openpilot v0.9.10 release

date: 2025-07-05T09:03:06
master commit: c807ecd7e1

.gitignore

@@ -70,8 +70,6 @@ flycheck_*
 cppcheck_report.txt
 comma*.sh
 
-selfdrive/modeld/thneed/compile
-selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
 
 *.bz2

Dockerfile.openpilot

@@ -3,7 +3,6 @@ FROM ghcr.io/commaai/openpilot-base:latest
 ENV PYTHONUNBUFFERED=1
 
 ENV OPENPILOT_PATH=/home/batman/openpilot
-ENV PYTHONPATH=${OPENPILOT_PATH}:${PYTHONPATH}
 
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}

README.md

@@ -23,7 +23,6 @@
 Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
 
 [![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml)
-[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
 [![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
 [![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)
@@ -67,7 +66,6 @@ openpilot is developed by [comma](https://comma.ai/) and by users like you. We w
 * Join the [community Discord](https://discord.comma.ai)
 * Check out [the contributing docs](docs/CONTRIBUTING.md)
 * Check out the [openpilot tools](tools/)
-* Read about the [development workflow](docs/WORKFLOW.md)
 * Code documentation lives at https://docs.comma.ai
 * Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
 
@@ -104,7 +102,7 @@ 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.
-The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
 
 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.
 </details>

RELEASES.md

@@ -1,10 +1,16 @@
+Version 0.9.10 (2025-07-07)
+========================
+* New driving model
+  * Lead car ground-truth fixes
+  * Ported over VAE from the MLSIM stack
+* Opt-in audio recording for dashcam video
+
 Version 0.9.9 (2025-05-23)
 ========================
 * New driving model
   * New training architecture using parts from MLSIM
 * Steering actuation delay is now learned online
 * Ford Escape 2023-24 support thanks to incognitojam!
-* Ford Expedition 2022-24 support thanks to alan-polk!
 * Ford Kuga 2024 support thanks to incognitojam!
 * Hyundai Nexo 2021 support thanks to sunnyhaibin!
 * Tesla Model 3 and Y support thanks to lukasloetkolben!

SConstruct

@@ -39,10 +39,6 @@ AddOption('--clazy',
           action='store_true',
           help='build with clazy')
 
-AddOption('--compile_db',
-          action='store_true',
-          help='build clang compilation database')
-
 AddOption('--ccflags',
           action='store',
           type='string',
@@ -214,8 +210,7 @@ if arch == "Darwin":
   darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
   env["LINKFLAGS"] += darwin_rpath_link_flags
 
-if GetOption('compile_db'):
-  env.CompilationDatabase('compile_commands.json')
+env.CompilationDatabase('compile_commands.json')
 
 # Setup cache dir
 cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'

cereal/log.capnp

@@ -1083,7 +1083,7 @@ struct ModelDataV2 {
   confidence @23: ConfidenceClass;
 
   # Model perceived motion
-  temporalPose @21 :Pose;
+  temporalPoseDEPRECATED @21 :Pose;
 
   # e2e lateral planner
   action @26: Action;
@@ -2281,6 +2281,7 @@ struct LiveTorqueParametersData {
   points @10 :List(List(Float32));
   version @11 :Int32;
   useParams @12 :Bool;
+  calPerc @13 :Int8;
 }
 
 struct LiveDelayData {
@@ -2291,6 +2292,7 @@ struct LiveDelayData {
   lateralDelayEstimate @3 :Float32;
   lateralDelayEstimateStd @5 :Float32;
   points @4 :List(Float32);
+  calPerc @6 :Int8;
 
   enum Status {
     unestimated @0;
@@ -2468,13 +2470,19 @@ struct DebugAlert {
 struct UserFlag {
 }
 
-struct Microphone {
+struct SoundPressure @0xdc24138990726023 {
   soundPressure @0 :Float32;
 
   # uncalibrated, A-weighted
   soundPressureWeighted @3 :Float32;
   soundPressureWeightedDb @1 :Float32;
-  filteredSoundPressureWeightedDb @2 :Float32;
+
+  filteredSoundPressureWeightedDbDEPRECATED @2 :Float32;
+}
+
+struct AudioData {
+  data @0 :Data;
+  sampleRate @1 :UInt32;
 }
 
 struct Touch {
@@ -2554,7 +2562,8 @@ struct Event {
     livestreamDriverEncodeIdx @119 :EncodeIndex;
 
     # microphone data
-    microphone @103 :Microphone;
+    soundPressure @103 :SoundPressure;
+    rawAudioData @147 :AudioData;
 
     # systems stuff
     androidLog @20 :AndroidLogEntry;

cereal/services.py

@@ -73,7 +73,8 @@ _services: dict[str, tuple] = {
   "navThumbnail": (True, 0.),
   "qRoadEncodeIdx": (False, 20.),
   "userFlag": (True, 0., 1),
-  "microphone": (True, 10., 10),
+  "soundPressure": (True, 10., 10),
+  "rawAudioData": (False, 20.),
 
   # debug
   "uiDebug": (True, 0., 1),

codecov.yml

@@ -1,13 +0,0 @@
-comment: false
-coverage:
-  status:
-    project:
-      default:
-        informational: true
-    patch: off
-
-ignore:
-  - "**/test_*.py"
-  - "selfdrive/test/**"
-  - "system/version.py" # codecov changes depending on if we are in a branch or not
-  - "tools"

common/params_keys.h

@@ -99,6 +99,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
     {"PrimeType", PERSISTENT},
+    {"RecordAudio", PERSISTENT},
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
     {"SecOCKey", PERSISTENT | DONT_LOG},

common/spinner.py

@@ -0,0 +1,52 @@
+import os
+import subprocess
+from openpilot.common.basedir import BASEDIR
+
+
+class Spinner:
+  def __init__(self):
+    try:
+      self.spinner_proc = subprocess.Popen(["./spinner.py"],
+                                           stdin=subprocess.PIPE,
+                                           cwd=os.path.join(BASEDIR, "system", "ui"),
+                                           close_fds=True)
+    except OSError:
+      self.spinner_proc = None
+
+  def __enter__(self):
+    return self
+
+  def update(self, spinner_text: str):
+    if self.spinner_proc is not None:
+      self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
+      try:
+        self.spinner_proc.stdin.flush()
+      except BrokenPipeError:
+        pass
+
+  def update_progress(self, cur: float, total: float):
+    self.update(str(round(100 * cur / total)))
+
+  def close(self):
+    if self.spinner_proc is not None:
+      self.spinner_proc.kill()
+      try:
+        self.spinner_proc.communicate(timeout=2.)
+      except subprocess.TimeoutExpired:
+        print("WARNING: failed to kill spinner")
+      self.spinner_proc = None
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.close()
+
+
+if __name__ == "__main__":
+  import time
+  with Spinner() as s:
+    s.update("Spinner text")
+    time.sleep(5.0)
+  print("gone")
+  time.sleep(5.0)

common/text_window.py

@@ -0,0 +1,63 @@
+#!/usr/bin/env python3
+import os
+import time
+import subprocess
+from openpilot.common.basedir import BASEDIR
+
+
+class TextWindow:
+  def __init__(self, text):
+    try:
+      self.text_proc = subprocess.Popen(["./text.py", text],
+                                        stdin=subprocess.PIPE,
+                                        cwd=os.path.join(BASEDIR, "system", "ui"),
+                                        close_fds=True)
+    except OSError:
+      self.text_proc = None
+
+  def get_status(self):
+    if self.text_proc is not None:
+      self.text_proc.poll()
+      return self.text_proc.returncode
+    return None
+
+  def __enter__(self):
+    return self
+
+  def close(self):
+    if self.text_proc is not None:
+      self.text_proc.terminate()
+      self.text_proc = None
+
+  def wait_for_exit(self):
+    if self.text_proc is not None:
+      while True:
+        if self.get_status() == 1:
+          return
+        time.sleep(0.1)
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.close()
+
+
+if __name__ == "__main__":
+  text = """Traceback (most recent call last):
+  File "./controlsd.py", line 608, in <module>
+    main()
+  File "./controlsd.py", line 604, in main
+    controlsd_thread(sm, pm, logcan)
+  File "./controlsd.py", line 455, in controlsd_thread
+    1/0
+ZeroDivisionError: division by zero"""
+  print(text)
+
+  with TextWindow(text) as s:
+    for _ in range(100):
+      if s.get_status() == 1:
+        print("Got exit button")
+        break
+      time.sleep(0.1)
+  print("gone")

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.9"
+#define COMMA_VERSION "0.9.10"

common/watchdog.py

@@ -0,0 +1,22 @@
+import os
+import time
+import struct
+from openpilot.system.hardware.hw import Paths
+
+WATCHDOG_FN = f"{Paths.shm_path()}/wd_"
+_LAST_KICK = 0.0
+
+def kick_watchdog():
+  global _LAST_KICK
+  current_time = time.monotonic()
+
+  if current_time - _LAST_KICK < 1.0:
+    return
+
+  try:
+    with open(f"{WATCHDOG_FN}{os.getpid()}", 'wb') as f:
+      f.write(struct.pack('<Q', int(current_time * 1e9)))
+      f.flush()
+    _LAST_KICK = current_time
+  except OSError:
+    pass

conftest.py

@@ -2,7 +2,6 @@ import contextlib
 import gc
 import os
 import pytest
-import random
 
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
@@ -48,8 +47,6 @@ def clean_env():
 
 @pytest.fixture(scope="function", autouse=True)
 def openpilot_function_fixture(request):
-  random.seed(0)
-
   with clean_env():
     # setup a clean environment for each test
     with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:

docs/CARS.md

@@ -15,7 +15,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>|||
 |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
 |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>|||
+|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-24">Buy Here</a></sub></details>|||
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>|||
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -38,6 +38,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2023-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
+|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Expedition 2022-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=MewJc9LYp9M|
 |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>|||
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 2021-23">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=MewJc9LYp9M|
@@ -53,7 +54,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
-|Ford|Mustang Mach-E 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Mustang Mach-E 2021-23">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
+|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Mustang Mach-E 2021-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
 |Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Ranger 2024">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>|||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>|||
@@ -77,8 +78,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback Hybrid 2023 (Europe only)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2023 (Europe only)">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
@@ -115,7 +116,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2022">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -181,12 +181,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>|||
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>|||
+|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-25">Buy Here</a></sub></details>|||
 |Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>|||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>|||
-|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>|||
+|Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-24">Buy Here</a></sub></details>|||
 |Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=LC 2024">Buy Here</a></sub></details>|||
 |Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>|||
 |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>|||
@@ -313,11 +313,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>|||
+|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-24">Buy Here</a></sub></details>|||
 |Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>|||
 |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
 |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>|||
 |Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>|||
 

docs/CONTRIBUTING.md

@@ -7,7 +7,6 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
 ### Getting Started
 
 * Setup your [development environment](../tools/)
-* Read about the [development workflow](WORKFLOW.md)
 * Join our [Discord](https://discord.comma.ai)
 * Docs are at https://docs.comma.ai and https://blog.comma.ai
 

docs/WORKFLOW.md

@@ -1,33 +0,0 @@
-# openpilot development workflow
-
-Aside from the ML models, most tools used for openpilot development are in this repo.
-
-Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the [setup guide](../tools) for getting your PC setup for openpilot development.
-
-## Quick start
-
-```bash
-# get the latest stuff
-git pull
-git lfs pull
-git submodule update --init --recursive
-
-# update dependencies
-tools/ubuntu_setup.sh
-
-# build everything
-scons -j$(nproc)
-
-# build just the ui with either of these
-scons -j8 selfdrive/ui/
-cd selfdrive/ui/ && scons -u -j8
-
-# test everything
-pytest
-
-# test just logging services
-cd system/loggerd && pytest .
-
-# run the linter
-op lint
-```

git_src_commit

@@ -1 +1 @@
-8aadf02b2fd91f4e1285e18c2c7feb32d93b66f5
+c807ecd7e173908ef0ae6ce0e72102a629369957

git_src_commit_date

@@ -1 +1 @@
-1749153081 2025-06-05 12:51:21 -0700
+1751594279 2025-07-03 18:57:59 -0700

opendbc_repo/docs/CARS.md

@@ -1,6 +1,6 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
-# Support Information for 361 Known Cars
+# Support Information for 363 Known Cars
 
 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
@@ -14,7 +14,7 @@
 |Audi|A4 2016-24|All|[Not compatible](#flexray)|
 |Audi|A5 2016-24|All|[Not compatible](#flexray)|
 |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Audi|Q5 2017-24|All|[Not compatible](#flexray)|
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
@@ -38,6 +38,7 @@
 |Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
+|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
 |Ford|Explorer 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
@@ -53,7 +54,7 @@
 |Ford|Maverick 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)|
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|[Upstream](#upstream)|
 |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)|
-|Ford|Mustang Mach-E 2021-23|All|[Upstream](#upstream)|
+|Ford|Mustang Mach-E 2021-24|All|[Upstream](#upstream)|
 |Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
 |Genesis|G70 2018|All|[Upstream](#upstream)|
 |Genesis|G70 2019-21|All|[Upstream](#upstream)|
@@ -79,8 +80,8 @@
 |Honda|Civic 2022-24|All|[Upstream](#upstream)|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|[Upstream](#upstream)|
 |Honda|Civic Hatchback 2022-24|All|[Upstream](#upstream)|
-|Honda|Civic Hatchback Hybrid 2023 (Europe only)|All|[Upstream](#upstream)|
 |Honda|Civic Hatchback Hybrid 2025|All|[Upstream](#upstream)|
+|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|[Upstream](#upstream)|
 |Honda|Clarity 2018-21|All|[Community](#community)|
 |Honda|CR-V 2015-16|Touring Trim|[Upstream](#upstream)|
 |Honda|CR-V 2017-22|Honda Sensing|[Upstream](#upstream)|
@@ -192,13 +193,13 @@
 |Kia|Telluride 2023-24|HDA2|[Community](#community)|
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|[Upstream](#upstream)|
 |Lexus|ES 2017-18|All|[Upstream](#upstream)|
-|Lexus|ES 2019-24|All|[Upstream](#upstream)|
+|Lexus|ES 2019-25|All|[Upstream](#upstream)|
 |Lexus|ES Hybrid 2017-18|All|[Upstream](#upstream)|
 |Lexus|ES Hybrid 2019-25|All|[Upstream](#upstream)|
 |Lexus|GS F 2016|All|[Upstream](#upstream)|
 |Lexus|IS 2017-19|All|[Upstream](#upstream)|
-|Lexus|IS 2022-23|All|[Upstream](#upstream)|
-|Lexus|LC 2024|All|[Upstream](#upstream)|
+|Lexus|IS 2022-24|All|[Upstream](#upstream)|
+|Lexus|LC 2024-25|All|[Upstream](#upstream)|
 |Lexus|NS 2022-25|Any|[Not compatible](#can-bus-security)|
 |Lexus|NX 2018-19|All|[Upstream](#upstream)|
 |Lexus|NX 2020-21|All|[Upstream](#upstream)|
@@ -316,14 +317,15 @@
 |Toyota|RAV4 Hybrid 2019-21|All|[Upstream](#upstream)|
 |Toyota|RAV4 Hybrid 2022|All|[Upstream](#upstream)|
 |Toyota|RAV4 Hybrid 2023-25|All|[Upstream](#upstream)|
-|Toyota|RAV4 Prime 2021-23|Any|[Community](#community)|
+|Toyota|RAV4 Prime 2021-23|All|[Community](#community)|
 |Toyota|RAV4 Prime 2024-25|Any|[Not compatible](#can-bus-security)|
 |Toyota|Sequoia 2023-25|Any|[Not compatible](#can-bus-security)|
 |Toyota|Sienna 2018-20|All|[Upstream](#upstream)|
-|Toyota|Sienna 2021-23|Any|[Community](#community)|
+|Toyota|Sienna 2021-23|All|[Community](#community)|
 |Toyota|Sienna 2024-25|Any|[Not compatible](#can-bus-security)|
 |Toyota|Tundra 2022-25|Any|[Not compatible](#can-bus-security)|
 |Toyota|Venza 2021-25|Any|[Not compatible](#can-bus-security)|
+|Toyota|Yaris (Non-US only) 2023|All|[Community](#community)|
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
@@ -358,11 +360,11 @@
 |Volkswagen|Sharan 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
 |Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 

opendbc_repo/opendbc/car/body/fingerprints.py

@@ -1,4 +1,4 @@
-# ruff: noqa: E501
+""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
 from opendbc.car.structs import CarParams
 from opendbc.car.body.values import CAR
 

opendbc_repo/opendbc/car/chrysler/fingerprints.py

@@ -1,3 +1,4 @@
+""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
 from opendbc.car.structs import CarParams
 from opendbc.car.chrysler.values import CAR
 
@@ -130,6 +131,7 @@ FW_VERSIONS = {
       b'68496647AJ ',
       b'68496650AH ',
       b'68496650AI ',
+      b'68496650AL ',
       b'68496652AH ',
       b'68526752AD ',
       b'68526752AE ',
@@ -145,6 +147,7 @@ FW_VERSIONS = {
       b'68414275AC',
       b'68414275AD',
       b'68443154AB',
+      b'68443154AC',
       b'68443155AC',
       b'68443158AB',
       b'68501050AD',
@@ -206,6 +209,7 @@ FW_VERSIONS = {
       b'68529064AB',
       b'68594990AB',
       b'68594990AD',
+      b'68594991AB',
     ],
     (Ecu.srs, 0x744, None): [
       b'68405567AB',
@@ -233,6 +237,7 @@ FW_VERSIONS = {
       b'68594341AB',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'68416680AD ',
       b'68416680AE ',
       b'68416680AF ',
       b'68416680AG ',
@@ -262,6 +267,7 @@ FW_VERSIONS = {
       b'05190289AE',
       b'68540977AH',
       b'68540977AK',
+      b'68540977AL',
       b'68597647AE',
       b'68597647AF',
       b'68632416AB',
@@ -382,6 +388,7 @@ FW_VERSIONS = {
       b'68412635AE ',
       b'68412635AG ',
       b'68412660AD ',
+      b'68412660AF ',
       b'68422860AB',
       b'68449435AE ',
       b'68496223AA ',
@@ -417,6 +424,7 @@ FW_VERSIONS = {
       b'68434847AC',
       b'68434849AC',
       b'68434850AC',
+      b'68434855AC',
       b'68434856AC',
       b'68434858AC',
       b'68434859AC',
@@ -469,6 +477,7 @@ FW_VERSIONS = {
     ],
     (Ecu.srs, 0x744, None): [
       b'68428609AB',
+      b'68441329AA',
       b'68441329AB',
       b'68473844AB',
       b'68490898AA',
@@ -494,6 +503,8 @@ FW_VERSIONS = {
       b'68548900AC',
       b'68586307AB',
       b'68586307AC',
+      b'68728724AA',
+      b'68728727AA',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672892AB',
@@ -525,6 +536,7 @@ FW_VERSIONS = {
       b'68466110AA',
       b'68466110AB',
       b'68466113AA',
+      b'68466116AA',
       b'68469901AA',
       b'68469904AA',
       b'68469907AA',
@@ -570,6 +582,7 @@ FW_VERSIONS = {
       b'05190346AD',
       b'68378695AI ',
       b'68378695AJ ',
+      b'68378695AK ',
       b'68378696AJ ',
       b'68378696AK ',
       b'68378701AI ',
@@ -591,6 +604,7 @@ FW_VERSIONS = {
       b'68455119AC ',
       b'68455137AC ',
       b'68455142AC ',
+      b'68455142AE ',
       b'68455145AC ',
       b'68455145AE ',
       b'68455146AC ',
@@ -602,11 +616,13 @@ FW_VERSIONS = {
       b'68467936AC ',
       b'68500630AD',
       b'68500630AE',
+      b'68500630AF',
       b'68500631AE',
       b'68502719AC ',
       b'68502722AC ',
       b'68502733AC ',
       b'68502734AF ',
+      b'68502737AF ',
       b'68502740AF ',
       b'68502741AF ',
       b'68502742AC ',
@@ -639,6 +655,7 @@ FW_VERSIONS = {
       b'68360081AN',
       b'68360085AH',
       b'68360085AJ',
+      b'68360085AK',
       b'68360085AL',
       b'68360085AO',
       b'68360086AH',

opendbc_repo/opendbc/car/debug/format_fingerprints.py

@@ -2,11 +2,11 @@
 import jinja2
 import os
 
-from cereal import car
-from openpilot.common.basedir import BASEDIR
+from opendbc.car.common.basedir import BASEDIR
 from opendbc.car.interfaces import get_interface_attr
+from opendbc.car.structs import CarParams
 
-Ecu = car.CarParams.Ecu
+Ecu = CarParams.Ecu
 
 CARS = get_interface_attr('CAR')
 FW_VERSIONS = get_interface_attr('FW_VERSIONS')
@@ -14,9 +14,10 @@ FINGERPRINTS = get_interface_attr('FINGERPRINTS')
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
-{%- if FINGERPRINTS[brand] %}
+{%- if FINGERPRINTS[brand] and brand != 'body' %}
 # ruff: noqa: E501
 {% endif %}
+\"\"\" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE.\"\"\"
 {% if FW_VERSIONS[brand] %}
 from opendbc.car.structs import CarParams
 {% endif %}
@@ -66,7 +67,7 @@ FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{
 def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tuple, list[bytes]]] = None):
   extra_fw_versions = extra_fw_versions or {}
 
-  fingerprints_file = os.path.join(BASEDIR, f"opendbc/car/{brand}/fingerprints.py")
+  fingerprints_file = os.path.join(BASEDIR, f"{brand}/fingerprints.py")
   with open(fingerprints_file) as f:
     comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
 

opendbc_repo/opendbc/car/extra_cars.py

@@ -55,10 +55,8 @@ class CAR(Platforms):
       ToyotaSecurityCarDocs("Toyota Camry 2025"),
       ToyotaSecurityCarDocs("Toyota Corolla Cross 2022-25"),
       ToyotaSecurityCarDocs("Toyota Highlander 2025"),
-      CommunityCarDocs("Toyota RAV4 Prime 2021-23"),
       ToyotaSecurityCarDocs("Toyota RAV4 Prime 2024-25"),
       ToyotaSecurityCarDocs("Toyota Sequoia 2023-25"),
-      CommunityCarDocs("Toyota Sienna 2021-23"),
       ToyotaSecurityCarDocs("Toyota Sienna 2024-25"),
       ToyotaSecurityCarDocs("Toyota Tundra 2022-25"),
       ToyotaSecurityCarDocs("Toyota Venza 2021-25"),

opendbc_repo/opendbc/car/ford/carcontroller.py

@@ -3,7 +3,7 @@ import numpy as np
 from opendbc.can.packer import CANPacker
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_std_steer_angle_limits, structs
 from opendbc.car.ford import fordcan
-from opendbc.car.ford.values import CarControllerParams, FordFlags
+from opendbc.car.ford.values import CarControllerParams, FordFlags, CAR
 from opendbc.car.interfaces import CarControllerBase, ISO_LATERAL_ACCEL, V_CRUISE_MAX
 
 LongCtrlState = structs.CarControl.Actuators.LongControlState
@@ -15,6 +15,26 @@ AVERAGE_ROAD_ROLL = 0.06  # ~3.4 degrees, 6% superelevation. higher actual roll
 MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)  # ~2.4 m/s^2
 
 
+def anti_overshoot(new_curvature, last_curvature, v_ego):
+    diff = 0.05
+    tau = 5 # 5s smooths over the overshoot
+    dt = DT_CTRL * CarControllerParams.STEER_STEP
+    alpha = 1 - np.exp(-dt/tau)
+
+    lataccel = new_curvature * (v_ego ** 2)
+    last_lataccel = last_curvature * (v_ego ** 2)
+
+    if lataccel > last_lataccel + diff:
+        last_lataccel = lataccel - diff
+    elif lataccel < last_lataccel - diff:
+        last_lataccel = lataccel + diff
+    last_lataccel =  alpha * lataccel + (1 - alpha) * last_lataccel
+
+    output_curvature = last_lataccel / (v_ego ** 2 + 1e-6)
+
+    return np.interp(v_ego, [5, 10], [new_curvature, output_curvature])
+
+
 def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw, steering_angle, lat_active, CP):
   # No blending at low speed due to lack of torque wind-up and inaccurate current curvature
   if v_ego_raw > 9:
@@ -48,6 +68,7 @@ class CarController(CarControllerBase):
     self.CAN = fordcan.CanBus(CP)
 
     self.apply_curvature_last = 0
+    self.anti_overshoot_curvature_last = 0
     self.accel = 0.0
     self.gas = 0.0
     self.brake_request = False
@@ -82,9 +103,18 @@ class CarController(CarControllerBase):
     ### lateral control ###
     # send steer msg at 20Hz
     if (self.frame % CarControllerParams.STEER_STEP) == 0:
+      # Bronco and some other cars consistently overshoot curv requests
+      # Apply some deadzone + smoothing convergence to avoid oscillations
+      if self.CP.carFingerprint in [CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_F_150_MK14]:
+        self.anti_overshoot_curvature_last = anti_overshoot(actuators.curvature, self.anti_overshoot_curvature_last, CS.out.vEgoRaw)
+        request_curvature = self.anti_overshoot_curvature_last
+      else:
+        request_curvature = actuators.curvature
+
       # apply rate limits, curvature error limit, and clip to signal range
       current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
-      self.apply_curvature_last = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature,
+
+      self.apply_curvature_last = apply_ford_curvature_limits(request_curvature, self.apply_curvature_last, current_curvature,
                                                               CS.out.vEgoRaw, 0., CC.latActive, self.CP)
 
       if self.CP.flags & FordFlags.CANFD:

opendbc_repo/opendbc/car/ford/fingerprints.py

@@ -1,3 +1,4 @@
+""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
 from opendbc.car.structs import CarParams
 from opendbc.car.ford.values import CAR
 
@@ -106,21 +107,27 @@ FW_VERSIONS = {
   CAR.FORD_F_150_MK14: {
     (Ecu.eps, 0x730, None): [
       b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'ML3V-14D003-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
       b'NL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PL34-2D053-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PL3V-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PL3V-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
       b'ML3T-14H102-ABR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PJ6T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'RJ6T-14H102-ACJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'RJ6T-14H102-BBC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.FORD_F_150_LIGHTNING_MK1: {
@@ -144,10 +151,13 @@ FW_VERSIONS = {
     (Ecu.eps, 0x730, None): [
       b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LJ9C-14D003-FA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LJ9C-14D003-GA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LJ9C-14D003-HA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
       b'LK9C-2D053-CK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LK9C-2D053-CN\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -193,11 +203,13 @@ FW_VERSIONS = {
   },
   CAR.FORD_RANGER_MK2: {
     (Ecu.eps, 0x730, None): [
+      b'NB3C-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NL14-14D003-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'RB3C-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
       b'PB3C-2D053-ZD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PB3C-2D053-ZG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PB3C-2D053-ZJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [

opendbc_repo/opendbc/car/ford/values.py

@@ -135,7 +135,7 @@ class CAR(Platforms):
   )
   FORD_ESCAPE_MK4_5 = FordCANFDPlatformConfig(
     [
-      FordCarDocs("Ford Escape 2023-24", hybrid=True, plug_in_hybrid=True),
+      FordCarDocs("Ford Escape 2023-24", hybrid=True, plug_in_hybrid=True, setup_video="https://www.youtube.com/watch?v=M6uXf4b2SHM"),
       FordCarDocs("Ford Kuga Hybrid 2024", "All"),
       FordCarDocs("Ford Kuga Plug-in Hybrid 2024", "All"),
     ],
@@ -172,7 +172,7 @@ class CAR(Platforms):
     CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
   )
   FORD_MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
-    [FordCarDocs("Ford Mustang Mach-E 2021-23", "All", setup_video="https://www.youtube.com/watch?v=AR4_eTF3b_A")],
+    [FordCarDocs("Ford Mustang Mach-E 2021-24", "All", setup_video="https://www.youtube.com/watch?v=AR4_eTF3b_A")],
     CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0),  # TODO: check steer ratio
   )
   FORD_RANGER_MK2 = FordCANFDPlatformConfig(

opendbc_repo/opendbc/car/gm/fingerprints.py

@@ -1,4 +1,5 @@
 # ruff: noqa: E501
+""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
 from opendbc.car.gm.values import CAR
 
 # Trailblazer also matches as a SILVERADO, TODO: split with fw versions

opendbc_repo/opendbc/car/honda/carstate.py

@@ -83,7 +83,7 @@ class CarState(CarStateBase):
     self.gearbox_msg = "GEARBOX"
     if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt:
       self.gearbox_msg = "GEARBOX_15T"
-    elif CP.carFingerprint == CAR.HONDA_CIVIC_2022 and CP.transmissionType == TransmissionType.cvt:
+    elif CP.carFingerprint in (CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G) and CP.transmissionType == TransmissionType.cvt:
       self.gearbox_msg = "GEARBOX_ALT"
     elif CP.transmissionType == TransmissionType.manual:
       self.gearbox_msg = "GEARBOX_ALT_2"

opendbc_repo/opendbc/car/honda/fingerprints.py

@@ -1,3 +1,4 @@
+""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
 from opendbc.car.structs import CarParams
 from opendbc.car.honda.values import CAR
 
@@ -54,6 +55,7 @@ FW_VERSIONS = {
       b'57114-TVA-C050\x00\x00',
       b'57114-TVA-C060\x00\x00',
       b'57114-TVA-C530\x00\x00',
+      b'57114-TVA-D520\x00\x00',
       b'57114-TVA-E520\x00\x00',
       b'57114-TVE-H250\x00\x00',
       b'57114-TWA-A040\x00\x00',
@@ -190,6 +192,7 @@ FW_VERSIONS = {
       b'28101-5CK-C150\x00\x00',
       b'28101-5CK-G210\x00\x00',
       b'28101-5CK-J710\x00\x00',
+      b'28101-5CK-Q110\x00\x00',
       b'28101-5CK-Q610\x00\x00',
       b'28101-5DJ-A610\x00\x00',
       b'28101-5DJ-A710\x00\x00',
@@ -207,12 +210,14 @@ FW_VERSIONS = {
       b'57114-TGG-L320\x00\x00',
       b'57114-TGG-L330\x00\x00',
       b'57114-TGH-L130\x00\x00',
+      b'57114-TGJ-Q330\x00\x00',
       b'57114-TGK-T320\x00\x00',
       b'57114-TGL-G330\x00\x00',
     ],
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TBA-C020\x00\x00',
       b'39990-TBA-C120\x00\x00',
+      b'39990-TEA-T330\x00\x00',
       b'39990-TEA-T820\x00\x00',
       b'39990-TEZ-T020\x00\x00',
       b'39990-TGG,A020\x00\x00',
@@ -234,6 +239,7 @@ FW_VERSIONS = {
       b'77959-TGG-G010\x00\x00',
       b'77959-TGG-G110\x00\x00',
       b'77959-TGG-J320\x00\x00',
+      b'77959-TGG-Q810\x00\x00',
       b'77959-TGG-Z820\x00\x00',
       b'77959-TGH-J110\x00\x00',
     ],
@@ -248,6 +254,7 @@ FW_VERSIONS = {
       b'36802-TGG-G040\x00\x00',
       b'36802-TGG-G130\x00\x00',
       b'36802-TGH-A140\x00\x00',
+      b'36802-TGK-Q030\x00\x00',
       b'36802-TGK-Q120\x00\x00',
       b'36802-TGL-G040\x00\x00',
     ],
@@ -263,6 +270,7 @@ FW_VERSIONS = {
       b'36161-TGG-G130\x00\x00',
       b'36161-TGG-G140\x00\x00',
       b'36161-TGH-A140\x00\x00',
+      b'36161-TGK-Q040\x00\x00',
       b'36161-TGK-Q120\x00\x00',
       b'36161-TGL-G050\x00\x00',
       b'36161-TGL-G070\x00\x00',
@@ -793,18 +801,22 @@ FW_VERSIONS = {
   CAR.HONDA_HRV_3G: {
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-3M0-G110\x00\x00',
+      b'39990-3M0-J030\x00\x00',
       b'39990-3W0-A030\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-3M0-M110\x00\x00',
+      b'38897-3M0-Z010\x00\x00',
       b'38897-3W1-A010\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-3M0-K840\x00\x00',
+      b'77959-3N1-Z840\x00\x00',
       b'77959-3V0-A820\x00\x00',
       b'77959-3V0-A910\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'8S102-3M3-T050\x00\x00',
       b'8S102-3M6-P030\x00\x00',
       b'8S102-3W0-A060\x00\x00',
       b'8S102-3W0-AB10\x00\x00',
@@ -812,6 +824,7 @@ FW_VERSIONS = {
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-3M6-M010\x00\x00',
+      b'57114-3N1-T020\x00\x00',
       b'57114-3W0-A040\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
@@ -867,10 +880,10 @@ FW_VERSIONS = {
       b'39990-T39-A130\x00\x00',
       b'39990-T43-J020\x00\x00',
       b'39990-T43-J030\x00\x00',
-      b'39990-T60-J030\x00\x00',
-      b'39990-T56-A040\x00\x00',
       b'39990-T50-J030\x00\x00',
       b'39990-T50-J110\x00\x00',
+      b'39990-T56-A040\x00\x00',
+      b'39990-T60-J030\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-T20-A020\x00\x00',
@@ -881,10 +894,10 @@ FW_VERSIONS = {
       b'38897-T22-A110\x00\x00',
       b'38897-T24-Z120\x00\x00',
       b'38897-T47-AA20\x00\x00',
-      b'38897-T60-A110\x00\x00',
-      b'38897-T61-A320\x00\x00',
       b'38897-T50-E310\x00\x00',
       b'38897-T50-EA10\x00\x00',
+      b'38897-T60-A110\x00\x00',
+      b'38897-T61-A320\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-T20-A970\x00\x00',
@@ -893,11 +906,11 @@ FW_VERSIONS = {
       b'77959-T39-A910\x00\x00',
       b'77959-T47-A940\x00\x00',
       b'77959-T47-A950\x00\x00',
+      b'77959-T50-G010\x00\x00',
+      b'77959-T50-G930\x00\x00',
       b'77959-T60-A920\x00\x00',
       b'77959-T61-A920\x00\x00',
-      b'77959-T50-G930\x00\x00',
       b'77959-T65-A920\x00\x00',
-      b'77959-T50-G010\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36161-T20-A060\x00\x00',
@@ -906,15 +919,16 @@ FW_VERSIONS = {
       b'36161-T24-T070\x00\x00',
       b'36161-T38-A060\x00\x00',
       b'36161-T47-A050\x00\x00',
+      b'36161-T47-A060\x00\x00',
       b'36161-T47-A070\x00\x00',
-      b'8S102-T47-AA20\x00\x00',
       b'8S102-T20-AA10\x00\x00',
+      b'8S102-T43-J540\x00\x00',
       b'8S102-T47-AA10\x00\x00',
-      b'8S102-T60-AA10\x00\x00',
-      b'8S102-T56-A060\x00\x00',
+      b'8S102-T47-AA20\x00\x00',
       b'8S102-T50-EA10\x00\x00',
+      b'8S102-T56-A060\x00\x00',
+      b'8S102-T60-AA10\x00\x00',
       b'8S102-T64-A040\x00\x00',
-      b'8S102-T43-J540\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-T20-AB40\x00\x00',
@@ -922,9 +936,9 @@ FW_VERSIONS = {
       b'57114-T38-AA20\x00\x00',
       b'57114-T43-JA30\x00\x00',
       b'57114-T43-JB30\x00\x00',
+      b'57114-T50-JC20\x00\x00',
       b'57114-T60-AA20\x00\x00',
       b'57114-T61-AJ30\x00\x00',
-      b'57114-T50-JC20\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-65D-A020\x00\x00',

opendbc_repo/opendbc/car/honda/interface.py

@@ -73,7 +73,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.HONDA_CIVIC_2022 and all(msg not in fingerprint[CAN.pt] for msg in (0x191, 0x1A3)):
       ret.transmissionType = TransmissionType.manual
     # New Civics don't have 0x191, but do have 0x1A3
-    elif candidate == CAR.HONDA_CIVIC_2022 and 0x1A3 in fingerprint[CAN.pt]:
+    elif candidate in (CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G) and 0x1A3 in fingerprint[CAN.pt]:
       ret.transmissionType = TransmissionType.cvt
 
     # Certain Hondas have an extra steering sensor at the bottom of the steering rack,

opendbc_repo/opendbc/car/honda/values.py

@@ -168,7 +168,7 @@ class CAR(Platforms):
     [
       HondaCarDocs("Honda Civic 2022-24", "All", video="https://youtu.be/ytiOT5lcp6Q"),
       HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video="https://youtu.be/ytiOT5lcp6Q"),
-      HondaCarDocs("Honda Civic Hatchback Hybrid 2023 (Europe only)", "All"),
+      HondaCarDocs("Honda Civic Hatchback Hybrid (Europe only) 2023", "All"),
       # TODO: Confirm 2024
       HondaCarDocs("Honda Civic Hatchback Hybrid 2025", "All"),
     ],

opendbc_repo/opendbc/car/hyundai/fingerprints.py

@@ -1,3 +1,4 @@
+""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
 from opendbc.car.structs import CarParams
 from opendbc.car.hyundai.values import CAR
 
@@ -50,6 +51,8 @@ FW_VERSIONS = {
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00AE  MDPS C 1.00 1.03 56310/G2300 4AEHC103',
+      b'\xf1\x00AE  MDPS C 1.00 1.03 56310G2300\x00 4AEHC103',
+      b'\xf1\x00AE  MDPS C 1.00 1.05 56310/G2500 4AEHC105',
       b'\xf1\x00AE  MDPS C 1.00 1.05 56310/G2501 4AEHC105',
       b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2301 4AEHC107',
       b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2501 4AEHC107',
@@ -58,8 +61,9 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00AEH MFC  AT EUR LHD 1.00 1.00 95740-G2400 180222',
       b'\xf1\x00AEH MFC  AT EUR LHD 1.00 1.00 95740-G7200 160418',
-      b'\xf1\x00AEH MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
       b'\xf1\x00AEH MFC  AT EUR RHD 1.00 1.00 95740-G2400 180222',
+      b'\xf1\x00AEH MFC  AT USA LHD 1.00 1.00 95740-G2300 170703',
+      b'\xf1\x00AEH MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
     ],
   },
   CAR.HYUNDAI_IONIQ_PHEV_2019: {
@@ -141,8 +145,8 @@ FW_VERSIONS = {
   },
   CAR.HYUNDAI_IONIQ_HEV_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00AEhe SCC F-CUP      1.00 1.02 99110-G2100         ',
       b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
+      b'\xf1\x00AEhe SCC F-CUP      1.00 1.02 99110-G2100         ',
       b'\xf1\x00AEhe SCC FHCUP      1.00 1.00 99110-G2600         ',
       b'\xf1\x00AEhe SCC FHCUP      1.00 1.02 99110-G2100         ',
     ],
@@ -151,8 +155,8 @@ FW_VERSIONS = {
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00AEH MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEH MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
+      b'\xf1\x00AEH MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
     ],
   },
   CAR.HYUNDAI_SONATA: {
@@ -160,6 +164,7 @@ FW_VERSIONS = {
       b'\xf1\x00DN8_ SCC F-CU-      1.00 1.00 99110-L0000         ',
       b'\xf1\x00DN8_ SCC F-CUP      1.00 1.00 99110-L0000         ',
       b'\xf1\x00DN8_ SCC F-CUP      1.00 1.02 99110-L1000         ',
+      b'\xf1\x00DN8_ SCC FHCU-      1.00 1.00 99110-L0000         ',
       b'\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
       b'\xf1\x00DN8_ SCC FHCUP      1.00 1.01 99110-L1000         ',
       b'\xf1\x00DN8_ SCC FHCUP      1.00 1.02 99110-L1000         ',
@@ -279,8 +284,8 @@ FW_VERSIONS = {
       b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
       b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
       b'\xf1\x00TM ESC \x04 103"\x07\x08 58910-S2GA0',
-      b'\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0',
       b'\xf1\x00TM ESC \x1b 102 \x08\x08 58910-S1DA0',
+      b'\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0',
       b'\xf1\x00TM ESC   103!\x030 58910-S1MA0',
     ],
     (Ecu.eps, 0x7d4, None): [
@@ -353,6 +358,7 @@ FW_VERSIONS = {
   },
   CAR.KIA_STINGER: {
     (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CK__ SCC FHCUP      1.00 1.02 96400-J5000         ',
       b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5000         ',
       b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5100         ',
       b'\xf1\x00CK__ SCC F_CUP      1.00 1.02 96400-J5100         ',
@@ -368,6 +374,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CK  MFC  AT EUR LHD 1.00 1.03 95740-J5000 170822',
+      b'\xf1\x00CK  MFC  AT KOR LHD 1.00 1.04 95740-J5000 180504',
       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',
     ],
@@ -384,6 +391,7 @@ FW_VERSIONS = {
       b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5320 4C2VL503',
       b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5380 4C2VR503',
       b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5520 4C4VL503',
+      b'\xf1\x00CK  MDPS R 1.00 5.04 57700-J5320 4C2VL504',
       b'\xf1\x00CK  MDPS R 1.00 5.04 57700-J5520 4C4VL504',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
@@ -425,6 +433,7 @@ FW_VERSIONS = {
       b'\xf1\x00LX ESC \x0b 104 \x10\x13 58910-S8330',
       b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360',
       b'\xf1\x00ON ESC \x01 101\x19\t\x08 58910-S9360',
+      b'\xf1\x00ON ESC \x01 103$\x04\x08 58910-S9360',
       b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
       b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320',
       b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
@@ -733,14 +742,14 @@ FW_VERSIONS = {
   },
   CAR.KIA_NIRO_EV_2ND_GEN: {
     (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00SG__ RDR -----      1.00 1.00 99110-AT200         ',
       b'\xf1\x00SG2_ RDR -----      1.00 1.01 99110-AT000         ',
+      b'\xf1\x00SG__ RDR -----      1.00 1.00 99110-AT200         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00SG2EMFC  AT EUR LHD 1.00 1.00 99211-AT200 240315',
       b'\xf1\x00SG2EMFC  AT EUR LHD 1.01 1.09 99211-AT000 220801',
-      b'\xf1\x00SG2EMFC  AT USA LHD 1.01 1.09 99211-AT000 220801',
       b'\xf1\x00SG2EMFC  AT USA LHD 1.00 1.00 99211-AT200 240401',
+      b'\xf1\x00SG2EMFC  AT USA LHD 1.01 1.09 99211-AT000 220801',
     ],
   },
   CAR.KIA_NIRO_PHEV: {
@@ -1015,6 +1024,7 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.00 99211-GI100 230915',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI100 240110',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.02 99211-GI010 211206',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.03 99211-GI010 220401',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI010 230110',
@@ -1028,6 +1038,7 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI020 230719',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI100 230915',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI100 240110',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
@@ -1049,9 +1060,9 @@ FW_VERSIONS = {
   },
   CAR.HYUNDAI_TUCSON_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9220 14K',
       b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9260 14Y',
       b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A',
-      b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9220 14K',
       b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K',
       b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
@@ -1153,6 +1164,7 @@ FW_VERSIONS = {
       b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.12 99210-P2000 230331',
       b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.10 99210-P2000 210406',
       b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.11 99210-P2000 211217',
+      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.12 99210-P2000 230331',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00MQhe SCC FHCUP      1.00 1.04 99110-P4000         ',
@@ -1232,16 +1244,16 @@ FW_VERSIONS = {
       b'\xf1\x00OSP LKA  AT USA LHD 1.00 1.04 99211-J9200 904',
     ],
     (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00OSP MDPS C 1.00 1.04 56310/J9291 4OPCC104',
       b'\xf1\x00OSP MDPS C 1.00 1.04 56310/J9290 4OPCC104',
+      b'\xf1\x00OSP MDPS C 1.00 1.04 56310/J9291 4OPCC104',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-J9000      \x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00T01960BL  T01E60A1  DOS2T16X4XE60NS4N\x90\xe6\xcb',
       b'\xf1\x00T01G00BL  T01I00A1  DOS2T16X2XI00NS0\x8c`\xff\xe7',
       b'\xf1\x00T01G00BL  T01I00A1  DOS2T16X4XI00NS0\x99L\xeeq',
-      b'\xf1\x00T01960BL  T01E60A1  DOS2T16X4XE60NS4N\x90\xe6\xcb',
     ],
   },
 }

opendbc_repo/opendbc/car/interfaces.py

@@ -233,7 +233,7 @@ class CarInterfaceBase(ABC):
     tune.torque.useSteeringAngle = use_steering_angle
     tune.torque.kp = 1.0
     tune.torque.kf = 1.0
-    tune.torque.ki = 0.1
+    tune.torque.ki = 0.3
     tune.torque.friction = params['FRICTION']
     tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
     tune.torque.latAccelOffset = 0.0

opendbc_repo/opendbc/car/mazda/fingerprints.py

@@ -1,3 +1,4 @@
+""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
 from opendbc.car.structs import CarParams
 from opendbc.car.mazda.values import CAR
 
@@ -13,8 +14,11 @@ FW_VERSIONS = {
       b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PW67-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PW67-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PW8F-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PW8G-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2C-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2D-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2D-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -23,7 +27,6 @@ FW_VERSIONS = {
       b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXGC-188K2-\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PW8F-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -49,8 +52,8 @@ FW_VERSIONS = {
       b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYJ3-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYJ3-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.MAZDA_CX5: {
@@ -270,7 +273,7 @@ FW_VERSIONS = {
       b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXM6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXM7-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'
+      b'PXM7-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
 }

opendbc_repo/opendbc/car/nissan/fingerprints.py

@@ -1,4 +1,5 @@
 # ruff: noqa: E501
+""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
 from opendbc.car.structs import CarParams
 from opendbc.car.nissan.values import CAR
 

opendbc_repo/opendbc/car/rivian/fingerprints.py

@@ -1,3 +1,4 @@
+""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
 from opendbc.car.structs import CarParams
 from opendbc.car.rivian.values import CAR
 
@@ -7,6 +8,7 @@ FW_VERSIONS = {
   CAR.RIVIAN_R1_GEN1: {
     (Ecu.eps, 0x733, None): [
       b'R1TS_v3.4.1(51),3.4.1\x00',
+      b'R1TS_v4.4.1(63),4.4.1\x00',
     ],
   },
 }

opendbc_repo/opendbc/car/subaru/fingerprints.py

@@ -1,3 +1,4 @@
+""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
 from opendbc.car.structs import CarParams
 from opendbc.car.subaru.values import CAR
 
@@ -68,8 +69,8 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xde"a0\x07',
-      b'\xe2"a0\x07',
       b'\xde,\xa0@\x07',
+      b'\xe2"a0\x07',
       b'\xe2"aq\x07',
       b'\xe2,\xa0@\x07',
     ],
@@ -498,8 +499,8 @@ FW_VERSIONS = {
       b'\xe2"`0\x07',
       b'\xe2"`p\x07',
       b'\xe2"`q\x07',
-      b'\xe3,\xa0@\x07',
       b'\xe2,\xa0p\x07',
+      b'\xe3,\xa0@\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xa5\xf6D@\x00',

opendbc_repo/opendbc/car/tesla/fingerprints.py

@@ -1,3 +1,4 @@
+""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
 from opendbc.car.structs import CarParams
 from opendbc.car.tesla.values import CAR
 
@@ -29,8 +30,8 @@ FW_VERSIONS = {
       b'TeMYG4_DCS_Update_0.0.0 (13),Y4P002.27.1',
       b'TeMYG4_DCS_Update_0.0.0 (9),Y4P002.25.0',
       b'TeMYG4_Legacy3Y_0.0.0 (2),Y4003.02.0',
-      b'TeMYG4_Legacy3Y_0.0.0 (5),Y4003.03.2',
       b'TeMYG4_Legacy3Y_0.0.0 (2),Y4P003.02.0',
+      b'TeMYG4_Legacy3Y_0.0.0 (5),Y4003.03.2',
       b'TeMYG4_Legacy3Y_0.0.0 (5),Y4P003.03.2',
       b'TeMYG4_SingleECU_0.0.0 (28),Y4S002.23.0',
       b'TeMYG4_SingleECU_0.0.0 (33),Y4S002.26',

opendbc_repo/opendbc/car/tests/routes.py

@@ -59,6 +59,7 @@ routes = [
   CarTestRoute("e36b272d5679115f/00000369--a3e8499a85", FORD.FORD_F_150_MK14),
   CarTestRoute("83a4e056c7072678|2023-11-13--16-51-33", FORD.FORD_MUSTANG_MACH_E_MK1),
   CarTestRoute("37998aa0fade36ab/00000000--48f927c4f5", FORD.FORD_RANGER_MK2),
+  CarTestRoute("61a1b9e7a4eae0f6/00000000--79d85d1315", FORD.FORD_EXPEDITION_MK4),
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
   CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.GMC_ACADIA),
@@ -88,6 +89,7 @@ routes = [
   CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HONDA_HRV),
   CarTestRoute("320098ff6c5e4730|2023-04-13--17-47-46", HONDA.HONDA_HRV_3G),
   CarTestRoute("147613502316e718/00000001--dd141a3140", HONDA.HONDA_HRV_3G),  # Brazilian model
+  CarTestRoute("1e4baee1aa2687a0/00000001--74c4cc0b23", HONDA.HONDA_HRV_3G),  # Thailand model use ALT_GEAR
   CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
   CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.HONDA_ACCORD),  # 1.5T
   CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.HONDA_ACCORD),  # 2.0T

opendbc_repo/opendbc/car/tests/test_docs.py

@@ -1,6 +1,5 @@
 from collections import defaultdict
 import pytest
-import re
 
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.docs import get_all_car_docs
@@ -61,7 +60,10 @@ class TestCarDocs:
   def test_year_format(self, subtests):
     for car in self.all_cars:
       with subtests.test(car=car.name):
-        assert re.search(r"\d{4}-\d{4}", car.name) is None, f"Format years correctly: {car.name}"
+        if car.name == "comma body":
+          pytest.skip()
+
+        assert car.years and car.year_list, f"Format years correctly: {car.name}"
 
   def test_harnesses(self, subtests):
     for car in self.all_cars:

opendbc_repo/opendbc/car/torque_data/override.toml

@@ -24,6 +24,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "FORD_ESCAPE_MK4" = [nan, 1.5, nan]
 "FORD_ESCAPE_MK4_5" = [nan, 1.5, nan]
 "FORD_EXPLORER_MK6" = [nan, 1.5, nan]
+"FORD_EXPEDITION_MK4" = [nan, 1.5, nan]
 "FORD_F_150_MK14" = [nan, 1.5, nan]
 "FORD_FOCUS_MK4" = [nan, 1.5, nan]
 "FORD_MAVERICK_MK1" = [nan, 1.5, nan]

opendbc_repo/opendbc/car/toyota/fingerprints.py

@@ -1,3 +1,4 @@
+""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
 from opendbc.car.structs import CarParams
 from opendbc.car.toyota.values import CAR
 
@@ -152,6 +153,7 @@ FW_VERSIONS = {
       b'8821F0601300    ',
       b'8821F0601400    ',
       b'8821F0601500    ',
+      b'8821F0601600    ',
       b'8821F0602000    ',
       b'8821F0603300    ',
       b'8821F0603400    ',
@@ -201,6 +203,7 @@ FW_VERSIONS = {
       b'8821F0601300    ',
       b'8821F0601400    ',
       b'8821F0601500    ',
+      b'8821F0601600    ',
       b'8821F0602000    ',
       b'8821F0603300    ',
       b'8821F0603400    ',
@@ -478,6 +481,7 @@ FW_VERSIONS = {
       b'\x01896637621000\x00\x00\x00\x00',
       b'\x01896637623000\x00\x00\x00\x00',
       b'\x01896637624000\x00\x00\x00\x00',
+      b'\x01896637625000\x00\x00\x00\x00',
       b'\x01896637626000\x00\x00\x00\x00',
       b'\x01896637639000\x00\x00\x00\x00',
       b'\x01896637643000\x00\x00\x00\x00',
@@ -542,6 +546,7 @@ FW_VERSIONS = {
       b'8965B76012\x00\x00\x00\x00\x00\x00',
       b'8965B76050\x00\x00\x00\x00\x00\x00',
       b'8965B76091\x00\x00\x00\x00\x00\x00',
+      b'8965B76101\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F152602280\x00\x00\x00\x00\x00\x00',
@@ -591,6 +596,7 @@ FW_VERSIONS = {
       b'F152676293\x00\x00\x00\x00\x00\x00',
       b'F152676303\x00\x00\x00\x00\x00\x00',
       b'F152676304\x00\x00\x00\x00\x00\x00',
+      b'F152676311\x00\x00\x00\x00\x00\x00',
       b'F152676371\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
@@ -629,6 +635,7 @@ FW_VERSIONS = {
       b'\x01896630E43000\x00\x00\x00\x00',
       b'\x01896630E43100\x00\x00\x00\x00',
       b'\x01896630E43200\x00\x00\x00\x00',
+      b'\x01896630E43500\x00\x00\x00\x00',
       b'\x01896630E44200\x00\x00\x00\x00',
       b'\x01896630E44400\x00\x00\x00\x00',
       b'\x01896630E45000\x00\x00\x00\x00',
@@ -636,6 +643,7 @@ FW_VERSIONS = {
       b'\x01896630E45200\x00\x00\x00\x00',
       b'\x01896630E46000\x00\x00\x00\x00',
       b'\x01896630E46200\x00\x00\x00\x00',
+      b'\x01896630E48200\x00\x00\x00\x00',
       b'\x01896630E74000\x00\x00\x00\x00',
       b'\x01896630E75000\x00\x00\x00\x00',
       b'\x01896630E76000\x00\x00\x00\x00',
@@ -764,6 +772,7 @@ FW_VERSIONS = {
       b'\x018966353Q2300\x00\x00\x00\x00',
       b'\x018966353Q4000\x00\x00\x00\x00',
       b'\x018966353R1100\x00\x00\x00\x00',
+      b'\x018966353R5000\x00\x00\x00\x00',
       b'\x018966353R7000\x00\x00\x00\x00',
       b'\x018966353R7100\x00\x00\x00\x00',
       b'\x018966353R8000\x00\x00\x00\x00',
@@ -822,6 +831,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7a1, None): [
       b'8965B53450\x00\x00\x00\x00\x00\x00',
       b'8965B53800\x00\x00\x00\x00\x00\x00',
+      b'8965B53801\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F6201200\x00\x00\x00\x00',
@@ -856,6 +866,7 @@ FW_VERSIONS = {
       b'\x02896634782000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634784000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966347A0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966347A1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966347A5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966347A8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966347B0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -959,6 +970,7 @@ FW_VERSIONS = {
       b'\x02342Q2000\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02342Q2100\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02342Q2200\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02342Q3000\x00\x00\x00\x00\x00\x00\x00\x0054214000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02342Q4000\x00\x00\x00\x00\x00\x00\x00\x0054215000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
@@ -1076,6 +1088,7 @@ FW_VERSIONS = {
       b'\x018966342W5000\x00\x00\x00\x00',
       b'\x018966342W7000\x00\x00\x00\x00',
       b'\x018966342W8000\x00\x00\x00\x00',
+      b'\x018966342W9000\x00\x00\x00\x00',
       b'\x018966342X5000\x00\x00\x00\x00',
       b'\x018966342X6000\x00\x00\x00\x00',
       b'\x01896634A05000\x00\x00\x00\x00',
@@ -1225,6 +1238,7 @@ FW_VERSIONS = {
       b'\x01896634A61000\x00\x00\x00\x00',
       b'\x01896634A88100\x00\x00\x00\x00',
       b'\x01896634A89100\x00\x00\x00\x00',
+      b'\x01896634AD7000\x00\x00\x00\x00',
       b'\x01896634AE1001\x00\x00\x00\x00',
       b'\x01896634AF0000\x00\x00\x00\x00',
       b'\x01896634AJ2000\x00\x00\x00\x00',
@@ -1232,7 +1246,9 @@ FW_VERSIONS = {
       b'\x01896634AL5000\x00\x00\x00\x00',
       b'\x01896634AL6000\x00\x00\x00\x00',
       b'\x01896634AL8000\x00\x00\x00\x00',
+      b'\x01896634AS8001\x00\x00\x00\x00',
       b'\x01896634AS9000\x00\x00\x00\x00',
+      b'\x01896634AT7000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R03100\x00\x00\x00\x00',
@@ -1326,6 +1342,8 @@ FW_VERSIONS = {
   CAR.LEXUS_ES_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x018966306U6000\x00\x00\x00\x00',
+      b'\x018966306V5000\x00\x00\x00\x00',
+      b'\x018966306W6000\x00\x00\x00\x00',
       b'\x018966333T5000\x00\x00\x00\x00',
       b'\x018966333T5100\x00\x00\x00\x00',
       b'\x018966333X6000\x00\x00\x00\x00',
@@ -1346,6 +1364,7 @@ FW_VERSIONS = {
       b'\x01F152606340\x00\x00\x00\x00\x00\x00',
       b'\x01F152606461\x00\x00\x00\x00\x00\x00',
       b'\x01F15260646200\x00\x00\x00\x00',
+      b'\x01F152633A71\x00\x00\x00\x00\x00\x00',
       b'F152633423\x00\x00\x00\x00\x00\x00',
       b'F152633680\x00\x00\x00\x00\x00\x00',
       b'F152633681\x00\x00\x00\x00\x00\x00',
@@ -1487,6 +1506,7 @@ FW_VERSIONS = {
       b'\x018966378B4100\x00\x00\x00\x00',
       b'\x018966378G2000\x00\x00\x00\x00',
       b'\x018966378G3000\x00\x00\x00\x00',
+      b'\x018966378G4000\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\x0237881000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1516,13 +1536,16 @@ FW_VERSIONS = {
   },
   CAR.LEXUS_LC_TSS2: {
     (Ecu.engine, 0x7e0, None): [
+      b'\x0131126000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0131130000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152611390\x00\x00\x00\x00\x00\x00',
+      b'F152611430\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B11091\x00\x00\x00\x00\x00\x00',
+      b'8965B11120\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F6201400\x00\x00\x00\x00',
@@ -1539,20 +1562,24 @@ FW_VERSIONS = {
       b'\x01896632478200\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'\x0232480000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152624150\x00\x00\x00\x00\x00\x00',
+      b'F152624171\x00\x00\x00\x00\x00\x00',
       b'F152624221\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
       b'881512404100\x00\x00\x00\x00',
+      b'881512405100\x00\x00\x00\x00',
       b'881512407000\x00\x00\x00\x00',
       b'881512409100\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B24081\x00\x00\x00\x00\x00\x00',
       b'8965B24240\x00\x00\x00\x00\x00\x00',
+      b'8965B24260\x00\x00\x00\x00\x00\x00',
       b'8965B24320\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
@@ -1734,6 +1761,7 @@ FW_VERSIONS = {
       b'\x028966347C7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00',
+      b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710102\x00\x00\x00\x00',
       b'\x038966347C1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00',
       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',
@@ -1771,8 +1799,10 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F6201200\x00\x00\x00\x00',
+      b'\x018821F6201300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F6201400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
     ],
   },

opendbc_repo/opendbc/car/toyota/values.py

@@ -6,7 +6,7 @@ from enum import Enum, IntFlag
 from opendbc.car import Bus, CarSpecs, PlatformConfig, Platforms, AngleSteeringLimits
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.structs import CarParams
-from opendbc.car.docs_definitions import CarFootnote, CarDocs, Column, CarParts, CarHarness
+from opendbc.car.docs_definitions import CarFootnote, CarDocs, Column, CarParts, CarHarness, SupportType
 from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = CarParams.Ecu
@@ -76,6 +76,11 @@ class ToyotaFlags(IntFlag):
   RAISED_ACCEL_LIMIT = 1024
   SECOC = 2048
 
+
+def dbc_dict(pt, radar):
+  return {Bus.pt: pt, Bus.radar: radar}
+
+
 class Footnote(Enum):
   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.",
@@ -87,8 +92,12 @@ class ToyotaCarDocs(CarDocs):
   package: str = "All"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.toyota_a]))
 
-def dbc_dict(pt, radar):
-  return {Bus.pt: pt, Bus.radar: radar}
+
+@dataclass
+class ToyotaCommunityCarDocs(ToyotaCarDocs):
+  support_type: SupportType = SupportType.COMMUNITY
+  support_link: str = "#community"
+
 
 @dataclass
 class ToyotaTSS2PlatformConfig(PlatformConfig):
@@ -100,14 +109,12 @@ class ToyotaTSS2PlatformConfig(PlatformConfig):
     if self.flags & ToyotaFlags.RADAR_ACC:
       self.dbc_dict = {Bus.pt: 'toyota_nodsu_pt_generated'}
 
+
 @dataclass
 class ToyotaSecOCPlatformConfig(PlatformConfig):
   dbc_dict: dict = field(default_factory=lambda: dbc_dict('toyota_secoc_pt_generated', 'toyota_tss2_adas'))
 
   def init(self):
-    # don't expose car docs until SecOC cars can be suppressed from the comma website
-    self.car_docs = []
-
     self.flags |= ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU | ToyotaFlags.SECOC
 
     if self.flags & ToyotaFlags.RADAR_ACC:
@@ -278,11 +285,11 @@ class CAR(Platforms):
     flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL,
   )
   TOYOTA_RAV4_PRIME = ToyotaSecOCPlatformConfig(
-    [ToyotaCarDocs("Toyota RAV4 Prime 2021-23", min_enable_speed=MIN_ACC_SPEED)],
+    [ToyotaCommunityCarDocs("Toyota RAV4 Prime 2021-23", min_enable_speed=MIN_ACC_SPEED)],
     CarSpecs(mass=4372. * CV.LB_TO_KG, wheelbase=2.68, steerRatio=16.88, tireStiffnessFactor=0.5533),
   )
   TOYOTA_YARIS = ToyotaSecOCPlatformConfig(
-    [ToyotaCarDocs("Toyota Yaris 2023 (Non-US only)", min_enable_speed=MIN_ACC_SPEED)],
+    [ToyotaCommunityCarDocs("Toyota Yaris (Non-US only) 2023", min_enable_speed=MIN_ACC_SPEED)],
     CarSpecs(mass=1170, wheelbase=2.55, steerRatio=14.80, tireStiffnessFactor=0.5533),
     flags=ToyotaFlags.RADAR_ACC,
   )
@@ -297,7 +304,7 @@ class CAR(Platforms):
     flags=ToyotaFlags.NO_STOP_TIMER,
   )
   TOYOTA_SIENNA_4TH_GEN = ToyotaSecOCPlatformConfig(
-    [ToyotaCarDocs("Toyota Sienna 2021-23", min_enable_speed=MIN_ACC_SPEED)],
+    [ToyotaCommunityCarDocs("Toyota Sienna 2021-23", min_enable_speed=MIN_ACC_SPEED)],
     CarSpecs(mass=4625. * CV.LB_TO_KG, wheelbase=3.06, steerRatio=17.8, tireStiffnessFactor=0.444),
   )
 
@@ -317,7 +324,7 @@ class CAR(Platforms):
   )
   LEXUS_ES_TSS2 = ToyotaTSS2PlatformConfig(
     [
-      ToyotaCarDocs("Lexus ES 2019-24"),
+      ToyotaCarDocs("Lexus ES 2019-25"),
       ToyotaCarDocs("Lexus ES Hybrid 2019-25", video="https://youtu.be/BZ29osRVJeg?t=12"),
     ],
     LEXUS_ES.specs,
@@ -329,7 +336,7 @@ class CAR(Platforms):
     flags=ToyotaFlags.UNSUPPORTED_DSU,
   )
   LEXUS_IS_TSS2 = ToyotaTSS2PlatformConfig(
-    [ToyotaCarDocs("Lexus IS 2022-23")],
+    [ToyotaCarDocs("Lexus IS 2022-24")],
     LEXUS_IS.specs,
   )
   LEXUS_NX = PlatformConfig(
@@ -348,7 +355,7 @@ class CAR(Platforms):
     LEXUS_NX.specs,
   )
   LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig(
-    [ToyotaCarDocs("Lexus LC 2024")],
+    [ToyotaCarDocs("Lexus LC 2024-25")],
     CarSpecs(mass=4500. * CV.LB_TO_KG, wheelbase=2.87, steerRatio=13.0, tireStiffnessFactor=0.444),
   )
   LEXUS_RC = PlatformConfig(
@@ -600,7 +607,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
   match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
 )
 
-
 STEER_THRESHOLD = 100
 
 # These cars have non-standard EPS torque scale factors. All others are 73

opendbc_repo/opendbc/car/volkswagen/carstate.py

@@ -167,14 +167,14 @@ class CarState(CarStateBase):
     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
+    ret.yawRate = pt_cp.vl["Bremse_5"]["BR5_Giergeschw"] * (1, -1)[int(pt_cp.vl["Bremse_5"]["BR5_Vorzeichen"])] * CV.DEG_TO_RAD
     hca_status = self.CCP.hca_status_values.get(pt_cp.vl["Lenkhilfe_2"]["LH2_Sta_HCA"])
     ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status)
 
     # 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.brake = pt_cp.vl["Bremse_5"]["BR5_Bremsdruck"] / 250.0  # FIXME: this is pressure in Bar, not sure what OP expects
     ret.brakePressed = bool(pt_cp.vl["Motor_2"]["Bremslichtschalter"])
     ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
 

opendbc_repo/opendbc/car/volkswagen/fingerprints.py

@@ -1,3 +1,4 @@
+""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
 from opendbc.car.structs import CarParams
 from opendbc.car.volkswagen.values import CAR
 
@@ -68,9 +69,11 @@ FW_VERSIONS = {
       b'\xf1\x8703H906026BC\xf1\x892664',
       b'\xf1\x8703H906026F \xf1\x896696',
       b'\xf1\x8703H906026F \xf1\x899970',
+      b'\xf1\x8703H906026F \xf1\x899973',
       b'\xf1\x8703H906026J \xf1\x896026',
       b'\xf1\x8703H906026J \xf1\x899970',
       b'\xf1\x8703H906026J \xf1\x899971',
+      b'\xf1\x8703H906026J \xf1\x899972',
       b'\xf1\x8703H906026S \xf1\x896693',
       b'\xf1\x8703H906026S \xf1\x899970',
       b'\xf1\x8703H906026S \xf1\x899972',
@@ -131,12 +134,14 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704L906056BP\xf1\x894729',
       b'\xf1\x8704L906056EK\xf1\x896391',
+      b'\xf1\x8704L906056SH\xf1\x899973',
       b'\xf1\x8705L906023BC\xf1\x892688',
       b'\xf1\x8705L906023MH\xf1\x892588',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100',
       b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900',
+      b'\xf1\x875QF959655AG\xf1\x890753\xf1\x82\x13151300151500111111000502----1111120749',
       b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749',
     ],
     (Ecu.eps, 0x712, None): [
@@ -149,6 +154,7 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572J \xf1\x890156',
       b'\xf1\x872Q0907572M \xf1\x890233',
+      b'\xf1\x872Q0907572R \xf1\x890372',
     ],
   },
   CAR.VOLKSWAGEN_GOLF_MK7: {
@@ -157,6 +163,7 @@ FW_VERSIONS = {
       b'\xf1\x8704E906016AD\xf1\x895758',
       b'\xf1\x8704E906016CE\xf1\x899096',
       b'\xf1\x8704E906016CH\xf1\x899226',
+      b'\xf1\x8704E906016DF\xf1\x896188',
       b'\xf1\x8704E906016N \xf1\x899105',
       b'\xf1\x8704E906023AG\xf1\x891726',
       b'\xf1\x8704E906023BN\xf1\x894518',
@@ -173,6 +180,7 @@ FW_VERSIONS = {
       b'\xf1\x8704L906026BN\xf1\x891197',
       b'\xf1\x8704L906026BP\xf1\x897608',
       b'\xf1\x8704L906026NF\xf1\x899528',
+      b'\xf1\x8704L906027AA\xf1\x899525',
       b'\xf1\x8704L906056CL\xf1\x893823',
       b'\xf1\x8704L906056CR\xf1\x895813',
       b'\xf1\x8704L906056HE\xf1\x893758',
@@ -186,6 +194,7 @@ FW_VERSIONS = {
       b'\xf1\x870EA906016Q \xf1\x895993',
       b'\xf1\x870EA906016S \xf1\x897207',
       b'\xf1\x875G0906259  \xf1\x890007',
+      b'\xf1\x875G0906259C \xf1\x890002',
       b'\xf1\x875G0906259D \xf1\x890002',
       b'\xf1\x875G0906259J \xf1\x890002',
       b'\xf1\x875G0906259L \xf1\x890002',
@@ -218,6 +227,7 @@ FW_VERSIONS = {
       b'\xf1\x870CW300044S \xf1\x894530',
       b'\xf1\x870CW300044T \xf1\x895245',
       b'\xf1\x870CW300045  \xf1\x894531',
+      b'\xf1\x870CW300046A \xf1\x895113',
       b'\xf1\x870CW300047D \xf1\x895261',
       b'\xf1\x870CW300047E \xf1\x895261',
       b'\xf1\x870CW300048J \xf1\x890611',
@@ -240,6 +250,7 @@ FW_VERSIONS = {
       b'\xf1\x870D9300041H \xf1\x895220',
       b'\xf1\x870D9300041N \xf1\x894512',
       b'\xf1\x870D9300041P \xf1\x894507',
+      b'\xf1\x870D9300043F \xf1\x895204',
       b'\xf1\x870DD300045K \xf1\x891120',
       b'\xf1\x870DD300046F \xf1\x891601',
       b'\xf1\x870GC300012A \xf1\x891401',
@@ -249,6 +260,7 @@ FW_VERSIONS = {
       b'\xf1\x870GC300014B \xf1\x892401',
       b'\xf1\x870GC300014B \xf1\x892403',
       b'\xf1\x870GC300014B \xf1\x892405',
+      b'\xf1\x870GC300014E \xf1\x892407',
       b'\xf1\x870GC300020G \xf1\x892401',
       b'\xf1\x870GC300020G \xf1\x892403',
       b'\xf1\x870GC300020G \xf1\x892404',
@@ -264,6 +276,8 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100',
       b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333423100',
       b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100',
+      b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x13141300111233003142115A1932199333463100',
+      b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x13141600111233003142115A2231229333423100',
       b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x13141600111233003142115A2232229333463100',
       b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',
@@ -272,6 +286,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100',
       b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112',
       b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
+      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100',
       b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113',
       b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13271112111312--071104171825102591131211',
       b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211',
@@ -295,6 +310,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01613A1',
       b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A0J712A1',
       b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1',
+      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A01A16A1',
       b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
       b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1',
       b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A02A16A1',
@@ -321,6 +337,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A2000400',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A2000600',
       b'\xf1\x875QD909144B \xf1\x891072\xf1\x82\x0521A00507A1',
       b'\xf1\x875QM909144A \xf1\x891072\xf1\x82\x0521A20B03A1',
       b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A00442A1',
@@ -364,6 +381,7 @@ FW_VERSIONS = {
       b'\xf1\x8704E906024AF\xf1\x899970',
       b'\xf1\x8704E906024AK\xf1\x899937',
       b'\xf1\x8704E906024AS\xf1\x899912',
+      b'\xf1\x8704E906024AS\xf1\x899970',
       b'\xf1\x8704E906024B \xf1\x895594',
       b'\xf1\x8704E906024BC\xf1\x899971',
       b'\xf1\x8704E906024BG\xf1\x891057',
@@ -375,6 +393,7 @@ FW_VERSIONS = {
       b'\xf1\x8705E906013BN\xf1\x893711',
       b'\xf1\x8705E906013DB\xf1\x893361',
       b'\xf1\x875G0906259T \xf1\x890003',
+      b'\xf1\x875G09C0BB02 \xf1\x890003',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158BQ\xf1\x893545',
@@ -386,6 +405,7 @@ FW_VERSIONS = {
       b'\xf1\x8709S927158R \xf1\x893552',
       b'\xf1\x8709S927158R \xf1\x893587',
       b'\xf1\x870GC300020N \xf1\x892803',
+      b'\xf1\x870GC300020N \xf1\x892804',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1313171231313500314611011530159333463100',
@@ -609,6 +629,7 @@ FW_VERSIONS = {
       b'\xf1\x8704E906027NB\xf1\x899504',
       b'\xf1\x8704L906026EJ\xf1\x893661',
       b'\xf1\x8704L906026EJ\xf1\x893916',
+      b'\xf1\x8704L906026KR\xf1\x893919',
       b'\xf1\x8704L906027G \xf1\x899893',
       b'\xf1\x8705E906018BS\xf1\x890914',
       b'\xf1\x875N0906259  \xf1\x890002',
@@ -624,6 +645,7 @@ FW_VERSIONS = {
       b'\xf1\x8783A907115K \xf1\x890001',
       b'\xf1\x8783A907115K \xf1\x890002',
       b'\xf1\x8783A907115Q \xf1\x890001',
+      b'\xf1\x8783A907115Q \xf1\x890002',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158DS\xf1\x893699',
@@ -641,6 +663,7 @@ FW_VERSIONS = {
       b'\xf1\x870DL300011N \xf1\x892012',
       b'\xf1\x870DL300011N \xf1\x892014',
       b'\xf1\x870DL300012M \xf1\x892107',
+      b'\xf1\x870DL300012N \xf1\x892110',
       b'\xf1\x870DL300012P \xf1\x892103',
       b'\xf1\x870DL300013A \xf1\x893005',
       b'\xf1\x870DL300013G \xf1\x892119',
@@ -656,12 +679,14 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1311140031333300314232583632369333423100',
       b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
       b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
+      b'\xf1\x875Q0959655BK\xf1\x890339\xf1\x82\x1331310031333334313132573732379333423100',
       b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1316143231313500314641011750179333423100',
       b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1312110031333300314240013750379333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1312110031333300314240583752379333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140013750379333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333336313140013950399333423100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333336313140573952399333423100',
       b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100',
       b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100',
       b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100',
@@ -670,6 +695,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6050705',
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6070705',
+      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A60803A1',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
@@ -683,8 +709,10 @@ FW_VERSIONS = {
       b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60804A1',
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1',
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60804A1',
+      b'\xf1\x875QV907144F \xf1\x891122\xf1\x82\x0001A6CA01]V',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907567B \xf1\x890534',
       b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572AB\xf1\x890397',
       b'\xf1\x872Q0907572J \xf1\x890156',
@@ -807,6 +835,7 @@ FW_VERSIONS = {
       b'\xf1\x878V0906264B \xf1\x890003',
       b'\xf1\x878V0907115B \xf1\x890007',
       b'\xf1\x878V0907404A \xf1\x890005',
+      b'\xf1\x878V0907404G \xf1\x890004',
       b'\xf1\x878V0907404G \xf1\x890005',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -896,12 +925,16 @@ FW_VERSIONS = {
       b'\xf1\x8783A906259C \xf1\x890002',
       b'\xf1\x8783A906259D \xf1\x890001',
       b'\xf1\x8783A906259F \xf1\x890001',
+      b'\xf1\x8783A906259H \xf1\x890002',
+      b'\xf1\x8783A907115P \xf1\x890002',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158CN\xf1\x893608',
       b'\xf1\x8709G927158FL\xf1\x893758',
       b'\xf1\x8709G927158GG\xf1\x893825',
       b'\xf1\x8709G927158GP\xf1\x893937',
+      b'\xf1\x8709G927158HC\xf1\x894070',
+      b'\xf1\x8709G927158HG\xf1\x894168',
       b'\xf1\x870GC300045D \xf1\x892802',
       b'\xf1\x870GC300046F \xf1\x892701',
     ],
@@ -917,10 +950,12 @@ FW_VERSIONS = {
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000800',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60533A1',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60733A1',
+      b'\xf1\x875QS907145E \xf1\x891122\xf1\x82\x0001G67801]V',
       b'\xf1\x875TA907145D \xf1\x891051\xf1\x82\x001PG60A1P7N',
       b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002VG60A2VOM',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907567C \xf1\x890541',
       b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572R \xf1\x890372',
       b'\xf1\x872Q0907572T \xf1\x890383',

opendbc_repo/opendbc/car/volkswagen/values.py

@@ -324,7 +324,7 @@ class CAR(Platforms):
     wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
   )
   VOLKSWAGEN_TAOS_MK1 = VolkswagenMQBPlatformConfig(
-    [VWCarDocs("Volkswagen Taos 2022-23")],
+    [VWCarDocs("Volkswagen Taos 2022-24")],
     VolkswagenCarSpecs(mass=1498, wheelbase=2.69),
     chassis_codes={"B2"},
     wmis={WMI.VOLKSWAGEN_MEXICO_SUV, WMI.VOLKSWAGEN_ARGENTINA},
@@ -337,7 +337,7 @@ class CAR(Platforms):
   )
   VOLKSWAGEN_TIGUAN_MK2 = VolkswagenMQBPlatformConfig(
     [
-      VWCarDocs("Volkswagen Tiguan 2018-23"),
+      VWCarDocs("Volkswagen Tiguan 2018-24"),
       VWCarDocs("Volkswagen Tiguan eHybrid 2021-23"),
     ],
     VolkswagenCarSpecs(mass=1715, wheelbase=2.74),
@@ -383,7 +383,7 @@ class CAR(Platforms):
     wmis={WMI.AUDI_GERMANY_CAR},
   )
   AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig(
-    [VWCarDocs("Audi Q3 2019-23")],
+    [VWCarDocs("Audi Q3 2019-24")],
     VolkswagenCarSpecs(mass=1623, wheelbase=2.68),
     chassis_codes={"8U", "F3", "FS"},
     wmis={WMI.AUDI_EUROPE_MPV, WMI.AUDI_GERMANY_CAR},

opendbc_repo/opendbc/dbc/generator/honda/_bosch_adas_2018.dbc

@@ -50,7 +50,7 @@ CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnings etc...";
 CM_ SG_ 829 CAM_TEMP_HIGH "Some Driver Assist Systems Cannot Operate: Camera Temperature Too High";
 CM_ SG_ 829 CAMERA_OVERHEAT "Lane Keeping Assist Cannot Operate: Camera Too Hot";
 

opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc

@@ -46,12 +46,15 @@ BO_ 160 WHEEL_SPEEDS: 24 XXX
  SG_ WHL_SpdRLVal : 96|14@1+ (0.03125,0) [0|0] "km^h" XXX
  SG_ WHL_SpdRRVal : 112|14@1+ (0.03125,0) [0|0] "km^h" XXX
 
-BO_ 203 LFA_ALT: 24 ADRV
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ LKAS_ANGLE_ACTIVE : 29|2@0+ (1,0) [0|1] "" XXX
- SG_ LKAS_ANGLE_CMD : 32|14@1- (0.1,0) [0|511] "" XXX
- SG_ LKAS_ANGLE_MAX_TORQUE : 55|8@0+ (1,0) [0|255] "" XXX
+BO_ 203 ADAS_CMD_35_10ms: 24 CGW_CCU
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|0] "0" FCU_C,GW_RGW,MDPS,SFA
+ SG_ COUNTER : 16|8@1+ (1,0) [0|0] "0" FCU_C,GW_RGW,MDPS,SFA
+ SG_ ADAS_ActvACISta : 24|4@1+ (1,0) [0|0] "" GW_RGW,MDPS,SFA
+ SG_ ADAS_ActvACILvl2Sta : 28|4@1+ (1,0) [0|0] "" ESC,FCU_C,GW_RGW,MDPS,SFA,VPC_C
+ SG_ ADAS_StrAnglReqVal : 32|14@1- (0.1,0) [0|119.9] "Deg" GW_RGW,MDPS,SFA
+ SG_ ADAS_ACIAnglTqRedcGainVal : 48|8@1+ (0.004,0) [0|1] "" GW_RGW,MDPS,SFA
+ SG_ FCA_ESA_ActvSta : 56|2@1+ (1,0) [0|0] "" GW_RGW,MDPS,SFA
+ SG_ FCA_ESA_TqBstGainVal : 64|8@1+ (0.004,0) [0|0] "" GW_RGW,MDPS,SFA
 
 BO_ 234 MDPS: 24 XXX
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
@@ -92,10 +95,35 @@ BO_ 272 LKAS_ALT: 32 XXX
  SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX
  SG_ LKAS_ANGLE_ACTIVE : 77|2@0+ (1,0) [0|3] "" XXX
  SG_ HAS_LANE_SAFETY : 80|1@0+ (1,0) [0|1] "" XXX
- SG_ LKAS_ANGLE_CMD : 82|14@1- (0.1,0) [0|511] "" XXX
- SG_ LKAS_ANGLE_MAX_TORQUE : 96|8@1+ (1,0) [0|255] "" XXX
+ SG_ ADAS_StrAnglReqVal : 82|14@1- (0.1,0) [0|176.7] "Deg" GW_RGW,MDPS,SFA
+ SG_ ADAS_ACIAnglTqRedcGainVal : 96|8@1+ (0.004,0) [0|1] "" GW_RGW,MDPS,SFA
  SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 282 FR_CMR_01_10ms: 16 FR_CMR
+ SG_ FR_CMR_Crc1Val : 0|16@1+ (1,0) [0|0] "" Dummy,IBU_HS,vBDM
+ SG_ FR_CMR_AlvCnt1Val : 16|8@1+ (1,0) [0|0] "" CLU,IBU_HS,vBDM
+ SG_ HBA_SysOptSta : 24|2@1+ (1,0) [0|3] "" CLU,IBU_HS,vBDM
+ SG_ HBA_SysSta : 26|3@1+ (1,0) [0|7] "" CLU,IBU_HS,vBDM
+ SG_ HBA_IndLmpReq : 29|2@1+ (1,0) [0|3] "" CLU,vBDM
+ SG_ iHBAref_VehLftSta : 31|2@1+ (1,0) [0|3] "" IBU_HS,ICU,vBDM
+ SG_ iHBAref_VehCtrSta : 33|2@1+ (1,0) [0|3] "" IBU_HS,ICU,vBDM
+ SG_ iHBAref_VehRtSta : 35|2@1+ (1,0) [0|3] "" IBU_HS,ICU,vBDM
+ SG_ iHBAref_ILLAmbtSta : 37|2@1+ (1,0) [0|3] "" IBU_HS,ICU,vBDM
+ SG_ FCA_Equip_MFC : 39|3@1+ (1,0) [0|0] "" ADAS_DRV,RR_C_RDR,vBDM
+ SG_ HBA_OptUsmSta : 42|2@1+ (1,0) [0|3] "" CLU,H_U_MM
+ SG_ FCAref_FusSta : 45|3@1+ (1,0) [0|0] "" vBDM
+ SG_ DAW_LVDA_PUDis : 48|2@1+ (1,0) [0|0] "" CLU,vBDM
+ SG_ DAW_LVDA_OptUsmSta : 50|2@1+ (1,0) [0|3] "" CLU,H_U_MM,vBDM
+ SG_ DAW_OptUsmSta : 52|3@1+ (1,0) [0|0] "" CLU,H_U_MM
+ SG_ DAW_SysSta : 55|4@1+ (1,0) [0|0] "" CLU
+ SG_ DAW_WrnMsgSta : 59|3@1+ (1,0) [0|0] "" CLU
+ SG_ DAW_TimeRstReq : 62|2@1+ (1,0) [0|0] "" CLU
+ SG_ DAW_SnstvtyModRetVal : 64|3@1+ (1,0) [0|0] "" CLU,H_U_MMz
+ SG_ FR_CMR_SCCEquipSta : 85|2@1+ (1,0) [0|3] "" CGW
+ SG_ FR_CMR_ReqADASMapMsgVal : 96|16@1+ (1,0) [0|65535] "" CGW
+ SG_ FR_CMR_SwVer1Val : 112|4@1+ (1,0) [0|15] "" CGW
+ SG_ FR_CMR_SwVer2Val : 120|8@1+ (1,0) [0|255] "" CGW
+
 BO_ 293 STEERING_SENSORS: 16 XXX
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
  SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
@@ -343,28 +371,23 @@ BO_ 426 CRUISE_BUTTONS_ALT: 16 XXX
  SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
  SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
 
-BO_ 437 CCNC_0x1B5: 32 CCNC
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ LEFT : 24|2@1+ (1,0) [0|3] "" XXX
- SG_ LEFT_LDW : 27|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_1 : 29|9@1+ (1,0) [0|511] "" XXX
- SG_ LEFT_2 : 38|5@1+ (1,0) [0|31] "" XXX
- SG_ LEFT_3 : 43|10@1- (1,0) [0|1023] "" XXX
- SG_ LEFT_4 : 64|16@1- (1,0) [0|65535] "" XXX
- SG_ LEFT_5 : 80|16@1- (1,0) [0|65535] "" XXX
- SG_ RIGHT : 96|2@1+ (1,0) [0|3] "" XXX
- SG_ RIGHT_LDW : 99|1@0+ (1,0) [0|1] "" XXX
- SG_ RIGHT_1 : 101|9@1+ (1,0) [0|511] "" XXX
- SG_ RIGHT_2 : 110|5@1+ (1,0) [0|31] "" XXX
- SG_ RIGHT_3 : 115|10@1- (1,0) [0|1023] "" XXX
- SG_ RIGHT_4 : 128|16@1- (1,0) [0|65535] "" XXX
- SG_ RIGHT_5 : 144|16@1- (1,0) [0|65535] "" XXX
- SG_ LEAD : 192|2@1+ (1,0) [0|3] "" XXX
- SG_ LEAD_1 : 194|6@1+ (1,0) [0|63] "" XXX
- SG_ LEAD_2 : 200|11@1- (1,0) [0|4095] "" XXX
- SG_ LEAD_3 : 211|1@0+ (1,0) [0|1] "" XXX
- SG_ LEAD_DISTANCE : 213|11@1+ (0.1,0) [0|204.7] "m" XXX
+BO_ 437 FR_CMR_03_50ms: 32 FR_CMR
+ SG_ FR_CMR_Crc3Val : 0|16@1+ (1,0) [0|65535] "" RR_C_RDR,CGW
+ SG_ FR_CMR_AlvCnt3Val : 16|8@1+ (1,0) [0|255] "" RR_C_RDR,CGW
+ SG_ Info_LftLnQualSta : 24|3@1+ (1,0) [0|7] "" RR_C_RDR,CGW
+ SG_ Info_LftLnDptSta : 27|2@1+ (1,0) [0|3] "" RR_C_RDR,CGW
+ SG_ Info_LftLnPosVal : 29|14@1- (0.0039625,0) [-32.4608|32.4568375] "m" RR_C_RDR,CGW
+ SG_ Info_LftLnHdingAnglVal : 43|10@1- (0.000976563,0) [-0.500000256|0.499023693] "rad" RR_C_RDR,CGW
+ SG_ Info_LftLnCvtrVal : 64|16@1- (1e-06,0) [-0.032768|0.032767] "1/m" CGW
+ SG_ Info_LftLnCrvtrDrvtvVal : 80|16@1- (4e-09,0) [-0.000131072|0.000131068] "1/m2" CGW
+ SG_ Info_RtLnQualSta : 96|3@1+ (1,0) [0|7] "" RR_C_RDR,CGW
+ SG_ Info_RtLnDptSta : 99|2@1+ (1,0) [0|3] "" RR_C_RDR,CGW
+ SG_ Info_RtLnPosVal : 101|14@1- (0.0039625,0) [-32.4608|32.4568375] "m" RR_C_RDR,CGW
+ SG_ Info_RtLnHdingAnglVal : 115|10@1- (0.000976563,0) [-0.500000256|0.499023693] "rad" RR_C_RDR,CGW
+ SG_ Info_RtLnCvtrVal : 128|16@1- (1,0) [0|65535] "" CGW
+ SG_ Info_RtLnCrvtrDrvtvVal : 144|16@1- (1,0) [0|65535] "" CGW
+ SG_ ID_CIPV : 192|7@1+ (1,0) [0|127] "" Dummy
+ SG_ Longitudinal_Distance : 212|12@1+ (0.05,0) [0|204.75] "m" Dummy
 
 BO_ 442 BLINDSPOTS_REAR_CORNERS: 24 XXX
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
@@ -449,18 +472,36 @@ BO_ 490 ADRV_0x1ea: 32 ADRV
  SG_ SET_ME_TMP_F : 232|5@1+ (1,0) [0|31] "" XXX
  SG_ SET_ME_TMP_F_2 : 240|5@1+ (1,0) [0|31] "" XXX
 
-BO_ 506 CLUSTER_SPEED_LIMIT: 32 XXX
- SG_ SPEED_LIMIT_1 : 39|7@0+ (1,0) [0|255] "" XXX
- SG_ SPEED_LIMIT_2 : 47|7@0+ (1,0) [0|255] "" XXX
- SG_ SECONDARY_LIMIT_1 : 79|8@0+ (1,0) [0|127] "" XXX
- SG_ SECONDARY_LIMIT_2 : 103|8@0+ (1,0) [0|127] "" XXX
- SG_ SPEED_LIMIT_3 : 119|8@0+ (1,0) [0|255] "" XXX
- SG_ ARROW_DOWN : 120|1@0+ (1,0) [0|1] "" XXX
- SG_ ARROW_UP : 121|1@0+ (1,0) [0|1] "" XXX
- SG_ CHIME_2 : 122|2@1+ (1,0) [0|7] "" XXX
- SG_ SPEED_CHANGE_BLINKING : 129|1@1+ (1,0) [0|3] "" XXX
- SG_ CHIME_1 : 133|1@0+ (1,0) [0|1] "" XXX
- SG_ SCHOOL_ZONE : 155|1@0+ (1,0) [0|1] "" XXX
+BO_ 506 FR_CMR_02_100ms: 32 FR_CMR
+ SG_ FR_CMR_Crc2Val : 0|16@1+ (1,0) [0|65535] "" CGW
+ SG_ FR_CMR_AlvCnt2Val : 16|8@1+ (1,0) [0|255] "" CGW
+ SG_ ISLW_OptUsmSta : 24|2@1+ (1,0) [0|3] "" CLU,CGW
+ SG_ ISLW_SysSta : 26|2@1+ (1,0) [0|3] "" CLU,CGW
+ SG_ ISLW_NoPassingInfoDis : 28|3@1+ (1,0) [0|7] "" CLU,CGW
+ SG_ ISLW_OvrlpSignDis : 31|2@1+ (1,0) [0|3] "" CLU,CGW
+ SG_ ISLW_SpdCluMainDis : 33|8@1+ (1,0) [0|255] "" CLU,CGW
+ SG_ ISLW_SpdNaviMainDis : 41|8@1+ (1,0) [0|255] "" CGW
+ SG_ ISLW_SubCondinfoSta1 : 49|4@1+ (1,0) [0|15] "" CLU,CGW
+ SG_ ISLW_SubCondinfoSta2 : 53|4@1+ (1,0) [0|15] "" CLU,CGW
+ SG_ ISLW_SpdCluSubMainDis : 64|8@1+ (1,0) [0|255] "" CLU
+ SG_ ISLW_SpdCluDisSubCond1 : 72|8@1+ (1,0) [0|255] "" CLU,CGW
+ SG_ ISLW_SpdCluDisSubCond2 : 80|8@1+ (1,0) [0|255] "" CLU,CGW
+ SG_ ISLW_SpdNaviSubMainDis : 88|8@1+ (1,0) [0|255] "" CLU
+ SG_ ISLW_SpdNaviDisSubCond1 : 96|8@1+ (1,0) [0|255] "" CLU,CGW
+ SG_ ISLW_SpdNaviDisSubCond2 : 104|8@1+ (1,0) [0|255] "" CLU,CGW
+ SG_ ISLA_SpdwOffst : 112|8@1+ (1,0) [0|255] "" CLU,CGW
+ SG_ ISLA_SwIgnoreReq : 120|2@1+ (1,0) [0|3] "" CGW
+ SG_ ISLA_SpdChgReq : 122|2@1+ (1,0) [0|3] "" CGW
+ SG_ ISLA_SpdWrn : 124|2@1+ (1,0) [0|3] "" CLU,CGW
+ SG_ ISLA_IcyWrn : 126|2@1+ (1,0) [0|3] "" CLU,CGW
+ SG_ ISLA_SymFlashMod : 128|3@1+ (1,0) [0|7] "" CLU,CGW
+ SG_ ISLA_Popup : 131|3@1+ (1,0) [0|7] "" CLU
+ SG_ ISLA_OptUsmSta : 136|3@1+ (1,0) [0|7] "" CLU,CGW
+ SG_ ISLA_OffstUsmSta : 139|3@1+ (1,0) [0|7] "" CLU,CGW
+ SG_ ISLA_AutoUsmSta : 142|2@1+ (1,0) [0|3] "" CLU,CGW
+ SG_ ISLA_Cntry : 144|4@1+ (1,0) [0|15] "" CLU,CGW
+ SG_ ISLA_AddtnlSign : 149|5@1+ (1,0) [0|31] "" CLU,CGW
+ SG_ ISLA_SchoolZone : 154|2@1+ (1,0) [0|3] "" CLU,CGW
 
 BO_ 507 CAM_0x1fb: 32 CAMERA
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
@@ -476,6 +517,43 @@ BO_ 593 RADAR_0x251: 16 FRONT_RADAR
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
  SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
 
+BO_ 698 FR_CMR_04_40ms: 32 FR_CMR
+ SG_ FR_CMR_Crc4Val : 0|16@1+ (1,0) [0|65535] "" Dummy
+ SG_ FR_CMR_AlvCnt4Val : 16|8@1+ (1,0) [0|255] "" Dummy
+ SG_ IFSref_FR_CMR_Sta : 24|2@1+ (1,0) [0|3] "" CGW
+ SG_ IFSref_VehNumVal : 26|4@1+ (1,0) [0|15] "" CGW
+ SG_ IFSref_ILLAmbtSta : 30|2@1+ (0.1,0) [0|0.3] "" CGW
+ SG_ IFSref_VehLftAngl1Val : 32|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehRtAngl1Val : 41|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehLftAngl2Val : 50|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehDst1Val : 59|4@1+ (1,0) [0|15] "" CGW
+ SG_ IFSref_VehRtAngl2Val : 64|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehLftAngl3Val : 73|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehRtAngl3Val : 82|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehLftAngl4Val : 91|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehRtAngl4Val : 100|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehLftAngl5Val : 109|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehRtAngl5Val : 118|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehLftAngl6Val : 128|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehRtAngl6Val : 137|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehLftAngl7Val : 146|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehRtAngl7Val : 155|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehLftAngl8Val : 164|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehRtAngl8Val : 173|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehLftAngl9Val : 182|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehRtAngl9Val : 192|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehLftAngl10Val : 201|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehRtAngl10Val : 210|9@1+ (0.1,-25) [-25|26.1] "Deg" CGW
+ SG_ IFSref_VehDst2Val : 219|4@1+ (1,0) [0|15] "" CGW
+ SG_ IFSref_VehDst3Val : 223|4@1+ (1,0) [0|15] "" CGW
+ SG_ IFSref_VehDst4Val : 227|4@1+ (1,0) [0|15] "" CGW
+ SG_ IFSref_VehDst5Val : 231|4@1+ (1,0) [0|15] "" CGW
+ SG_ IFSref_VehDst6Val : 235|4@1+ (1,0) [0|15] "" CGW
+ SG_ IFSref_VehDst7Val : 239|4@1+ (1,0) [0|15] "" CGW
+ SG_ IFSref_VehDst8Val : 243|4@1+ (1,0) [0|15] "" CGW
+ SG_ IFSref_VehDst9Val : 247|4@1+ (1,0) [0|15] "" CGW
+ SG_ IFSref_VehDst10Val : 251|4@1+ (1,0) [0|15] "" CGW
+
 BO_ 736 MANUAL_SPEED_LIMIT_ASSIST: 32 XXX
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
  SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
@@ -591,9 +669,16 @@ BO_ 1264 LOCAL_TIME: 8 XXX
 
 CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
 CM_ SG_ 101 BRAKE_POSITION "User applied brake pedal position, max is ~700. Signed on some vehicles";
+CM_ SG_ 203 ADAS_ActvACISta "ADAS Active AngleControlInterface State";
+CM_ SG_ 203 ADAS_ActvACILvl2Sta "ADAS Active AngleControlInterface Level 2 State";
+CM_ SG_ 203 ADAS_StrAnglReqVal "(LFA) ADAS Steering Angle Request Value; Capped at 119.9;";
+CM_ SG_ 203 ADAS_ACIAnglTqRedcGainVal "(LFA) ADAS AngleControlInterface Angle Torque Reduction Gain Value";
+CM_ SG_ 203 FCA_ESA_ActvSta "FCA_ESA Active State";
+CM_ SG_ 203 FCA_ESA_TqBstGainVal "FCA_ESA Torque Boost Gain Value";
 CM_ BO_ 272 "Alternative LKAS message, used on cars such as 2023 Ioniq 6, 2nd gen Kona. Matches LKAS except size is 32 bytes";
 CM_ SG_ 272 LKA_AVAILABLE "Angle control cars: 3 when LKA is generally available, goes to 0 during changes with LFA";
-CM_ SG_ 272 LKAS_ANGLE_CMD "tracks MDPS->STEERING_ANGLE when not engaged, not STEERING_SENSORS->STEERING_ANGLE";
+CM_ SG_ 272 ADAS_StrAnglReqVal "(LKAS) ADAS Steering Angle Request Value; Capped at 176.7; tracks MDPS->STEERING_ANGLE when not engaged, not STEERING_SENSORS->STEERING_ANGLE";
+CM_ SG_ 272 ADAS_ACIAnglTqRedcGainVal "(LKAS) ADAS AngleControlInterface Angle Torque Reduction Gain Value";
 CM_ SG_ 298 NEW_SIGNAL_4 "todo: figure out why always set to 9";
 CM_ SG_ 352 SET_ME_9 "has something to do with AEB settings";
 CM_ SG_ 373 ACCEnable "Likely a copy of CAN's TCS13->ACCEnable";
@@ -616,10 +701,29 @@ VAL_ 64 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
 VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
 VAL_ 96 TRACTION_AND_STABILITY_CONTROL 0 "On" 5 "Limited" 1 "Off";
 VAL_ 112 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
+VAL_ 203 ADAS_ActvACISta 0 "INIT" 1 "INACTIVE" 2 "ACTIVE35(ACTIVE)" 3 "ACTIVE33(Redundancy)" 4 "RESERVED" 5 "RESERVED" 6 "RESERVED" 7 "RESERVED" 8 "RESERVED" 9 "RESERVED" 10 "RESERVED" 11 "RESERVED" 12 "RESERVED" 13 "RESERVED" 14 "RESERVED" 15 "RESERVED";
+VAL_ 203 ADAS_ActvACILvl2Sta 0 "INIT" 1 "INACTIVE" 2 "ACTIVE35(ACTIVE)" 3 "RESERVED" 4 "RESERVED" 5 "RESERVED" 6 "RESERVED" 7 "RESERVED" 8 "RESERVED" 9 "RESERVED" 10 "RESERVED" 11 "RESERVED" 12 "RESERVED" 13 "RESERVED" 14 "RESERVED" 15 "RESERVED";
+VAL_ 203 ADAS_StrAnglReqVal 0 "0x0x000~0x3FFF:Real Values" 16383 "0x0x000~0x3FFF:Real Values";
+VAL_ 203 ADAS_ACIAnglTqRedcGainVal 0 "0x0x00~0xFA:Real Values" 250 "0x0x00~0xFA:Real Values" 251 "RESERVED" 252 "RESERVED" 253 "RESERVED" 254 "RESERVED" 255 "RESERVED";
+VAL_ 203 FCA_ESA_ActvSta 0 "Inactive" 1 "Active" 2 "RESERVED" 3 "RESERVED";
+VAL_ 203 FCA_ESA_TqBstGainVal 0 "0x0x00~0xFA:Real Values" 250 "0x0x00~0xFA:Real Values" 251 "RESERVED" 252 "RESERVED" 253 "RESERVED" 254 "RESERVED" 255 "RESERVED";
 VAL_ 234 LKA_FAULT 0 "ok" 1 "lka fault";
 VAL_ 272 LKA_MODE 1 "warning only" 2 "assist" 6 "off";
 VAL_ 272 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green";
 VAL_ 272 LKAS_ANGLE_ACTIVE 0 "off" 1 "not active" 2 "active";
+VAL_ 282 HBA_SysOptSta 0 "None HBA Option (Default)" 1 "HBA Option" 2 "Reserved" 3 "Error indicator";
+VAL_ 282 HBA_SysSta 0 "HBA Disable" 1 "HBA Enable & High Beam Off" 2 "HBA Enable & High Beam On" 3 "Reserved" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "System Fail";
+VAL_ 282 HBA_IndLmpReq 0 "HBA Indicator Lamp Off" 1 "HBA Indicator Lamp On" 2 "Reserved" 3 "Error indicator";
+VAL_ 282 FCA_Equip_MFC 0 "No Coding" 1 "Sensor Fusion FCA" 2 "Camera only FCA" 3 "No FCA Option" 4 "ADAS_DRV Option" 5 "Reserved" 6 "Not used" 7 "Error indicator";
+VAL_ 282 HBA_OptUsmSta 0 "None HBA Option (Default)" 1 "HBA Function Off" 2 "HBA Function On" 3 "Invalid (Fail)";
+VAL_ 282 DAW_LVDA_PUDis 0 "Default" 1 "Display “Leading vehicle departure alert”" 2 "Reserved" 3 "Error indicator";
+VAL_ 282 DAW_LVDA_OptUsmSta 0 "No Option (default)" 1 "Off" 2 "On" 3 "Error Indicator";
+VAL_ 282 DAW_OptUsmSta 0 "None DAW Option (Default)" 1 "System Off" 2 "System On" 3 "Reserved" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "Invalid (Gray)";
+VAL_ 282 DAW_SysSta 0 "System Off" 1 "Attention Level  1" 2 "Attention Level  2" 3 "Attention Level  3" 4 "Attention Level  4" 5 "Attention Level  5" 6 "Reserved" 7 "Reserved" 8 "Reserved" 9 "Reserved" 10 "Reserved" 11 "Reserved" 12 "Reserved" 13 "Reserved" 14 "System Standby" 15 "System Fail";
+VAL_ 282 DAW_WrnMsgSta 0 "No Warning" 1 "Rest Recommend Warning" 2 "Hands-Off TMS call request" 3 "Reserved" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "Error indicator";
+VAL_ 282 DAW_TimeRstReq 0 "No signal" 1 "Time reset" 2 "Reserved" 3 "Error indicator";
+VAL_ 282 DAW_SnstvtyModRetVal 0 "Default" 1 "Late" 2 "Normal" 3 "Reserved" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "Invalid";
+VAL_ 282 FR_CMR_SCCEquipSta 0 "Not Applied" 1 "Applied" 2 "Not used" 3 "Error Indicator";
 VAL_ 298 LKA_MODE 1 "warning only" 2 "assist" 6 "off";
 VAL_ 298 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green";
 VAL_ 304 PARK_BUTTON 1 "Pressed" 2 "Not Pressed";
@@ -693,9 +797,74 @@ VAL_ 362 BLINKER_CONTROL 1 "hazards" 2 "hazards button backlight" 3 "left blinke
 VAL_ 373 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "SCC permanent fault, communication issue";
 VAL_ 416 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled";
 VAL_ 426 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume";
+VAL_ 437 Info_LftLnQualSta 0 "Very Low Quality" 1 "Low Quality" 2 "High Quality" 3 "Very High Quality" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "Error indicator";
+VAL_ 437 Info_LftLnDptSta 0 "No Left Line Departure" 1 "Left Line Departure" 2 "Reserved" 3 "Error Indicator";
+VAL_ 437 Info_RtLnQualSta 0 "Very Low Quality" 1 "Low Quality" 2 "High Quality" 3 "Very High Quality" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "Error indicator";
+VAL_ 437 Info_RtLnDptSta 0 "No Right Line Departure" 1 "Right Line Departure" 2 "Reserved" 3 "Error Indicator";
+VAL_ 437 Info_RtLnCvtrVal 65534 "Reserved" 65535 "Error indicator";
 VAL_ 463 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume";
 VAL_ 463 RIGHT_PADDLE 0 "Not Pulled" 1 "Pulled";
 VAL_ 463 LEFT_PADDLE 0 "Not Pulled" 1 "Pulled";
+VAL_ 506 ISLW_OptUsmSta 0 "None ISLW Option (Default)" 1 "System Disabled by USM" 2 "System Enable by USM" 3 "Invalid";
+VAL_ 506 ISLW_SysSta 0 "Normal (Default)" 1 "System Fail" 2 "ISLW Temporary Unavailable" 3 "Reserved";
+VAL_ 506 ISLW_NoPassingInfoDis 0 "None Display (Default)" 1 "LHD No Passing Zone Display" 2 "RHD No Passing Zone Display" 3 "Reserved" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "Invalid";
+VAL_ 506 ISLW_OvrlpSignDis 0 "None (Default)" 1 "Overlap Sign" 2 "Reserved" 3 "Error indicator";
+VAL_ 506 ISLW_SpdCluMainDis 0 "No Recognition (Default)" 253 "Unlimited Speed" 254 "Reserved" 255 "Invalid";
+VAL_ 506 ISLW_SpdNaviMainDis 0 "No Recognition (Default)" 253 "Unlimited Speed" 254 "Reserved" 255 "Invalid";
+VAL_ 506 ISLW_SubCondinfoSta1 0 "None (Default)" 1 "Rain" 2 "Snow" 3 "Snow&Rain" 4 "Trailer" 5 "Reserved" 6 "Reserved" 7 "Reserved" 8 "Reserved" 9 "Reserved" 10 "Reserved" 11 "Reserved" 12 "Reserved" 13 "Reserved" 14 "Generic" 15 "Invalid";
+VAL_ 506 ISLW_SubCondinfoSta2 0 "None (Default)" 1 "Rain" 2 "Snow" 3 "Snow&Rain" 4 "Trailer" 5 "Reserved" 6 "Reserved" 7 "Reserved" 8 "Reserved" 9 "Reserved" 10 "Reserved" 11 "Reserved" 12 "Reserved" 13 "Reserved" 14 "Generic" 15 "Invalid";
+VAL_ 506 ISLW_SpdCluSubMainDis 0 "No Recognition (Default)" 253 "Unlimited Speed" 254 "Reserved" 255 "Invalid";
+VAL_ 506 ISLW_SpdCluDisSubCond1 0 "No Recognition (Default)" 253 "LHD Conditional No Passing ZONE" 254 "RHD Conditional No Passing ZONE" 255 "Invalid";
+VAL_ 506 ISLW_SpdCluDisSubCond2 0 "No Recognition (Default)" 253 "LHD Conditional No Passing ZONE" 254 "RHD Conditional No Passing ZONE" 255 "Invalid";
+VAL_ 506 ISLW_SpdNaviSubMainDis 0 "No Recognition (Default)" 253 "Unlimited Speed" 254 "Reserved" 255 "Invalid";
+VAL_ 506 ISLW_SpdNaviDisSubCond1 0 "No Recognition (Default)" 253 "LHD Conditional No Passing ZONE" 254 "RHD Conditional No Passing ZONE" 255 "Invalid";
+VAL_ 506 ISLW_SpdNaviDisSubCond2 0 "No Recognition (Default)" 253 "LHD Conditional No Passing ZONE" 254 "RHD Conditional No Passing ZONE" 255 "Invalid";
+VAL_ 506 ISLA_SpdwOffst 0 "No Recognition" 253 "Unlimited Speed" 254 "Reserved" 255 "Invalid";
+VAL_ 506 ISLA_SwIgnoreReq 0 "Allow All Switch Inputs (default)" 1 "-(SET) Switch Input Ignore" 2 "+(SET) Switch Input Ignore" 3 "-(SET) & +(SET) Switch Inputs Ignore";
+VAL_ 506 ISLA_SpdChgReq 0 "Default" 1 "Speed Change Request" 2 "Reserved" 3 "Reserved";
+VAL_ 506 ISLA_SpdWrn 0 "No Warning" 1 "Warning" 2 "Reserved" 3 "Reserved";
+VAL_ 506 ISLA_IcyWrn 0 "No Warning" 1 "Warning" 2 "Reserved" 3 "Reserved";
+VAL_ 506 ISLA_SymFlashMod 0 "No Flasing" 1 "Flashing Sign" 2 "Flashing - Arrow Symbol" 3 "Flashing + Arrow Symbol" 4 "Flashing Auto Symbol" 5 "Reserved" 6 "Reserved" 7 "Reserved";
+VAL_ 506 ISLA_Popup 0 "No Popup" 1 "MSLA Speed will Change" 2 "MSLA Speed has Changed" 3 "CC_SCC Speed will Change" 4 "CC_SCC Speed has Changed" 5 "Reserved" 6 "Reserved" 7 "Reserved";
+VAL_ 506 ISLA_OptUsmSta 0 "None ISLA Option (속도 제한 메뉴 삭제)" 1 "Off" 2 "Warning" 3 "Assist" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "Invalid (GRAY)";
+VAL_ 506 ISLA_OffstUsmSta 0 "None Offset Function" 1 "-10kph or -5mph" 2 "-5kph or -3mph" 3 "0kph or 0mph" 4 "+5kph or +3mph" 5 "+10kph or +5mph" 6 "Reserved" 7 "Invalid (GRAY)";
+VAL_ 506 ISLA_AutoUsmSta 0 "None Auto Function (Delete Menu)" 1 "Auto Off" 2 "Auto On" 3 "Invalid (GRAY)";
+VAL_ 506 ISLA_Cntry 0 "Europe/Russia/Australia" 1 "Domestic" 2 "China" 3 "USA" 4 "Canada" 5 "Australia" 6 "Reserved" 7 "Reserved" 8 "Reserved" 9 "Reserved" 10 "Reserved" 11 "Reserved" 12 "Reserved" 13 "Reserved" 14 "Reserved" 15 "Initial Value (default)";
+VAL_ 506 ISLA_AddtnlSign 0 "No Recognition (default)" 1 "School Crossing" 16 "Do Not Pass" 17 "Reserved" 18 "Reserved" 19 "Reserved" 20 "Reserved" 21 "Reserved" 22 "Reserved" 23 "Reserved" 24 "Exit" 25 "Roundabout" 26 "Right Curve" 27 "Left Curve" 28 "Winding Road" 29 "Reserved" 30 "Reserved" 31 "Reserved" 2 "Pedestrian Crossing" 3 "Bicycle Crossing" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "Reserved" 8 "Stop" 9 "Yield" 10 "Stop Ahead" 11 "Yield Ahead" 12 "Road Construction Ahead" 13 "Lane Reduction" 14 "Reserved" 15 "Reserved";
+VAL_ 506 ISLA_SchoolZone 0 "No School Zone" 1 "School Zone" 2 "Reserved" 3 "Reserved";
+VAL_ 698 IFSref_FR_CMR_Sta 0 "None Option (Default)" 1 "Normal" 2 "Blockage Status" 3 "Error Indicator";
+VAL_ 698 IFSref_VehNumVal 0 "No vehicle" 1 "Number of vehicles" 2 "Number of vehicles" 3 "Number of vehicles" 4 "Number of vehicles" 5 "Number of vehicles" 6 "Number of vehicles" 7 "Number of vehicles" 8 "Number of vehicles" 9 "Number of vehicles" 10 "Number of vehicles" 11 "Over than 10 vehicles" 12 "Reserved" 13 "Reserved" 14 "Default" 15 "Error indicator";
+VAL_ 698 IFSref_ILLAmbtSta 0 "Bright" 1 "Dark" 2 "Not used" 3 "Error indicator";
+VAL_ 698 IFSref_VehLftAngl1Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehRtAngl1Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehLftAngl2Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehDst1Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
+VAL_ 698 IFSref_VehRtAngl2Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehLftAngl3Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehRtAngl3Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehLftAngl4Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehRtAngl4Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehLftAngl5Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehRtAngl5Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehLftAngl6Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehRtAngl6Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehLftAngl7Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehRtAngl7Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehLftAngl8Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehRtAngl8Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehLftAngl9Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehRtAngl9Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehLftAngl10Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehRtAngl10Val 501 "Not used" 502 "Not used" 503 "Not used" 504 "Not used" 505 "Not used" 506 "Not used" 507 "Not used" 508 "Not used" 509 "Not used" 510 "Default" 511 "Error indicator";
+VAL_ 698 IFSref_VehDst2Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
+VAL_ 698 IFSref_VehDst3Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
+VAL_ 698 IFSref_VehDst4Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
+VAL_ 698 IFSref_VehDst5Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
+VAL_ 698 IFSref_VehDst6Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
+VAL_ 698 IFSref_VehDst7Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
+VAL_ 698 IFSref_VehDst8Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
+VAL_ 698 IFSref_VehDst9Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
+VAL_ 698 IFSref_VehDst10Val 0 "No Value" 1 "1~10m" 2 "11~20m" 3 "21~30m" 4 "31~40m" 5 "41~50m" 6 "51~60m" 7 "61~70m" 8 "71~80m" 9 "81~90m" 10 "91~100m" 11 "101~200m" 12 "201~300m" 13 "301~400m" 14 "401m~" 15 "Error indicator";
 VAL_ 736 MSLA_STATUS 0 "disabled" 1 "active" 2 "paused";
 VAL_ 866 LEFT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
 VAL_ 866 RIGHT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";

opendbc_repo/opendbc/dbc/rivian_primary_actuator.dbc

@@ -679,7 +679,7 @@ CM_ SG_ 524 ESP_BrakePressure_LF "Brake Pressure Left Front";
 CM_ SG_ 524 ESP_BrakePressure_LR "Brake Pressure Left Rear";
 CM_ SG_ 524 ESP_BrakePressure_RF "Brake Pressure Right Front";
 CM_ SG_ 524 ESP_BrakePressure_RR "Brake Pressure Right Rear";
-CM_ SG_ 524 ESP_MasterCyl_Pressure "Master Cyclinder Brake Pressure";
+CM_ SG_ 524 ESP_MasterCyl_Pressure "Master Cylinder Brake Pressure";
 CM_ SG_ 524 ESP_MasterCyl_Pressure_Q "Indication of whether signal with corresponding name is valid";
 CM_ SG_ 524 ESP_BrakePressure_RR_Q "Indication of whether signal with corresponding name is valid";
 CM_ SG_ 524 ESP_BrakePressure_LR_Q "Indication of whether signal with corresponding name is valid";

opendbc_repo/opendbc/dbc/volvo_v40_2017_pt.dbc

@@ -315,7 +315,7 @@ CM_ SG_ 192 TransmissionGear "0 = 1st gear, 1= 2nd gear...";
 CM_ SG_ 681 TurnSignal "0 = Nothing, 1= Left, 3=Right";
 CM_ SG_ 681 HighBeamOn "1=HighBeam On, 0=HighBeam Off";
 CM_ SG_ 48 ACCStatusTracking "ACC Tracking vehicle, distance control.";
-CM_ SG_ 48 ACCStatusOnOff "Turns one after pressing on/off button on steering wheeel";
+CM_ SG_ 48 ACCStatusOnOff "Turns one after pressing on/off button on steering wheel";
 CM_ SG_ 48 ACCStatusActive "ACC Active";
 CM_ SG_ 48 FCWSomething "All bit set during fcw";
 CM_ SG_ 48 StatusSomething "Some status changes when zeroing DTCs";
@@ -358,6 +358,6 @@ CM_ SG_ 114 NEW_SIGNAL_1 "Jumped from 0 -> 120 during start. Makes triangle from
 CM_ SG_ 608 NEW_SIGNAL_1 "Status?";
 CM_ SG_ 608 NEW_SIGNAL_2 "Classification of object?";
 CM_ SG_ 608 Distance "Distance to object in front.";
-CM_ SG_ 968 PassengerSeatBelt "1 = Seatbalt latched";
+CM_ SG_ 968 PassengerSeatBelt "1 = Seatbelt latched";
 CM_ SG_ 968 DriverSeatBelt "1=Seatbelt latched";
 VAL_ 64 GearShifter 0 "P" 1 "R" 2 "N" 3 "D" ;

opendbc_repo/opendbc/dbc/volvo_v60_2015_pt.dbc

@@ -283,14 +283,14 @@ CM_ SG_ 298 NEW_SIGNAL_4 "related to gas pedal";
 CM_ SG_ 298 NEW_SIGNAL_5 "related to ACCStatus";
 CM_ SG_ 298 NEW_SIGNAL_6 "went high at same time as ACCStatus >= 2";
 CM_ SG_ 298 BrakePressed "driver";
-CM_ SG_ 298 EngineRpm "Might be engine rpm. But behaves abit weird.";
+CM_ SG_ 298 EngineRpm "Might be engine rpm. But behaves a bit weird.";
 CM_ SG_ 582 byte0 "0=CCW, 1=CW, bit 2,";
 CM_ SG_ 582 SteeringWheelRateOfChange "Some rate of change for steering wheel? Torque?";
 CM_ SG_ 582 byte4 "High nibble";
 CM_ SG_ 582 LKAActive "Bit 1, 1 When LKA Active, Bit 3, 1 When denying?";
 CM_ SG_ 608 ACC_Distance "Seems to track distance, or speed of vehicle in front.";
 CM_ SG_ 610 SET_X_22 "0x20 Heartbeat, VEgo <58kph = 0x03, VEgo >65kph = 0x04, 0x05";
-CM_ SG_ 624 ACC_AccelDecel "Might be some acc speed, moved abit after activating acc";
+CM_ SG_ 624 ACC_AccelDecel "Might be some acc speed, moved a bit after activating acc";
 CM_ SG_ 624 ACC_Some "Jumps to life after activating ACC, 0 when not active";
 CM_ SG_ 648 Counter "counts 0 to 6";
 CM_ SG_ 1021 TSR_Speed "Traffic Sign Recognition speed";

opendbc_repo/opendbc/dbc/vw_mqb.dbc

@@ -1304,6 +1304,23 @@ BO_ 294 HCA_01: 8 Frontsensorik
  SG_ EA_Ruckfreigabe : 40|1@1+ (1,0) [0|1] "" Vector__XXX
  SG_ EA_ACC_Wunschgeschwindigkeit : 41|10@1+ (0.32,0) [0|327.04] "Unit_KiloMeterPerHour"  Frontradar
 
+BO_ 810 LH_EPS_01: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ EPS_SpannungsAnf : 12|2@1+ (1.0,0.0) [0.0|3] "" XXX
+ SG_ EPS_Endanschlag : 14|2@1+ (1.0,0.0) [0.0|3] "" XXX
+ SG_ EPS_Akustiksignal : 16|1@1+ (1.0,0.0) [0.0|1] "" XXX
+ SG_ EPS_Fehlerlampe : 17|1@1+ (1.0,0.0) [0.0|1] "" XXX
+ SG_ EPS_Warnungen : 19|3@1+ (1.0,0.0) [0.0|7] "" XXX
+ SG_ EPS_PLA_Abbruch : 22|4@1+ (1,0) [0|15] "" XXX
+ SG_ EPS_PLA_Fehler : 26|4@1+ (1,0) [0|15] "" XXX
+ SG_ EPS_PLA_Status : 30|4@1+ (1.0,0.0) [0.0|15] "" XXX
+ SG_ EPS_Charisma_FahrPr : 34|4@1+ (1.0,0.0) [0.0|15] "" XXX
+ SG_ EPS_Charisma_Status : 38|2@1+ (1.0,0.0) [0.0|3] "" XXX
+ SG_ EPS_Lenkerposition : 41|2@1+ (1.0,0.0) [0.0|3] "" XXX
+ SG_ EPS_Anf_KL : 43|1@1+ (1.0,0.0) [0.0|1] "" XXX
+ SG_ EPS_ARA_Status : 44|4@1+ (1.0,0.0) [0.0|15] "" XXX
+
 BO_ 159 LH_EPS_03: 8 XXX
  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] ""  XXX

opendbc_repo/opendbc/dbc/vw_pq.dbc

@@ -880,18 +880,31 @@ BO_ 424 Bremse_6: 3 XXX
 BO_ 1192 Bremse_5: 8 XXX
  SG_ CHECKSUM : 56|8@1+ (1,0) [0|0] "" XXX
  SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" XXX
- SG_ Bremslicht_ECD : 51|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremsentemperatur_vorn : 48|3@1+ (125,125) [125|1000] "C" XXX
- SG_ Frei_Bremse_5_5 : 40|8@1+ (1,0) [0|0] "" XXX
- SG_ Offset_Gierrate : 32|8@1+ (0.05,-6.375) [-6.375|6.375] "deg/s" XXX
- SG_ Vorzeichen_Bremsdruck : 31|1@1+ (1,0) [0|0] "" XXX
- SG_ Status_Bremsdruck_durch_ESP_Sys : 30|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremsdruck_ungueltig : 29|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Bremse_5_3 : 28|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremsdruck : 16|12@1+ (0.1,0) [0|250] "bar" XXX
- SG_ Vorzeichen_der_Giergeschwindigk : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Gierrate_ungueltig : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ Giergeschwindigkeit : 0|14@1+ (0.01,0) [0|100] "Grad/sec" XXX
+ SG_ BR5_ECD_Lampe : 51|1@1+ (1,0) [0|0] "" XXX
+ SG_ BR5_ZT_Rueckk_Umsetz : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR5_Anhi_Sta : 40|1@1+ (1,0) [0|1] "" XXX
+ SG_ ESP_Rollenmodus_Deactiveieren : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR5_Sign_Druck : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR5_Sta_Druck : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR5_Druckvalid : 29|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR5_Stillstand : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR5_Bremsdruck : 16|12@1+ (0.1,0) [0|250] "bar" XXX
+ SG_ BR5_Vorzeichen : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR5_Sta_Gierrate : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR5_Giergeschw : 0|14@1+ (0.01,0) [0|100] "Grad/sec" XXX
+ SG_ BR5_ANB_CM_Rueckk_Umsetz : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR5_HDC_bereit : 50|1@1+ (1,0) [0|1] "" XXX
+ SG_ ESP_Stat_FallBack_eBKV : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ ESP_Anforderung_EPB : 36|2@1+ (1,0) [0|3] "" XXX
+ SG_ ESP_Autohold_active : 38|1@1+ (1,0) [0|1] "" XXX
+ SG_ ESP_Autohold_Standby : 39|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR5_Anhi_akt : 41|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR5_v_Ueberw : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR5_Bremslicht : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR5_Notbremsung : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR5_Fahrer_tritt_ZBR_Schw : 45|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR5_AWV2_Bremsruck : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR5_AWV2_Fehler : 47|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 672 Bremse_4: 3 XXX
  SG_ Frei_Bremse_4_1 : 17|7@1+ (1,0) [0|0] "" XXX
@@ -1637,7 +1650,7 @@ VAL_ 872 ACS_Fehler 1 "Fehlerspeichereintrag" 0 "kein_Fehlerspeichereintrag" ;
 VAL_ 872 ACS_zul_Regelabw 254 "ADR_nicht_aktiv" 255 "Fehler" ;
 VAL_ 872 ACS_max_AendGrad 254 "Neutralwert" 0 "Neutralwert" 255 "Fehler" ;
 
-VAL_ 978 LH2_Sta_HCA 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active";
+VAL_ 978 LH2_Sta_HCA 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active" 7 "active";
 VAL_ 1088 Waehlhebelposition__Getriebe_1_ 8 "P" 7 "R" 6 "N" 5 "D" 9 "U" 12 "S" 14 "T" 10 "T" 11 "T";
 
 VAL_ 1386 ACA_StaACC 6 "ACC_rev_aus" 0 "Hauptschalter_aus" 4 "ACC_im_Hintergrund" 3 "ACC_aktiv" 1 "Reserve" 2 "ACC_passiv" 7 "ACC_irrev_aus" 5 "frei" ;

opendbc_repo/opendbc/safety/tests/libsafety/SConscript

@@ -23,12 +23,8 @@ env = Environment(
     '-Wfatal-errors',
     '-Wno-pointer-to-int-cast',
     '-DCANFD',
-    # GCC coverage flags
-    '-fprofile-arcs',
-    '-ftest-coverage',
   ],
   CPPPATH=["#", "../../board/"],
-  LIBS=["gcov"],
 )
 if system == "Darwin":
   env.PrependENVPath('PATH', '/opt/homebrew/bin')
@@ -56,5 +52,15 @@ if GetOption('ubsan'):
 safety = env.SharedObject("safety.os", "safety.c")
 libsafety = env.SharedLibrary("libsafety.so", [safety])
 
+coverage_flags = [
+  # GCC coverage flags
+  '-fprofile-arcs',
+  '-ftest-coverage',
+]
+env.Append(
+  CFLAGS=coverage_flags,
+  LINKFLAGS=coverage_flags,
+)
+
 # GCC note file is generated by compiler, allow scons to clean it up
 env.SideEffect("safety.gcno", safety)

opendbc_repo/opendbc/safety/tests/test_ford.py

@@ -287,8 +287,8 @@ class TestFordSafetyBase(common.PandaCarSafetyTest):
                     should_tx = should_tx and abs(curvature) <= curvature_accel_limit_upper
 
                   with self.subTest(controls_allowed=controls_allowed, steer_control_enabled=steer_control_enabled,
-                                    path_offset=path_offset, path_angle=path_angle, curvature_rate=curvature_rate,
-                                    curvature=curvature):
+                                    path_offset=float(path_offset), path_angle=float(path_angle), curvature_rate=float(curvature_rate),
+                                    curvature=float(curvature)):
                     self.assertEqual(should_tx, self._tx(self._lat_ctl_msg(steer_control_enabled, path_offset, path_angle, curvature, curvature_rate)))
 
   def test_curvature_rate_limits(self):

panda/board/boards/board_declarations.h

@@ -55,10 +55,10 @@ struct board {
 // These should match the enums in cereal/log.capnp and __init__.py
 #define HW_TYPE_UNKNOWN 0U
 #define HW_TYPE_WHITE_PANDA 1U
-#define HW_TYPE_GREY_PANDA 2U
+//#define HW_TYPE_GREY_PANDA 2U
 #define HW_TYPE_BLACK_PANDA 3U
-#define HW_TYPE_PEDAL 4U
-#define HW_TYPE_UNO 5U
+//#define HW_TYPE_PEDAL 4U
+//#define HW_TYPE_UNO 5U
 #define HW_TYPE_DOS 6U
 #define HW_TYPE_RED_PANDA 7U
 #define HW_TYPE_RED_PANDA_V2 8U
@@ -77,9 +77,7 @@ struct board {
 
 extern struct board board_black;
 extern struct board board_dos;
-extern struct board board_uno;
 extern struct board board_tres;
-extern struct board board_grey;
 extern struct board board_white;
 extern struct board board_cuatro;
 extern struct board board_red;

panda/board/boards/grey.h

@@ -1,35 +0,0 @@
-#pragma once
-
-#include "board_declarations.h"
-
-// //////////////////// //
-// Grey Panda (STM32F4) //
-// //////////////////// //
-
-// Most hardware functionality is similar to white panda
-
-board board_grey = {
-  .set_bootkick = unused_set_bootkick,
-  .harness_config = &white_harness_config,
-  .has_spi = false,
-  .has_canfd = false,
-  .fan_max_rpm = 0U,
-  .fan_max_pwm = 100U,
-  .avdd_mV = 3300U,
-  .fan_stall_recovery = false,
-  .fan_enable_cooldown_time = 0U,
-  .init = white_grey_init,
-  .init_bootloader = white_grey_init_bootloader,
-  .enable_can_transceiver = white_enable_can_transceiver,
-  .led_GPIO = {GPIOC, GPIOC, GPIOC},
-  .led_pin = {9, 7, 6},
-  .set_can_mode = white_set_can_mode,
-  .check_ignition = white_check_ignition,
-  .read_voltage_mV = white_read_voltage_mV,
-  .read_current_mA = white_read_current_mA,
-  .set_fan_enabled = unused_set_fan_enabled,
-  .set_ir_power = unused_set_ir_power,
-  .set_siren = unused_set_siren,
-  .read_som_gpio = unused_read_som_gpio,
-  .set_amp_enabled = unused_set_amp_enabled
-};

panda/board/boards/uno.h

@@ -1,166 +0,0 @@
-#pragma once
-
-#include "board_declarations.h"
-
-// /////////////////////// //
-// Uno (STM32F4) + Harness //
-// /////////////////////// //
-
-static void uno_enable_can_transceiver(uint8_t transceiver, bool enabled) {
-  switch (transceiver){
-    case 1U:
-      set_gpio_output(GPIOC, 1, !enabled);
-      break;
-    case 2U:
-      set_gpio_output(GPIOC, 13, !enabled);
-      break;
-    case 3U:
-      set_gpio_output(GPIOA, 0, !enabled);
-      break;
-    case 4U:
-      set_gpio_output(GPIOB, 10, !enabled);
-      break;
-    default:
-      print("Invalid CAN transceiver ("); puth(transceiver); print("): enabling failed\n");
-      break;
-  }
-}
-
-static void uno_set_bootkick(BootState state) {
-  if (state == BOOT_BOOTKICK) {
-    set_gpio_output(GPIOB, 14, false);
-  } else {
-    // We want the pin to be floating, not forced high!
-    set_gpio_mode(GPIOB, 14, MODE_INPUT);
-  }
-}
-
-static void uno_set_can_mode(uint8_t mode) {
-  uno_enable_can_transceiver(2U, false);
-  uno_enable_can_transceiver(4U, false);
-  switch (mode) {
-    case CAN_MODE_NORMAL:
-    case CAN_MODE_OBD_CAN2:
-      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(harness.status == HARNESS_STATUS_FLIPPED)) {
-        // B12,B13: disable OBD mode
-        set_gpio_mode(GPIOB, 12, MODE_INPUT);
-        set_gpio_mode(GPIOB, 13, MODE_INPUT);
-
-        // B5,B6: normal CAN2 mode
-        set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
-        set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
-        uno_enable_can_transceiver(2U, true);
-      } else {
-        // B5,B6: disable normal CAN2 mode
-        set_gpio_mode(GPIOB, 5, MODE_INPUT);
-        set_gpio_mode(GPIOB, 6, MODE_INPUT);
-
-        // B12,B13: OBD mode
-        set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
-        set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
-        uno_enable_can_transceiver(4U, true);
-      }
-      break;
-    default:
-      print("Tried to set unsupported CAN mode: "); puth(mode); print("\n");
-      break;
-  }
-}
-
-static bool uno_check_ignition(void){
-  // ignition is checked through harness
-  return harness_check_ignition();
-}
-
-static void uno_set_usb_switch(bool phone){
-  set_gpio_output(GPIOB, 3, phone);
-}
-
-static void uno_set_ir_power(uint8_t percentage){
-  pwm_set(TIM4, 2, percentage);
-}
-
-static void uno_set_fan_enabled(bool enabled){
-  set_gpio_output(GPIOA, 1, enabled);
-}
-
-static void uno_init(void) {
-  common_init_gpio();
-
-  // A8,A15: normal CAN3 mode
-  set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
-  set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
-
-  // GPS off
-  set_gpio_output(GPIOB, 1, 0);
-  set_gpio_output(GPIOC, 5, 0);
-  set_gpio_output(GPIOC, 12, 0);
-
-  // C8: FAN PWM aka TIM3_CH3
-  set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
-
-  // Turn on phone regulator
-  set_gpio_output(GPIOB, 4, true);
-
-  // Initialize IR PWM and set to 0%
-  set_gpio_alternate(GPIOB, 7, GPIO_AF2_TIM4);
-  pwm_init(TIM4, 2);
-  uno_set_ir_power(0U);
-
-  // Switch to phone usb mode if harness connection is powered by less than 7V
-  if(white_read_voltage_mV() < 7000U){
-    uno_set_usb_switch(true);
-  } else {
-    uno_set_usb_switch(false);
-  }
-
-  // Bootkick phone
-  uno_set_bootkick(BOOT_BOOTKICK);
-}
-
-static void uno_init_bootloader(void) {
-  // GPS off
-  set_gpio_output(GPIOB, 1, 0);
-  set_gpio_output(GPIOC, 5, 0);
-  set_gpio_output(GPIOC, 12, 0);
-}
-
-static harness_configuration uno_harness_config = {
-  .has_harness = true,
-  .GPIO_SBU1 = GPIOC,
-  .GPIO_SBU2 = GPIOC,
-  .GPIO_relay_SBU1 = GPIOC,
-  .GPIO_relay_SBU2 = GPIOC,
-  .pin_SBU1 = 0,
-  .pin_SBU2 = 3,
-  .pin_relay_SBU1 = 10,
-  .pin_relay_SBU2 = 11,
-  .adc_channel_SBU1 = 10,
-  .adc_channel_SBU2 = 13
-};
-
-board board_uno = {
-  .harness_config = &uno_harness_config,
-  .has_spi = false,
-  .has_canfd = false,
-  .fan_max_rpm = 5100U,
-  .fan_max_pwm = 100U,
-  .avdd_mV = 3300U,
-  .fan_stall_recovery = false,
-  .fan_enable_cooldown_time = 0U,
-  .init = uno_init,
-  .init_bootloader = uno_init_bootloader,
-  .enable_can_transceiver = uno_enable_can_transceiver,
-  .led_GPIO = {GPIOC, GPIOC, GPIOC},
-  .led_pin = {9, 7, 6},
-  .set_can_mode = uno_set_can_mode,
-  .check_ignition = uno_check_ignition,
-  .read_voltage_mV = white_read_voltage_mV,
-  .read_current_mA = unused_read_current,
-  .set_fan_enabled = uno_set_fan_enabled,
-  .set_ir_power = uno_set_ir_power,
-  .set_siren = unused_set_siren,
-  .set_bootkick = uno_set_bootkick,
-  .read_som_gpio = unused_read_som_gpio,
-  .set_amp_enabled = unused_set_amp_enabled
-};

panda/board/jungle/scripts/panda_identification_test.py

@@ -1,45 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import random
-import contextlib
-
-from panda import PandaJungle
-from panda import Panda
-
-PANDA_UNDER_TEST = Panda.HW_TYPE_UNO
-
-panda_jungle = PandaJungle()
-
-def silent_panda_connect():
-  with open(os.devnull, "w") as devnull:
-    with contextlib.redirect_stdout(devnull):
-      panda = Panda()
-  return panda
-
-def reboot_panda(harness_orientation=PandaJungle.HARNESS_ORIENTATION_NONE, ignition=False):
-  print(f"Restarting panda with harness orientation: {harness_orientation} and ignition: {ignition}")
-  panda_jungle.set_panda_power(False)
-  panda_jungle.set_harness_orientation(harness_orientation)
-  panda_jungle.set_ignition(ignition)
-  time.sleep(2)
-  panda_jungle.set_panda_power(True)
-  time.sleep(2)
-
-count = 0
-if __name__ == "__main__":
-  while True:
-    ignition = random.randint(0, 1)
-    harness_orientation = random.randint(0, 2)
-    reboot_panda(harness_orientation, ignition)
-
-    p = silent_panda_connect()
-    assert p.get_type() == PANDA_UNDER_TEST
-    assert p.health()['car_harness_status'] == harness_orientation
-    if harness_orientation != PandaJungle.HARNESS_ORIENTATION_NONE:
-      assert p.health()['ignition_line'] == ignition
-
-    count += 1
-    print(f"Passed {count} loops")
-
-

panda/board/stm32f4/board.h

@@ -11,9 +11,7 @@
 #include "stm32f4/llfan.h"
 #include "drivers/clock_source.h"
 #include "boards/white.h"
-#include "boards/grey.h"
 #include "boards/black.h"
-#include "boards/uno.h"
 #include "boards/dos.h"
 
 // Unused functions on F4
@@ -30,11 +28,9 @@ void detect_board_type(void) {
     hw_type = HW_TYPE_WHITE_PANDA;
     current_board = &board_white;
   } else if(detect_with_pull(GPIOA, 13, PULL_DOWN)) { // Rev AB deprecated, so no pullup means black. In REV C, A13 is pulled up to 5V with a 10K
-    hw_type = HW_TYPE_GREY_PANDA;
-    current_board = &board_grey;
+    // grey is deprecated
   } else if(!detect_with_pull(GPIOB, 15, PULL_UP)) {
-    hw_type = HW_TYPE_UNO;
-    current_board = &board_uno;
+    // uno is deprecated
   } else {
     hw_type = HW_TYPE_BLACK_PANDA;
     current_board = &board_black;

panda/tests/hitl/7_internal.py

@@ -4,7 +4,6 @@ import pytest
 from panda import Panda
 
 pytestmark = [
-  pytest.mark.skip_panda_types(Panda.HW_TYPE_UNO),
   pytest.mark.test_panda_types(Panda.INTERNAL_DEVICES)
 ]
 

pyproject.toml

@@ -68,6 +68,9 @@ dependencies = [
 
   # logreader
   "zstandard",
+
+  # ui
+  "qrcode",
 ]
 
 [project.optional-dependencies]
@@ -78,14 +81,13 @@ docs = [
 ]
 
 testing = [
-  "coverage",
   "hypothesis ==6.47.*",
   "mypy",
   "pytest",
-  "pytest-cov",
   "pytest-cpp",
   "pytest-subtests",
-  "pytest-xdist",
+  # https://github.com/pytest-dev/pytest-xdist/issues/1215
+  "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@909e97b49d12401c10608f9d777bfc9dab8a4413",
   "pytest-timeout",
   "pytest-randomly",
   "pytest-asyncio",
@@ -102,8 +104,8 @@ dev = [
   "azure-storage-blob",
   "dbus-next",
   "dictdiffer",
-  "lru-dict",
   "matplotlib",
+  "opencv-python-headless",
   "parameterized >=0.8, <0.9",
   "pyautogui",
   "pygame",
@@ -259,9 +261,7 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "tools".msg = "Use openpilot.tools"
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
 "unittest".msg = "Use pytest"
-
-[tool.coverage.run]
-concurrency = ["multiprocessing", "thread"]
+"pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure"
 
 [tool.ruff.format]
 quote-style = "preserve"

rednose_repo/requirements.txt

@@ -2,7 +2,6 @@ ruff
 sympy
 numpy
 scipy
-tqdm
 cffi
 scons
 pre-commit

rednose_repo/setup.py

@@ -14,12 +14,15 @@ setup(
   license='MIT',
   package_data={'': ['helpers/chi2_lookup_table.npy', 'templates/*']},
   install_requires=[
-    'sympy',
     'numpy',
-    'scipy',
-    'tqdm',
     'cffi',
+    'sympy',
   ],
+  extras_require={
+    'dev': [
+      'scipy',
+    ],
+  },
   ext_modules=[],
   description="Kalman filter library",
   long_description='See https://github.com/commaai/rednose',

release/README.md

@@ -1,36 +1,31 @@
 # openpilot releases
 
+```
 ## release checklist
 
 **Go to `devel-staging`**
+- [ ] update RELEASES.md
 - [ ] update `devel-staging`: `git reset --hard origin/master-ci`
 - [ ] open a pull request from `devel-staging` to `devel`
+- [ ] post on Discord
 
 **Go to `devel`**
-- [ ] update RELEASES.md
-- [ ] close out milestone
-- [ ] post on Discord dev channel
 - [ ] bump version on master: `common/version.h` and `RELEASES.md`
-- [ ] merge the pull request
-
-tests:
-- [ ] update from previous release -> new release
-- [ ] update from new release -> previous release
-- [ ] fresh install with `openpilot-test.comma.ai`
-- [ ] drive on fresh install
-- [ ] comma body test
-- [ ] no submodules or LFS
-- [ ] check sentry, MTBF, etc.
+- [ ] before merging the pull request
+  - [ ] update from previous release -> new release
+  - [ ] update from new release -> previous release
+  - [ ] fresh install with `openpilot-test.comma.ai`
+  - [ ] drive on fresh install
+  - [ ] no submodules or LFS
+  - [ ] check sentry, MTBF, etc.
 
 **Go to `release3`**
 - [ ] publish the blog post
 - [ ] `git reset --hard origin/release3-staging`
-- [ ] tag the release
-```
-git tag v0.X.X <commit-hash>
-git push origin v0.X.X
-```
+- [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
 - [ ] create GitHub release
 - [ ] final test install on `openpilot.comma.ai`
-- [ ] update production
-- [ ] Post on Discord, X, etc.
+- [ ] update factory provisioning
+- [ ] close out milestone
+- [ ] post on Discord, X, etc.
+```

selfdrive/assets/offroad/fcc.html

@@ -12,11 +12,10 @@
 
   <h5>Quectel/EG25-G</h5>
   <p>FCC ID: XMR201903EG25G</p>
-  <p>
-  This device complies with Part 15 of the FCC Rules.
-  Operation is subject to the following two conditions:
+  <p>This device complies with Part 15 of the FCC Rules.</p>
+  <p>Operation is subject to the following two conditions:</p>
 
-  <p>(1) this device may not cause harmful interference, and
+  <p>(1) this device may not cause harmful interference, and</p>
   <p>(2) this device must accept any interference received, including interference that may cause undesired operation.</p>
 
   The following test reports are subject to this declaration:

selfdrive/controls/lib/drive_helpers.py

@@ -1,5 +1,4 @@
 import numpy as np
-from cereal import log
 from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.realtime import DT_CTRL, DT_MDL
 
@@ -40,14 +39,6 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
   return float(new_curvature), limited_accel or limited_max_curv
 
 
-def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
-  # ToDo: Try relative error, and absolute speed
-  if len(modelV2.temporalPose.trans):
-    vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
-    return float(vel_err)
-  return 0.0
-
-
 def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
   if len(speeds) == len(t_idxs):
     v_now = speeds[0]

selfdrive/controls/lib/longitudinal_planner.py

@@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error, get_accel_from_plan
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
@@ -52,6 +52,7 @@ class LongitudinalPlanner:
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
+    # TODO remove mpc modes when TR released
     self.mpc.mode = 'acc'
     self.fcw = False
     self.dt = dt
@@ -60,7 +61,6 @@ class LongitudinalPlanner:
     self.a_desired = init_a
     self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
     self.prev_accel_clip = [ACCEL_MIN, ACCEL_MAX]
-    self.v_model_error = 0.0
     self.output_a_target = 0.0
     self.output_should_stop = False
 
@@ -70,12 +70,12 @@ class LongitudinalPlanner:
     self.solverExecutionTime = 0.0
 
   @staticmethod
-  def parse_model(model_msg, model_error):
+  def parse_model(model_msg):
     if (len(model_msg.position.x) == ModelConstants.IDX_N and
       len(model_msg.velocity.x) == ModelConstants.IDX_N and
       len(model_msg.acceleration.x) == ModelConstants.IDX_N):
-      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
-      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
+      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x)
+      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x)
       a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)
       j = np.zeros(len(T_IDXS_MPC))
     else:
@@ -90,7 +90,7 @@ class LongitudinalPlanner:
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
-    self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -113,7 +113,7 @@ class LongitudinalPlanner:
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
-    if self.mpc.mode == 'acc':
+    if self.mode == 'acc':
       accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
       steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
       accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
@@ -127,9 +127,7 @@ class LongitudinalPlanner:
 
     # Prevent divergence, smooth in current v_ego
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
-    # Compute model v_ego error
-    self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
-    x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
+    x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'])
     # Don't clip at low speeds since throttle_prob doesn't account for creep
     self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 
@@ -160,8 +158,17 @@ class LongitudinalPlanner:
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
     action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
-    output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
+    output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
                                                                         action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
+    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
+    output_should_stop_e2e = sm['modelV2'].action.shouldStop
+
+    if self.mode == 'acc':
+      output_a_target = output_a_target_mpc
+      self.output_should_stop = output_should_stop_mpc
+    else:
+      output_a_target = min(output_a_target_mpc, output_a_target_e2e)
+      self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
 
     for idx in range(2):
       accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)

selfdrive/locationd/calibrationd.py

@@ -13,6 +13,7 @@ from typing import NoReturn
 
 from cereal import log, car
 import cereal.messaging as messaging
+from openpilot.system.hardware import HARDWARE
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
@@ -36,8 +37,11 @@ RPY_INIT = np.array([0.0,0.0,0.0])
 WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0])
 HEIGHT_INIT = np.array([1.22])
 
-# These values are needed to accommodate the model frame in the narrow cam of the C3
-PITCH_LIMITS = np.array([-0.09074112085129739, 0.17])
+# These values are needed to accommodate the model frame in the narrow cam
+if HARDWARE.get_device_type() == 'mici':
+  PITCH_LIMITS = np.array([-0.143101, 0.22235988])
+else:
+  PITCH_LIMITS = np.array([-0.09074112085129739, 0.17])
 YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235])
 DEBUG = os.getenv("DEBUG") is not None
 

selfdrive/locationd/helpers.py

@@ -82,6 +82,12 @@ class PointBuckets:
     total_points_valid = self.__len__() >= self.min_points_total
     return individual_buckets_valid and total_points_valid
 
+  def get_valid_percent(self) -> int:
+    total_points_perc = min(self.__len__() / self.min_points_total * 100, 100)
+    individual_buckets_perc = min(min(len(v) / min_pts * 100 for v, min_pts in
+                                      zip(self.buckets.values(), self.buckets_min_points.values(), strict=True)), 100)
+    return int((total_points_perc + individual_buckets_perc) / 2)
+
   def is_calculable(self) -> bool:
     return all(len(v) > 0 for v in self.buckets.values())
 

selfdrive/locationd/lagd.py

@@ -229,6 +229,8 @@ class LateralLagEstimator:
       liveDelay.lateralDelayEstimateStd = 0.0
 
     liveDelay.validBlocks = self.block_avg.valid_blocks
+    liveDelay.calPerc = min(100 * (self.block_avg.valid_blocks * self.block_size + self.block_avg.idx) //
+                            (self.min_valid_block_count * self.block_size), 100)
     if debug:
       liveDelay.points = self.block_avg.values.flatten().tolist()
 

selfdrive/locationd/test/test_lagd.py

@@ -94,6 +94,7 @@ class TestLagd:
     assert np.allclose(msg.liveDelay.lateralDelay, estimator.initial_lag)
     assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag)
     assert msg.liveDelay.validBlocks == 0
+    assert msg.liveDelay.calPerc == 0
 
   def test_estimator_basics(self, subtests):
     for lag_frames in range(5):
@@ -107,6 +108,7 @@ class TestLagd:
         assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
         assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
         assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
+        assert msg.liveDelay.calPerc == 100
 
   def test_disabled_estimator(self):
     mocked_CP = car.CarParams(steerActuatorDelay=0.8)
@@ -119,6 +121,7 @@ class TestLagd:
     assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
     assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
     assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
+    assert msg.liveDelay.calPerc == 100
 
   def test_estimator_masking(self):
     mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(1, 19)
@@ -127,6 +130,7 @@ class TestLagd:
     msg = estimator.get_msg(True)
     assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
     assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
+    assert msg.liveDelay.calPerc == 100
 
   @pytest.mark.skipif(PC, reason="only on device")
   @pytest.mark.timeout(60)

selfdrive/locationd/test/test_torqued.py

@@ -0,0 +1,25 @@
+from cereal import car
+from openpilot.selfdrive.locationd.torqued import TorqueEstimator
+
+
+def test_cal_percent():
+  est = TorqueEstimator(car.CarParams())
+  msg = est.get_msg()
+  assert msg.liveTorqueParameters.calPerc == 0
+
+  for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
+                                  est.filtered_points.buckets_min_points.values(), strict=True):
+    for _ in range(int(min_pts)):
+      est.filtered_points.add_point((low + high) / 2.0, 0.0)
+
+  # enough bucket points, but not enough total points
+  msg = est.get_msg()
+  assert msg.liveTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2
+
+  # add enough points to bucket with most capacity
+  key = list(est.filtered_points.buckets)[0]
+  for _ in range(est.min_points_total - len(est.filtered_points)):
+    est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0)
+
+  msg = est.get_msg()
+  assert msg.liveTorqueParameters.calPerc == 100

selfdrive/locationd/torqued.py

@@ -233,6 +233,7 @@ class TorqueEstimator(ParameterEstimator):
     liveTorqueParameters.latAccelOffsetFiltered = float(self.filtered_params['latAccelOffset'].x)
     liveTorqueParameters.frictionCoefficientFiltered = float(self.filtered_params['frictionCoefficient'].x)
     liveTorqueParameters.totalBucketPoints = len(self.filtered_points)
+    liveTorqueParameters.calPerc = self.filtered_points.get_valid_percent()
     liveTorqueParameters.decay = self.decay
     liveTorqueParameters.maxResets = self.resets
     return msg

selfdrive/modeld/SConscript

@@ -56,17 +56,15 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   tg_compile(flags, model_name)
 
 # Compile BIG model if USB GPU is available
-import subprocess
-from tinygrad import Device
-
-# because tg doesn't support multi-process
-devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True)
-if b"AMD" in devs:
-  del Device
-  print("USB GPU detected... building")
-  flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
-  bp = tg_compile(flags, "big_driving_policy")
-  bv = tg_compile(flags, "big_driving_vision")
-  lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
-else:
-  print("USB GPU not detected... skipping")
+if "USBGPU" in os.environ:
+  import subprocess
+  # because tg doesn't support multi-process
+  devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
+  if b"AMD" in devs:
+    print("USB GPU detected... building")
+    flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
+    bp = tg_compile(flags, "big_driving_policy")
+    bv = tg_compile(flags, "big_driving_vision")
+    lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
+  else:
+    print("USB GPU not detected... skipping")

selfdrive/modeld/fill_model_msg.py

@@ -89,13 +89,6 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyzt(modelV2.orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
   fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
-  # temporal pose
-  temporal_pose = modelV2.temporalPose
-  temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-  temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-
   # poly path
   fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
 

selfdrive/modeld/modeld.py

@@ -31,7 +31,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
@@ -46,8 +46,8 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
 VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
 POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
 
-LAT_SMOOTH_SECONDS = 0.0
-LONG_SMOOTH_SECONDS = 0.0
+LAT_SMOOTH_SECONDS = 0.1
+LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
 
 
@@ -60,7 +60,11 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
                                                      action_t=long_action_t)
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
 
-    desired_curvature = model_output['desired_curvature'][0, 0]
+    desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
+                                                plan[:,Plan.ORIENTATION_RATE][:,2],
+                                                ModelConstants.T_IDXS,
+                                                v_ego,
+                                                lat_action_t)
     if v_ego > MIN_LAT_CONTROL_SPEED:
       desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
     else:
@@ -86,10 +90,20 @@ class ModelState:
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, context: CLContext):
-    self.frames = {
-      'input_imgs': DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP),
-      'big_input_imgs': DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP)
-    }
+    with open(VISION_METADATA_PATH, 'rb') as f:
+      vision_metadata = pickle.load(f)
+      self.vision_input_shapes =  vision_metadata['input_shapes']
+      self.vision_input_names = list(self.vision_input_shapes.keys())
+      self.vision_output_slices = vision_metadata['output_slices']
+      vision_output_size = vision_metadata['output_shapes']['outputs'][1]
+
+    with open(POLICY_METADATA_PATH, 'rb') as f:
+      policy_metadata = pickle.load(f)
+      self.policy_input_shapes =  policy_metadata['input_shapes']
+      self.policy_output_slices = policy_metadata['output_slices']
+      policy_output_size = policy_metadata['output_shapes']['outputs'][1]
+
+    self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
 
     self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
@@ -106,18 +120,6 @@ class ModelState:
       'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
     }
 
-    with open(VISION_METADATA_PATH, 'rb') as f:
-      vision_metadata = pickle.load(f)
-      self.vision_input_shapes =  vision_metadata['input_shapes']
-      self.vision_output_slices = vision_metadata['output_slices']
-      vision_output_size = vision_metadata['output_shapes']['outputs'][1]
-
-    with open(POLICY_METADATA_PATH, 'rb') as f:
-      policy_metadata = pickle.load(f)
-      self.policy_input_shapes =  policy_metadata['input_shapes']
-      self.policy_output_slices = policy_metadata['output_slices']
-      policy_output_size = policy_metadata['output_shapes']['outputs'][1]
-
     # img buffers are managed in openCL transform code
     self.vision_inputs: dict[str, Tensor] = {}
     self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
@@ -135,7 +137,7 @@ class ModelState:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
     return parsed_model_outputs
 
-  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
+  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
     inputs['desire'][0] = 0
@@ -148,8 +150,7 @@ class ModelState:
 
     self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
     self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
-    imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
-               'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
+    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
 
     if TICI and not USBGPU:
       # The imgs tensors are backed by opencl memory, only need init once
@@ -177,7 +178,7 @@ class ModelState:
     # TODO model only uses last value now
     self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
     self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
-    self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
+    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
 
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
     if SEND_RAW_PRED:
@@ -328,14 +329,16 @@ def main(demo=False):
     if prepare_only:
       cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
 
+    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
+    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
       'lateral_control_params': lateral_control_params,
-      }
+    }
 
     mt1 = time.perf_counter()
-    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
+    model_output = model.run(bufs, transforms, inputs, prepare_only)
     mt2 = time.perf_counter()
     model_execution_time = mt2 - mt1
 

selfdrive/modeld/parse_model_outputs.py

@@ -88,6 +88,12 @@ class Parser:
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    for k in ['lead_prob', 'lane_lines_prob']:
+      self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
     self.parse_binary_crossentropy('meta', outs)
     return outs
@@ -95,17 +101,10 @@ class Parser:
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
                    out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
     if 'desired_curvature' in outs:
       self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
-    for k in ['lead_prob', 'lane_lines_prob']:
-      self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 

selfdrive/selfdrived/events.py

@@ -752,11 +752,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.noGps: {
-    ET.PERMANENT: Alert(
-      "Poor GPS reception",
-      "Ensure device has a clear view of the sky",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=600.)
   },
 
   EventName.tooDistracted: {

selfdrive/selfdrived/selfdrived.py

@@ -356,16 +356,16 @@ class SelfdriveD:
     if (planner_fcw or model_fcw) and not self.CP.notCar:
       self.events.add(EventName.fcw)
 
+    # GPS checks
+    gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0
+    if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500):
+      self.events.add(EventName.noGps)
+    if gps_ok:
+      self.distance_traveled = 0
+    self.distance_traveled += abs(CS.vEgo) * DT_CTRL
+
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
-      # Not show in first 1.5 km to allow for driving out of garage. This event shows after 5 minutes
-      gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0
-      if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500):
-        self.events.add(EventName.noGps)
-      if gps_ok:
-        self.distance_traveled = 0
-      self.distance_traveled += abs(CS.vEgo) * DT_CTRL
-
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
 

selfdrive/test/ci_shell.sh

@@ -1,20 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-OP_ROOT="$DIR/../../"
-
-if [ -z "$BUILD" ]; then
-  docker pull ghcr.io/commaai/openpilot-base:latest
-else
-  docker build --cache-from ghcr.io/commaai/openpilot-base:latest -t ghcr.io/commaai/openpilot-base:latest -f $OP_ROOT/Dockerfile.openpilot_base .
-fi
-
-docker run \
-       -it \
-       --rm \
-       --volume $OP_ROOT:$OP_ROOT \
-       --workdir $PWD \
-       --env PYTHONPATH=$OP_ROOT \
-       ghcr.io/commaai/openpilot-base:latest \
-       /bin/bash

selfdrive/test/process_replay/model_replay.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+import pickle
 import sys
 from collections import defaultdict
 from typing import Any
@@ -189,22 +190,44 @@ def model_replay(lr, frs):
   print("----------------- Model Timing -----------------")
   print("------------------------------------------------")
   print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".4f"))
-  assert timings_ok
+  assert timings_ok or PC
 
   return msgs
 
 
+def get_frames():
+  regen_cache = "--regen-cache" in sys.argv
+  frames_cache = '/tmp/model_replay_cache' if PC else '/data/model_replay_cache'
+  os.makedirs(frames_cache, exist_ok=True)
+
+  cache_name = f'{frames_cache}/{TEST_ROUTE}_{SEGMENT}_{START_FRAME}_{END_FRAME}.pkl'
+  if os.path.isfile(cache_name) and not regen_cache:
+    try:
+      print(f"Loading frames from cache {cache_name}")
+      return pickle.load(open(cache_name, "rb"))
+    except Exception as e:
+      print(f"Failed to load frames from cache {cache_name}: {e}")
+
+  frs = {
+    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
+    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
+    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
+  }
+  for fr in frs.values():
+    for fidx in range(START_FRAME, END_FRAME):
+      fr.get(fidx)
+    fr.it = None
+  print(f"Dumping frame cache {cache_name}")
+  pickle.dump(frs, open(cache_name, "wb"))
+  return frs
+
 if __name__ == "__main__":
   update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master')
   replay_dir = os.path.dirname(os.path.abspath(__file__))
 
   # load logs
   lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.zst")))
-  frs = {
-    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), readahead=True),
-    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), readahead=True),
-    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), readahead=True)
-  }
+  frs = get_frames()
 
   log_msgs = []
   # run replays

selfdrive/test/process_replay/process_replay.py

@@ -27,7 +27,7 @@ from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture
 from openpilot.tools.lib.logreader import LogIterable
-from openpilot.tools.lib.framereader import BaseFrameReader
+from openpilot.tools.lib.framereader import FrameReader
 
 # Numpy gives different results based on CPU features after version 19
 NUMPY_TOLERANCE = 1e-7
@@ -209,6 +209,7 @@ class ProcessContainer:
     streams_metas = available_streams(all_msgs)
     for meta in streams_metas:
       if meta.camera_state in self.cfg.vision_pubs:
+        assert frs[meta.camera_state].pix_fmt == 'nv12'
         frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
         vipc_server.create_buffers(meta.stream, 2, *frame_size)
     vipc_server.start_listener()
@@ -224,7 +225,7 @@ class ProcessContainer:
 
   def start(
     self, params_config: dict[str, Any], environ_config: dict[str, Any],
-    all_msgs: LogIterable, frs: dict[str, BaseFrameReader] | None,
+    all_msgs: LogIterable, frs: dict[str, FrameReader] | None,
     fingerprint: str | None, capture_output: bool
   ):
     with self.prefix as p:
@@ -266,7 +267,7 @@ class ProcessContainer:
       self.prefix.clean_dirs()
       self._clean_env()
 
-  def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, BaseFrameReader] | None) -> list[capnp._DynamicStructReader]:
+  def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, FrameReader] | None) -> list[capnp._DynamicStructReader]:
     assert self.rc and self.pm and self.sockets and self.process.proc
 
     output_msgs = []
@@ -296,7 +297,7 @@ class ProcessContainer:
             camera_state = getattr(m, m.which())
             camera_meta = meta_from_camera_state(m.which())
             assert frs is not None
-            img = frs[m.which()].get(camera_state.frameId, pix_fmt="nv12")[0]
+            img = frs[m.which()].get(camera_state.frameId)
             self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(),
                                   camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof)
         self.msg_queue = []
@@ -652,7 +653,7 @@ def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args,
 
 
 def replay_process(
-  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] = None,
+  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] = None,
   fingerprint: str = None, return_all_logs: bool = False, custom_params: dict[str, Any] = None,
   captured_output_store: dict[str, dict[str, str]] = None, disable_progress: bool = False
 ) -> list[capnp._DynamicStructReader]:
@@ -680,7 +681,7 @@ def replay_process(
 
 
 def _replay_multi_process(
-  cfgs: list[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] | None, fingerprint: str | None,
+  cfgs: list[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] | None, fingerprint: str | None,
   custom_params: dict[str, Any] | None, captured_output_store: dict[str, dict[str, str]] | None, disable_progress: bool
 ) -> list[capnp._DynamicStructReader]:
   if fingerprint is not None:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-9e2fe2942fbf77f24bccdbef15893831f9c0b390
+502c90d4859d2529ae2adf7097d575852673be74

selfdrive/test/process_replay/regen.py

@@ -3,40 +3,17 @@ import os
 import argparse
 import time
 import capnp
-import numpy as np
 
 from typing import Any
 from collections.abc import Iterable
 
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
                                                                    check_openpilot_enabled, check_most_messages_valid, get_custom_params_from_lr
-from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FRAME_SIZES
 from openpilot.selfdrive.test.update_ci_routes import upload_route
-from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
+from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log
 from openpilot.tools.lib.openpilotci import get_url
 
-class DummyFrameReader(BaseFrameReader):
-  def __init__(self, w: int, h: int, frame_count: int, pix_val: int):
-    self.pix_val = pix_val
-    self.w, self.h = w, h
-    self.frame_count = frame_count
-    self.frame_type = FrameType.raw
-
-  def get(self, idx, count=1, pix_fmt="rgb24"):
-    if pix_fmt == "rgb24":
-      shape = (self.h, self.w, 3)
-    elif pix_fmt == "nv12" or pix_fmt == "yuv420p":
-      shape = (int((self.h * self.w) * 3 / 2),)
-    else:
-      raise NotImplementedError
-
-    return [np.full(shape, self.pix_val, dtype=np.uint8) for _ in range(count)]
-
-  @staticmethod
-  def zero_dcamera():
-    return DummyFrameReader(*DRIVER_CAMERA_FRAME_SIZES[("tici", "ar0231")], 1200, 0)
-
 
 def regen_segment(
   lr: LogIterable, frs: dict[str, Any] = None,
@@ -64,7 +41,7 @@ def setup_data_readers(
       frs['wideRoadCameraState'] = FrameReader(get_url(route, str(sidx), "ecamera.hevc"))
   if needs_driver_cam:
     if dummy_driver_cam:
-      frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
+      frs['driverCameraState'] = FrameReader(get_url(route, str(sidx), "fcamera.hevc")) # Use fcam as dummy
     else:
       device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
       assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."

selfdrive/test/process_replay/test_processes.py

@@ -17,7 +17,6 @@ from openpilot.tools.lib.filereader import FileReader
 from openpilot.tools.lib.logreader import LogReader, save_log
 
 source_segments = [
-  ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.COMMA_BODY
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.HYUNDAI_SONATA
   ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.HYUNDAI_KIA_EV6 (+ QCOM GPS)
   ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.TOYOTA_PRIUS
@@ -42,7 +41,6 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "regen2F3C7259F1B|2025-04-08--23-00-23--0"),
   ("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"),
   ("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"),
   ("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"),
@@ -63,7 +61,7 @@ segments = [
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "tesla"]
+excluded_interfaces = ["mock", "body"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
@@ -197,7 +195,7 @@ if __name__ == "__main__":
           continue
 
         # to speed things up, we only test all segments on card
-        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN', 'TESLA'):
+        if cfg.proc_name not in ('card', 'controlsd', 'lagd') and car_brand not in ('HYUNDAI', 'TOYOTA'):
           continue
 
         cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")

selfdrive/test/process_replay/test_regen.py

@@ -1,6 +1,6 @@
 from parameterized import parameterized
 
-from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader
+from openpilot.selfdrive.test.process_replay.regen import regen_segment
 from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
@@ -18,7 +18,7 @@ def ci_setup_data_readers(route, sidx):
   lr = LogReader(get_url(route, sidx, "rlog.bz2"))
   frs = {
     'roadCameraState': FrameReader(get_url(route, sidx, "fcamera.hevc")),
-    'driverCameraState': DummyFrameReader.zero_dcamera()
+    'driverCameraState': FrameReader(get_url(route, sidx, "fcamera.hevc")),
   }
   if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
     frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera.hevc"))

selfdrive/ui/SConscript

@@ -105,7 +105,7 @@ if GetOption('extras'):
       obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
       f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter], LIBS=raylib_libs)
       # keep installers small
-      assert f[0].get_size() < 1300*1e3, f[0].get_size()
+      assert f[0].get_size() < 1900*1e3, f[0].get_size()
 
 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):

selfdrive/ui/layouts/home.py

@@ -1,17 +1,214 @@
+import time
 import pyray as rl
-from openpilot.system.ui.lib.label import gui_text_box
+from collections.abc import Callable
+from enum import IntEnum
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.widgets.offroad_alerts import UpdateAlert, OffroadAlert
+from openpilot.selfdrive.ui.widgets.exp_mode_button import ExperimentalModeButton
+from openpilot.selfdrive.ui.widgets.prime import PrimeWidget
+from openpilot.selfdrive.ui.widgets.setup import SetupWidget
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR
+from openpilot.system.ui.lib.widget import Widget
 
+HEADER_HEIGHT = 80
+HEAD_BUTTON_FONT_SIZE = 40
+CONTENT_MARGIN = 40
+SPACING = 25
+RIGHT_COLUMN_WIDTH = 750
+REFRESH_INTERVAL = 10.0
 
-class HomeLayout:
+PRIME_BG_COLOR = rl.Color(51, 51, 51, 255)
+
+
+class HomeLayoutState(IntEnum):
+  HOME = 0
+  UPDATE = 1
+  ALERTS = 2
+
+
+class HomeLayout(Widget):
   def __init__(self):
-    pass
-
-  def render(self, rect: rl.Rectangle):
-    gui_text_box(
-      rect,
-      "Demo Home Layout",
-      font_size=170,
-      color=rl.WHITE,
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+    super().__init__()
+    self.params = Params()
+
+    self.update_alert = UpdateAlert()
+    self.offroad_alert = OffroadAlert()
+
+    self.current_state = HomeLayoutState.HOME
+    self.last_refresh = 0
+    self.settings_callback: callable | None = None
+
+    self.update_available = False
+    self.alert_count = 0
+
+    self.header_rect = rl.Rectangle(0, 0, 0, 0)
+    self.content_rect = rl.Rectangle(0, 0, 0, 0)
+    self.left_column_rect = rl.Rectangle(0, 0, 0, 0)
+    self.right_column_rect = rl.Rectangle(0, 0, 0, 0)
+
+    self.update_notif_rect = rl.Rectangle(0, 0, 200, HEADER_HEIGHT - 10)
+    self.alert_notif_rect = rl.Rectangle(0, 0, 220, HEADER_HEIGHT - 10)
+
+    self._prime_widget = PrimeWidget()
+    self._setup_widget = SetupWidget()
+
+    self._exp_mode_button = ExperimentalModeButton()
+    self._setup_callbacks()
+
+  def _setup_callbacks(self):
+    self.update_alert.set_dismiss_callback(lambda: self._set_state(HomeLayoutState.HOME))
+    self.offroad_alert.set_dismiss_callback(lambda: self._set_state(HomeLayoutState.HOME))
+
+  def set_settings_callback(self, callback: Callable):
+    self.settings_callback = callback
+
+  def _set_state(self, state: HomeLayoutState):
+    self.current_state = state
+
+  def _render(self, rect: rl.Rectangle):
+    current_time = time.time()
+    if current_time - self.last_refresh >= REFRESH_INTERVAL:
+      self._refresh()
+      self.last_refresh = current_time
+
+    self._handle_input()
+    self._render_header()
+
+    # Render content based on current state
+    if self.current_state == HomeLayoutState.HOME:
+      self._render_home_content()
+    elif self.current_state == HomeLayoutState.UPDATE:
+      self._render_update_view()
+    elif self.current_state == HomeLayoutState.ALERTS:
+      self._render_alerts_view()
+
+  def _update_layout_rects(self):
+    self.header_rect = rl.Rectangle(
+      self._rect.x + CONTENT_MARGIN, self._rect.y + CONTENT_MARGIN, self._rect.width - 2 * CONTENT_MARGIN, HEADER_HEIGHT
+    )
+
+    content_y = self._rect.y + CONTENT_MARGIN + HEADER_HEIGHT + SPACING
+    content_height = self._rect.height - CONTENT_MARGIN - HEADER_HEIGHT - SPACING - CONTENT_MARGIN
+
+    self.content_rect = rl.Rectangle(
+      self._rect.x + CONTENT_MARGIN, content_y, self._rect.width - 2 * CONTENT_MARGIN, content_height
+    )
+
+    left_width = self.content_rect.width - RIGHT_COLUMN_WIDTH - SPACING
+
+    self.left_column_rect = rl.Rectangle(self.content_rect.x, self.content_rect.y, left_width, self.content_rect.height)
+
+    self.right_column_rect = rl.Rectangle(
+      self.content_rect.x + left_width + SPACING, self.content_rect.y, RIGHT_COLUMN_WIDTH, self.content_rect.height
     )
+
+    self.update_notif_rect.x = self.header_rect.x
+    self.update_notif_rect.y = self.header_rect.y + (self.header_rect.height - 60) // 2
+
+    notif_x = self.header_rect.x + (220 if self.update_available else 0)
+    self.alert_notif_rect.x = notif_x
+    self.alert_notif_rect.y = self.header_rect.y + (self.header_rect.height - 60) // 2
+
+  def _handle_input(self):
+    if not rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      return
+
+    mouse_pos = rl.get_mouse_position()
+
+    if self.update_available and rl.check_collision_point_rec(mouse_pos, self.update_notif_rect):
+      self._set_state(HomeLayoutState.UPDATE)
+      return
+
+    if self.alert_count > 0 and rl.check_collision_point_rec(mouse_pos, self.alert_notif_rect):
+      self._set_state(HomeLayoutState.ALERTS)
+      return
+
+    # Content area input handling
+    if self.current_state == HomeLayoutState.UPDATE:
+      self.update_alert.handle_input(mouse_pos, True)
+    elif self.current_state == HomeLayoutState.ALERTS:
+      self.offroad_alert.handle_input(mouse_pos, True)
+
+  def _render_header(self):
+    font = gui_app.font(FontWeight.MEDIUM)
+
+    # Update notification button
+    if self.update_available:
+      # Highlight if currently viewing updates
+      highlight_color = rl.Color(255, 140, 40, 255) if self.current_state == HomeLayoutState.UPDATE else rl.Color(255, 102, 0, 255)
+      rl.draw_rectangle_rounded(self.update_notif_rect, 0.3, 10, highlight_color)
+
+      text = "UPDATE"
+      text_width = measure_text_cached(font, text, HEAD_BUTTON_FONT_SIZE).x
+      text_x = self.update_notif_rect.x + (self.update_notif_rect.width - text_width) // 2
+      text_y = self.update_notif_rect.y + (self.update_notif_rect.height - HEAD_BUTTON_FONT_SIZE) // 2
+      rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
+
+    # Alert notification button
+    if self.alert_count > 0:
+      # Highlight if currently viewing alerts
+      highlight_color = rl.Color(255, 70, 70, 255) if self.current_state == HomeLayoutState.ALERTS else rl.Color(226, 44, 44, 255)
+      rl.draw_rectangle_rounded(self.alert_notif_rect, 0.3, 10, highlight_color)
+
+      alert_text = f"{self.alert_count} ALERT{'S' if self.alert_count > 1 else ''}"
+      text_width = measure_text_cached(font, alert_text, HEAD_BUTTON_FONT_SIZE).x
+      text_x = self.alert_notif_rect.x + (self.alert_notif_rect.width - text_width) // 2
+      text_y = self.alert_notif_rect.y + (self.alert_notif_rect.height - HEAD_BUTTON_FONT_SIZE) // 2
+      rl.draw_text_ex(font, alert_text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
+
+    # Version text (right aligned)
+    version_text = self._get_version_text()
+    text_width = measure_text_cached(gui_app.font(FontWeight.NORMAL), version_text, 48).x
+    version_x = self.header_rect.x + self.header_rect.width - text_width
+    version_y = self.header_rect.y + (self.header_rect.height - 48) // 2
+    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), version_text, rl.Vector2(int(version_x), int(version_y)), 48, 0, DEFAULT_TEXT_COLOR)
+
+  def _render_home_content(self):
+    self._render_left_column()
+    self._render_right_column()
+
+  def _render_update_view(self):
+    self.update_alert.render(self.content_rect)
+
+  def _render_alerts_view(self):
+    self.offroad_alert.render(self.content_rect)
+
+  def _render_left_column(self):
+    self._prime_widget.render(self.left_column_rect)
+
+  def _render_right_column(self):
+    exp_height = 125
+    exp_rect = rl.Rectangle(
+      self.right_column_rect.x, self.right_column_rect.y, self.right_column_rect.width, exp_height
+    )
+    self._exp_mode_button.render(exp_rect)
+
+    setup_rect = rl.Rectangle(
+      self.right_column_rect.x,
+      self.right_column_rect.y + exp_height + SPACING,
+      self.right_column_rect.width,
+      self.right_column_rect.height - exp_height - SPACING,
+    )
+    self._setup_widget.render(setup_rect)
+
+  def _refresh(self):
+    # TODO: implement _update_state with a timer
+    self.update_available = self.update_alert.refresh()
+    self.alert_count = self.offroad_alert.refresh()
+    self._update_state_priority(self.update_available, self.alert_count > 0)
+
+  def _update_state_priority(self, update_available: bool, alerts_present: bool):
+    current_state = self.current_state
+
+    if not update_available and not alerts_present:
+      self.current_state = HomeLayoutState.HOME
+    elif update_available and (current_state == HomeLayoutState.HOME or (not alerts_present and current_state == HomeLayoutState.ALERTS)):
+      self.current_state = HomeLayoutState.UPDATE
+    elif alerts_present and (current_state == HomeLayoutState.HOME or (not update_available and current_state == HomeLayoutState.UPDATE)):
+      self.current_state = HomeLayoutState.ALERTS
+
+  def _get_version_text(self) -> str:
+    brand = "openpilot"
+    description = self.params.get("UpdaterCurrentDescription", encoding='utf-8')
+    return f"{brand} {description}" if description else brand

selfdrive/ui/layouts/main.py

@@ -1,10 +1,12 @@
 import pyray as rl
 from enum import IntEnum
+import cereal.messaging as messaging
 from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
 from openpilot.selfdrive.ui.layouts.home import HomeLayout
-from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout
-from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
+from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
+from openpilot.system.ui.lib.widget import Widget
 
 
 class MainState(IntEnum):
@@ -13,14 +15,15 @@ class MainState(IntEnum):
   ONROAD = 2
 
 
-class MainLayout:
+class MainLayout(Widget):
   def __init__(self):
+    super().__init__()
+
+    self._pm = messaging.PubMaster(['userFlag'])
+
     self._sidebar = Sidebar()
-    self._sidebar_visible = True
     self._current_mode = MainState.HOME
     self._prev_onroad = False
-    self._window_rect = None
-    self._current_callback: callable | None = None
 
     # Initialize layouts
     self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
@@ -31,32 +34,23 @@ class MainLayout:
     # Set callbacks
     self._setup_callbacks()
 
-  def render(self, rect):
-    self._current_callback = None
-
-    self._update_layout_rects(rect)
+  def _render(self, _):
     self._handle_onroad_transition()
     self._render_main_content()
-    self._handle_input()
-
-    if self._current_callback:
-      self._current_callback()
 
   def _setup_callbacks(self):
-    self._sidebar.set_callbacks(
-      on_settings=lambda: setattr(self, '_current_callback', self._on_settings_clicked),
-      on_flag=lambda: setattr(self, '_current_callback', self._on_flag_clicked),
-    )
-    self._layouts[MainState.SETTINGS].set_callbacks(
-      on_close=lambda: setattr(self, '_current_callback', self._set_mode_for_state)
-    )
+    self._sidebar.set_callbacks(on_settings=self._on_settings_clicked,
+                                on_flag=self._on_flag_clicked)
+    self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE))
+    self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state)
+    self._layouts[MainState.ONROAD].set_callbacks(on_click=self._on_onroad_clicked)
+    device.add_interactive_timeout_callback(self._set_mode_for_state)
 
-  def _update_layout_rects(self, rect):
-    self._window_rect = rect
-    self._sidebar_rect = rl.Rectangle(rect.x, rect.y, SIDEBAR_WIDTH, rect.height)
+  def _update_layout_rects(self):
+    self._sidebar_rect = rl.Rectangle(self._rect.x, self._rect.y, SIDEBAR_WIDTH, self._rect.height)
 
-    x_offset = SIDEBAR_WIDTH if self._sidebar_visible else 0
-    self._content_rect = rl.Rectangle(rect.y + x_offset, rect.y, rect.width - x_offset, rect.height)
+    x_offset = SIDEBAR_WIDTH if self._sidebar.is_visible else 0
+    self._content_rect = rl.Rectangle(self._rect.y + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)
 
   def _handle_onroad_transition(self):
     if ui_state.started != self._prev_onroad:
@@ -66,31 +60,34 @@ class MainLayout:
 
   def _set_mode_for_state(self):
     if ui_state.started:
+      # Don't hide sidebar from interactive timeout
+      if self._current_mode != MainState.ONROAD:
+        self._sidebar.set_visible(False)
       self._current_mode = MainState.ONROAD
-      self._sidebar_visible = False
     else:
       self._current_mode = MainState.HOME
-      self._sidebar_visible = True
+      self._sidebar.set_visible(True)
 
-  def _on_settings_clicked(self):
+  def open_settings(self, panel_type: PanelType):
+    self._layouts[MainState.SETTINGS].set_current_panel(panel_type)
     self._current_mode = MainState.SETTINGS
-    self._sidebar_visible = False
+    self._sidebar.set_visible(False)
+
+  def _on_settings_clicked(self):
+    self.open_settings(PanelType.DEVICE)
 
   def _on_flag_clicked(self):
-    pass
+    user_flag = messaging.new_message('userFlag')
+    user_flag.valid = True
+    self._pm.send('userFlag', user_flag)
+
+  def _on_onroad_clicked(self):
+    self._sidebar.set_visible(not self._sidebar.is_visible)
 
   def _render_main_content(self):
     # Render sidebar
-    if self._sidebar_visible:
+    if self._sidebar.is_visible:
       self._sidebar.render(self._sidebar_rect)
 
-    content_rect = self._content_rect if self._sidebar_visible else self._window_rect
+    content_rect = self._content_rect if self._sidebar.is_visible else self._rect
     self._layouts[self._current_mode].render(content_rect)
-
-  def _handle_input(self):
-    if self._current_mode != MainState.ONROAD or not rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
-      return
-
-    mouse_pos = rl.get_mouse_position()
-    if rl.check_collision_point_rec(mouse_pos, self._content_rect):
-      self._sidebar_visible = not self._sidebar_visible

selfdrive/ui/layouts/network.py

@@ -0,0 +1,17 @@
+import pyray as rl
+from openpilot.system.ui.lib.widget import Widget
+from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
+from openpilot.system.ui.widgets.network import WifiManagerUI
+
+
+class NetworkLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self.wifi_manager = WifiManagerWrapper()
+    self.wifi_ui = WifiManagerUI(self.wifi_manager)
+
+  def _render(self, rect: rl.Rectangle):
+    self.wifi_ui.render(rect)
+
+  def shutdown(self):
+    self.wifi_manager.shutdown()

selfdrive/ui/layouts/settings/developer.py

@@ -1,5 +1,8 @@
-from openpilot.system.ui.lib.list_view import ListView,  toggle_item
+from openpilot.system.ui.lib.list_view import toggle_item
+from openpilot.system.ui.lib.scroller import Scroller
+from openpilot.system.ui.lib.widget import Widget
 from openpilot.common.params import Params
+from openpilot.selfdrive.ui.widgets.ssh_key import ssh_key_item
 
 # Description constants
 DESCRIPTIONS = {
@@ -8,11 +11,16 @@ DESCRIPTIONS = {
     "See https://docs.comma.ai/how-to/connect-to-comma for more info."
   ),
   'joystick_debug_mode': "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)",
+  'ssh_key': (
+    "Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username " +
+    "other than your own. A comma employee will NEVER ask you to add their GitHub username."
+  ),
 }
 
 
-class DeveloperLayout:
+class DeveloperLayout(Widget):
   def __init__(self):
+    super().__init__()
     self._params = Params()
     items = [
       toggle_item(
@@ -21,6 +29,7 @@ class DeveloperLayout:
         initial_state=self._params.get_bool("AdbEnabled"),
         callback=self._on_enable_adb,
       ),
+      ssh_key_item("SSH Key", description=DESCRIPTIONS["ssh_key"]),
       toggle_item(
         "Joystick Debug Mode",
         description=DESCRIPTIONS["joystick_debug_mode"],
@@ -41,10 +50,10 @@ class DeveloperLayout:
       ),
     ]
 
-    self._list_widget = ListView(items)
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
 
-  def render(self, rect):
-    self._list_widget.render(rect)
+  def _render(self, rect):
+    self._scroller.render(rect)
 
   def _on_enable_adb(self): pass
   def _on_joystick_debug_mode(self): pass

selfdrive/ui/layouts/settings/device.py

@@ -1,47 +1,150 @@
-from openpilot.system.ui.lib.list_view import ListView, text_item, button_item
+import os
+import json
+
+from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
+from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.hardware import TICI
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.list_view import text_item, button_item, dual_button_item
+from openpilot.system.ui.lib.scroller import Scroller
+from openpilot.system.ui.lib.widget import Widget, DialogResult
+from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog
+from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
+from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog, alert_dialog
+from openpilot.system.ui.widgets.html_render import HtmlRenderer
 
 # Description constants
 DESCRIPTIONS = {
   'pair_device': "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.",
   'driver_camera': "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)",
   'reset_calibration': (
-    "openpilot requires the device to be mounted within 4° left or right and within 5° " +
-    "up or 9° down. openpilot is continuously calibrating, resetting is rarely required."
+      "openpilot requires the device to be mounted within 4° left or right and within 5° " +
+      "up or 9° down. openpilot is continuously calibrating, resetting is rarely required."
   ),
   'review_guide': "Review the rules, features, and limitations of openpilot",
 }
 
 
-class DeviceLayout:
+class DeviceLayout(Widget):
   def __init__(self):
-    params = Params()
-    dongle_id = params.get("DongleId", encoding="utf-8") or "N/A"
-    serial = params.get("HardwareSerial") or "N/A"
+    super().__init__()
+
+    self._params = Params()
+    self._select_language_dialog: MultiOptionDialog | None = None
+    self._driver_camera: DriverCameraDialog | None = None
+    self._pair_device_dialog: PairingDialog | None = None
+    self._fcc_dialog: HtmlRenderer | None = None
+
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    dongle_id = self._params.get("DongleId", encoding="utf-8") or "N/A"
+    serial = self._params.get("HardwareSerial") or "N/A"
 
     items = [
       text_item("Dongle ID", dongle_id),
       text_item("Serial", serial),
-      button_item("Pair Device", "PAIR", DESCRIPTIONS['pair_device'], self._on_pair_device),
-      button_item("Driver Camera", "PREVIEW", DESCRIPTIONS['driver_camera'], self._on_driver_camera),
-      button_item("Reset Calibration", "RESET", DESCRIPTIONS['reset_calibration'], self._on_reset_calibration),
+      button_item("Pair Device", "PAIR", DESCRIPTIONS['pair_device'], callback=self._pair_device),
+      button_item("Driver Camera", "PREVIEW", DESCRIPTIONS['driver_camera'], callback=self._show_driver_camera, enabled=ui_state.is_offroad),
+      button_item("Reset Calibration", "RESET", DESCRIPTIONS['reset_calibration'], callback=self._reset_calibration_prompt),
+      regulatory_btn := button_item("Regulatory", "VIEW", callback=self._on_regulatory),
       button_item("Review Training Guide", "REVIEW", DESCRIPTIONS['review_guide'], self._on_review_training_guide),
+      button_item("Change Language", "CHANGE", callback=self._show_language_selection, enabled=ui_state.is_offroad),
+      dual_button_item("Reboot", "Power Off", left_callback=self._reboot_prompt, right_callback=self._power_off_prompt),
     ]
+    regulatory_btn.set_visible(TICI)
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def _show_language_selection(self):
+    try:
+      languages_file = os.path.join(BASEDIR, "selfdrive/ui/translations/languages.json")
+      with open(languages_file, encoding='utf-8') as f:
+        languages = json.load(f)
+
+      self._select_language_dialog = MultiOptionDialog("Select a language", languages)
+      gui_app.set_modal_overlay(self._select_language_dialog, callback=self._handle_language_selection)
+    except FileNotFoundError:
+      pass
+
+  def _handle_language_selection(self, result: int):
+    if result == 1 and self._select_language_dialog:
+      selected_language = self._select_language_dialog.selection
+      self._params.put("LanguageSetting", selected_language)
+
+    self._select_language_dialog = None
+
+  def _show_driver_camera(self):
+    if not self._driver_camera:
+      self._driver_camera = DriverCameraDialog()
+
+    gui_app.set_modal_overlay(self._driver_camera, callback=lambda result: setattr(self, '_driver_camera', None))
+
+  def _reset_calibration_prompt(self):
+    if ui_state.engaged:
+      gui_app.set_modal_overlay(lambda: alert_dialog("Disengage to Reset Calibration"))
+      return
+
+    gui_app.set_modal_overlay(
+      lambda: confirm_dialog("Are you sure you want to reset calibration?", "Reset"),
+      callback=self._reset_calibration,
+    )
+
+  def _reset_calibration(self, result: int):
+    if ui_state.engaged or result != DialogResult.CONFIRM:
+      return
+
+    self._params.remove("CalibrationParams")
+    self._params.remove("LiveTorqueParameters")
+    self._params.remove("LiveParameters")
+    self._params.remove("LiveParametersV2")
+    self._params.remove("LiveDelay")
+    self._params.put_bool("OnroadCycleRequested", True)
+
+  def _reboot_prompt(self):
+    if ui_state.engaged:
+      gui_app.set_modal_overlay(lambda: alert_dialog("Disengage to Reboot"))
+      return
+
+    gui_app.set_modal_overlay(
+      lambda: confirm_dialog("Are you sure you want to reboot?", "Reboot"),
+      callback=self._perform_reboot,
+    )
+
+  def _perform_reboot(self, result: int):
+    if not ui_state.engaged and result == DialogResult.CONFIRM:
+      self._params.put_bool_nonblocking("DoReboot", True)
+
+  def _power_off_prompt(self):
+    if ui_state.engaged:
+      gui_app.set_modal_overlay(lambda: alert_dialog("Disengage to Power Off"))
+      return
+
+    gui_app.set_modal_overlay(
+      lambda: confirm_dialog("Are you sure you want to power off?", "Power Off"),
+      callback=self._perform_power_off,
+    )
 
-    if TICI:
-      items.append(button_item("Regulatory", "VIEW", callback=self._on_regulatory))
+  def _perform_power_off(self, result: int):
+    if not ui_state.engaged and result == DialogResult.CONFIRM:
+      self._params.put_bool_nonblocking("DoShutdown", True)
 
-    items.append(button_item("Change Language", "CHANGE", callback=self._on_change_language))
+  def _pair_device(self):
+    if not self._pair_device_dialog:
+      self._pair_device_dialog = PairingDialog()
+    gui_app.set_modal_overlay(self._pair_device_dialog, callback=lambda result: setattr(self, '_pair_device_dialog', None))
 
-    self._list_widget = ListView(items)
+  def _on_regulatory(self):
+    if not self._fcc_dialog:
+      self._fcc_dialog = HtmlRenderer(os.path.join(BASEDIR, "selfdrive/assets/offroad/fcc.html"))
 
-  def render(self, rect):
-    self._list_widget.render(rect)
+    gui_app.set_modal_overlay(self._fcc_dialog,
+      callback=lambda result: setattr(self, '_fcc_dialog', None),
+    )
 
-  def _on_pair_device(self): pass
-  def _on_driver_camera(self): pass
-  def _on_reset_calibration(self): pass
   def _on_review_training_guide(self): pass
-  def _on_regulatory(self): pass
-  def _on_change_language(self): pass

selfdrive/ui/layouts/settings/firehose.py

@@ -0,0 +1,180 @@
+import pyray as rl
+import json
+import time
+import threading
+
+from openpilot.common.api import Api, api_get
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.lib.widget import Widget
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+
+TITLE = "Firehose Mode"
+DESCRIPTION = (
+  "openpilot learns to drive by watching humans, like you, drive.\n\n"
+  + "Firehose Mode allows you to maximize your training data uploads to improve "
+  + "openpilot's driving models. More data means bigger models, which means better Experimental Mode."
+)
+INSTRUCTIONS = (
+  "For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.\n\n"
+  + "Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.\n\n"
+  + "Frequently Asked Questions\n\n"
+  + "Does it matter how or where I drive? Nope, just drive as you normally would.\n\n"
+  + "Do all of my segments get pulled in Firehose Mode? No, we selectively pull a subset of your segments.\n\n"
+  + "What's a good USB-C adapter? Any fast phone or laptop charger should be fine.\n\n"
+  + "Does it matter which software I run? Yes, only upstream openpilot (and particular forks) are able to be used for training."
+)
+
+
+class FirehoseLayout(Widget):
+  PARAM_KEY = "ApiCache_FirehoseStats"
+  GREEN = rl.Color(46, 204, 113, 255)
+  RED = rl.Color(231, 76, 60, 255)
+  GRAY = rl.Color(68, 68, 68, 255)
+  LIGHT_GRAY = rl.Color(228, 228, 228, 255)
+  UPDATE_INTERVAL = 30  # seconds
+
+  def __init__(self):
+    super().__init__()
+    self.params = Params()
+    self.segment_count = self._get_segment_count()
+    self.scroll_panel = GuiScrollPanel()
+
+    self.running = True
+    self.update_thread = threading.Thread(target=self._update_loop, daemon=True)
+    self.update_thread.start()
+    self.last_update_time = 0
+
+  def _get_segment_count(self) -> int:
+    stats = self.params.get(self.PARAM_KEY, encoding='utf8')
+    if not stats:
+      return 0
+    try:
+      return int(json.loads(stats).get("firehose", 0))
+    except Exception:
+      cloudlog.exception(f"Failed to decode firehose stats: {stats}")
+      return 0
+
+  def __del__(self):
+    self.running = False
+    if self.update_thread and self.update_thread.is_alive():
+      self.update_thread.join(timeout=1.0)
+
+  def _render(self, rect: rl.Rectangle):
+    # Calculate content dimensions
+    content_width = rect.width - 80
+    content_height = self._calculate_content_height(int(content_width))
+    content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height)
+
+    # Handle scrolling and render with clipping
+    scroll_offset = self.scroll_panel.handle_scroll(rect, content_rect)
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
+    self._render_content(rect, scroll_offset)
+    rl.end_scissor_mode()
+
+  def _calculate_content_height(self, content_width: int) -> int:
+    height = 80  # Top margin
+
+    # Title
+    height += 100 + 40
+
+    # Description
+    desc_font = gui_app.font(FontWeight.NORMAL)
+    desc_lines = wrap_text(desc_font, DESCRIPTION, 45, content_width)
+    height += len(desc_lines) * 45 + 40
+
+    # Status section
+    height += 32  # Separator
+    status_text, _ = self._get_status()
+    status_lines = wrap_text(gui_app.font(FontWeight.BOLD), status_text, 60, content_width)
+    height += len(status_lines) * 60 + 20
+
+    # Contribution count (if available)
+    if self.segment_count > 0:
+      contrib_text = f"{self.segment_count} segment(s) of your driving is in the training dataset so far."
+      contrib_lines = wrap_text(gui_app.font(FontWeight.BOLD), contrib_text, 52, content_width)
+      height += len(contrib_lines) * 52 + 20
+
+    # Instructions section
+    height += 32  # Separator
+    inst_lines = wrap_text(gui_app.font(FontWeight.NORMAL), INSTRUCTIONS, 40, content_width)
+    height += len(inst_lines) * 40 + 40  # Bottom margin
+
+    return height
+
+  def _render_content(self, rect: rl.Rectangle, scroll_offset: rl.Vector2):
+    x = int(rect.x + 40)
+    y = int(rect.y + 40 + scroll_offset.y)
+    w = int(rect.width - 80)
+
+    # Title
+    title_font = gui_app.font(FontWeight.MEDIUM)
+    rl.draw_text_ex(title_font, TITLE, rl.Vector2(x, y), 100, 0, rl.WHITE)
+    y += 140
+
+    # Description
+    y = self._draw_wrapped_text(x, y, w, DESCRIPTION, gui_app.font(FontWeight.NORMAL), 45, rl.WHITE)
+    y += 40
+
+    # Separator
+    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    y += 30
+
+    # Status
+    status_text, status_color = self._get_status()
+    y = self._draw_wrapped_text(x, y, w, status_text, gui_app.font(FontWeight.BOLD), 60, status_color)
+    y += 20
+
+    # Contribution count (if available)
+    if self.segment_count > 0:
+      contrib_text = f"{self.segment_count} segment(s) of your driving is in the training dataset so far."
+      y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
+      y += 20
+
+    # Separator
+    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    y += 30
+
+    # Instructions
+    self._draw_wrapped_text(x, y, w, INSTRUCTIONS, gui_app.font(FontWeight.NORMAL), 40, self.LIGHT_GRAY)
+
+  def _draw_wrapped_text(self, x, y, width, text, font, size, color):
+    wrapped = wrap_text(font, text, size, width)
+    for line in wrapped:
+      rl.draw_text_ex(font, line, rl.Vector2(x, y), size, 0, color)
+      y += size
+    return y
+
+  def _get_status(self) -> tuple[str, rl.Color]:
+    network_type = ui_state.sm["deviceState"].networkType
+    network_metered = ui_state.sm["deviceState"].networkMetered
+
+    if not network_metered and network_type != 0:  # Not metered and connected
+      return "ACTIVE", self.GREEN
+    else:
+      return "INACTIVE: connect to an unmetered network", self.RED
+
+  def _fetch_firehose_stats(self):
+    try:
+      dongle_id = self.params.get("DongleId", encoding='utf8')
+      if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
+        return
+      identity_token = Api(dongle_id).get_token()
+      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
+      if response.status_code == 200:
+        data = response.json()
+        self.segment_count = data.get("firehose", 0)
+        self.params.put(self.PARAM_KEY, json.dumps(data))
+    except Exception as e:
+      cloudlog.error(f"Failed to fetch firehose stats: {e}")
+
+  def _update_loop(self):
+    while self.running:
+      if not ui_state.started:
+        self._fetch_firehose_stats()
+      time.sleep(self.UPDATE_INTERVAL)

selfdrive/ui/layouts/settings/settings.py

@@ -2,13 +2,15 @@ import pyray as rl
 from dataclasses import dataclass
 from enum import IntEnum
 from collections.abc import Callable
-from openpilot.common.params import Params
 from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
 from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
+from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
 from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
 from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
 from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.label import gui_text_box
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.selfdrive.ui.layouts.network import NetworkLayout
+from openpilot.system.ui.lib.widget import Widget
 
 # Import individual panels
 
@@ -16,9 +18,8 @@ SETTINGS_CLOSE_TEXT = "X"
 # Constants
 SIDEBAR_WIDTH = 500
 CLOSE_BTN_SIZE = 200
-NAV_BTN_HEIGHT = 80
+NAV_BTN_HEIGHT = 110
 PANEL_MARGIN = 50
-SCROLL_SPEED = 30
 
 # Colors
 SIDEBAR_COLOR = rl.BLACK
@@ -27,7 +28,6 @@ CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255)
 TEXT_NORMAL = rl.Color(128, 128, 128, 255)
 TEXT_SELECTED = rl.Color(255, 255, 255, 255)
-TEXT_PRESSED = rl.Color(173, 173, 173, 255)
 
 
 class PanelType(IntEnum):
@@ -43,23 +43,22 @@ class PanelType(IntEnum):
 class PanelInfo:
   name: str
   instance: object
-  button_rect: rl.Rectangle
+  button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
 
 
-class SettingsLayout:
+class SettingsLayout(Widget):
   def __init__(self):
-    self._params = Params()
+    super().__init__()
     self._current_panel = PanelType.DEVICE
-    self._max_scroll = 0.0
 
     # Panel configuration
     self._panels = {
-      PanelType.DEVICE: PanelInfo("Device", DeviceLayout(), rl.Rectangle(0, 0, 0, 0)),
-      PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout(), rl.Rectangle(0, 0, 0, 0)),
-      PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout(), rl.Rectangle(0, 0, 0, 0)),
-      PanelType.FIREHOSE: PanelInfo("Firehose", None, rl.Rectangle(0, 0, 0, 0)),
-      PanelType.NETWORK: PanelInfo("Network", None, rl.Rectangle(0, 0, 0, 0)),
-      PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayout(), rl.Rectangle(0, 0, 0, 0)),
+      PanelType.DEVICE: PanelInfo("Device", DeviceLayout()),
+      PanelType.NETWORK: PanelInfo("Network", NetworkLayout()),
+      PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout()),
+      PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout()),
+      PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout()),
+      PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayout()),
     }
 
     self._font_medium = gui_app.font(FontWeight.MEDIUM)
@@ -71,7 +70,7 @@ class SettingsLayout:
   def set_callbacks(self, on_close: Callable):
     self._close_callback = on_close
 
-  def render(self, rect: rl.Rectangle):
+  def _render(self, rect: rl.Rectangle):
     # Calculate layout
     sidebar_rect = rl.Rectangle(rect.x, rect.y, SIDEBAR_WIDTH, rect.height)
     panel_rect = rl.Rectangle(rect.x + SIDEBAR_WIDTH, rect.y, rect.width - SIDEBAR_WIDTH, rect.height)
@@ -80,9 +79,6 @@ class SettingsLayout:
     self._draw_sidebar(sidebar_rect)
     self._draw_current_panel(panel_rect)
 
-    if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
-      self.handle_mouse_release(rl.get_mouse_position())
-
   def _draw_sidebar(self, rect: rl.Rectangle):
     rl.draw_rectangle_rec(rect, SIDEBAR_COLOR)
 
@@ -96,7 +92,7 @@ class SettingsLayout:
     close_color = CLOSE_BTN_PRESSED if pressed else CLOSE_BTN_COLOR
     rl.draw_rectangle_rounded(close_btn_rect, 1.0, 20, close_color)
 
-    close_text_size = rl.measure_text_ex(self._font_bold, SETTINGS_CLOSE_TEXT, 140, 0)
+    close_text_size = measure_text_cached(self._font_bold, SETTINGS_CLOSE_TEXT, 140)
     close_text_pos = rl.Vector2(
       close_btn_rect.x + (close_btn_rect.width - close_text_size.x) / 2,
       close_btn_rect.y + (close_btn_rect.height - close_text_size.y) / 2,
@@ -107,23 +103,15 @@ class SettingsLayout:
     self._close_btn_rect = close_btn_rect
 
     # Navigation buttons
-    nav_start_y = rect.y + 300
-    button_spacing = 20
-
-    i = 0
+    y = rect.y + 300
     for panel_type, panel_info in self._panels.items():
-      button_rect = rl.Rectangle(
-        rect.x + 50,
-        nav_start_y + i * (NAV_BTN_HEIGHT + button_spacing),
-        rect.width - 150,  # Right-aligned with margin
-        NAV_BTN_HEIGHT,
-      )
+      button_rect = rl.Rectangle(rect.x + 50, y, rect.width - 150, NAV_BTN_HEIGHT)
 
       # Button styling
       is_selected = panel_type == self._current_panel
       text_color = TEXT_SELECTED if is_selected else TEXT_NORMAL
       # Draw button text (right-aligned)
-      text_size = rl.measure_text_ex(self._font_medium, panel_info.name, 65, 0)
+      text_size = measure_text_cached(self._font_medium, panel_info.name, 65)
       text_pos = rl.Vector2(
         button_rect.x + button_rect.width - text_size.x, button_rect.y + (button_rect.height - text_size.y) / 2
       )
@@ -131,7 +119,8 @@ class SettingsLayout:
 
       # Store button rect for click detection
       panel_info.button_rect = button_rect
-      i += 1
+
+      y += NAV_BTN_HEIGHT
 
   def _draw_current_panel(self, rect: rl.Rectangle):
     rl.draw_rectangle_rounded(
@@ -142,17 +131,8 @@ class SettingsLayout:
     panel = self._panels[self._current_panel]
     if panel.instance:
       panel.instance.render(content_rect)
-    else:
-      gui_text_box(
-        content_rect,
-        f"Demo {self._panels[self._current_panel].name} Panel",
-        font_size=170,
-        color=rl.WHITE,
-        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-        alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
-      )
 
-  def handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool:
+  def _handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool:
     # Check close button
     if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
       if self._close_callback:
@@ -162,20 +142,15 @@ class SettingsLayout:
     # Check navigation buttons
     for panel_type, panel_info in self._panels.items():
       if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect):
-        self._switch_to_panel(panel_type)
+        self.set_current_panel(panel_type)
         return True
 
     return False
 
-  def _switch_to_panel(self, panel_type: PanelType):
+  def set_current_panel(self, panel_type: PanelType):
     if panel_type != self._current_panel:
       self._current_panel = panel_type
 
-  def set_current_panel(self, index: int, param: str = ""):
-    panel_types = list(self._panels.keys())
-    if 0 <= index < len(panel_types):
-      self._switch_to_panel(panel_types[index])
-
   def close_settings(self):
     if self._close_callback:
       self._close_callback()

selfdrive/ui/layouts/settings/software.py

@@ -1,7 +1,20 @@
-from openpilot.system.ui.lib.list_view import ListView, button_item, text_item
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.list_view import button_item, text_item
+from openpilot.system.ui.lib.scroller import Scroller
+from openpilot.system.ui.lib.widget import Widget, DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog
 
-class SoftwareLayout:
+
+class SoftwareLayout(Widget):
   def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._init_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _init_items(self):
     items = [
       text_item("Current Version", ""),
       button_item("Download", "CHECK", callback=self._on_download_update),
@@ -9,13 +22,21 @@ class SoftwareLayout:
       button_item("Target Branch", "SELECT", callback=self._on_select_branch),
       button_item("Uninstall", "UNINSTALL", callback=self._on_uninstall),
     ]
+    return items
 
-    self._list_widget = ListView(items)
-
-  def render(self, rect):
-    self._list_widget.render(rect)
+  def _render(self, rect):
+    self._scroller.render(rect)
 
   def _on_download_update(self): pass
   def _on_install_update(self): pass
   def _on_select_branch(self): pass
-  def _on_uninstall(self): pass
+
+  def _on_uninstall(self):
+    def handle_uninstall_confirmation(result):
+      if result == DialogResult.CONFIRM:
+        self._params.put_bool("DoUninstall", True)
+
+    gui_app.set_modal_overlay(
+      lambda: confirm_dialog("Are you sure you want to uninstall?", "Uninstall"),
+      callback=handle_uninstall_confirmation,
+    )