    gear = cp.vl["GEAR_SHIFTER"]["GEAR"]
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
 
     # TODO: figure out positions
@@ -168,16 +171,19 @@ class CarState(CarStateBase):
 
     ret.cruiseState.available = True
     ret.cruiseState.enabled = cp.vl["SCC1"]["CRUISE_ACTIVE"] == 1
-    ret.cruiseState.standstill = cp.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
+    cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
-
     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
+    ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
+    ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
 
-    self.cruise_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["CRUISE_BUTTONS"])
+    cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
-    self.main_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["ADAPTIVE_CRUISE_MAIN_BTN"])
+    self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"])
-    self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
+    self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"])
+    self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"]
+    self.cruise_info_copy = copy.copy(cp_cruise_info.vl["CRUISE_INFO"])
 
-    self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
+    if self.CP.flags & HyundaiFlags.CANFD_HDA2:
+      self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
 
     return ret
 
@@ -319,9 +325,7 @@ class CarState(CarStateBase):
   @staticmethod
   def get_cam_can_parser(CP):
     if CP.carFingerprint in CANFD_CAR:
-      signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
+      return CarState.get_cam_can_parser_canfd(CP)
-      checks = [("CAM_0x2a4", 20)]
-      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
 
     signals = [
       # signal_name, signal_address
@@ -374,14 +378,15 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser_canfd(CP):
+
+    cruise_btn_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
     signals = [
       ("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
       ("WHEEL_SPEED_2", "WHEEL_SPEEDS"),
       ("WHEEL_SPEED_3", "WHEEL_SPEEDS"),
       ("WHEEL_SPEED_4", "WHEEL_SPEEDS"),
 
-      ("ACCELERATOR_PEDAL", "ACCELERATOR"),
+      ("GEAR", "GEAR_SHIFTER"),
-      ("GEAR", "ACCELERATOR"),
       ("BRAKE_PRESSED", "BRAKE"),
 
       ("STEERING_RATE", "STEERING_SENSORS"),
@@ -390,11 +395,9 @@ class CarState(CarStateBase):
       ("STEERING_OUT_TORQUE", "MDPS"),
 
       ("CRUISE_ACTIVE", "SCC1"),
-      ("SET_SPEED", "CRUISE_INFO"),
+      ("COUNTER", cruise_btn_msg),
-      ("CRUISE_STANDSTILL", "CRUISE_INFO"),
+      ("CRUISE_BUTTONS", cruise_btn_msg),
-      ("COUNTER", "CRUISE_BUTTONS"),
+      ("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg),
-      ("CRUISE_BUTTONS", "CRUISE_BUTTONS"),
-      ("ADAPTIVE_CRUISE_MAIN_BTN", "CRUISE_BUTTONS"),
 
       ("DISTANCE_UNIT", "CLUSTER_INFO"),
 
@@ -407,16 +410,64 @@ class CarState(CarStateBase):
 
     checks = [
       ("WHEEL_SPEEDS", 100),
-      ("ACCELERATOR", 100),
+      ("GEAR_SHIFTER", 100),
       ("BRAKE", 100),
       ("STEERING_SENSORS", 100),
       ("MDPS", 100),
       ("SCC1", 50),
-      ("CRUISE_INFO", 50),
+      (cruise_btn_msg, 50),
-      ("CRUISE_BUTTONS", 50),
       ("CLUSTER_INFO", 4),
       ("BLINKERS", 4),
       ("DOORS_SEATBELTS", 4),
     ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 5)
+    if CP.flags & HyundaiFlags.CANFD_HDA2:
+      signals += [
+        ("ACCELERATOR_PEDAL", "ACCELERATOR"),
+        ("GEAR", "ACCELERATOR"),
+        ("SET_SPEED", "CRUISE_INFO"),
+        ("CRUISE_STANDSTILL", "CRUISE_INFO"),
+      ]
+      checks += [
+        ("CRUISE_INFO", 50),
+        ("ACCELERATOR", 100),
+      ]
+    else:
+      signals += [
+        ("ACCELERATOR_PEDAL", "ACCELERATOR_ALT"),
+      ]
+      checks += [
+        ("ACCELERATOR_ALT", 100),
+      ]
+
+    bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
+
+  @staticmethod
+  def get_cam_can_parser_canfd(CP):
+    if CP.flags & HyundaiFlags.CANFD_HDA2:
+      signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
+      checks = [("CAM_0x2a4", 20)]
+    else:
+      signals = [
+        ("COUNTER", "CRUISE_INFO"),
+        ("NEW_SIGNAL_1", "CRUISE_INFO"),
+        ("CRUISE_MAIN", "CRUISE_INFO"),
+        ("CRUISE_STATUS", "CRUISE_INFO"),
+        ("CRUISE_INACTIVE", "CRUISE_INFO"),
+        ("NEW_SIGNAL_2", "CRUISE_INFO"),
+        ("CRUISE_STANDSTILL", "CRUISE_INFO"),
+        ("NEW_SIGNAL_3", "CRUISE_INFO"),
+        ("BYTE11", "CRUISE_INFO"),
+        ("SET_SPEED", "CRUISE_INFO"),
+        ("NEW_SIGNAL_4", "CRUISE_INFO"),
+      ]
+
+      signals += [(f"BYTE{i}", "CRUISE_INFO") for i in range(3, 7)]
+      signals += [(f"BYTE{i}", "CRUISE_INFO") for i in range(13, 31)]
+
+      checks = [
+        ("CRUISE_INFO", 50),
+      ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)

selfdrive/car/hyundai/hyundaican.py

@@ -37,12 +37,26 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
     # Note: the warning is hidden while the blinkers are on
     values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
 
+  # Likely cars lacking the ability to show individual lane lines in the dash
+  elif car_fingerprint in (CAR.KIA_OPTIMA,):
+    # SysWarning 4 = keep hands on wheel + beep
+    values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
+
+    # SysState 0 = no icons
+    # SysState 1-2 = white car + lanes
+    # SysState 3 = green car + lanes, green steering wheel
+    # SysState 4 = green car + lanes
+    values["CF_Lkas_LdwsSysState"] = 3 if enabled else 1
+    values["CF_Lkas_LdwsOpt_USM"] = 2  # non-2 changes above SysState definition
+
+    # these have no effect
+    values["CF_Lkas_LdwsActivemode"] = 0
+    values["CF_Lkas_FcwOpt_USM"] = 0
+
   elif car_fingerprint == CAR.HYUNDAI_GENESIS:
     # This field is actually LdwsActivemode
     # Genesis and Optima fault when forwarding while engaged
     values["CF_Lkas_LdwsActivemode"] = 2
-  elif car_fingerprint == CAR.KIA_OPTIMA:
-    values["CF_Lkas_LdwsActivemode"] = 0
 
   dat = packer.make_can_msg("LKAS11", 0, values)[2]
 

selfdrive/car/hyundai/hyundaicanfd.py

@@ -1,4 +1,7 @@
-def create_lkas(packer, enabled, lat_active, apply_steer):
+from selfdrive.car.hyundai.values import HyundaiFlags
+
+
+def create_lkas(packer, CP, enabled, lat_active, apply_steer):
   values = {
     "LKA_MODE": 2,
     "LKA_ICON": 2 if enabled else 1,
@@ -10,7 +13,9 @@ def create_lkas(packer, enabled, lat_active, apply_steer):
     "NEW_SIGNAL_1": 0,
     "NEW_SIGNAL_2": 0,
   }
-  return packer.make_can_msg("LKAS", 4, values)
+
+  msg = "LKAS" if CP.flags & HyundaiFlags.CANFD_HDA2 else "LFA"
+  return packer.make_can_msg(msg, 4, values)
 
 def create_cam_0x2a4(packer, camera_values):
   camera_values.update({
@@ -25,3 +30,17 @@ def create_buttons(packer, cnt, btn):
     "CRUISE_BUTTONS": btn,
   }
   return packer.make_can_msg("CRUISE_BUTTONS", 5, values)
+
+def create_cruise_info(packer, cruise_info_copy, cancel):
+  values = cruise_info_copy
+  if cancel:
+    values["CRUISE_STATUS"] = 0
+    values["CRUISE_INACTIVE"] = 1
+  return packer.make_can_msg("CRUISE_INFO", 4, values)
+
+def create_lfahda_cluster(packer, enabled):
+  values = {
+    "HDA_ICON": 1 if enabled else 0,
+    "LFA_ICON": 2 if enabled else 0,
+  }
+  return packer.make_can_msg("LFAHDA_CLUSTER", 4, values)

selfdrive/car/hyundai/interface.py

@@ -2,9 +2,9 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-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.values import HyundaiFlags, 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 import STD_CARGO_KG, 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
 
@@ -115,13 +115,11 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
       ret.minSteerSpeed = 60 * CV.KPH_TO_MS
     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., 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
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1490. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
@@ -162,6 +160,12 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.385
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+    elif candidate == CAR.TUCSON_HYBRID_4TH_GEN:
+      ret.mass = 1680. + STD_CARGO_KG  # average of all 3 trims
+      ret.wheelbase = 2.756
+      ret.steerRatio = 16.
+      tire_stiffness_factor = 0.385
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     # Kia
     elif candidate == CAR.KIA_SORENTO:
@@ -171,7 +175,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021):
+    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021):
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1737. + STD_CARGO_KG
       ret.wheelbase = 2.7
@@ -179,7 +183,7 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.385
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-      if candidate == CAR.KIA_NIRO_HEV:
+      if candidate == CAR.KIA_NIRO_PHEV:
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate == CAR.KIA_SELTOS:
       ret.mass = 1337. + STD_CARGO_KG
@@ -286,7 +290,19 @@ class CarInterface(CarInterfaceBase):
     if candidate in CANFD_CAR:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
                            get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]
+
+      # detect HDA2 with LKAS message
+      if 0x50 in fingerprint[6]:
+        ret.flags |= HyundaiFlags.CANFD_HDA2.value
+        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
+      else:
+        # non-HDA2
+        if 0x1cf not in fingerprint[4]:
+          ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
+          ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
     else:
+      ret.enableBsm = 0x58b in fingerprint[0]
+
       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)]
@@ -316,8 +332,6 @@ class CarInterface(CarInterfaceBase):
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    ret.enableBsm = 0x58b in fingerprint[0]
-
     return ret
 
   @staticmethod
@@ -328,6 +342,14 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
+    if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
+      buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)]
+      # Handle CF_Clu_CruiseSwState changing buttons mid-press
+      if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0:
+        buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT))
+
+      ret.buttonEvents = buttonEvents
+
     # 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
@@ -337,15 +359,6 @@ class CarInterface(CarInterfaceBase):
     if self.CS.brake_error:
       events.add(EventName.brakeUnavailable)
 
-    if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
-      buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)]
-      # Handle CF_Clu_CruiseSwState changing buttons mid-press
-      if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0:
-        buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT))
-
-      ret.buttonEvents = buttonEvents
-      events.events.extend(create_button_enable_events(ret.buttonEvents))
-
     # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
     if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
       self.low_speed_alert = True

selfdrive/car/hyundai/values.py

@@ -1,3 +1,4 @@
+from enum import IntFlag
 from dataclasses import dataclass
 from typing import Dict, List, Optional, Union
 
@@ -29,7 +30,7 @@ class CarControllerParams:
     # 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.
     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.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
                                CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
       self.STEER_MAX = 255
 
@@ -38,6 +39,11 @@ class CarControllerParams:
       self.STEER_MAX = 384
 
 
+class HyundaiFlags(IntFlag):
+  CANFD_HDA2 = 1
+  CANFD_ALT_BUTTONS = 2
+
+
 class CAR:
   # Hyundai
   ELANTRA = "HYUNDAI ELANTRA 2017"
@@ -66,12 +72,13 @@ class CAR:
   VELOSTER = "HYUNDAI VELOSTER 2019"
   SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
   IONIQ_5 = "HYUNDAI IONIQ 5 2022"
+  TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
 
   # Kia
   KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
   KIA_K5_2021 = "KIA K5 2021"
   KIA_NIRO_EV = "KIA NIRO EV 2020"
-  KIA_NIRO_HEV = "KIA NIRO HYBRID 2019"
+  KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
   KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
   KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016"
   KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
@@ -112,7 +119,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   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_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l),
   CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l),
   CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l),
   CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
@@ -128,11 +135,12 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   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),
+  CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n),
 
   # Kia
   CAR.KIA_FORTE: [
     HyundaiCarInfo("Kia Forte 2018", harness=Harness.hyundai_b),
-    HyundaiCarInfo("Kia Forte 2019-21", "All", harness=Harness.hyundai_g),
+    HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
   ],
   CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
   CAR.KIA_NIRO_EV: [
@@ -141,7 +149,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     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 2018-19", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
+  CAR.KIA_NIRO_PHEV: 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),
@@ -390,7 +398,7 @@ FW_VERSIONS = {
       b'\xf1\x8799110L0000\xf1\x00DN8_ SCC F-CUP      1.00 1.00 99110-L0000         ',
       b'\xf1\x8799110L0000\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
     ],
-    (Ecu.esp, 0x7d1, None): [
+    (Ecu.abs, 0x7d1, None): [
       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',
@@ -510,7 +518,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00LF__ SCC F-CUP      1.00 1.00 96401-C2200         ',
     ],
-    (Ecu.esp, 0x7d1, None): [
+    (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00LF ESC \f 11 \x17\x01\x13 58920-C2610',
       b'\xf1\x00LF ESC \t 11 \x17\x01\x13 58920-C2610',
     ],
@@ -557,7 +565,7 @@ FW_VERSIONS = {
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.02 99110-S2000         ',
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.03 99110-S2000         ',
     ],
-    (Ecu.esp, 0x7d1, None): [
+    (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650',
       b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650',
       b'\xf1\x00TM ESC \r 104\x19\a\b 58910-S2650',
@@ -613,14 +621,16 @@ FW_VERSIONS = {
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
       b'\xf1\x8799110S1500\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
       b'\xf1\x8799110S1500\xf1\x00TM__ SCC FHCUP      1.00 1.00 99110-S1500         ',
+      b'\xf1\x00TM__ SCC FHCUP      1.00 1.00 99110-S1500         ',
     ],
-    (Ecu.esp, 0x7d1, None): [
+    (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0',
       b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
       b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
       b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0',
       b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0',
       b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
+      b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x82TACVN5GMI3XXXH0A',
@@ -629,6 +639,7 @@ FW_VERSIONS = {
       b'\xf1\x82TMCFD5MMCXXXXG0A',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A',
       b'\xf1\x81HM6M2_0a0_G00',
+      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56370-S2AA0 0B19',
@@ -648,6 +659,8 @@ FW_VERSIONS = {
       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',
+      b'\xf1\x00T02601BL  T02900A1  VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
+      b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1  \xf1\x00T02601BL  T02900A1  VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
     ],
   },
   CAR.SANTA_FE_HEV_2022: {
@@ -690,6 +703,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5100         ',
       b'\xf1\x00CK__ SCC F_CUP      1.00 1.03 96400-J5100         ',
+      b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5000         ',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -707,6 +721,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.03 95740-J5000 170822',
       b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.04 95740-J5000 180504',
+      b'\xf1\x00CK  MFC  AT EUR LHD 1.00 1.03 95740-J5000 170822',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
@@ -716,6 +731,7 @@ FW_VERSIONS = {
       b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
       b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2',
       b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94',
+      b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S',
     ],
   },
   CAR.PALISADE: {
@@ -728,7 +744,7 @@ FW_VERSIONS = {
       b'\xf1\x00LX2_ SCC FHCUP      1.00 1.05 99110-S8100         ',
       b'\xf1\x00ON__ FCA FHCUP      1.00 1.02 99110-S9100         ',
     ],
-    (Ecu.esp, 0x7d1, None): [
+    (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360',
       b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360',
       b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330',
@@ -810,6 +826,7 @@ FW_VERSIONS = {
       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',
+      b'\xf1\x87LDMVBN871852KF37\xb9\x99\x99\x99\xa8\x88\x88\x88y\x99\xa7\x99x\x99\xa7\x89\x88\x88\x98\x88\x89o\xf7\xff\xaa\x88o\xff\x0e\xed\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
     ],
   },
   CAR.VELOSTER: {
@@ -817,7 +834,7 @@ FW_VERSIONS = {
       b'\xf1\x00JS__ SCC H-CUP      1.00 1.02 95650-J3200         ',
       b'\xf1\x00JS__ SCC HNCUP      1.00 1.02 95650-J3100         ',
     ],
-    (Ecu.esp, 0x7d1, None): [
+    (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x816V8RAC00121.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -878,7 +895,7 @@ FW_VERSIONS = {
   },
   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', ],
+    (Ecu.abs, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ],
     (Ecu.engine, 0x7e0, None): [b'"\x01TOS-0NU06F301J02', ],
     (Ecu.eps, 0x7d4, None): [b'\xf1\x00OS  MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', ],
     (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21', ],
@@ -893,7 +910,7 @@ FW_VERSIONS = {
       b'\xf1\x816U2V7051\000\000\xf1\0006U2V0_C2\000\0006U2V7051\000\000DCD0T14US1\000\000\000\000',
       b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1U\x867Z',
     ],
-    (Ecu.esp, 0x7D1, None): [b'\xf1\000CD ESC \003 102\030\b\005 58920-J7350', ],
+    (Ecu.abs, 0x7D1, None): [b'\xf1\000CD ESC \003 102\030\b\005 58920-J7350', ],
   },
   CAR.KIA_FORTE: {
     (Ecu.eps, 0x7D4, None): [
@@ -911,7 +928,7 @@ FW_VERSIONS = {
       b'\x01TBDM1NU06F200H01',
       b'391182B945\x00',
     ],
-    (Ecu.esp, 0x7d1, None): [
+    (Ecu.abs, 0x7d1, None): [
       b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -935,7 +952,7 @@ FW_VERSIONS = {
       b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.03 99210-L3000 200915',
       b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.04 99210-L3000 210208',
     ],
-    (Ecu.esp, 0x7D1, None): [
+    (Ecu.abs, 0x7D1, None): [
       b'\xf1\000DL ESC \006 101 \004\002 58910-L3200',
       b'\xf1\x8758910-L3200\xf1\000DL ESC \006 101 \004\002 58910-L3200',
       b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800',
@@ -955,7 +972,7 @@ FW_VERSIONS = {
     ],
   },
   CAR.KONA_EV: {
-    (Ecu.esp, 0x7D1, None): [
+    (Ecu.abs, 0x7D1, None): [
       b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000',
       b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000',
       b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
@@ -982,7 +999,7 @@ FW_VERSIONS = {
     ],
   },
   CAR.KONA_EV_2022: {
-    (Ecu.esp, 0x7D1, None): [
+    (Ecu.abs, 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',
@@ -1010,6 +1027,7 @@ FW_VERSIONS = {
       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\x00DEev SCC FHCUP      1.00 1.03 96400-Q4000         ',
       b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
       b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4100         ',
       b'\xf1\x8799110Q4500\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4500         ',
@@ -1029,9 +1047,10 @@ FW_VERSIONS = {
       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',
+      b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.03 95740-Q4000 180821',
     ],
   },
-  CAR.KIA_NIRO_HEV: {
+  CAR.KIA_NIRO_PHEV: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1074,7 +1093,7 @@ FW_VERSIONS = {
   },
   CAR.KIA_SELTOS: {
     (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x8799110Q5100\xf1\000SP2_ SCC FHCUP      1.01 1.05 99110-Q5100         ',],
-    (Ecu.esp, 0x7d1, None): [
+    (Ecu.abs, 0x7d1, None): [
       b'\xf1\x8758910-Q5450\xf1\000SP ESC \a 101\031\t\005 58910-Q5450',
       b'\xf1\x8758910-Q5450\xf1\000SP ESC \t 101\031\t\005 58910-Q5450',
     ],
@@ -1102,7 +1121,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4110         ',
     ],
-    (Ecu.esp, 0x7d1, None): [
+    (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180',
     ],
     (Ecu.engine, 0x7e0, None): [
@@ -1137,11 +1156,13 @@ FW_VERSIONS = {
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.00 99210-AB000 200819',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.01 99210-AB000 210205',
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.06 99210-AA000 220111',
     ],
-    (Ecu.esp, 0x7d1, None): [
+    (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
       b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800',
       b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
+      b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1156,7 +1177,7 @@ FW_VERSIONS = {
       b'\xf1\x82CNCWD0AMFCXCSFFA',
       b'\xf1\x82CNCWD0AMFCXCSFFB',
       b'\xf1\x82CNCVD0AMFCXCSFFB',
-      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82CNDWD0AMFCXCSG8A',
+      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80',
     ],
   },
   CAR.ELANTRA_HEV_2021: {
@@ -1183,7 +1204,7 @@ FW_VERSIONS = {
     ]
   },
   CAR.KONA_HEV: {
-    (Ecu.esp, 0x7d1, None): [
+    (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00OS IEB \x01 104 \x11  58520-CM000',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
@@ -1237,7 +1258,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01'
     ],
-    (Ecu.esp, 0x7d1, None): [
+    (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00UM ESC \x0c 12 \x18\x05\x06 58910-C6330'
     ],
     (Ecu.fwdRadar, 0x7D0, None): [
@@ -1251,7 +1272,7 @@ FW_VERSIONS = {
     ],
   },
   CAR.KIA_EV6: {
-    (Ecu.esp, 0x7d1, None): [
+    (Ecu.abs, 0x7d1, None): [
       b'\xf1\x8758520CV100\xf1\x00CV  IEB \x02 101!\x10\x18 58520-CV100',
     ],
     (Ecu.eps, 0x7d4, None): [
@@ -1266,9 +1287,11 @@ FW_VERSIONS = {
     ],
   },
   CAR.IONIQ_5: {
-    (Ecu.esp, 0x7d1, None): [
+    (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
       b'\xf1\x8758520GI010\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
+      b'\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000',
+      b'\xf1\x8758520GI000\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00NE  MDPS R 1.00 1.06 57700GI000  4NEDR106',
@@ -1280,6 +1303,22 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
+    ],
+  },
+  CAR.TUCSON_HYBRID_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00NX4 MDPS C 1.00 1.01 56300-P0100 2228',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x87391312MND0',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00PSBG2441  G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
+      b'\xf1\x8795441-3D220\x00\xf1\x81G19_Rev\x00\x00\x00\xf1\x00PSBG2441  G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
     ],
   },
 }
@@ -1293,18 +1332,18 @@ 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, CAR.KONA_EV_2022},
+  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, 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, CAR.KONA_EV_2022},
 }
 
-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN}
 
 # 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
+HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, 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, CAR.KONA_EV_2022}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
@@ -1331,7 +1370,7 @@ DBC = {
   CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
-  CAR.KIA_NIRO_HEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
+  CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
   CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
@@ -1352,7 +1391,8 @@ DBC = {
   CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
   CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
-  CAR.KIA_EV6: dbc_dict('kia_ev6', None),
+  CAR.KIA_EV6: dbc_dict('hyundai_canfd', None),
   CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
-  CAR.IONIQ_5: dbc_dict('kia_ev6', None),
+  CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
 }

selfdrive/car/interfaces.py

@@ -9,7 +9,7 @@ from common.basedir import BASEDIR
 from common.conversions import Conversions as CV
 from common.kalman.simple_kalman import KF1D
 from common.realtime import DT_CTRL
-from selfdrive.car import gen_empty_fingerprint
+from selfdrive.car import create_button_enable_events, gen_empty_fingerprint
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -107,11 +107,14 @@ class CarInterfaceBase(ABC):
     ret = car.CarParams.new_message()
     ret.carFingerprint = candidate
 
+    # Car docs fields
+    ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
+    ret.autoResumeSng = True  # describes whether car can resume from a stop automatically
+
     # standard ALC params
     ret.steerControlType = car.CarParams.SteerControlType.torque
     ret.minSteerSpeed = 0.
     ret.wheelSpeedFactor = 1.0
-    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
@@ -213,6 +216,9 @@ class CarInterfaceBase(ABC):
     if cs_out.accFaulted:
       events.add(EventName.accFaulted)
 
+    # Handle button presses
+    events.events.extend(create_button_enable_events(cs_out.buttonEvents, pcm_cruise=self.CP.pcmCruise))
+
     # Handle permanent and temporary steering faults
     self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
     if cs_out.steerFaultTemporary:
@@ -265,12 +271,12 @@ class CarStateBase(ABC):
     self.left_blinker_prev = False
     self.right_blinker_prev = False
 
-    # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
+    # Q = np.matrix([[0.0, 0.0], [0.0, 100.0]])
-    # R = 1e3
+    # R = 0.3
     self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
                          A=[[1.0, DT_CTRL], [0.0, 1.0]],
                          C=[1.0, 0.0],
-                         K=[[0.12287673], [0.29666309]])
+                         K=[[0.17406039], [1.65925647]])
 
   def update_speed_kf(self, v_ego_raw):
     if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0:  # Prevent large accelerations when car starts at non zero speed

selfdrive/car/mazda/values.py

@@ -40,7 +40,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
   CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"),
   CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
   CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
-  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22"),
+  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22", video_link="https://youtu.be/dA3duO4a0O4"),
   CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"),
 }
 
@@ -72,7 +72,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x764, None): [
       b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x760, None): [
+    (Ecu.abs, 0x760, None): [
       b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
@@ -116,7 +116,7 @@ FW_VERSIONS = {
       b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x760, None): [
+    (Ecu.abs, 0x760, None): [
       b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'KBJ5-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'KL2K-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -173,7 +173,7 @@ FW_VERSIONS = {
       b'TK80-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'TK80-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x760, None): [
+    (Ecu.abs, 0x760, None): [
       b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'TK79-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'TK79-437K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -217,7 +217,7 @@ FW_VERSIONS = {
       b'GHP9-67Y10---41\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x760, None): [
+    (Ecu.abs, 0x760, None): [
       b'B45A-437AS-0-08\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
@@ -248,7 +248,7 @@ FW_VERSIONS = {
       b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'K131-67XK2-E\000\000\000\000\000\000\000\000\000\000\000\000',
     ],
-    (Ecu.esp, 0x760, None): [
+    (Ecu.abs, 0x760, None): [
       b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GDDM-437K2-A\000\000\000\000\000\000\000\000\000\000\000\000',
     ],
@@ -275,7 +275,7 @@ FW_VERSIONS = {
       b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x760, None): [
+    (Ecu.abs, 0x760, None): [
       b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [

selfdrive/car/nissan/interface.py

@@ -13,28 +13,27 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "nissan"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
+    ret.autoResumeSng = False
 
     ret.steerLimitTimer = 1.0
 
     ret.steerActuatorDelay = 0.1
+    ret.steerRatio = 17
 
     if candidate in (CAR.ROGUE, CAR.XTRAIL):
       ret.mass = 1610 + STD_CARGO_KG
       ret.wheelbase = 2.705
       ret.centerToFront = ret.wheelbase * 0.44
-      ret.steerRatio = 17
     elif candidate in (CAR.LEAF, CAR.LEAF_IC):
       ret.mass = 1610 + STD_CARGO_KG
       ret.wheelbase = 2.705
       ret.centerToFront = ret.wheelbase * 0.44
-      ret.steerRatio = 17
     elif candidate == CAR.ALTIMA:
       # Altima has EPS on C-CAN unlike the others that have it on V-CAN
       ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
       ret.mass = 1492 + STD_CARGO_KG
       ret.wheelbase = 2.824
       ret.centerToFront = ret.wheelbase * 0.44
-      ret.steerRatio = 17
 
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.radarOffCan = True

selfdrive/car/nissan/nissancan.py

@@ -24,10 +24,7 @@ def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torqu
 
 def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
   values = copy.copy(cruise_throttle_msg)
-  can_bus = 2
+  can_bus = 1 if car_fingerprint == CAR.ALTIMA else 2
-
-  if car_fingerprint == CAR.ALTIMA:
-    can_bus = 1
 
   values["CANCEL_BUTTON"] = 1
   values["NO_BUTTON_PRESSED"] = 0

selfdrive/car/nissan/values.py

@@ -95,7 +95,7 @@ FW_VERSIONS = {
       b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
       b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80',
     ],
-    (Ecu.esp, 0x740, None): [
+    (Ecu.abs, 0x740, None): [
       b'476605SH1D',
       b'476605SK2A',
     ],
@@ -112,7 +112,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x707, None): [
       b'284N86FR2A',
     ],
-    (Ecu.esp, 0x740, None): [
+    (Ecu.abs, 0x740, None): [
       b'6FU1BD\x11\x02\x00\x02e\x95e\x80iX#\x01\x00\x00\x00\x00\x00\x80',
       b'6FU0AD\x11\x02\x00\x02e\x95e\x80iQ#\x01\x00\x00\x00\x00\x00\x80',
     ],

selfdrive/car/subaru/carstate.py

@@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
 from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, GLOBAL_GEN2, PREGLOBAL_CARS
+from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS
 
 
 class CarState(CarStateBase):
@@ -50,7 +50,9 @@ class CarState(CarStateBase):
     ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
     ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
     ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
+    
+    steer_threshold = 75 if self.CP.carFingerprint in PREGLOBAL_CARS else 80
+    ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
 
     cp_cruise = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
     ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0

selfdrive/car/subaru/interface.py

@@ -15,6 +15,7 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "subaru"
     ret.radarOffCan = True
     ret.dashcamOnly = candidate in PREGLOBAL_CARS
+    ret.autoResumeSng = False
 
     if candidate in PREGLOBAL_CARS:
       ret.enableBsm = 0x25c in fingerprint[0]
@@ -71,7 +72,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
 
-    elif candidate == CAR.OUTBACK:
+    elif candidate in (CAR.OUTBACK, CAR.LEGACY):
       ret.mass = 1568. + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5

selfdrive/car/subaru/values.py

@@ -35,6 +35,7 @@ class CAR:
   IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
   FORESTER = "SUBARU FORESTER 2019"
   OUTBACK = "SUBARU OUTBACK 6TH GEN"
+  LEGACY = "SUBARU LEGACY 7TH GEN"
 
   # Pre-global
   FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
@@ -52,6 +53,7 @@ class SubaruCarInfo(CarInfo):
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
   CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.subaru_b),
+  CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", harness=Harness.subaru_b),
   CAR.IMPREZA: [
     SubaruCarInfo("Subaru Impreza 2017-19"),
     SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
@@ -72,7 +74,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
 
 FW_VERSIONS = {
   CAR.ASCENT: {
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\xa5 \x19\x02\x00',
       b'\xa5 !\002\000',
       b'\xf1\x82\xa5 \x19\x02\x00',
@@ -101,8 +103,30 @@ FW_VERSIONS = {
       b'\x01\xfe\xf7\x00\x00',
     ],
   },
+  CAR.LEGACY: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa1\\  x04\x01',
+      b'\xa1  \x03\x03'
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x9b\xc0\x11\x00',
+      b'\x9b\xc0\x11\x02'
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00e\x80\x00\x1f@ \x19\x00',
+      b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00'
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xde\"a0\x07',
+      b'\xe2"aq\x07'
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xa5\xf6\x05@\x00',
+      b'\xa7\xf6\x04@\x00'
+    ],
+  },
   CAR.IMPREZA: {
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\x7a\x94\x3f\x90\x00',
       b'\xa2 \x185\x00',
       b'\xa2 \x193\x00',
@@ -177,7 +201,7 @@ FW_VERSIONS = {
     ],
   },
   CAR.IMPREZA_2020: {
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\xa2 \0314\000',
       b'\xa2 \0313\000',
       b'\xa2 !i\000',
@@ -215,7 +239,7 @@ FW_VERSIONS = {
     ],
   },
   CAR.FORESTER: {
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\xa3 \x18\x14\x00',
       b'\xa3  \024\000',
       b'\xa3 \031\024\000',
@@ -250,7 +274,7 @@ FW_VERSIONS = {
     ],
   },
   CAR.FORESTER_PREGLOBAL: {
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\x7d\x97\x14\x40',
       b'\xf1\x00\xbb\x0c\x04',
     ],
@@ -279,7 +303,7 @@ FW_VERSIONS = {
     ],
   },
   CAR.LEGACY_PREGLOBAL: {
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'k\x97D\x00',
       b'[\xba\xc4\x03',
       b'{\x97D\x00',
@@ -309,7 +333,7 @@ FW_VERSIONS = {
     ],
   },
   CAR.OUTBACK_PREGLOBAL: {
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'{\x9a\xac\x00',
       b'k\x97\xac\x00',
       b'\x5b\xf7\xbc\x03',
@@ -363,7 +387,7 @@ FW_VERSIONS = {
     ],
   },
   CAR.OUTBACK_PREGLOBAL_2018: {
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\x8b\x97\xac\x00',
       b'\x8b\x9a\xac\x00',
       b'\x9b\x97\xac\x00',
@@ -406,7 +430,7 @@ FW_VERSIONS = {
     ],
   },
   CAR.OUTBACK: {
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\xa1  \x06\x01',
       b'\xa1  \a\x00',
       b'\xa1  \b\001',
@@ -448,29 +472,18 @@ FW_VERSIONS = {
   },
 }
 
-STEER_THRESHOLD = {
-  CAR.ASCENT: 80,
-  CAR.IMPREZA: 80,
-  CAR.IMPREZA_2020: 80,
-  CAR.FORESTER: 80,
-  CAR.OUTBACK: 80,
-  CAR.FORESTER_PREGLOBAL: 75,
-  CAR.LEGACY_PREGLOBAL: 75,
-  CAR.OUTBACK_PREGLOBAL: 75,
-  CAR.OUTBACK_PREGLOBAL_2018: 75,
-}
-
 DBC = {
   CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
   CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
   CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
   CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
   CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
+  CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None),
   CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
   CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
   CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
   CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
 }
 
-GLOBAL_GEN2 = (CAR.OUTBACK, )
+GLOBAL_GEN2 = (CAR.OUTBACK, CAR.LEGACY)
 PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)

selfdrive/car/tests/routes.py

@@ -26,198 +26,201 @@ non_tested_cars = [
   HYUNDAI.KIA_OPTIMA_H,
 ]
 
-TestRoute = namedtuple('TestRoute', ['route', 'car_model', 'segment'], defaults=(None,))
+CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,))
 
 routes = [
-  TestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.BODY),
+  CarTestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.BODY),
-
+
-  TestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_CHEROKEE),
+  CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_CHEROKEE),
-  TestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_CHEROKEE_2019),
+  CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_CHEROKEE_2019),
-  TestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.PACIFICA_2017_HYBRID),
+  CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.PACIFICA_2017_HYBRID),
-  TestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.PACIFICA_2018),
+  CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.PACIFICA_2018),
-  TestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.PACIFICA_2018_HYBRID),
+  CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.PACIFICA_2018_HYBRID),
-  TestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.PACIFICA_2019_HYBRID),
+  CarTestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.PACIFICA_2019_HYBRID),
-  TestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020),
+  CarTestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020),
-  TestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
+  CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
-  TestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),
+  CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),
 
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
-  TestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),
+  CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),
-  TestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
+  CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
-  TestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
+  CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
-  TestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
+  CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
-  TestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV),
+  CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV),
-
+  CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.SILVERADO),
-  TestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
+
-  TestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC),
+  CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
-  TestRoute("a859a044a447c2b0|2020-03-03--18-42-45", HONDA.CRV_EU),
+  CarTestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC),
-  TestRoute("68aac44ad69f838e|2021-05-18--20-40-52", HONDA.CRV),
+  CarTestRoute("a859a044a447c2b0|2020-03-03--18-42-45", HONDA.CRV_EU),
-  TestRoute("14fed2e5fa0aa1a5|2021-05-25--14-59-42", HONDA.CRV_HYBRID),
+  CarTestRoute("68aac44ad69f838e|2021-05-18--20-40-52", HONDA.CRV),
-  TestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT),
+  CarTestRoute("14fed2e5fa0aa1a5|2021-05-25--14-59-42", HONDA.CRV_HYBRID),
-  TestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED),
+  CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT),
-  TestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV),
+  CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED),
-  TestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
+  CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV),
-  TestRoute("81722949a62ea724|2019-04-06--15-19-25", HONDA.ODYSSEY_CHN),
+  CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
-  TestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD),  # 1.5T
+  CarTestRoute("81722949a62ea724|2019-04-06--15-19-25", HONDA.ODYSSEY_CHN),
-  TestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD),  # 2.0T
+  CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD),  # 1.5T
-  TestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD),  # 2021 with new style HUD msgs
+  CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD),  # 2.0T
-  TestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.ACCORDH),
+  CarTestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD),  # 2021 with new style HUD msgs
-  TestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORDH), # 2021 with new style HUD msgs
+  CarTestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.ACCORDH),
-  TestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.CRV_5G),
+  CarTestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORDH), # 2021 with new style HUD msgs
-  TestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.ODYSSEY),
+  CarTestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.CRV_5G),
-  TestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL),
+  CarTestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.ODYSSEY),
-  TestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.INSIGHT),
+  CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL),
-  TestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.PILOT),
+  CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.INSIGHT),
-  TestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.PASSPORT),
+  CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.PILOT),
-  TestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.CIVIC_BOSCH),
+  CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.PASSPORT),
-  TestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX),
+  CarTestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.CIVIC_BOSCH),
-  TestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE),
+  CarTestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX),
-  TestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
+  CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE),
-  TestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),
+  CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
-
+  CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),
-  TestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
+
-  TestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
+  CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
-  TestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
+  CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
-  TestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE),
+  CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
-  TestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
+  CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE),
-  TestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022),
+  CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
-  TestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022),
+  CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022),
-  TestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
+  CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1),
-  TestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA),
+  CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
-  TestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
+  CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA),
-  TestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
+  CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
-  TestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
+  CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
-  TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
+  CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
-  TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
+  CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
-  TestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
+  CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN),
-  TestRoute("22de8111a8c5463c|2022-07-29--13-34-49", HYUNDAI.IONIQ_5),
+  CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
-  TestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
+  CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
-  TestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
+  CarTestRoute("22de8111a8c5463c|2022-07-29--13-34-49", HYUNDAI.IONIQ_5),
-  TestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
+  CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
-  TestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD),
+  CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
-  TestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ),
+  CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
-  TestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022),
+  CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD),
-  TestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
+  CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ),
-  TestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
+  CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022),
-  TestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11),
+  CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
-  TestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
+  CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
-  TestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
+  CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11),
-  TestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
+  CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
-  TestRoute("d824e27e8c60172c|2022-05-19--16-15-28", HYUNDAI.KIA_EV6),
+  CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
-  TestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
+  CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
-  TestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
+  CarTestRoute("d824e27e8c60172c|2022-05-19--16-15-28", HYUNDAI.KIA_EV6),
-  TestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_HEV),
+  CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
-  TestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021),
+  CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
-  TestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
+  CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV),
-  TestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
+  CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021),
-  TestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
+  CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
-  TestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
+  CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
-  TestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID),
+  CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
-  TestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
+  CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
-
+  CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID),
-  TestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2),
+  CarTestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
-  TestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARDH_TSS2),
+
-  TestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON),
+  CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2),
-  TestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019),
+  CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARDH_TSS2),
-  TestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALONH_2019),
+  CarTestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON),
-  TestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2),
+  CarTestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019),
-  TestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2),
+  CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALONH_2019),
-  TestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY),
+  CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2),
-  TestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2),
+  CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2),
-  TestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2),
+  CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY),
-  TestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH),
+  CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2),
-  TestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.COROLLA),
+  CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2),
-  TestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2),
+  CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH),
-  TestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLAH_TSS2),
+  CarTestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.COROLLA),
-  TestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS),
+  CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2),
-  TestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.RAV4),
+  CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLAH_TSS2),
-  TestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H),
+  CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS),
-  TestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
+  CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.RAV4),
-  TestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
+  CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H),
-  TestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2),
+  CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
-  TestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022),
+  CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
-  TestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
+  CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2),
-  TestRoute("25057fa6a5a63dfb|2020-03-04--08-44-23", TOYOTA.LEXUS_CTH),
+  CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022),
-  TestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ESH_TSS2),
+  CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
-  TestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH),
+  CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),
-  TestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
+  CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ESH_TSS2),
-  TestRoute("886fcd8408d570e9|2020-01-29--05-11-22", TOYOTA.LEXUS_RX),
+  CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH),
-  TestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
+  CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
-  TestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),
+  CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
-  TestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2),
+  CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),
-  TestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RXH_TSS2),
+  CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2),
-  TestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NXH),
+  CarTestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RXH_TSS2),
-  TestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX),
+  CarTestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NXH),
-  TestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
+  CarTestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX),
-  TestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NXH_TSS2),
+  CarTestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
-  TestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
+  CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NXH_TSS2),
-  TestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDERH_TSS2),
+  CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
-  TestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
+  CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDERH_TSS2),
-  TestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH),
+  CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
-  TestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA),
+  CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH),
-  TestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS),
+  CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA),
-  TestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.PRIUS_TSS2),
+  CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS),
-  TestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI),
+  CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.PRIUS_TSS2),
-  TestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR),
+  CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI),
-  TestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH),
+  CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR),
-  TestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
+  CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH),
-
+  CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
-  TestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
+
-  TestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1),
+  CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
-  TestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7),
+  CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1),
-  TestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7),
+  CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7),
-  TestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8),
+  CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7),
-  TestRoute("0cd0b7f7e31a3853|2021-11-03--19-30-22", VOLKSWAGEN.POLO_MK6),
+  CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8),
-  TestRoute("7d82b2f3a9115f1f|2021-10-21--15-39-42", VOLKSWAGEN.TAOS_MK1),
+  CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.PASSAT_NMS),
-  TestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.TCROSS_MK1),
+  CarTestRoute("0cd0b7f7e31a3853|2021-11-03--19-30-22", VOLKSWAGEN.POLO_MK6),
-  TestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.TIGUAN_MK2),
+  CarTestRoute("7d82b2f3a9115f1f|2021-10-21--15-39-42", VOLKSWAGEN.TAOS_MK1),
-  TestRoute("a589dcc642fdb10a|2021-06-14--20-54-26", VOLKSWAGEN.TOURAN_MK2),
+  CarTestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.TCROSS_MK1),
-  TestRoute("a459f4556782eba1|2021-09-19--09-48-00", VOLKSWAGEN.TRANSPORTER_T61),
+  CarTestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.TIGUAN_MK2),
-  TestRoute("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.TROC_MK1),
+  CarTestRoute("a589dcc642fdb10a|2021-06-14--20-54-26", VOLKSWAGEN.TOURAN_MK2),
-  TestRoute("07667b885add75fd|2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3),
+  CarTestRoute("a459f4556782eba1|2021-09-19--09-48-00", VOLKSWAGEN.TRANSPORTER_T61),
-  TestRoute("6c6b466346192818|2021-06-06--14-17-47", VOLKSWAGEN.AUDI_Q2_MK1),
+  CarTestRoute("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.TROC_MK1),
-  TestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
+  CarTestRoute("07667b885add75fd|2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3),
-  TestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),
+  CarTestRoute("6c6b466346192818|2021-06-06--14-17-47", VOLKSWAGEN.AUDI_Q2_MK1),
-  TestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3),
+  CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
-  TestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1),
+  CarTestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),
-  TestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1),
+  CarTestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3),
-  TestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1),
+  CarTestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1),
-  TestRoute("66e5edc3a16459c5|2021-05-25--19-00-29", VOLKSWAGEN.SKODA_OCTAVIA_MK3),
+  CarTestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1),
-  TestRoute("026b6d18fba6417f|2021-03-26--09-17-04", VOLKSWAGEN.SKODA_SCALA_MK1),
+  CarTestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1),
-  TestRoute("b2e9858e29db492b|2021-03-26--16-58-42", VOLKSWAGEN.SKODA_SUPERB_MK3),
+  CarTestRoute("66e5edc3a16459c5|2021-05-25--19-00-29", VOLKSWAGEN.SKODA_OCTAVIA_MK3),
-
+  CarTestRoute("026b6d18fba6417f|2021-03-26--09-17-04", VOLKSWAGEN.SKODA_SCALA_MK1),
-  TestRoute("3c8f0c502e119c1c|2020-06-30--12-58-02", SUBARU.ASCENT),
+  CarTestRoute("b2e9858e29db492b|2021-03-26--16-58-42", VOLKSWAGEN.SKODA_SUPERB_MK3),
-  TestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER),
+
-  TestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
+  CarTestRoute("3c8f0c502e119c1c|2020-06-30--12-58-02", SUBARU.ASCENT),
-  TestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
+  CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER),
-  TestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=3),
+  CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
+  CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
+  CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=3),
+  CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3),
   # Pre-global, dashcam
-  TestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),
+  CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),
-  TestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL),
+  CarTestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL),
-  TestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.OUTBACK_PREGLOBAL),
+  CarTestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.OUTBACK_PREGLOBAL),
-  TestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.OUTBACK_PREGLOBAL_2018),
+  CarTestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.OUTBACK_PREGLOBAL_2018),
-
+
-  TestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.XTRAIL),
+  CarTestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.XTRAIL),
-  TestRoute("5b7c365c50084530|2020-03-25--22-10-13", NISSAN.LEAF),
+  CarTestRoute("5b7c365c50084530|2020-03-25--22-10-13", NISSAN.LEAF),
-  TestRoute("22c3dcce2dd627eb|2020-12-30--16-38-48", NISSAN.LEAF_IC),
+  CarTestRoute("22c3dcce2dd627eb|2020-12-30--16-38-48", NISSAN.LEAF_IC),
-  TestRoute("059ab9162e23198e|2020-05-30--09-41-01", NISSAN.ROGUE),
+  CarTestRoute("059ab9162e23198e|2020-05-30--09-41-01", NISSAN.ROGUE),
-  TestRoute("b72d3ec617c0a90f|2020-12-11--15-38-17", NISSAN.ALTIMA),
+  CarTestRoute("b72d3ec617c0a90f|2020-12-11--15-38-17", NISSAN.ALTIMA),
-
+
-  TestRoute("32a319f057902bb3|2020-04-27--15-18-58", MAZDA.CX5),
+  CarTestRoute("32a319f057902bb3|2020-04-27--15-18-58", MAZDA.CX5),
-  TestRoute("10b5a4b380434151|2020-08-26--17-11-45", MAZDA.CX9),
+  CarTestRoute("10b5a4b380434151|2020-08-26--17-11-45", MAZDA.CX9),
-  TestRoute("74f1038827005090|2020-08-26--20-05-50", MAZDA.MAZDA3),
+  CarTestRoute("74f1038827005090|2020-08-26--20-05-50", MAZDA.MAZDA3),
-  TestRoute("fb53c640f499b73d|2021-06-01--04-17-56", MAZDA.MAZDA6),
+  CarTestRoute("fb53c640f499b73d|2021-06-01--04-17-56", MAZDA.MAZDA6),
-  TestRoute("f6d5b1a9d7a1c92e|2021-07-08--06-56-59", MAZDA.CX9_2021),
+  CarTestRoute("f6d5b1a9d7a1c92e|2021-07-08--06-56-59", MAZDA.CX9_2021),
-  TestRoute("a4af1602d8e668ac|2022-02-03--12-17-07", MAZDA.CX5_2022),
+  CarTestRoute("a4af1602d8e668ac|2022-02-03--12-17-07", MAZDA.CX5_2022),
-
+
-  TestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.AP1_MODELS),
+  CarTestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.AP1_MODELS),
-  TestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.AP2_MODELS),
+  CarTestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.AP2_MODELS),
 
   # Segments that test specific issues
   # Controls mismatch due to interceptor threshold
-  TestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21),
+  CarTestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21),
-  TestRoute("5a8762b91fc70467|2022-04-14--21-26-20", TOYOTA.RAV4, segment=2),
+  CarTestRoute("5a8762b91fc70467|2022-04-14--21-26-20", TOYOTA.RAV4, segment=2),
   # Controls mismatch due to standstill threshold
-  TestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.CRV_HYBRID, segment=22),
+  CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.CRV_HYBRID, segment=22),
 ]

selfdrive/car/tests/test_car_interfaces.py

@@ -5,6 +5,7 @@ import importlib
 from parameterized import parameterized
 
 from cereal import car
+from selfdrive.car import gen_empty_fingerprint
 from selfdrive.car.fingerprints import all_known_cars
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
@@ -19,11 +20,8 @@ class TestCarInterfaces(unittest.TestCase):
       fingerprint = {}
 
     CarInterface, CarController, CarState = interfaces[car_name]
-    fingerprints = {
+    fingerprints = gen_empty_fingerprint()
-      0: fingerprint,
+    fingerprints.update({k: fingerprint for k in fingerprints.keys()})
-      1: fingerprint,
-      2: fingerprint,
-    }
 
     car_fw = []
 

selfdrive/car/tests/test_docs.py

@@ -13,7 +13,7 @@ class TestCarDocs(unittest.TestCase):
     self.all_cars = get_all_car_info()
 
   def test_generator(self):
-    generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE, False)
+    generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
     with open(CARS_MD_OUT, "r") as f:
       current_cars_md = f.read()
 

selfdrive/car/tests/test_fingerprints.py

@@ -94,4 +94,4 @@ if __name__ == "__main__":
     print("TEST FAILED")
     sys.exit(1)
   else:
-    print("TEST SUCESSFUL")
+    print("TEST SUCCESSFUL")

selfdrive/car/tests/test_fw_fingerprint.py

@@ -37,44 +37,40 @@ class TestFwFingerprint(unittest.TestCase):
       self.assertFingerprints(matches, car_model)
 
   def test_no_duplicate_fw_versions(self):
-    passed = True
     for car_model, ecus in FW_VERSIONS.items():
-      for ecu, ecu_fw in ecus.items():
+      with self.subTest(car_model=car_model):
-        duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
+        for ecu, ecu_fw in ecus.items():
-        if len(duplicates):
+          with self.subTest(ecu):
-          print(car_model, ECU_NAME[ecu[0]], duplicates)
+            duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
-          passed = False
+            self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}")
-
-    self.assertTrue(passed, "Duplicate FW versions found")
 
   def test_blacklisted_ecus(self):
-    passed = True
     blacklisted_addrs = (0x7c4, 0x7d0)  # includes A/C ecu and an unknown ecu
     for car_model, ecus in FW_VERSIONS.items():
-      CP = interfaces[car_model][0].get_params(car_model)
+      with self.subTest(car_model=car_model):
-      if CP.carName == 'subaru':
+        CP = interfaces[car_model][0].get_params(car_model)
-        for ecu in ecus.keys():
+        if CP.carName == 'subaru':
-          if ecu[1] in blacklisted_addrs:
+          for ecu in ecus.keys():
-            print(f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})')
+            self.assertNotIn(ecu[1], blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})')
-            passed = False
 
-    self.assertTrue(passed, "Blacklisted FW versions found")
+        elif CP.carName == "chrysler":
+          # Some HD trucks have a combined TCM and ECM
+          if CP.carFingerprint.startswith("RAM HD"):
+            for ecu in ecus.keys():
+              self.assertNotEqual(ecu[0], Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})")
 
   def test_fw_request_ecu_whitelist(self):
-    passed = True
+    for brand in set(r.brand for r in REQUESTS):
-    brands = set(r.brand for r in REQUESTS)
+      with self.subTest(brand=brand):
-    for brand in brands:
+        whitelisted_ecus = [ecu for r in REQUESTS for ecu in r.whitelist_ecus if r.brand == brand]
-      whitelisted_ecus = [ecu for r in REQUESTS for ecu in r.whitelist_ecus if r.brand == brand]
+        brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw])
-      brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw])
 
-      # each ecu in brand's fw versions needs to be whitelisted at least once
+        # each ecu in brand's fw versions needs to be whitelisted at least once
-      ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus)
+        ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus)
-      if len(whitelisted_ecus) and len(ecus_not_whitelisted):
-        ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
-        print(f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}')
-        passed = False
 
-    self.assertTrue(passed, "Not all ecus in FW versions found in query whitelists")
+        ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
+        self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted),
+                         f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}')
 
 
 if __name__ == "__main__":

selfdrive/car/tests/test_models.py

@@ -15,7 +15,7 @@ from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.gm.values import CAR as GM
 from selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
 from selfdrive.car.hyundai.values import CAR as HYUNDAI
-from selfdrive.car.tests.routes import non_tested_cars, routes, TestRoute
+from selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
 from tools.lib.route import Route
@@ -38,7 +38,7 @@ routes_by_car = defaultdict(set)
 for r in routes:
   routes_by_car[r.car_model].add(r)
 
-test_cases: List[Tuple[str, Optional[TestRoute]]] = []
+test_cases: List[Tuple[str, Optional[CarTestRoute]]] = []
 for i, c in enumerate(sorted(all_known_cars())):
   if i % NUM_JOBS == JOB_ID:
     test_cases.extend((c, r) for r in routes_by_car.get(c, (None, )))
@@ -81,6 +81,7 @@ class TestCarModelBase(unittest.TestCase):
       except Exception:
         continue
 
+      car_fw = []
       can_msgs = []
       fingerprint = defaultdict(dict)
       for msg in lr:
@@ -90,6 +91,7 @@ class TestCarModelBase(unittest.TestCase):
               fingerprint[m.src][m.address] = len(m.dat)
           can_msgs.append(msg)
         elif msg.which() == "carParams":
+          car_fw = msg.carParams.carFw
           if msg.carParams.openpilotLongitudinalControl:
             disable_radar = True
           if cls.car_model is None and not cls.ci:
@@ -103,7 +105,7 @@ class TestCarModelBase(unittest.TestCase):
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
     cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
-    cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, [], disable_radar)
+    cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, disable_radar)
     assert cls.CP
     assert cls.CP.carFingerprint == cls.car_model
 
@@ -135,22 +137,26 @@ class TestCarModelBase(unittest.TestCase):
       elif tuning == 'indi':
         self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
       else:
-        raise Exception("unkown tuning")
+        raise Exception("unknown tuning")
 
   def test_car_interface(self):
-    # TODO: also check for checkusm and counter violations from can parser
+    # TODO: also check for checksum violations from can parser
     can_invalid_cnt = 0
+    can_valid = False
     CC = car.CarControl.new_message()
 
     for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
       self.CI.apply(CC)
 
-      # wait 2s for low frequency msgs to be seen
+      if CS.canValid:
-      if i > 200:
+        can_valid = True
+
+      # wait max of 2s for low frequency msgs to be seen
+      if i > 200 or can_valid:
         can_invalid_cnt += not CS.canValid
 
-    self.assertLess(can_invalid_cnt, 50)
+    self.assertEqual(can_invalid_cnt, 0)
 
   def test_radar_interface(self):
     os.environ['NO_RADAR_SLEEP'] = "1"
@@ -228,6 +234,9 @@ class TestCarModelBase(unittest.TestCase):
 
       checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
       checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available
+      if self.CP.carName in ("honda", "toyota"):
+        # TODO: fix standstill mismatches for other makes
+        checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
 
       # TODO: remove this exception once this mismatch is resolved
       brake_pressed = CS.brakePressed
@@ -257,8 +266,6 @@ class TestCarModelBase(unittest.TestCase):
 
       if self.CP.carName == "honda":
         checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
-        # TODO: fix standstill mismatches for other makes
-        checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
 
       CS_prev = CS
 

selfdrive/car/torque_data/override.yaml

@@ -25,6 +25,9 @@ RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
 RAM HD 5TH GEN: [1.4, 1.4, 0.0]
 SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
 CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
+CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
+VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
+HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]

selfdrive/car/torque_data/substitute.yaml

@@ -69,6 +69,8 @@ VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN
 SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN
 SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN
 
+SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN
+
 # Old subarus don't have much data guessing it's like low torque impreza
 SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019
 SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019

selfdrive/car/toyota/carcontroller.py

@@ -10,6 +10,13 @@ from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
+# EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
+MAX_STEER_RATE = 100  # deg/s
+MAX_STEER_RATE_FRAMES = 18  # tx control frames needed before torque can be cut
+
+# EPS allows user torque above threshold for 50 frames before permanently faulting
+MAX_USER_TORQUE = 500
+
 
 class CarController:
   def __init__(self, dbc_name, CP, VM):
@@ -20,6 +27,7 @@ class CarController:
     self.alert_active = False
     self.last_standstill = False
     self.standstill_req = False
+    self.steer_rate_counter = 0
 
     self.packer = CANPacker(dbc_name)
     self.gas = 0
@@ -29,6 +37,7 @@ class CarController:
     actuators = CC.actuators
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel
+    lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
 
     # gas and brake
     if self.CP.enableGasInterceptor and CC.longActive:
@@ -52,11 +61,19 @@ class CarController:
     new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
 
-    if not CC.latActive:
+    # Count up to MAX_STEER_RATE_FRAMES, at which point we need to cut torque to avoid a steering fault
+    if lat_active and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE:
+      self.steer_rate_counter += 1
+    else:
+      self.steer_rate_counter = 0
+
+    apply_steer_req = 1
+    if not lat_active:
       apply_steer = 0
       apply_steer_req = 0
-    else:
+    elif self.steer_rate_counter > MAX_STEER_RATE_FRAMES:
-      apply_steer_req = 1
+      apply_steer_req = 0
+      self.steer_rate_counter = 0
 
     # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
     # than CS.cruiseState.enabled. confirm they're not meaningfully different
@@ -109,28 +126,29 @@ class CarController:
       can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, self.frame // 2))
       self.gas = interceptor_gas_cmd
 
-    # ui mesg is at 1Hz but we send asap if:
+    if self.CP.carFingerprint != CAR.PRIUS_V:
-    # - there is something to display
+      # ui mesg is at 1Hz but we send asap if:
-    # - there is something to stop displaying
+      # - there is something to display
-    fcw_alert = hud_control.visualAlert == VisualAlert.fcw
+      # - there is something to stop displaying
-    steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
+      fcw_alert = hud_control.visualAlert == VisualAlert.fcw
-
+      steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
-    send_ui = False
+
-    if ((fcw_alert or steer_alert) and not self.alert_active) or \
+      send_ui = False
-       (not (fcw_alert or steer_alert) and self.alert_active):
+      if ((fcw_alert or steer_alert) and not self.alert_active) or \
-      send_ui = True
+         (not (fcw_alert or steer_alert) and self.alert_active):
-      self.alert_active = not self.alert_active
+        send_ui = True
-    elif pcm_cancel_cmd:
+        self.alert_active = not self.alert_active
-      # forcing the pcm to disengage causes a bad fault sound so play a good sound instead
+      elif pcm_cancel_cmd:
-      send_ui = True
+        # forcing the pcm to disengage causes a bad fault sound so play a good sound instead
-
+        send_ui = True
-    if (self.frame % 100 == 0 or send_ui) and (self.CP.carFingerprint != CAR.PRIUS_V):
+
-      can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
+      if self.frame % 100 == 0 or send_ui:
-                                         hud_control.rightLaneVisible, hud_control.leftLaneDepart,
+        can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
-                                         hud_control.rightLaneDepart, CC.enabled))
+                                           hud_control.rightLaneVisible, hud_control.leftLaneDepart,
-
+                                           hud_control.rightLaneDepart, CC.enabled))
-    if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu:
+
-      can_sends.append(create_fcw_command(self.packer, fcw_alert))
+      if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu:
+        can_sends.append(create_fcw_command(self.packer, fcw_alert))
 
     # *** static msgs ***
     for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS:

selfdrive/car/toyota/carstate.py

@@ -53,7 +53,7 @@ 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 < 0.001
+    ret.standstill = ret.vEgoRaw == 0
 
     ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
     torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
@@ -90,16 +90,23 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
       ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
       ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
+      cluster_set_speed = cp.vl["PCM_CRUISE_ALT"]["UI_SET_SPEED"]
     else:
       ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
       ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS
+      cluster_set_speed = cp.vl["PCM_CRUISE_SM"]["UI_SET_SPEED"]
 
-    if self.CP.carFingerprint in RADAR_ACC_CAR:
+    # UI_SET_SPEED is always non-zero when main is on, hide until first enable
-      self.acc_type = cp.vl["ACC_CONTROL"]["ACC_TYPE"]
+    if ret.cruiseState.speed != 0:
-      ret.stockFcw = bool(cp.vl["ACC_HUD"]["FCW"])
+      is_metric = cp.vl["BODY_CONTROL_STATE_2"]["UNITS"] in (1, 2)
-    elif self.CP.carFingerprint in TSS2_CAR:
+      conversion_factor = CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS
-      self.acc_type = cp_cam.vl["ACC_CONTROL"]["ACC_TYPE"]
+      ret.cruiseState.speedCluster = cluster_set_speed * conversion_factor
-      ret.stockFcw = bool(cp_cam.vl["ACC_HUD"]["FCW"])
+
+    cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
+
+    if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR):
+      self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
+      ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"])
 
     # some TSS2 cars have low speed lockout permanently set, so ignore on those cars
     # these cars are identified by an ACC_TYPE value of 2.
@@ -120,10 +127,11 @@ class CarState(CarStateBase):
     ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)
 
     ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
-    ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
-
     ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
 
+    if not self.CP.enableDsu:
+      ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
+
     if self.CP.enableBsm:
       ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
       ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
@@ -147,6 +155,7 @@ class CarState(CarStateBase):
       ("DOOR_OPEN_RR", "BODY_CONTROL_STATE"),
       ("SEATBELT_DRIVER_UNLATCHED", "BODY_CONTROL_STATE"),
       ("PARKING_BRAKE", "BODY_CONTROL_STATE"),
+      ("UNITS", "BODY_CONTROL_STATE_2"),
       ("TC_DISABLED", "ESP_CONTROL"),
       ("BRAKE_HOLD_ACTIVE", "ESP_CONTROL"),
       ("STEER_FRACTION", "STEER_ANGLE_SENSOR"),
@@ -154,6 +163,7 @@ class CarState(CarStateBase):
       ("CRUISE_ACTIVE", "PCM_CRUISE"),
       ("CRUISE_STATE", "PCM_CRUISE"),
       ("GAS_RELEASED", "PCM_CRUISE"),
+      ("UI_SET_SPEED", "PCM_CRUISE_SM"),
       ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"),
       ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR"),
       ("STEER_ANGLE", "STEER_TORQUE_SENSOR"),
@@ -168,12 +178,14 @@ class CarState(CarStateBase):
       ("LIGHT_STALK", 1),
       ("BLINKERS_STATE", 0.15),
       ("BODY_CONTROL_STATE", 3),
+      ("BODY_CONTROL_STATE_2", 2),
       ("ESP_CONTROL", 3),
       ("EPS_STATUS", 25),
       ("BRAKE_MODULE", 40),
       ("WHEEL_SPEEDS", 80),
       ("STEER_ANGLE_SENSOR", 80),
       ("PCM_CRUISE", 33),
+      ("PCM_CRUISE_SM", 1),
       ("STEER_TORQUE_SENSOR", 50),
     ]
 
@@ -187,7 +199,9 @@ class CarState(CarStateBase):
     if CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
       signals.append(("MAIN_ON", "DSU_CRUISE"))
       signals.append(("SET_SPEED", "DSU_CRUISE"))
+      signals.append(("UI_SET_SPEED", "PCM_CRUISE_ALT"))
       checks.append(("DSU_CRUISE", 5))
+      checks.append(("PCM_CRUISE_ALT", 1))
     else:
       signals.append(("MAIN_ON", "PCM_CRUISE_2"))
       signals.append(("SET_SPEED", "PCM_CRUISE_2"))
@@ -219,27 +233,31 @@ class CarState(CarStateBase):
         ("ACC_HUD", 1),
       ]
 
+    if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu:
+      signals += [
+        ("FORCE", "PRE_COLLISION"),
+        ("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
+      ]
+      checks += [
+        ("PRE_COLLISION", 33),
+      ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = [
+    signals = []
-      ("FORCE", "PRE_COLLISION"),
+    checks = []
-      ("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
-    ]
-
-    # use steering message to check if panda is connected to frc
-    checks = [
-      ("STEERING_LKA", 42),
-      ("PRE_COLLISION", 0), # TODO: figure out why freq is inconsistent
-    ]
 
     if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       signals += [
+        ("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
+        ("FORCE", "PRE_COLLISION"),
         ("ACC_TYPE", "ACC_CONTROL"),
         ("FCW", "ACC_HUD"),
       ]
       checks += [
+        ("PRE_COLLISION", 33),
         ("ACC_CONTROL", 33),
         ("ACC_HUD", 1),
       ]

selfdrive/car/toyota/interface.py

@@ -218,6 +218,7 @@ class CarInterface(CarInterfaceBase):
     ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
 
     if not ret.openpilotLongitudinalControl:
+      ret.autoResumeSng = False
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
 
     # we can't use the fingerprint to detect this reliably, since

selfdrive/car/toyota/tunes.py

@@ -38,7 +38,7 @@ def set_long_tune(tune, name):
   # Default longitudinal tune
   elif name == LongTunes.TSS:
     tune.deadzoneBP = [0., 9.]
-    tune.deadzoneV = [0., .15]
+    tune.deadzoneV = [.0, .15]
     tune.kpBP = [0., 5., 35.]
     tune.kiBP = [0., 35.]
     tune.kpV = [3.6, 2.4, 1.5]

selfdrive/car/toyota/values.py

@@ -6,7 +6,7 @@ from typing import Dict, List, Union
 from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, Star
+from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
 
 Ecu = car.CarParams.Ecu
 MIN_ACC_SPEED = 19. * CV.MPH_TO_MS
@@ -89,7 +89,7 @@ class Footnote(Enum):
   DSU = CarFootnote(
     "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>",
-    Column.LONGITUDINAL, star=Star.HALF)
+    Column.LONGITUDINAL)
   CAMRY = CarFootnote(
     "openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.",
     Column.FSR_LONGITUDINAL)
@@ -114,7 +114,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"),
   CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
   CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
-  CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk", footnotes=[Footnote.CAMRY]),
+  CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
   CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-22", footnotes=[Footnote.CAMRY]),
   CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-22"),
   CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-21"),
@@ -200,7 +200,7 @@ STATIC_DSU_MSGS = [
 
 FW_VERSIONS = {
   CAR.AVALON: {
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152607060\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
@@ -225,7 +225,7 @@ FW_VERSIONS = {
     ],
   },
   CAR.AVALON_2019: {
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152607140\x00\x00\x00\x00\x00\x00',
       b'F152607171\x00\x00\x00\x00\x00\x00',
       b'F152607110\x00\x00\x00\x00\x00\x00',
@@ -253,7 +253,7 @@ FW_VERSIONS = {
     ],
   },
   CAR.AVALONH_2019: {
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152641040\x00\x00\x00\x00\x00\x00',
       b'F152641061\x00\x00\x00\x00\x00\x00',
       b'F152641050\x00\x00\x00\x00\x00\x00',
@@ -280,7 +280,7 @@ FW_VERSIONS = {
     ],
   },
   CAR.AVALON_TSS2: {
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\x01F152607240\x00\x00\x00\x00\x00\x00',
       b'\x01F152607280\x00\x00\x00\x00\x00\x00',
     ],
@@ -300,7 +300,7 @@ FW_VERSIONS = {
     ],
   },
   CAR.AVALONH_TSS2: {
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152641080\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
@@ -356,7 +356,7 @@ FW_VERSIONS = {
       b'8821F0608200    ',
       b'8821F0609100    ',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152606210\x00\x00\x00\x00\x00\x00',
       b'F152606230\x00\x00\x00\x00\x00\x00',
       b'F152606270\x00\x00\x00\x00\x00\x00',
@@ -420,7 +420,7 @@ FW_VERSIONS = {
       b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
       b'\x028966306S1100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152633214\x00\x00\x00\x00\x00\x00',
       b'F152633660\x00\x00\x00\x00\x00\x00',
       b'F152633712\x00\x00\x00\x00\x00\x00',
@@ -486,7 +486,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7a1, None): [
       b'8965B33630\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\x01F152606370\x00\x00\x00\x00\x00\x00',
       b'\x01F152606390\x00\x00\x00\x00\x00\x00',
       b'\x01F152606400\x00\x00\x00\x00\x00\x00',
@@ -512,7 +512,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7a1, None): [
       b'8965B33630\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152633D00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
@@ -547,7 +547,7 @@ FW_VERSIONS = {
       b'8821FF406000    ',
       b'8821FF407100    ',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152610020\x00\x00\x00\x00\x00\x00',
       b'F152610153\x00\x00\x00\x00\x00\x00',
       b'F152610210\x00\x00\x00\x00\x00\x00',
@@ -599,7 +599,7 @@ FW_VERSIONS = {
       b'\x0289663F431000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x0189663F438000\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152610012\x00\x00\x00\x00\x00\x00',
       b'F152610013\x00\x00\x00\x00\x00\x00',
       b'F152610014\x00\x00\x00\x00\x00\x00',
@@ -658,7 +658,7 @@ FW_VERSIONS = {
       b'881510201100\x00\x00\x00\x00',
       b'881510201200\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152602190\x00\x00\x00\x00\x00\x00',
       b'F152602191\x00\x00\x00\x00\x00\x00',
     ],
@@ -687,6 +687,7 @@ FW_VERSIONS = {
       b'\x01896630ZP2000\x00\x00\x00\x00',
       b'\x01896630ZQ5000\x00\x00\x00\x00',
       b'\x01896630ZU9000\x00\x00\x00\x00',
+      b'\x01896630ZX4000\x00\x00\x00\x00',
       b'\x018966312L8000\x00\x00\x00\x00',
       b'\x018966312M0000\x00\x00\x00\x00',
       b'\x018966312M9000\x00\x00\x00\x00',
@@ -717,6 +718,7 @@ FW_VERSIONS = {
       b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
       b'\x03312N6100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
       b'\x03312N6100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
+      b'\x03312N6200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
       b'\x02312K4000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02312U5000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -733,7 +735,7 @@ FW_VERSIONS = {
       b'\x018965B12510\x00\x00\x00\x00\x00\x00',
       b'\x018965B1256000\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\x01F152602280\x00\x00\x00\x00\x00\x00',
       b'\x01F152602560\x00\x00\x00\x00\x00\x00',
       b'\x01F152602590\x00\x00\x00\x00\x00\x00',
@@ -782,6 +784,7 @@ FW_VERSIONS = {
       b'\x01896637626000\x00\x00\x00\x00',
       b'\x01896637648000\x00\x00\x00\x00',
       b'\x01896637643000\x00\x00\x00\x00',
+      b'\x02896630A21000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896630ZQ3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -810,7 +813,7 @@ FW_VERSIONS = {
       b'\x018965B12520\x00\x00\x00\x00\x00\x00',
       b'\x018965B12530\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152612590\x00\x00\x00\x00\x00\x00',
       b'F152612691\x00\x00\x00\x00\x00\x00',
       b'F152612692\x00\x00\x00\x00\x00\x00',
@@ -826,6 +829,7 @@ FW_VERSIONS = {
       b'F152612A10\x00\x00\x00\x00\x00\x00',
       b'F152612D00\x00\x00\x00\x00\x00\x00',
       b'F152616011\x00\x00\x00\x00\x00\x00',
+      b'F152616060\x00\x00\x00\x00\x00\x00',
       b'F152642540\x00\x00\x00\x00\x00\x00',
       b'F152676293\x00\x00\x00\x00\x00\x00',
       b'F152676303\x00\x00\x00\x00\x00\x00',
@@ -881,7 +885,7 @@ FW_VERSIONS = {
       b'8965B48150\x00\x00\x00\x00\x00\x00',
       b'8965B48210\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [b'F15260E011\x00\x00\x00\x00\x00\x00'],
+    (Ecu.abs, 0x7b0, None): [b'F15260E011\x00\x00\x00\x00\x00\x00'],
     (Ecu.dsu, 0x791, None): [
       b'881510E01100\x00\x00\x00\x00',
       b'881510E01200\x00\x00\x00\x00',
@@ -899,7 +903,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7a1, None): [
       b'8965B48160\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152648541\x00\x00\x00\x00\x00\x00',
       b'F152648542\x00\x00\x00\x00\x00\x00',
     ],
@@ -924,7 +928,7 @@ FW_VERSIONS = {
       b'8965B48310\x00\x00\x00\x00\x00\x00',
       b'8965B48320\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\x01F15260E051\x00\x00\x00\x00\x00\x00',
       b'\x01F15260E061\x00\x00\x00\x00\x00\x00',
       b'\x01F15260E110\x00\x00\x00\x00\x00\x00',
@@ -943,7 +947,9 @@ FW_VERSIONS = {
       b'\x01896630EB2200\x00\x00\x00\x00',
       b'\x01896630EC4000\x00\x00\x00\x00',
       b'\x01896630ED9000\x00\x00\x00\x00',
+      b'\x01896630ED9100\x00\x00\x00\x00',
       b'\x01896630EE1000\x00\x00\x00\x00',
+      b'\x01896630EE1100\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301400\x00\x00\x00\x00',
@@ -961,7 +967,7 @@ FW_VERSIONS = {
       b'8965B48241\x00\x00\x00\x00\x00\x00',
       b'8965B48310\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\x01F15264872300\x00\x00\x00\x00',
       b'\x01F15264872400\x00\x00\x00\x00',
       b'\x01F15264872500\x00\x00\x00\x00',
@@ -971,15 +977,16 @@ FW_VERSIONS = {
       b'\x01F152648J6000\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
-      b'\x01896630EE4000\x00\x00\x00\x00',
-      b'\x01896630EE6000\x00\x00\x00\x00',
       b'\x01896630E67000\x00\x00\x00\x00',
       b'\x01896630EA1000\x00\x00\x00\x00',
-      b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x01896630EE4000\x00\x00\x00\x00',
+      b'\x01896630EE4100\x00\x00\x00\x00',
+      b'\x01896630EE6000\x00\x00\x00\x00',
       b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301400\x00\x00\x00\x00',
@@ -1008,7 +1015,7 @@ FW_VERSIONS = {
       b'\x02353P7000\x00\x00\x00\x00\x00\x00\x00\x00530J5000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02353P9000\x00\x00\x00\x00\x00\x00\x00\x00553C1000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152653300\x00\x00\x00\x00\x00\x00',
       b'F152653301\x00\x00\x00\x00\x00\x00',
       b'F152653310\x00\x00\x00\x00\x00\x00',
@@ -1092,7 +1099,7 @@ FW_VERSIONS = {
       b'8965B47050\x00\x00\x00\x00\x00\x00',
       b'8965B47060\x00\x00\x00\x00\x00\x00',  # This is the EPS with good angle sensor
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152647290\x00\x00\x00\x00\x00\x00',
       b'F152647300\x00\x00\x00\x00\x00\x00',
       b'F152647310\x00\x00\x00\x00\x00\x00',
@@ -1133,7 +1140,7 @@ FW_VERSIONS = {
     ],
   },
   CAR.PRIUS_V: {
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152647280\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
@@ -1166,7 +1173,7 @@ FW_VERSIONS = {
       b'8965B42082\x00\x00\x00\x00\x00\x00',
       b'8965B42083\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F15260R102\x00\x00\x00\x00\x00\x00',
       b'F15260R103\x00\x00\x00\x00\x00\x00',
       b'F152642493\x00\x00\x00\x00\x00\x00',
@@ -1203,7 +1210,7 @@ FW_VERSIONS = {
       b'8965B42162\x00\x00\x00\x00\x00\x00',
       b'8965B42163\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152642090\x00\x00\x00\x00\x00\x00',
       b'F152642110\x00\x00\x00\x00\x00\x00',
       b'F152642120\x00\x00\x00\x00\x00\x00',
@@ -1263,8 +1270,9 @@ FW_VERSIONS = {
       b'\x02896634A18100\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
       b'\x02896634A43000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00',
       b'\x02896634A47000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00',
+      b'\x028966342Z8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\x01F15260R210\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R220\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R290\x00\x00\x00\x00\x00\x00',
@@ -1305,7 +1313,7 @@ FW_VERSIONS = {
     ],
   },
   CAR.RAV4_TSS2_2022: {
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\x01F15260R350\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R361\x00\x00\x00\x00\x00\x00',
     ],
@@ -1345,7 +1353,7 @@ FW_VERSIONS = {
       b'\x02896634A14001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896634A14101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152642291\x00\x00\x00\x00\x00\x00',
       b'F152642290\x00\x00\x00\x00\x00\x00',
       b'F152642322\x00\x00\x00\x00\x00\x00',
@@ -1384,7 +1392,7 @@ FW_VERSIONS = {
     ],
   },
   CAR.RAV4H_TSS2_2022: {
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\x01F15264283100\x00\x00\x00\x00',
       b'\x01F15264286200\x00\x00\x00\x00',
       b'\x01F15264286100\x00\x00\x00\x00',
@@ -1432,7 +1440,7 @@ FW_VERSIONS = {
       b'8965B45080\x00\x00\x00\x00\x00\x00',
       b'8965B45082\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152608130\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
@@ -1451,7 +1459,7 @@ FW_VERSIONS = {
     (Ecu.dsu, 0x791, None): [
       b'881517601100\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152676144\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
@@ -1473,7 +1481,7 @@ FW_VERSIONS = {
       b'\x018966333X6000\x00\x00\x00\x00',
       b'\x01896633T07000\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\x01F152606281\x00\x00\x00\x00\x00\x00',
       b'\x01F152606340\x00\x00\x00\x00\x00\x00',
       b'\x01F152606461\x00\x00\x00\x00\x00\x00',
@@ -1510,7 +1518,7 @@ FW_VERSIONS = {
       b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
       b'\x01896633T38000\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152633423\x00\x00\x00\x00\x00\x00',
       b'F152633680\x00\x00\x00\x00\x00\x00',
       b'F152633681\x00\x00\x00\x00\x00\x00',
@@ -1543,7 +1551,7 @@ FW_VERSIONS = {
       (Ecu.engine, 0x7e0, None): [
         b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
       ],
-      (Ecu.esp, 0x7b0, None): [
+      (Ecu.abs, 0x7b0, None): [
         b'F152633171\x00\x00\x00\x00\x00\x00',
       ],
       (Ecu.dsu, 0x791, None): [
@@ -1569,7 +1577,7 @@ FW_VERSIONS = {
       b'\x01896637854000\x00\x00\x00\x00',
       b'\x01896637878000\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152678130\x00\x00\x00\x00\x00\x00',
       b'F152678140\x00\x00\x00\x00\x00\x00',
     ],
@@ -1596,7 +1604,7 @@ FW_VERSIONS = {
       b'\x018966378B3000\x00\x00\x00\x00',
       b'\x018966378G3000\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\x01F152678221\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
@@ -1616,7 +1624,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152678210\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
@@ -1637,7 +1645,7 @@ FW_VERSIONS = {
       b'\x0237882000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0237886000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152678160\x00\x00\x00\x00\x00\x00',
       b'F152678170\x00\x00\x00\x00\x00\x00',
       b'F152678171\x00\x00\x00\x00\x00\x00',
@@ -1664,7 +1672,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152624221\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
@@ -1700,7 +1708,7 @@ FW_VERSIONS = {
       b'\x018966348R8500\x00\x00\x00\x00',
       b'\x018966348W1300\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152648472\x00\x00\x00\x00\x00\x00',
       b'F152648473\x00\x00\x00\x00\x00\x00',
       b'F152648492\x00\x00\x00\x00\x00\x00',
@@ -1747,7 +1755,7 @@ FW_VERSIONS = {
       b'\x02348V6000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348Z3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152648361\x00\x00\x00\x00\x00\x00',
       b'F152648501\x00\x00\x00\x00\x00\x00',
       b'F152648502\x00\x00\x00\x00\x00\x00',
@@ -1795,7 +1803,7 @@ FW_VERSIONS = {
       b'\x01896634D43000\x00\x00\x00\x00',
       b'\x01896634D44000\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
       b'\x01F15260E041\x00\x00\x00\x00\x00\x00',
       b'\x01F152648781\x00\x00\x00\x00\x00\x00',
@@ -1825,7 +1833,7 @@ FW_VERSIONS = {
       b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152648831\x00\x00\x00\x00\x00\x00',
       b'F152648891\x00\x00\x00\x00\x00\x00',
       b'F152648D00\x00\x00\x00\x00\x00\x00',
@@ -1855,7 +1863,7 @@ FW_VERSIONS = {
       b'\x038966347C5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00',
       b'\x038966347C5100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152647500\x00\x00\x00\x00\x00\x00',
       b'F152647510\x00\x00\x00\x00\x00\x00',
       b'F152647520\x00\x00\x00\x00\x00\x00',
@@ -1875,8 +1883,8 @@ FW_VERSIONS = {
     ],
   },
   CAR.MIRAI: {
-    (Ecu.esp, 0x7D1, None): [b'\x01898A36203000\x00\x00\x00\x00',],
+    (Ecu.abs, 0x7D1, None): [b'\x01898A36203000\x00\x00\x00\x00',],
-    (Ecu.esp, 0x7B0, None): [  # a second ESP ECU
+    (Ecu.abs, 0x7B0, None): [  # a second ABS ECU
       b'\x01F15266203200\x00\x00\x00\x00',
       b'\x01F15266203500\x00\x00\x00\x00',
     ],
@@ -1909,7 +1917,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7a1, None): [
       b'8965B58040\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.esp, 0x7b0, None): [
+    (Ecu.abs, 0x7b0, None): [
       b'F152658341\x00\x00\x00\x00\x00\x00'
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [

selfdrive/car/vin.py

@@ -5,7 +5,6 @@ import traceback
 
 import cereal.messaging as messaging
 import panda.python.uds as uds
-from panda.python.uds import FUNCTIONAL_ADDRS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from system.swaglog import cloudlog
 
@@ -24,10 +23,11 @@ def is_valid_vin(vin: str):
 
 
 def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False):
+  addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1]  # engine, VMCU, 29-bit engine, PGM-FI
   for i in range(retry):
     for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)):
       try:
-        query = IsoTpParallelQuery(sendcan, logcan, bus, FUNCTIONAL_ADDRS, [request, ], [response, ], functional_addr=True, debug=debug)
+        query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], debug=debug)
         for (addr, rx_addr), vin in query.get_data(timeout).items():
 
           # Honda Bosch response starts with a length, trim to correct length

selfdrive/car/volkswagen/carcontroller.py

@@ -3,8 +3,8 @@ from opendbc.can.packer import CANPacker
 from common.numpy_fast import clip
 from common.conversions import Conversions as CV
 from selfdrive.car import apply_std_steer_torque_limits
-from selfdrive.car.volkswagen import mqbcan
+from selfdrive.car.volkswagen import mqbcan, pqcan
-from selfdrive.car.volkswagen.values import CANBUS, CarControllerParams
+from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -14,7 +14,7 @@ class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.CCP = CarControllerParams(CP)
-    self.CCS = mqbcan
+    self.CCS = pqcan if CP.carFingerprint in PQ_CARS else mqbcan
     self.packer_pt = CANPacker(dbc_name)
 
     self.apply_steer_last = 0
@@ -122,6 +122,13 @@ class CarController:
       self.apply_steer_last = apply_steer
       can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
 
+    # **** Acceleration Controls ******************************************** #
+
+    if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
+      tsk_status = self.CCS.tsk_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
+      accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
+      can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, tsk_status, accel))
+
     # **** HUD Controls ***************************************************** #
 
     if self.frame % self.CCP.LDW_STEP == 0:
@@ -131,6 +138,12 @@ class CarController:
       can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.enabled,
                                                        CS.out.steeringPressed, hud_alert, hud_control))
 
+    if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
+      acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
+      set_speed = hud_control.setSpeed * CV.MS_TO_KPH  # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
+      can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed,
+                                                       hud_control.leadVisible))
+
     # **** Stock ACC Button Controls **************************************** #
 
     if self.CP.pcmCruise and self.frame % self.CCP.GRA_ACC_STEP == 0:

selfdrive/car/volkswagen/carstate.py

@@ -3,7 +3,7 @@ from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
+from selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \
                                             CarControllerParams
 
 
@@ -29,6 +29,9 @@ class CarState(CarStateBase):
     return button_events
 
   def update(self, pt_cp, cam_cp, ext_cp, trans_type):
+    if self.CP.carFingerprint in PQ_CARS:
+      return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type)
+
     ret = car.CarState.new_message()
     # Update vehicle speed and acceleration from ABS wheel speeds.
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -142,8 +145,111 @@ class CarState(CarStateBase):
 
     return ret
 
+  def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
+    ret = car.CarState.new_message()
+    # Update vehicle speed and acceleration from ABS wheel speeds.
+    ret.wheelSpeeds = self.get_wheel_speeds(
+      pt_cp.vl["Bremse_3"]["Radgeschw__VL_4_1"],
+      pt_cp.vl["Bremse_3"]["Radgeschw__VR_4_1"],
+      pt_cp.vl["Bremse_3"]["Radgeschw__HL_4_1"],
+      pt_cp.vl["Bremse_3"]["Radgeschw__HR_4_1"],
+    )
+
+    # vEgo obtained from Bremse_1 vehicle speed rather than Bremse_3 wheel speeds because Bremse_3 isn't present on NSF
+    ret.vEgoRaw = pt_cp.vl["Bremse_1"]["Geschwindigkeit_neu__Bremse_1_"] * CV.KPH_TO_MS
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = ret.vEgo < 0.1
+
+    # Update steering angle, rate, yaw rate, and driver input torque. VW send
+    # the sign/direction in a separate signal so they must be recombined.
+    ret.steeringAngleDeg = pt_cp.vl["Lenkhilfe_3"]["LH3_BLW"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_BLWSign"])]
+    ret.steeringRateDeg = pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit"] * (1, -1)[int(pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit_S"])]
+    ret.steeringTorque = pt_cp.vl["Lenkhilfe_3"]["LH3_LM"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_LMSign"])]
+    ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
+    ret.yawRate = pt_cp.vl["Bremse_5"]["Giergeschwindigkeit"] * (1, -1)[int(pt_cp.vl["Bremse_5"]["Vorzeichen_der_Giergeschwindigk"])] * CV.DEG_TO_RAD
+
+    # Verify EPS readiness to accept steering commands
+    hca_status = self.CCP.hca_status_values.get(pt_cp.vl["Lenkhilfe_2"]["LH2_Sta_HCA"])
+    ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT")
+    ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED")
+
+    # Update gas, brakes, and gearshift.
+    ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0
+    ret.gasPressed = ret.gas > 0
+    ret.brake = pt_cp.vl["Bremse_5"]["Bremsdruck"] / 250.0  # FIXME: this is pressure in Bar, not sure what OP expects
+    ret.brakePressed = bool(pt_cp.vl["Motor_2"]["Bremstestschalter"])
+    ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
+
+    # Update gear and/or clutch position data.
+    if trans_type == TransmissionType.automatic:
+      ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"], None))
+    elif trans_type == TransmissionType.manual:
+      ret.clutchPressed = not pt_cp.vl["Motor_1"]["Kupplungsschalter"]
+      reverse_light = bool(pt_cp.vl["Gate_Komf_1"]["GK1_Rueckfahr"])
+      if reverse_light:
+        ret.gearShifter = GearShifter.reverse
+      else:
+        ret.gearShifter = GearShifter.drive
+
+    # Update door and trunk/hatch lid open status.
+    ret.doorOpen = any([pt_cp.vl["Gate_Komf_1"]["GK1_Fa_Tuerkont"],
+                        pt_cp.vl["Gate_Komf_1"]["BSK_BT_geoeffnet"],
+                        pt_cp.vl["Gate_Komf_1"]["BSK_HL_geoeffnet"],
+                        pt_cp.vl["Gate_Komf_1"]["BSK_HR_geoeffnet"],
+                        pt_cp.vl["Gate_Komf_1"]["BSK_HD_Hauptraste"]])
+
+    # Update seatbelt fastened status.
+    ret.seatbeltUnlatched = not bool(pt_cp.vl["Airbag_1"]["Gurtschalter_Fahrer"])
+
+    # Consume blind-spot monitoring info/warning LED states, if available.
+    # Infostufe: BSM LED on, Warnung: BSM LED flashing
+    if self.CP.enableBsm:
+      ret.leftBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_li"])
+      ret.rightBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_re"])
+
+    # Consume factory LDW data relevant for factory SWA (Lane Change Assist)
+    # and capture it for forwarding to the blind spot radar controller
+    self.ldw_stock_values = cam_cp.vl["LDW_Status"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
+
+    # Stock FCW is considered active if the release bit for brake-jerk warning
+    # is set. Stock AEB considered active if the partial braking or target
+    # braking release bits are set.
+    # Refer to VW Self Study Program 890253: Volkswagen Driver Assistance
+    # Systems, chapters on Front Assist with Braking and City Emergency
+    # Braking for the 2016 Passat NMS
+    # TODO: deferred until we can collect data on pre-MY2016 behavior, AWV message may be shorter with fewer signals
+    ret.stockFcw = False
+    ret.stockAeb = False
+
+    # Update ACC radar status.
+    ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
+    ret.cruiseState.enabled = bool(pt_cp.vl["Motor_2"]["GRA_Status"])
+    if self.CP.pcmCruise:
+      ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7)
+    # TODO: update opendbc with PQ TSK state for OP long accFaulted
+
+    # Update ACC setpoint. When the setpoint reads as 255, the driver has not
+    # yet established an ACC setpoint, so treat it as zero.
+    ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anziege"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
+    if ret.cruiseState.speed > 70:  # 255 kph in m/s == no current setpoint
+      ret.cruiseState.speed = 0
+
+    # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(300, pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_li"],
+                                                                            pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_re"])
+    ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
+    self.gra_stock_values = pt_cp.vl["GRA_Neu"]
+
+    # Additional safety checks performed in CarInterface.
+    ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"])
+
+    return ret
+
   @staticmethod
   def get_can_parser(CP):
+    if CP.carFingerprint in PQ_CARS:
+      return CarState.get_can_parser_pq(CP)
+
     signals = [
       # sig_name, sig_address
       ("LWI_Lenkradwinkel", "LWI_01"),           # Absolute steering angle
@@ -231,6 +337,9 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_cam_can_parser(CP):
+    if CP.carFingerprint in PQ_CARS:
+      return CarState.get_cam_can_parser_pq(CP)
+
     signals = []
     checks = []
 
@@ -257,6 +366,123 @@ class CarState(CarStateBase):
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam)
 
+  @staticmethod
+  def get_can_parser_pq(CP):
+    signals = [
+      # sig_name, sig_address, default
+      ("LH3_BLW", "Lenkhilfe_3"),                # Absolute steering angle
+      ("LH3_BLWSign", "Lenkhilfe_3"),            # Steering angle sign
+      ("LH3_LM", "Lenkhilfe_3"),                 # Absolute driver torque input
+      ("LH3_LMSign", "Lenkhilfe_3"),             # Driver torque input sign
+      ("LH2_Sta_HCA", "Lenkhilfe_2"),            # Steering rack HCA status
+      ("Lenkradwinkel_Geschwindigkeit", "Lenkwinkel_1"),  # Absolute steering rate
+      ("Lenkradwinkel_Geschwindigkeit_S", "Lenkwinkel_1"),  # Steering rate sign
+      ("Geschwindigkeit_neu__Bremse_1_", "Bremse_1"),  # Vehicle speed from ABS
+      ("Radgeschw__VL_4_1", "Bremse_3"),         # ABS wheel speed, front left
+      ("Radgeschw__VR_4_1", "Bremse_3"),         # ABS wheel speed, front right
+      ("Radgeschw__HL_4_1", "Bremse_3"),         # ABS wheel speed, rear left
+      ("Radgeschw__HR_4_1", "Bremse_3"),         # ABS wheel speed, rear right
+      ("Giergeschwindigkeit", "Bremse_5"),       # Absolute yaw rate
+      ("Vorzeichen_der_Giergeschwindigk", "Bremse_5"),  # Yaw rate sign
+      ("Gurtschalter_Fahrer", "Airbag_1"),       # Seatbelt status, driver
+      ("Gurtschalter_Beifahrer", "Airbag_1"),    # Seatbelt status, passenger
+      ("Bremstestschalter", "Motor_2"),          # Brake pedal pressed (brake light test switch)
+      ("Bremslichtschalter", "Motor_2"),         # Brakes applied (brake light switch)
+      ("Bremsdruck", "Bremse_5"),                # Brake pressure applied
+      ("Vorzeichen_Bremsdruck", "Bremse_5"),     # Brake pressure applied sign (???)
+      ("Fahrpedal_Rohsignal", "Motor_3"),        # Accelerator pedal value
+      ("ESP_Passiv_getastet", "Bremse_1"),       # Stability control disabled
+      ("GRA_Hauptschalter", "Motor_5"),          # ACC main switch
+      ("GRA_Status", "Motor_2"),                 # ACC engagement status
+      ("GK1_Fa_Tuerkont", "Gate_Komf_1"),        # Door open, driver
+      ("BSK_BT_geoeffnet", "Gate_Komf_1"),       # Door open, passenger
+      ("BSK_HL_geoeffnet", "Gate_Komf_1"),       # Door open, rear left
+      ("BSK_HR_geoeffnet", "Gate_Komf_1"),       # Door open, rear right
+      ("BSK_HD_Hauptraste", "Gate_Komf_1"),      # Trunk or hatch open
+      ("GK1_Blinker_li", "Gate_Komf_1"),         # Left turn signal on
+      ("GK1_Blinker_re", "Gate_Komf_1"),         # Right turn signal on
+      ("Bremsinfo", "Kombi_1"),                  # Manual handbrake applied
+      ("GRA_Hauptschalt", "GRA_Neu"),            # ACC button, on/off
+      ("GRA_Typ_Hauptschalt", "GRA_Neu"),        # ACC button, momentary vs latching
+      ("GRA_Kodierinfo", "GRA_Neu"),             # ACC button, configuration
+      ("GRA_Abbrechen", "GRA_Neu"),              # ACC button, cancel
+      ("GRA_Neu_Setzen", "GRA_Neu"),             # ACC button, set
+      ("GRA_Up_lang", "GRA_Neu"),                # ACC button, increase or accel, long press
+      ("GRA_Down_lang", "GRA_Neu"),              # ACC button, decrease or decel, long press
+      ("GRA_Up_kurz", "GRA_Neu"),                # ACC button, increase or accel, short press
+      ("GRA_Down_kurz", "GRA_Neu"),              # ACC button, decrease or decel, short press
+      ("GRA_Recall", "GRA_Neu"),                 # ACC button, resume
+      ("GRA_Zeitluecke", "GRA_Neu"),             # ACC button, time gap adj
+      ("COUNTER", "GRA_Neu"),                    # ACC button, message counter
+      ("GRA_Sender", "GRA_Neu"),                 # ACC button, CAN message originator
+    ]
+
+    checks = [
+      # sig_address, frequency
+      ("Bremse_1", 100),    # From J104 ABS/ESP controller
+      ("Bremse_3", 100),    # From J104 ABS/ESP controller
+      ("Lenkhilfe_3", 100),  # From J500 Steering Assist with integrated sensors
+      ("Lenkwinkel_1", 100),  # From J500 Steering Assist with integrated sensors
+      ("Motor_3", 100),     # From J623 Engine control module
+      ("Airbag_1", 50),     # From J234 Airbag control module
+      ("Bremse_5", 50),     # From J104 ABS/ESP controller
+      ("GRA_Neu", 50),      # From J??? steering wheel control buttons
+      ("Kombi_1", 50),      # From J285 Instrument cluster
+      ("Motor_2", 50),      # From J623 Engine control module
+      ("Motor_5", 50),      # From J623 Engine control module
+      ("Lenkhilfe_2", 20),  # From J500 Steering Assist with integrated sensors
+      ("Gate_Komf_1", 10),  # From J533 CAN gateway
+    ]
+
+    if CP.transmissionType == TransmissionType.automatic:
+      signals += [("Waehlhebelposition__Getriebe_1_", "Getriebe_1", 0)]  # Auto trans gear selector position
+      checks += [("Getriebe_1", 100)]  # From J743 Auto transmission control module
+    elif CP.transmissionType == TransmissionType.manual:
+      signals += [("Kupplungsschalter", "Motor_1", 0),  # Clutch switch
+                  ("GK1_Rueckfahr", "Gate_Komf_1", 0)]  # Reverse light from BCM
+      checks += [("Motor_1", 100)]  # From J623 Engine control module
+
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      # Extended CAN devices other than the camera are here on CANBUS.pt
+      signals += PqExtraSignals.fwd_radar_signals
+      checks += PqExtraSignals.fwd_radar_checks
+      if CP.enableBsm:
+        signals += PqExtraSignals.bsm_radar_signals
+        checks += PqExtraSignals.bsm_radar_checks
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.pt)
+
+  @staticmethod
+  def get_cam_can_parser_pq(CP):
+
+    signals = []
+    checks = []
+
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      signals += [
+        # sig_name, sig_address
+        ("LDW_SW_Warnung_links", "LDW_Status"),      # Blind spot in warning mode on left side due to lane departure
+        ("LDW_SW_Warnung_rechts", "LDW_Status"),     # Blind spot in warning mode on right side due to lane departure
+        ("LDW_Seite_DLCTLC", "LDW_Status"),          # Direction of most likely lane departure (left or right)
+        ("LDW_DLC", "LDW_Status"),                   # Lane departure, distance to line crossing
+        ("LDW_TLC", "LDW_Status"),                   # Lane departure, time to line crossing
+      ]
+      checks += [
+        # sig_address, frequency
+        ("LDW_Status", 10)      # From R242 Driver assistance camera
+      ]
+
+    if CP.networkLocation == NetworkLocation.gateway:
+      # Radars are here on CANBUS.cam
+      signals += PqExtraSignals.fwd_radar_signals
+      checks += PqExtraSignals.fwd_radar_checks
+      if CP.enableBsm:
+        signals += PqExtraSignals.bsm_radar_signals
+        checks += PqExtraSignals.bsm_radar_checks
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam)
+
+
 class MqbExtraSignals:
   # Additional signal and message lists for optional or bus-portable controllers
   fwd_radar_signals = [
@@ -285,3 +511,22 @@ class MqbExtraSignals:
   bsm_radar_checks = [
     ("SWA_01", 20),                                 # From J1086 Lane Change Assist
   ]
+
+class PqExtraSignals:
+  # Additional signal and message lists for optional or bus-portable controllers
+  fwd_radar_signals = [
+    ("ACA_StaACC", "ACC_GRA_Anziege", 0),           # ACC drivetrain coordinator status
+    ("ACA_V_Wunsch", "ACC_GRA_Anziege", 0),         # ACC set speed
+  ]
+  fwd_radar_checks = [
+    ("ACC_GRA_Anziege", 25),                        # From J428 ACC radar control module
+  ]
+  bsm_radar_signals = [
+    ("SWA_Infostufe_SWA_li", "SWA_1", 0),           # Blind spot object info, left
+    ("SWA_Warnung_SWA_li", "SWA_1", 0),             # Blind spot object warning, left
+    ("SWA_Infostufe_SWA_re", "SWA_1", 0),           # Blind spot object info, right
+    ("SWA_Warnung_SWA_re", "SWA_1", 0),             # Blind spot object warning, right
+  ]
+  bsm_radar_checks = [
+    ("SWA_1", 20),                                  # From J1086 Lane Change Assist
+  ]

selfdrive/car/volkswagen/interface.py

@@ -1,11 +1,10 @@
 from cereal import car
-from common.params import Params
 from panda import Panda
-from selfdrive.car import STD_CARGO_KG, create_button_enable_events, scale_rot_inertia, scale_tire_stiffness, \
+from common.conversions import Conversions as CV
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, \
                           gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
-from selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter
+from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
-
 
 EventName = car.CarEvent.EventName
 
@@ -27,7 +26,36 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "volkswagen"
     ret.radarOffCan = True
 
-    if True:  # pylint: disable=using-constant-test
+    if candidate in PQ_CARS:
+      # Set global PQ35/PQ46/NMS parameters
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
+      ret.enableBsm = 0x3BA in fingerprint[0]  # SWA_1
+
+      if 0x440 in fingerprint[0]:  # Getriebe_1
+        ret.transmissionType = TransmissionType.automatic
+      else:
+        ret.transmissionType = TransmissionType.manual
+
+      if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)):  # Bremse_1, Lenkwinkel_1
+        ret.networkLocation = NetworkLocation.gateway
+      else:
+        ret.networkLocation = NetworkLocation.fwdCamera
+
+      # The PQ port is in dashcam-only mode due to a fixed six-minute maximum timer on HCA steering. An unsupported
+      # EPS flash update to work around this timer, and enable steering down to zero, is available from:
+      #   https://github.com/pd0wm/pq-flasher
+      # It is documented in a four-part blog series:
+      #   https://blog.willemmelching.nl/carhacking/2022/01/02/vw-part1/
+      # Panda ALLOW_DEBUG firmware required.
+      ret.dashcamOnly = True
+
+      if disable_radar and ret.networkLocation == NetworkLocation.gateway:
+        # Proof-of-concept, prep for E2E only. No radar points available. Follow-to-stop not yet supported, but should
+        # be simple to add when a suitable test car becomes available. Panda ALLOW_DEBUG firmware required.
+        ret.openpilotLongitudinalControl = True
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
+
+    else:
       # Set global MQB parameters
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
       ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01
@@ -44,7 +72,7 @@ class CarInterface(CarInterfaceBase):
       else:
         ret.networkLocation = NetworkLocation.fwdCamera
 
-      if Params().get_bool("DisableRadar") and ret.networkLocation == NetworkLocation.gateway:
+      if disable_radar and ret.networkLocation == NetworkLocation.gateway:
         ret.openpilotLongitudinalControl = True
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
         if ret.transmissionType == TransmissionType.manual:
@@ -94,6 +122,14 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1551 + STD_CARGO_KG
       ret.wheelbase = 2.79
 
+    elif candidate == CAR.PASSAT_NMS:
+      ret.mass = 1503 + STD_CARGO_KG
+      ret.wheelbase = 2.80
+      ret.minEnableSpeed = 20 * CV.KPH_TO_MS  # ACC "basic", no FtS
+      ret.minSteerSpeed = 50 * CV.KPH_TO_MS
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     elif candidate == CAR.POLO_MK6:
       ret.mass = 1230 + STD_CARGO_KG
       ret.wheelbase = 2.55
@@ -170,6 +206,7 @@ class CarInterface(CarInterfaceBase):
     else:
       raise ValueError(f"unsupported car {candidate}")
 
+    ret.autoResumeSng = ret.minEnableSpeed == -1
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
     ret.centerToFront = ret.wheelbase * 0.45
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
@@ -197,7 +234,6 @@ class CarInterface(CarInterfaceBase):
       if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.speedTooLow)
 
-    events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/volkswagen/pqcan.py

@@ -0,0 +1,84 @@
+def create_steering_control(packer, bus, apply_steer, lkas_enabled):
+  values = {
+    "LM_Offset": abs(apply_steer),
+    "LM_OffSign": 1 if apply_steer < 0 else 0,
+    "HCA_Status": 5 if (lkas_enabled and apply_steer != 0) else 3,
+    "Vib_Freq": 16,
+  }
+
+  return packer.make_can_msg("HCA_1", bus, values)
+
+
+def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
+  values = ldw_stock_values.copy()
+
+  values.update({
+    "LDW_Lampe_gelb": 1 if enabled and steering_pressed else 0,
+    "LDW_Lampe_gruen": 1 if enabled and not steering_pressed else 0,
+    "LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
+    "LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
+    "LDW_Textbits": hud_alert,
+  })
+
+  return packer.make_can_msg("LDW_Status", bus, values)
+
+
+def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
+  values = gra_stock_values.copy()
+
+  values.update({
+    "COUNTER": idx,
+    "GRA_Abbrechen": cancel,
+    "GRA_Recall": resume,
+  })
+
+  return packer.make_can_msg("GRA_Neu", bus, values)
+
+
+def tsk_status_value(main_switch_on, acc_faulted, long_active):
+  if long_active:
+    tsk_status = 1
+  elif main_switch_on:
+    tsk_status = 2
+  else:
+    tsk_status = 0
+
+  return tsk_status
+
+
+def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
+  if acc_faulted:
+    hud_status = 6
+  elif long_active:
+    hud_status = 3
+  elif main_switch_on:
+    hud_status = 2
+  else:
+    hud_status = 0
+
+  return hud_status
+
+
+def create_acc_accel_control(packer, bus, adr_status, accel):
+  values = {
+    "ACS_Sta_ADR": adr_status,
+    "ACS_StSt_Info": adr_status != 1,
+    "ACS_Typ_ACC": 0,  # TODO: this is ACC "basic", find a way to detect FtS support (1)
+    "ACS_Sollbeschl": accel if adr_status == 1 else 3.01,
+    "ACS_zul_Regelabw": 0.2 if adr_status == 1 else 1.27,
+    "ACS_max_AendGrad": 3.0 if adr_status == 1 else 5.08,
+  }
+
+  return packer.make_can_msg("ACC_System", bus, values)
+
+
+def create_acc_hud_control(packer, bus, acc_status, set_speed, lead_visible):
+  values = {
+    "ACA_StaACC": acc_status,
+    "ACA_Zeitluecke": 2,
+    "ACA_V_Wunsch": set_speed,
+    "ACA_gemZeitl": 8 if lead_visible else 0,
+  }
+  # TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke
+
+  return packer.make_can_msg("ACC_GRA_Anziege", bus, values)

selfdrive/car/volkswagen/values.py

@@ -33,7 +33,36 @@ class CarControllerParams:
 
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
 
-    if True:  # pylint: disable=using-constant-test
+    if CP.carFingerprint in PQ_CARS:
+      self.LDW_STEP = 5                   # LDW_1 message frequency 20Hz
+      self.ACC_HUD_STEP = 4               # ACC_GRA_Anziege frequency 25Hz
+      self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm
+      self.STEER_DELTA_UP = 6             # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00))
+      self.STEER_DELTA_DOWN = 10          # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
+
+      if CP.transmissionType == TransmissionType.automatic:
+        self.shifter_values = can_define.dv["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"]
+      self.hca_status_values = can_define.dv["Lenkhilfe_2"]["LH2_Sta_HCA"]
+
+      self.BUTTONS = [
+        Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_Neu", "GRA_Neu_Setzen", [1]),
+        Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_Neu", "GRA_Recall", [1]),
+        Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_Neu", "GRA_Up_kurz", [1]),
+        Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_Neu", "GRA_Down_kurz", [1]),
+        Button(car.CarState.ButtonEvent.Type.cancel, "GRA_Neu", "GRA_Abbrechen", [1]),
+        Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_Neu", "GRA_Zeitluecke", [1]),
+      ]
+
+      self.LDW_MESSAGES = {
+        "none": 0,  # Nothing to display
+        "laneAssistUnavail": 1,  # "Lane Assist currently not available."
+        "laneAssistUnavailSysError": 2,  # "Lane Assist system error"
+        "laneAssistUnavailNoSensorView": 3,  # "Lane Assist not available. No sensor view."
+        "laneAssistTakeOver": 4,  # "Lane Assist: Please Take Over Steering"
+        "laneAssistDeactivTrailer": 5,  # "Lane Assist: no function with trailer"
+      }
+
+    else:
       self.LDW_STEP = 10                  # LDW_02 message frequency 10Hz
       self.ACC_HUD_STEP = 6               # ACC_02/ACC_04 message frequency 16Hz
       self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm
@@ -84,6 +113,7 @@ class CAR:
   GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN"              # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants
   JETTA_MK7 = "VOLKSWAGEN JETTA 7TH GEN"            # Chassis BU, Mk7 VW Jetta
   PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN"          # Chassis 3G, Mk8 VW Passat and variants
+  PASSAT_NMS = "VOLKSWAGEN PASSAT NMS"              # Chassis A3, North America/China/Mideast NMS Passat, incl. facelift
   POLO_MK6 = "VOLKSWAGEN POLO 6TH GEN"              # Chassis AW, Mk6 VW Polo
   TAOS_MK1 = "VOLKSWAGEN TAOS 1ST GEN"              # Chassis B2, Mk1 VW Taos and Tharu
   TCROSS_MK1 = "VOLKSWAGEN T-CROSS 1ST GEN"         # Chassis C1, Mk1 VW T-Cross SWB and LWB variants
@@ -104,7 +134,12 @@ class CAR:
   SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN"       # Chassis NE, Mk3 Skoda Octavia and variants
 
 
+PQ_CARS = {CAR.PASSAT_NMS}
+
+
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None))
+for car_type in PQ_CARS:
+  DBC[car_type] = dbc_dict("vw_golf_mk4", None)
 
 
 class Footnote(Enum):
@@ -140,7 +175,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
     VWCarInfo("Volkswagen CC 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"),
   ],
   CAR.ATLAS_MK1: [
-    VWCarInfo("Volkswagen Atlas 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Atlas 2018-23", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
     VWCarInfo("Volkswagen Atlas Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
     VWCarInfo("Volkswagen Teramont 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
     VWCarInfo("Volkswagen Teramont Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
@@ -165,6 +200,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
     VWCarInfo("Volkswagen Passat Alltrack 2015-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
     VWCarInfo("Volkswagen Passat GTE 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
   ],
+  CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22", harness=Harness.j533),
   CAR.POLO_MK6: [
     VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
     VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
@@ -240,6 +276,7 @@ FW_VERSIONS = {
       b'\xf1\x8703H906026AA\xf1\x899970',
       b'\xf1\x8703H906026AJ\xf1\x890638',
       b'\xf1\x8703H906026AT\xf1\x891922',
+      b'\xf1\x8703H906026BC\xf1\x892664',
       b'\xf1\x8703H906026F \xf1\x896696',
       b'\xf1\x8703H906026F \xf1\x899970',
       b'\xf1\x8703H906026J \xf1\x896026',
@@ -252,12 +289,14 @@ FW_VERSIONS = {
       b'\xf1\x8709G927158DR\xf1\x893536',
       b'\xf1\x8709G927158DR\xf1\x893742',
       b'\xf1\x8709G927158FT\xf1\x893835',
+      b'\xf1\x8709G927158GL\xf1\x893939',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655BC\xf1\x890503\xf1\x82\0161914151912001103111122031200',
       b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\0162214152212001105141122052900',
       b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\0162214152212001105141122052900',
       b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105161122052J00',
+      b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1115151112001105171122052J00',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\00571B60924A1',
@@ -265,6 +304,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572R \xf1\x890372',
       b'\xf1\x872Q0907572T \xf1\x890383',
       b'\xf1\x875Q0907572H \xf1\x890620',
@@ -334,6 +374,8 @@ FW_VERSIONS = {
       b'\xf1\x870D9300012  \xf1\x894937',
       b'\xf1\x870D9300012  \xf1\x895045',
       b'\xf1\x870D9300014M \xf1\x895004',
+      b'\xf1\x870D9300014Q \xf1\x895006',
+      b'\xf1\x870D9300020Q \xf1\x895201',
       b'\xf1\x870D9300020S \xf1\x895201',
       b'\xf1\x870D9300040A \xf1\x893613',
       b'\xf1\x870D9300040S \xf1\x894311',
@@ -385,6 +427,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
       b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1',
       b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1',
+      b'\xf1\x873QM909144  \xf1\x895072\xf1\x82\x0571A01714A1',
       b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203',
       b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00441A1',
       b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00608A1',
@@ -519,6 +562,26 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
+  CAR.PASSAT_NMS: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8706K906016C \xf1\x899609',
+      b'\xf1\x8706K906016G \xf1\x891124',
+      b'\xf1\x8706K906071BJ\xf1\x894891',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158AB\xf1\x893318',
+      b'\xf1\x8709G927158BD\xf1\x893121',
+      b'\xf1\x8709G927158FQ\xf1\x893745',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x87561959655  \xf1\x890210\xf1\x82\02212121111113000102011--121012--101312',
+      b'\xf1\x87561959655C \xf1\x890508\xf1\x82\02215141111121100314919--153015--304831',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x87561907567A \xf1\x890132',
+      b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\00152',
+    ],
+  },
   CAR.POLO_MK6: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704C906025H \xf1\x895177',
@@ -682,6 +745,7 @@ FW_VERSIONS = {
       b'\xf1\x8704E906023BL\xf1\x895190',
       b'\xf1\x8704E906027CJ\xf1\x897798',
       b'\xf1\x8704L997022N \xf1\x899459',
+      b'\xf1\x875G0906259A \xf1\x890004',
       b'\xf1\x875G0906259L \xf1\x890002',
       b'\xf1\x875G0906259Q \xf1\x890002',
       b'\xf1\x878V0906259F \xf1\x890002',
@@ -694,6 +758,7 @@ FW_VERSIONS = {
       b'\xf1\x870CW300044T \xf1\x895245',
       b'\xf1\x870CW300048  \xf1\x895201',
       b'\xf1\x870D9300012  \xf1\x894912',
+      b'\xf1\x870D9300012K \xf1\x894513',
       b'\xf1\x870D9300013B \xf1\x894931',
       b'\xf1\x870D9300041N \xf1\x894512',
       b'\xf1\x870D9300043T \xf1\x899699',
@@ -710,6 +775,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655AM\xf1\x890315\xf1\x82\x1311111111111111311411011231129321212100',
       b'\xf1\x875Q0959655AM\xf1\x890318\xf1\x82\x1311111111111112311411011531159321212100',
       b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100',
+      b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221',
       b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221',
       b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221',
       b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221',
@@ -723,6 +789,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1',
       b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00303A0',
       b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00803A0',
+      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0503G0G803A0',
       b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\00516G00804A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521G00807A1',
     ],

selfdrive/controls/controlsd.py

@@ -15,8 +15,8 @@ from system.swaglog import cloudlog
 from system.version import get_short_branch
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
-from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
+from selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET
-from selfdrive.controls.lib.drive_helpers import update_v_cruise, initialize_v_cruise
+from selfdrive.controls.lib.drive_helpers import V_CRUISE_INITIAL, update_v_cruise, initialize_v_cruise
 from selfdrive.controls.lib.drive_helpers import get_lag_adjusted_curvature
 from selfdrive.controls.lib.latcontrol import LatControl
 from selfdrive.controls.lib.longcontrol import LongControl
@@ -50,6 +50,7 @@ LaneChangeState = log.LateralPlan.LaneChangeState
 LaneChangeDirection = log.LateralPlan.LaneChangeDirection
 EventName = car.CarEvent.EventName
 ButtonEvent = car.CarState.ButtonEvent
+ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
 
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
@@ -160,14 +161,14 @@ class Controls:
     self.state = State.disabled
     self.enabled = False
     self.active = False
-    self.can_rcv_error = False
+    self.can_rcv_timeout = False
     self.soft_disable_timer = 0
-    self.v_cruise_kph = 255
+    self.v_cruise_kph = V_CRUISE_INITIAL
-    self.v_cruise_cluster_kph = 255
+    self.v_cruise_cluster_kph = V_CRUISE_INITIAL
     self.v_cruise_kph_last = 0
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
-    self.can_rcv_error_counter = 0
+    self.can_rcv_timeout_counter = 0
     self.last_blinker_frame = 0
     self.distance_traveled = 0
     self.last_functional_fan_frame = 0
@@ -203,6 +204,16 @@ class Controls:
     self.rk = Ratekeeper(100, print_delay_threshold=None)
     self.prof = Profiler(False)  # off by default
 
+  def set_initial_state(self):
+    if REPLAY:
+      controls_state = Params().get("ReplayControlsState")
+      if controls_state is not None:
+        controls_state = log.ControlsState.from_bytes(controls_state)
+        self.v_cruise_kph = controls_state.vCruise
+
+      if self.sm['pandaStates'][0].controlsAllowed:
+        self.state = State.enabled
+
   def update_events(self, CS):
     """Compute carEvents from carState"""
 
@@ -218,6 +229,11 @@ class Controls:
       self.events.add(EventName.controlsInitializing)
       return
 
+    # Block resume if cruise never previously enabled
+    resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
+    if not self.CP.pcmCruise and self.v_cruise_kph == V_CRUISE_INITIAL and resume_pressed:
+      self.events.add(EventName.resumeBlocked)
+
     # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
     if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
       (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)):
@@ -323,19 +339,19 @@ class Controls:
     # generic catch-all. ideally, a more specific event should be added above instead
     has_disable_events = self.events.any(ET.NO_ENTRY) and (self.events.any(ET.SOFT_DISABLE) or self.events.any(ET.IMMEDIATE_DISABLE))
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
-    if (not self.sm.all_checks() or self.can_rcv_error) and no_system_errors:
+    if (not self.sm.all_checks() or self.can_rcv_timeout) and no_system_errors:
       if not self.sm.all_alive():
         self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
         self.events.add(EventName.commIssueAvgFreq)
-      else:  # invalid or can_rcv_error.
+      else:  # invalid or can_rcv_timeout.
         self.events.add(EventName.commIssue)
 
       logs = {
         'invalid': [s for s, valid in self.sm.valid.items() if not valid],
         'not_alive': [s for s, alive in self.sm.alive.items() if not alive],
         'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
-        'can_error': self.can_rcv_error,
+        'can_rcv_timeout': self.can_rcv_timeout,
       }
       if logs != self.logged_comm_issue:
         cloudlog.event("commIssue", error=True, **logs)
@@ -417,19 +433,17 @@ class Controls:
       if all_valid or timed_out or SIMULATION:
         if not self.read_only:
           self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
-        self.initialized = True
-
-        if REPLAY and self.sm['pandaStates'][0].controlsAllowed:
-          self.state = State.enabled
 
+        self.initialized = True
+        self.set_initial_state()
         Params().put_bool("ControlsReady", True)
 
     # Check for CAN timeout
     if not can_strs:
-      self.can_rcv_error_counter += 1
+      self.can_rcv_timeout_counter += 1
-      self.can_rcv_error = True
+      self.can_rcv_timeout = True
     else:
-      self.can_rcv_error = False
+      self.can_rcv_timeout = False
 
     # When the panda and controlsd do not agree on controls_allowed
     # we want to disengage openpilot. However the status from the panda goes through
@@ -452,18 +466,18 @@ class Controls:
 
     self.v_cruise_kph_last = self.v_cruise_kph
 
-    # if stock cruise is completely disabled, then we can use our own set speed logic
+    if CS.cruiseState.available:
-    if not self.CP.pcmCruise:
+      # if stock cruise is completely disabled, then we can use our own set speed logic
-      self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents,
+      if not self.CP.pcmCruise:
-                                          self.button_timers, self.enabled, self.is_metric)
+        self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents,
-      self.v_cruise_cluster_kph = self.v_cruise_kph
+                                            self.button_timers, self.enabled, self.is_metric)
-    else:
+        self.v_cruise_cluster_kph = self.v_cruise_kph
-      if CS.cruiseState.available:
+      else:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
         self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
-      else:
+    else:
-        self.v_cruise_kph = 0
+      self.v_cruise_kph = V_CRUISE_INITIAL
-        self.v_cruise_cluster_kph = 0
+      self.v_cruise_cluster_kph = V_CRUISE_INITIAL
 
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
@@ -695,8 +709,8 @@ class Controls:
     model_v2 = self.sm['modelV2']
     desire_prediction = model_v2.meta.desirePrediction
     if len(desire_prediction) and ldw_allowed:
-      right_lane_visible = self.sm['lateralPlan'].rProb > 0.5
+      right_lane_visible = model_v2.laneLineProbs[2] > 0.5
-      left_lane_visible = self.sm['lateralPlan'].lProb > 0.5
+      left_lane_visible = model_v2.laneLineProbs[1] > 0.5
       l_lane_change_prob = desire_prediction[Desire.laneChangeLeft - 1]
       r_lane_change_prob = desire_prediction[Desire.laneChangeRight - 1]
 
@@ -771,7 +785,7 @@ class Controls:
     controlsState.cumLagMs = -self.rk.remaining * 1000.
     controlsState.startMonoTime = int(start_time * 1e9)
     controlsState.forceDecel = bool(force_decel)
-    controlsState.canErrorCounter = self.can_rcv_error_counter
+    controlsState.canErrorCounter = self.can_rcv_timeout_counter
 
     lat_tuning = self.CP.lateralTuning.which()
     if self.joystick_mode:

selfdrive/controls/lib/alertmanager.py

@@ -22,7 +22,7 @@ def set_offroad_alert(alert: str, show_alert: bool, extra_text: Optional[str] =
       a['text'] += extra_text
     Params().put(alert, json.dumps(a))
   else:
-    Params().delete(alert)
+    Params().remove(alert)
 
 
 @dataclass

selfdrive/controls/lib/drive_helpers.py

@@ -11,6 +11,7 @@ from selfdrive.modeld.constants import T_IDXS
 V_CRUISE_MAX = 145  # kph
 V_CRUISE_MIN = 8  # kph
 V_CRUISE_ENABLE_MIN = 40  # kph
+V_CRUISE_INITIAL = 255  # kph
 
 LAT_MPC_N = 16
 LON_MPC_N = 32

selfdrive/controls/lib/events.py

@@ -635,6 +635,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.NO_ENTRY: wrong_car_mode_alert,
   },
 
+  EventName.resumeBlocked: {
+    ET.NO_ENTRY: NoEntryAlert("Press Set to Engage"),
+  },
+
   EventName.wrongCruiseMode: {
     ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
     ET.NO_ENTRY: NoEntryAlert("Adaptive Cruise Disabled"),