Merge remote-tracking branch 'upstream/master' into adhesive-path

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -22,23 +22,11 @@ body:
     validations:
       required: true
 
-  - type: dropdown
-    id: hw
-    attributes:
-      label: What hardware does this issue affect?
-      multiple: true
-      options:
-        - comma three
-        - comma two
-        - EON Gold
-    validations:
-      required: true
-
   - type: input
     id: route
     attributes:
       label: Provide a route where the issue occurs
-      description: Ensure the route is fully uploaded at https://useradmin.comma.ai
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
       placeholder: 77611a1fac303767|2020-05-11--16-37-07
     validations:
       required: true

.github/ISSUE_TEMPLATE/car_bug_report.yml

@@ -21,18 +21,6 @@ body:
     validations:
       required: true
 
-  - type: dropdown
-    id: hw
-    attributes:
-      label: What hardware does this issue affect?
-      multiple: true
-      options:
-        - comma three
-        - comma two
-        - EON Gold
-    validations:
-      required: true
-
   - type: input
     id: car
     attributes:

.github/workflows/prebuilt.yaml

@@ -3,6 +3,8 @@ on:
   schedule:
     - cron: '0 * * * *'
 
+  workflow_dispatch:
+
 env:
   BASE_IMAGE: openpilot-base
   DOCKER_REGISTRY: ghcr.io/commaai
@@ -28,7 +30,7 @@ jobs:
         ref: master
         wait-interval: 30
         running-workflow-name: 'build prebuilt'
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build Docker image

.github/workflows/release.yaml

@@ -0,0 +1,28 @@
+name: release
+on:
+  schedule:
+    - cron: '0 * * * *'
+  workflow_dispatch:
+
+jobs:
+  build_masterci:
+    name: build master-ci
+    runs-on: ubuntu-20.04
+    timeout-minutes: 60
+    if: github.repository == 'commaai/openpilot'
+    steps:
+    - name: Wait for green check mark
+      uses: lewagon/wait-on-check-action@v0.2
+      with:
+        ref: master
+        wait-interval: 30
+        running-workflow-name: 'build master-ci'
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+        fetch-depth: 0
+    - name: Pull LFS
+      run: git lfs pull
+    - name: Build master-ci
+      run: |
+        BRANCH=master-ci release/build_devel.sh

.github/workflows/selfdrive_tests.yaml

@@ -8,6 +8,7 @@ on:
 env:
   BASE_IMAGE: openpilot-base
   DOCKER_REGISTRY: ghcr.io/commaai
+  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
   DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
   BUILD: |
@@ -25,10 +26,11 @@ jobs:
     runs-on: ubuntu-20.04
     timeout-minutes: 50
     env:
-      STRIPPED_DIR: tmppilot
+      STRIPPED_DIR: /tmp/releasepilot
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
+        fetch-depth: 0
         submodules: true
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
@@ -45,16 +47,10 @@ jobs:
         restore-keys: |
           scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
           scons-
-    - name: Strip non-release files
+    - name: Build devel
       run: |
-        mkdir $STRIPPED_DIR
-        cp -pR --parents $(cat release/files_common) $STRIPPED_DIR
-        cp -pR --parents $(cat release/files_tici) $STRIPPED_DIR
-        cp -pR --parents $(cat release/files_pc) $STRIPPED_DIR
+        TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
         cp Dockerfile.openpilot_base $STRIPPED_DIR
-
-        # need this to build on x86
-        cp -pR --parents third_party/libyuv third_party/snpe selfdrive/modeld/runners $STRIPPED_DIR
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Build openpilot and run checks
@@ -62,32 +58,43 @@ jobs:
           cd $STRIPPED_DIR
           ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py && \
                           python -m unittest discover selfdrive/car"
-    - name: Cleanup scons cache
-      run: |
-          cd $STRIPPED_DIR
-          ${{ env.RUN }} "scons -j$(nproc) && \
-                          rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
 
   build_all:
     name: build all
     runs-on: ubuntu-20.04
     timeout-minutes: 50
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: ${{ github.ref != 'refs/heads/master' || github.repository != 'commaai/openpilot' }}
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-${{ steps.date.outputs.time }}
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Build openpilot with all flags
       run: ${{ env.RUN }} "scons -j$(nproc) --extras --test"
+    - name: Cleanup scons cache
+      run: |
+          ${{ env.RUN }} "scons -j$(nproc) --extras --test && \
+                          rm -rf /tmp/scons_cache/* && \
+                          scons -j$(nproc) --cache-populate"
 
   #build_mac:
   #  name: build macos
   #  runs-on: macos-latest
   #  timeout-minutes: 60
   #  steps:
-  #  - uses: actions/checkout@v2
+  #  - uses: actions/checkout@v3
   #    with:
   #      submodules: true
   #  - name: Determine pre-existing Homebrew packages
@@ -146,9 +153,21 @@ jobs:
     env:
       IMAGE_NAME: openpilotwebcamci
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
     - name: Build Docker image
       run: |
         eval "$BUILD"
@@ -169,7 +188,7 @@ jobs:
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
     needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build Docker image
@@ -184,20 +203,20 @@ jobs:
     runs-on: ubuntu-20.04
     timeout-minutes: 50
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build Docker image
       run: eval "$BUILD"
     - name: pre-commit
-      run: ${{ env.RUN }} "git init && git add -A && pre-commit run --all"
+      run: ${{ env.RUN }} "pre-commit run --all"
 
   valgrind:
     name: valgrind
     runs-on: ubuntu-20.04
     timeout-minutes: 50
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Cache dependencies
@@ -240,7 +259,7 @@ jobs:
       run: echo $TIMESTAMP
       env:
         TIMESTAMP: ${{ steps.date.outputs.time }}
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Cache scons
@@ -288,7 +307,7 @@ jobs:
     runs-on: ubuntu-20.04
     timeout-minutes: 50
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Cache dependencies
@@ -316,8 +335,6 @@ jobs:
         ${{ env.RUN }} "scons -j$(nproc) && \
                         FILEREADER_CACHE=1 CI=1 coverage run selfdrive/test/process_replay/test_processes.py && \
                         coverage xml"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v2
     - name: Print diff
       if: always()
       run: cat selfdrive/test/process_replay/diff.txt
@@ -327,28 +344,20 @@ jobs:
       with:
         name: process_replay_diff.txt
         path: selfdrive/test/process_replay/diff.txt
-
-  #model_replay:
-  #  name: model replay
-  #  runs-on: ubuntu-20.04
-  #  timeout-minutes: 50
-  #  steps:
-  #  - uses: actions/checkout@v2
-  #    with:
-  #      submodules: true
-  #  - name: Build Docker image
-  #    run: eval "$BUILD"
-  #  - name: Run replay
-  #    run: |
-  #      ${{ env.RUN }} "scons -j$(nproc) && \
-  #                      selfdrive/test/process_replay/model_replay.py"
+    - name: Upload reference logs
+      if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc) && \
+                        CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py --upload-only"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v2
 
   test_longitudinal:
     name: longitudinal
     runs-on: ubuntu-20.04
     timeout-minutes: 50
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Cache scons
@@ -388,9 +397,9 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        job: [0, 1, 2, 3]
+        job: [0, 1, 2, 3, 4]
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Cache dependencies
@@ -420,7 +429,7 @@ jobs:
                         coverage xml && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
-        NUM_JOBS: 4
+        NUM_JOBS: 5
         JOB_ID: ${{ matrix.job }}
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
@@ -430,7 +439,7 @@ jobs:
     runs-on: ubuntu-20.04
     timeout-minutes: 50
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build docker container

.github/workflows/tools_tests.yaml

@@ -21,7 +21,7 @@ jobs:
     runs-on: ubuntu-20.04
     timeout-minutes: 30
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build Docker image
@@ -42,28 +42,17 @@ jobs:
       IMAGE_NAME: openpilot-sim
     if: github.repository == 'commaai/openpilot'
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
-
-    # HACK: cache LFS objects since they count against our quota
-    # https://github.com/actions/checkout/issues/165#issuecomment-657673315
-    - name: Create LFS file list
-      run: git lfs ls-files -l | cut -d' ' -f1 | sort > .lfs-assets-id
-    - name: Restore LFS cache
-      uses: actions/cache@v2
-      id: lfs-cache
-      with:
-        path: .git/lfs
-        key: ${{ runner.os }}-lfs-${{ hashFiles('.lfs-assets-id') }}
-    - name: Git LFS Pull
+    - name: Pull LFS
       run: git lfs pull
-
-    - name: Build Docker image
-      run: |
-        eval "$BUILD"
-        docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
-        docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim .
+    - name: Build base image
+      run: eval "$BUILD"
+    - name: Pull latest simulator image
+      run: eval "$BUILD"docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
+    - name: Build simulator image
+      run: docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim .
     - name: Push to container registry
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |

.gitignore

@@ -56,6 +56,7 @@ selfdrive/modeld/_dmonitoringmodeld
 /src/
 
 one
+/body/
 openpilot
 notebooks
 xx
@@ -76,7 +77,7 @@ cppcheck_report.txt
 comma*.sh
 
 selfdrive/modeld/thneed/compile
-models/*.thneed
+selfdrive/modeld/models/*.thneed
 
 *.bz2
 

.pre-commit-config.yaml

@@ -20,10 +20,13 @@ repos:
     hooks:
     -   id: mypy
         exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
-        additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
-                                  'types-pycurl']
+        additional_dependencies: ['lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
         args:
+        - --warn-redundant-casts
+        - --warn-return-any
         - --warn-unreachable
+        - --warn-unused-ignores
+        #- --html-report=/home/batman/openpilot
 -   repo: https://github.com/PyCQA/flake8
     rev: 4.0.1
     hooks:

Dockerfile.openpilot_base

@@ -4,7 +4,7 @@ ENV PYTHONUNBUFFERED 1
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh && \
     rm -rf /var/lib/apt/lists/*
 
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
@@ -29,5 +29,5 @@ RUN cd /tmp && \
     cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
     rm -rf arm/ && \
     rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
-RUN sudo git config --global --add safe.directory /tmp/openpilot
 
+RUN sudo git config --global --add safe.directory /tmp/openpilot

Jenkinsfile

@@ -30,7 +30,7 @@ END"""
 
 def phone_steps(String device_type, steps) {
   lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-    timeout(time: 60, unit: 'MINUTES') {
+    timeout(time: 20, unit: 'MINUTES') {
       phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
       steps.each { item ->
         phone(device_ip, item[0], item[1])
@@ -80,34 +80,13 @@ pipeline {
           stages {
             stage('parallel tests') {
               parallel {
-                /*
-                stage('Power Consumption Tests') {
-                  steps {
-                    lock(resource: "", label: "c2-zookeeper", inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-                      timeout(time: 90, unit: 'MINUTES') {
-                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
-                        phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
-                        phone(device_ip, "build", "scons -j4 && sync")
-                        sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
-                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
-                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
-                        sh script: "/home/batman/tools/zookeeper/ignition.py 1", label: "go onroad"
-                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 10", label: "onroad power consumption"
-                        sh script: "/home/batman/tools/zookeeper/ignition.py 0", label: "go offroad"
-                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 2", label: "idle power consumption offroad"
-                      }
-                    }
-                  }
-                }
-                */
-
                 stage('build') {
                   environment {
                     R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
                   }
                   steps {
                     phone_steps("tici", [
-                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
                       ["build openpilot", "cd selfdrive/manager && ./build.py"],
                       ["test manager", "python selfdrive/manager/test/test_manager.py"],
                       ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
@@ -124,6 +103,7 @@ pipeline {
                       ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
                       ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                       ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
+                      ["test sensord", "python selfdrive/sensord/test/test_sensord.py"],
                     ])
                   }
                 }
@@ -149,18 +129,6 @@ pipeline {
 
               }
             }
-
-            stage('Push master-ci') {
-              when {
-                branch 'master'
-              }
-              steps {
-                phone_steps("tici-build", [
-                  ["push devel", "cd $SOURCE_DIR/release && PUSH='master-ci' ./build_devel.sh"],
-                ])
-              }
-            }
-
           }
 
           post {
@@ -175,4 +143,3 @@ pipeline {
     }
   }
 }
-

Pipfile

@@ -4,6 +4,7 @@ url = "https://pypi.org/simple"
 verify_ssl = true
 
 [dev-packages]
+azure-storage-blob = "~=2.1"
 control = "*"
 coverage = "*"
 dictdiffer = "*"
@@ -37,7 +38,7 @@ breathe = "*"
 subprocess32 = "*"
 tenacity = "*"
 mpld3 = "*"
-carla = "==0.9.12"
+carla = {version = "==0.9.12", markers="platform_system != 'Darwin'"}
 
 [packages]
 atomicwrites = "*"
@@ -81,6 +82,7 @@ tqdm = "*"
 urllib3 = "*"
 utm = "*"
 websocket_client = "*"
+hatanaka = "==2.4"
 
 [requires]
 python_version = "3.8"

RELEASES.md

@@ -1,18 +1,25 @@
 Version 0.8.14 (2022-0X-XX)
 ========================
  * New driving model
-   * bigmodel
+   * Bigger model, using both of comma three's road-facing cameras
+   * Better at cut-in detection and tight turns
  * New driver monitoring model
- * New lateral controller
-   * Smoother control
-   * Simplified tuning
-   * Initially used on TSS2 Corolla and TSS-P Rav4
+   * Tweaked network structure to improve output resolution for dsp
+   * Fixed bug in quantization aware training to reduce quantizing errors
+   * Resulted in 7x less MSE and no more random biases at runtime
+ * New lateral controller based on physical wheel torque model
+   * Much smoother control, consistent across the speed range
+   * Effective feedforward that uses road roll
+   * Simplified tuning, all car-specific parameters can be derived from data
+   * Initially used on TSS2 Corolla and TSS-P RAV4
+ * Added toggle to disable disengaging on the accelerator pedal
  * comma body support
  * Audi RS3 support thanks to jyoung8607!
  * Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
  * Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
  * Toyota Alphard Hybrid 2021 support
  * Toyota Avalon Hybrid 2022 support
+ * Toyota RAV4 Hybrid 2022 support
 
 Version 0.8.13 (2022-02-18)
 ========================

SConstruct

@@ -182,9 +182,7 @@ env = Environment(
     "#third_party/acados/include/blasfeo/include",
     "#third_party/acados/include/hpipm/include",
     "#third_party/catch2/include",
-    "#third_party/bzip2",
     "#third_party/libyuv/include",
-    "#third_party/openmax/include",
     "#third_party/json11",
     "#third_party/curl/include",
     "#third_party/libgralloc/include",

cereal

@@ -1 +1 @@
-Subproject commit 29f4fe89ef710ff86a5aeb998a357187d0619fb8
+Subproject commit b1b0a407b23d9c085fa0661d381d494e74ca719a

common/markdown.py

@@ -1,48 +0,0 @@
-from typing import List
-
-HTML_REPLACEMENTS = [
-  (r'&', r'&'),
-  (r'"', r'"'),
-]
-
-
-def parse_markdown(text: str, tab_length: int = 2) -> str:
-  lines = text.split("\n")
-  output: List[str] = []
-  list_level = 0
-
-  def end_outstanding_lists(level: int, end_level: int) -> int:
-    while level > end_level:
-      level -= 1
-      output.append("</ul>")
-      if level > 0:
-        output.append("</li>")
-    return end_level
-
-  for i, line in enumerate(lines):
-    if i + 1 < len(lines) and lines[i + 1].startswith("==="):  # heading
-      output.append(f"<h1>{line}</h1>")
-    elif line.startswith("==="):
-      pass
-    elif line.lstrip().startswith("* "):  # list
-      line_level = 1 + line.count(" " * tab_length, 0, line.index("*"))
-      if list_level >= line_level:
-        list_level = end_outstanding_lists(list_level, line_level)
-      else:
-        list_level += 1
-        if list_level > 1:
-          output[-1] = output[-1].replace("</li>", "")
-        output.append("<ul>")
-      output.append(f"<li>{line.replace('*', '', 1).lstrip()}</li>")
-    else:
-      list_level = end_outstanding_lists(list_level, 0)
-      if len(line) > 0:
-        output.append(line)
-
-  end_outstanding_lists(list_level, 0)
-  output_str = "\n".join(output) + "\n"
-
-  for (fr, to) in HTML_REPLACEMENTS:
-    output_str = output_str.replace(fr, to)
-
-  return output_str

common/realtime.py

@@ -2,6 +2,7 @@
 import gc
 import os
 import time
+from collections import deque
 from typing import Optional, List, Union
 
 from setproctitle import getproctitle  # pylint: disable=no-name-in-module
@@ -35,12 +36,12 @@ class Priority:
 
 def set_realtime_priority(level: int) -> None:
   if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined]
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined] # pylint: disable=no-member
 
 
 def set_core_affinity(cores: List[int]) -> None:
   if not PC:
-    os.sched_setaffinity(0, cores)
+    os.sched_setaffinity(0, cores)  # pylint: disable=no-member
 
 
 def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None:
@@ -51,7 +52,7 @@ def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None
 
 
 class Ratekeeper:
-  def __init__(self, rate: int, print_delay_threshold: Optional[float] = 0.0) -> None:
+  def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None:
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
     self._interval = 1. / rate
     self._next_frame_time = sec_since_boot() + self._interval
@@ -59,6 +60,8 @@ class Ratekeeper:
     self._frame = 0
     self._remaining = 0.0
     self._process_name = getproctitle()
+    self._dts = deque([self._interval], maxlen=100)
+    self._last_monitor_time = sec_since_boot()
 
   @property
   def frame(self) -> int:
@@ -68,6 +71,12 @@ class Ratekeeper:
   def remaining(self) -> float:
     return self._remaining
 
+  @property
+  def lagging(self) -> bool:
+    avg_dt = sum(self._dts) / len(self._dts)
+    expected_dt = self._interval * (1 / 0.9)
+    return avg_dt > expected_dt
+
   # Maintain loop rate by calling this at the end of each loop
   def keep_time(self) -> bool:
     lagged = self.monitor_time()
@@ -77,6 +86,10 @@ class Ratekeeper:
 
   # this only monitor the cumulative lag, but does not enforce a rate
   def monitor_time(self) -> bool:
+    prev = self._last_monitor_time
+    self._last_monitor_time = sec_since_boot()
+    self._dts.append(self._last_monitor_time - prev)
+
     lagged = False
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval

common/string_helpers.py

@@ -1,6 +0,0 @@
-def replace_right(s, old, new, occurrence):
-  # replace_right('1232425', '2', ' ', 1) -> '12324 5'
-  # replace_right('1232425', '2', ' ', 2) -> '123 4 5'
-
-  split = s.rsplit(old, occurrence)
-  return new.join(split)

common/tests/test_markdown.py

@@ -1,26 +0,0 @@
-#!/usr/bin/env python3
-from markdown_it import MarkdownIt
-import os
-import unittest
-
-from common.basedir import BASEDIR
-from common.markdown import parse_markdown
-
-
-class TestMarkdown(unittest.TestCase):
-  # validate that our simple markdown parser produces the same output as `markdown_it` from pip
-  def test_current_release_notes(self):
-    self.maxDiff = None
-
-    with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
-      for r in f.read().split("\n\n"):
-
-        # No hyperlink support is ok
-        if '[' in r:
-          continue
-
-        self.assertEqual(MarkdownIt().render(r), parse_markdown(r))
-
-
-if __name__ == "__main__":
-  unittest.main()

common/tests/test_xattr.py

@@ -1,47 +0,0 @@
-import os
-import tempfile
-import shutil
-import unittest
-
-from common.xattr import getxattr, setxattr, listxattr, removexattr
-
-class TestParams(unittest.TestCase):
-  USER_TEST='user.test'
-  def setUp(self):
-    self.tmpdir = tempfile.mkdtemp()
-    self.tmpfn = os.path.join(self.tmpdir, 'test.txt')
-    open(self.tmpfn, 'w').close()
-    #print("using", self.tmpfn)
-
-  def tearDown(self):
-    shutil.rmtree(self.tmpdir)
-
-  def test_getxattr_none(self):
-    a = getxattr(self.tmpfn, TestParams.USER_TEST)
-    assert a is None
-
-  def test_listxattr_none(self):
-    l = listxattr(self.tmpfn)
-    assert l == []
-
-  def test_setxattr(self):
-    setxattr(self.tmpfn, TestParams.USER_TEST, b'123')
-    a = getxattr(self.tmpfn, TestParams.USER_TEST)
-    assert a == b'123'
-
-  def test_listxattr(self):
-    setxattr(self.tmpfn, 'user.test1', b'123')
-    setxattr(self.tmpfn, 'user.test2', b'123')
-    l = listxattr(self.tmpfn)
-    assert l == ['user.test1', 'user.test2']
-
-  def test_removexattr(self):
-    setxattr(self.tmpfn, TestParams.USER_TEST, b'123')
-    a = getxattr(self.tmpfn, TestParams.USER_TEST)
-    assert a == b'123'
-    removexattr(self.tmpfn, TestParams.USER_TEST)
-    a = getxattr(self.tmpfn, TestParams.USER_TEST)
-    assert a is None
-
-if __name__ == "__main__":
-  unittest.main()

common/transformations/README.md

@@ -24,7 +24,7 @@ by generating a rotation matrix and multiplying.
 
 
 
-Orientation Conventations
+Orientation Conventions
 ------
 Quaternions, rotation matrices and euler angles are three
 equivalent representations of orientation and all three are

common/transformations/orientation.py

@@ -1,5 +1,6 @@
 # pylint: skip-file
 import numpy as np
+from typing import Callable
 
 from common.transformations.transformations import (ecef_euler_from_ned_single,
                                                     euler2quat_single,
@@ -11,7 +12,7 @@ from common.transformations.transformations import (ecef_euler_from_ned_single,
                                                     rot2quat_single)
 
 
-def numpy_wrap(function, input_shape, output_shape):
+def numpy_wrap(function, input_shape, output_shape) -> Callable[..., np.ndarray]:
   """Wrap a function to take either an input or list of inputs and return the correct shape"""
   def f(*inps):
     *args, inp = inps

common/window.py

@@ -2,7 +2,7 @@ import sys
 import pygame  # pylint: disable=import-error
 import cv2  # pylint: disable=import-error
 
-class Window():
+class Window:
   def __init__(self, w, h, caption="window", double=False, halve=False):
     self.w = w
     self.h = h
@@ -54,7 +54,7 @@ class Window():
 if __name__ == "__main__":
   import numpy as np
   win = Window(200, 200, double=True)
-  img = np.zeros((200, 200, 3), np.uint8)
+  img: np.ndarray = np.zeros((200, 200, 3), np.uint8)
   while 1:
     print("draw")
     img += 1

common/xattr.py

@@ -1,5 +1,6 @@
 import os
 from cffi import FFI
+from typing import Any, List
 
 # Workaround for the EON/termux build of Python having os.*xattr removed.
 ffi = FFI()
@@ -11,7 +12,7 @@ int removexattr(const char *path, const char *name);
 """)
 libc = ffi.dlopen(None)
 
-def setxattr(path, name, value, flags=0):
+def setxattr(path, name, value, flags=0) -> None:
   path = path.encode()
   name = name.encode()
   if libc.setxattr(path, name, value, len(value), flags) == -1:
@@ -29,7 +30,7 @@ def getxattr(path, name, size=128):
     raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: getxattr({path}, {name}, {size})")
   return ffi.buffer(value)[:l]
 
-def listxattr(path, size=128):
+def listxattr(path, size=128) -> List[Any]:
   path = path.encode()
   attrs = ffi.new(f"char[{size}]")
   l = libc.listxattr(path, attrs, size)
@@ -38,7 +39,7 @@ def listxattr(path, size=128):
   # attrs is b'\0' delimited values (so chop off trailing empty item)
   return [a.decode() for a in ffi.buffer(attrs)[:l].split(b"\0")[0:-1]]
 
-def removexattr(path, name):
+def removexattr(path, name) -> None:
   path = path.encode()
   name = name.encode()
   if libc.removexattr(path, name) == -1:

docs/CARS.md

@@ -12,25 +12,25 @@ How We Rate The Cars
 ---
 
 ### openpilot Adaptive Cruise Control (ACC)
-- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot is able to control the gas and brakes.
-- <a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - openpilot is able to control the gas and brakes with some restrictions.
-- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system.
+- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot is able to control the gas and brakes.
+- <a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - openpilot is able to control the gas and brakes with some restrictions.
+- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system.
 
 ### Stop and Go
-- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Adaptive Cruise Control (ACC) operates down to 0 mph.
-- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed.
+- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Adaptive Cruise Control (ACC) operates down to 0 mph.
+- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed.
 
 ### Steer to 0
-- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot can control the steering wheel down to 0 mph.
-- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds.
+- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot can control the steering wheel down to 0 mph.
+- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds.
 
 ### Steering Torque
-- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
-- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make turns.
+- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
+- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make turns.
 
 ### Actively Maintained
-- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Mainline software support, harness hardware sold by comma, lots of users, primary development target.
-- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Low user count, community maintained, harness hardware not sold by comma.
+- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Mainline software support, harness hardware sold by comma, lots of users, primary development target.
+- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Low user count, community maintained, harness hardware not sold by comma.
 
 **All supported cars can move between the tiers as support changes.**
 
@@ -38,180 +38,186 @@ How We Rate The Cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
-|comma|body|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G70 2020|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Palisade 2020-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata Hybrid 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Electric 2019-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Telluride 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX 2020|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2020-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|UX Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard Hybrid 2021|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2022|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry Hybrid 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Hatchback 2019-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Hybrid 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander Hybrid 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Mirai 2021|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius Prime 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|comma|body|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Genesis|G70 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Palisade 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Santa Fe 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Sonata 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Sonata Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Niro Electric 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Niro Electric 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Niro Electric 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Telluride 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|ES 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|UX Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla Hatchback 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Mirai 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius Prime 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
 ## Silver Cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
-|Audi|A3 2014-19|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|Q2 2018|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|Q3 2020-21|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|RS3 2018|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|S3 2015-17|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G70 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G80 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Elantra 2021-22|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Electric 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Kona 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Kona Electric 2018-21|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Kona Hybrid 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Ceed 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Forte 2018-21|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|K5 2021-22|SCC + LFA|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Hybrid 2021-22|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Optima 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Seltos 2021|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Sorento 2018-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Stinger 2018|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|CT Hybrid 2017-18|LSS|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES Hybrid 2017-18|LSS|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX 2018-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX Hybrid 2018-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2016-18|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2016-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Mazda|CX-5 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|SEAT|Ateca 2018|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|SEAT|Leon 2014-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Crosstrek 2018-19|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Forester 2019-21|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Impreza 2017-19|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Karoq 2019|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Octavia RS 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Scala 2020|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Superb 2015-18|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2019-21|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR 2017-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR Hybrid 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry Hybrid 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander Hybrid 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Sienna 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon 2018, 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Atlas 2018-19, 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf 2015-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat 2016-18[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Polo 2020|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Cross 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Roc 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Taos 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Tiguan 2020-22[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Touran 2017|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Genesis|G70 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Genesis|G80 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Elantra 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Electric 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Kona 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Kona Electric 2018-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Kona Hybrid 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Santa Fe 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Santa Fe Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Forte 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Forte 2019-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|K5 2021-22|SCC + LFA|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Niro Hybrid 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Niro Hybrid 2022|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Optima 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Seltos 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Sorento 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Sorento 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Stinger 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Forester 2019-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Octavia RS 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Scala 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon 2018, 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Atlas 2018-19, 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat 2016-18[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|T-Cross 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|T-Roc 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Taos 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Tiguan 2019-22[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
 ## Bronze Cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Acura|RDX 2016-18|AcuraWatch Plus|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Acura|RDX 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G90 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Accord 2018-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Accord Hybrid 2018-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic 2016-18|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|CR-V 2015-16|Touring|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|CR-V 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|e 2020|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Fit 2018-19|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Freed 2020|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|HR-V 2019-20|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Insight 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Inspire 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Odyssey 2018-20|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Passport 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Pilot 2016-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Ridgeline 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Genesis 2015-16|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Optima 2017|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|IS 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RC 2020|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Mazda|CX-9 2021|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Altima 2019-20|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Leaf 2018-22|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Rogue 2018-20|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|X-Trail 2017|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Ascent 2019-20|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Crosstrek 2020-21|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Impreza 2020-21|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius 2016-20|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius Prime 2017-20|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius v 2017|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|California 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Caravelle 2020[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Acura|RDX 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Genesis|G90 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Honda|Accord 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Accord Hybrid 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Civic 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|CR-V 2015-16|Touring|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|CR-V 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|e 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Fit 2018-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Freed 2020|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|HR-V 2019-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Insight 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Inspire 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Odyssey 2018-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Passport 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Pilot 2016-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Genesis 2015-16|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|Altima 2019-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|Leaf 2018-22|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|Rogue 2018-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Ascent 2019-20|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|California 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Caravelle 2020[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
 
 <a id="footnotes"></a>

laika_repo

@@ -1 +1 @@
-Subproject commit e47ba47de2ad62f3c31cfdffa5aa381557a45d08
+Subproject commit be1a213a5ffa3cafe2b4f2d53f6df5d2452ad910

models/supercombo.dlc

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ba3fe3e61853cc1434e3e220f40c8e9d1f1b9bab8458196ba3bea6a10b82c6ed
-size 72718099

models/supercombo.onnx

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bda57c1a66944f5a633ecd739a24d62702c717a234f2fdcc499dfa1d61c3c19e
-size 73147489

mypy.ini

@@ -1,4 +1,4 @@
 [mypy]
 python_version = 3.8
 ignore_missing_imports = True
-
+plugins = numpy.typing.mypy_plugin

opendbc

@@ -1 +1 @@
-Subproject commit e19ba095c3ee288d629284e24ec7e0deaf645f3f
+Subproject commit 87af8c4ac192e263bdd4e832d71bb10f480172ec

panda

@@ -1 +1 @@
-Subproject commit bb2aea1ac6bd9ab198ec5192268a6ea6eec6bbe5
+Subproject commit 893a81aa823254cd72c9817886d4b4039ea04a7e

release/build_devel.sh

@@ -1,25 +1,30 @@
-#!/usr/bin/bash -e
+#!/usr/bin/bash
+
+set -ex
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 
-TARGET_DIR=/data/openpilot
-SOURCE_DIR="$(git rev-parse --show-toplevel)"
+SOURCE_DIR="$(git -C $DIR rev-parse --show-toplevel)"
+if [ -z "$TARGET_DIR" ]; then
+  TARGET_DIR="$(mktemp -d)"
+fi
 
 # set git identity
 source $DIR/identity.sh
 
 echo "[-] Setting up repo T=$SECONDS"
-if [ ! -d "$TARGET_DIR" ]; then
+
+cd $SOURCE_DIR
+git fetch origin
+
+rm -rf $TARGET_DIR
 mkdir -p $TARGET_DIR
 cd $TARGET_DIR
-  git init
-  git remote add origin git@github.com:commaai/openpilot.git
-fi
+cp -r $SOURCE_DIR/.git $TARGET_DIR
+pre-commit uninstall || true
 
 echo "[-] bringing master-ci and devel in sync T=$SECONDS"
 cd $TARGET_DIR
-git prune || true
-git remote prune origin || true
 git fetch origin master-ci
 git fetch origin devel
 
@@ -28,6 +33,7 @@ git reset --hard master-ci
 git checkout master-ci
 git reset --hard origin/devel
 git clean -xdf
+git lfs uninstall
 
 # remove everything except .git
 echo "[-] erasing old openpilot T=$SECONDS"
@@ -40,31 +46,32 @@ git clean -xdf
 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-cp -pR --parents $(cat release/files_common) $TARGET_DIR/
-cp -pR --parents $(cat release/files_tici) $TARGET_DIR/
+cp -pR --parents $(cat release/files_*) $TARGET_DIR/
 if [ ! -z "$EXTRA_FILES" ]; then
   cp -pR --parents $EXTRA_FILES $TARGET_DIR/
 fi
 
-# append source commit hash and build date to version
-GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse --short HEAD)
-DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-VERSION=$(cat selfdrive/common/version.h | awk -F\" '{print $2}')
-echo "#define COMMA_VERSION \"$VERSION-$GIT_HASH-$DATETIME\"" > selfdrive/common/version.h
-
 # in the directory
 cd $TARGET_DIR
 rm -f panda/board/obj/panda.bin.signed
 
+# include source commit hash and build date in commit
+GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
+DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
+VERSION=$(cat $SOURCE_DIR/selfdrive/common/version.h | awk -F\" '{print $2}')
+
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git status
-git commit -a -m "openpilot v$VERSION release"
+git commit -a -m "openpilot v$VERSION release
+
+date: $DATETIME
+master commit: $GIT_HASH
+"
 
-if [ ! -z "$PUSH" ]; then
-  echo "[-] Pushing to $PUSH T=$SECONDS"
-  git remote set-url origin git@github.com:commaai/openpilot.git
-  git push -f origin master-ci:$PUSH
+if [ ! -z "$BRANCH" ]; then
+  echo "[-] Pushing to $BRANCH T=$SECONDS"
+  git push -f origin master-ci:$BRANCH
 fi
 
-echo "[-] done T=$SECONDS"
+echo "[-] done T=$SECONDS, ready at $TARGET_DIR"

release/build_release.sh

@@ -19,6 +19,7 @@ fi
 
 # set git identity
 source $DIR/identity.sh
+export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 
 echo "[-] Setting up repo T=$SECONDS"
 rm -rf $BUILD_DIR
@@ -75,7 +76,7 @@ find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf panda/board panda/certs panda/crypto
 rm -rf .sconsign.dblite Jenkinsfile release/
-rm models/supercombo.dlc
+rm selfdrive/modeld/models/supercombo.dlc
 
 # Move back signed panda fw
 mkdir -p panda/board/obj

release/files_common

@@ -26,10 +26,8 @@ common/ffi_wrapper.py
 common/file_helpers.py
 common/logging_extra.py
 common/numpy_fast.py
-common/markdown.py
 common/params.py
 common/params_pyx.pyx
-common/xattr.py
 common/profiler.py
 common/basedir.py
 common/dict_helpers.py
@@ -58,9 +56,6 @@ common/transformations/transformations.pyx
 
 common/api/__init__.py
 
-models/supercombo.dlc
-models/dmonitoring_model_q.dlc
-
 release/*
 
 tools/lib/*
@@ -109,85 +104,20 @@ selfdrive/car/fw_versions.py
 selfdrive/car/isotp_parallel_query.py
 selfdrive/car/tests/__init__.py
 selfdrive/car/tests/test_car_interfaces.py
-selfdrive/car/chrysler/__init__.py
-selfdrive/car/chrysler/carstate.py
-selfdrive/car/chrysler/interface.py
-selfdrive/car/chrysler/radar_interface.py
-selfdrive/car/chrysler/values.py
-selfdrive/car/chrysler/carcontroller.py
-selfdrive/car/chrysler/chryslercan.py
-selfdrive/car/honda/__init__.py
-selfdrive/car/honda/carstate.py
-selfdrive/car/honda/interface.py
-selfdrive/car/honda/radar_interface.py
-selfdrive/car/honda/values.py
-selfdrive/car/honda/carcontroller.py
-selfdrive/car/honda/hondacan.py
-selfdrive/car/hyundai/__init__.py
-selfdrive/car/hyundai/carstate.py
-selfdrive/car/hyundai/interface.py
-selfdrive/car/hyundai/radar_interface.py
-selfdrive/car/hyundai/values.py
-selfdrive/car/hyundai/carcontroller.py
-selfdrive/car/hyundai/hyundaican.py
-selfdrive/car/toyota/__init__.py
-selfdrive/car/toyota/carstate.py
-selfdrive/car/toyota/tunes.py
-selfdrive/car/toyota/interface.py
-selfdrive/car/toyota/radar_interface.py
-selfdrive/car/toyota/values.py
-selfdrive/car/toyota/carcontroller.py
-selfdrive/car/toyota/toyotacan.py
-selfdrive/car/nissan/__init__.py
-selfdrive/car/nissan/carcontroller.py
-selfdrive/car/nissan/carstate.py
-selfdrive/car/nissan/interface.py
-selfdrive/car/nissan/nissancan.py
-selfdrive/car/nissan/radar_interface.py
-selfdrive/car/nissan/values.py
-selfdrive/car/volkswagen/__init__.py
-selfdrive/car/volkswagen/carstate.py
-selfdrive/car/volkswagen/interface.py
-selfdrive/car/volkswagen/radar_interface.py
-selfdrive/car/volkswagen/values.py
-selfdrive/car/volkswagen/carcontroller.py
-selfdrive/car/volkswagen/volkswagencan.py
-selfdrive/car/gm/__init__.py
-selfdrive/car/gm/carstate.py
-selfdrive/car/gm/interface.py
-selfdrive/car/gm/radar_interface.py
-selfdrive/car/gm/values.py
-selfdrive/car/gm/carcontroller.py
-selfdrive/car/gm/gmcan.py
-selfdrive/car/ford/__init__.py
-selfdrive/car/ford/carstate.py
-selfdrive/car/ford/interface.py
-selfdrive/car/ford/radar_interface.py
-selfdrive/car/ford/values.py
-selfdrive/car/ford/carcontroller.py
-selfdrive/car/ford/fordcan.py
-selfdrive/car/subaru/__init__.py
-selfdrive/car/subaru/carstate.py
-selfdrive/car/subaru/interface.py
-selfdrive/car/subaru/radar_interface.py
-selfdrive/car/subaru/values.py
-selfdrive/car/subaru/carcontroller.py
-selfdrive/car/subaru/subarucan.py
-selfdrive/car/mazda/__init__.py
-selfdrive/car/mazda/carstate.py
-selfdrive/car/mazda/interface.py
-selfdrive/car/mazda/radar_interface.py
-selfdrive/car/mazda/values.py
-selfdrive/car/mazda/carcontroller.py
-selfdrive/car/mazda/mazdacan.py
-selfdrive/car/tesla/__init__.py
-selfdrive/car/tesla/teslacan.py
-selfdrive/car/tesla/carcontroller.py
-selfdrive/car/tesla/radar_interface.py
-selfdrive/car/tesla/values.py
-selfdrive/car/tesla/carstate.py
-selfdrive/car/tesla/interface.py
+
+selfdrive/car/body/*.py
+selfdrive/car/chrysler/*.py
+selfdrive/car/ford/*.py
+selfdrive/car/gm/*.py
+selfdrive/car/honda/*.py
+selfdrive/car/hyundai/*.py
+selfdrive/car/mazda/*.py
 selfdrive/car/mock/*.py
+selfdrive/car/nissan/*.py
+selfdrive/car/subaru/*.py
+selfdrive/car/tesla/*.py
+selfdrive/car/toyota/*.py
+selfdrive/car/volkswagen/*.py
 
 selfdrive/clocksd/.gitignore
 selfdrive/clocksd/SConscript
@@ -260,8 +190,13 @@ selfdrive/hardware/base.h
 selfdrive/hardware/base.py
 selfdrive/hardware/hw.h
 selfdrive/hardware/tici/__init__.py
+selfdrive/hardware/tici/hardware.h
 selfdrive/hardware/tici/hardware.py
+selfdrive/hardware/tici/pins.py
+selfdrive/hardware/tici/agnos.py
+selfdrive/hardware/tici/agnos.json
 selfdrive/hardware/tici/amplifier.py
+selfdrive/hardware/tici/updater
 selfdrive/hardware/tici/iwlist.py
 selfdrive/hardware/pc/__init__.py
 selfdrive/hardware/pc/hardware.py
@@ -298,20 +233,20 @@ selfdrive/proclogd/proclog.cc
 selfdrive/proclogd/proclog.h
 
 selfdrive/loggerd/SConscript
-selfdrive/loggerd/encoder.h
-selfdrive/loggerd/omx_encoder.cc
-selfdrive/loggerd/omx_encoder.h
+selfdrive/loggerd/encoder/encoder.cc
+selfdrive/loggerd/encoder/encoder.h
+selfdrive/loggerd/encoder/v4l_encoder.cc
+selfdrive/loggerd/encoder/v4l_encoder.h
 selfdrive/loggerd/video_writer.cc
 selfdrive/loggerd/video_writer.h
 selfdrive/loggerd/logger.cc
 selfdrive/loggerd/logger.h
 selfdrive/loggerd/loggerd.cc
 selfdrive/loggerd/loggerd.h
-selfdrive/loggerd/main.cc
+selfdrive/loggerd/encoderd.cc
 selfdrive/loggerd/bootlog.cc
-selfdrive/loggerd/raw_logger.cc
-selfdrive/loggerd/raw_logger.h
-selfdrive/loggerd/include/msm_media_info.h
+selfdrive/loggerd/encoder/ffmpeg_encoder.cc
+selfdrive/loggerd/encoder/ffmpeg_encoder.h
 
 selfdrive/loggerd/__init__.py
 selfdrive/loggerd/config.py
@@ -367,7 +302,6 @@ selfdrive/camerad/cameras/camera_common.h
 selfdrive/camerad/cameras/camera_common.cc
 selfdrive/camerad/cameras/camera_replay.cc
 selfdrive/camerad/cameras/camera_replay.h
-selfdrive/camerad/cameras/sensor_i2c.h
 selfdrive/camerad/cameras/sensor2_i2c.h
 
 selfdrive/camerad/transforms/rgb_to_yuv.cc
@@ -402,6 +336,8 @@ selfdrive/modeld/models/driving.cc
 selfdrive/modeld/models/driving.h
 selfdrive/modeld/models/dmonitoring.cc
 selfdrive/modeld/models/dmonitoring.h
+selfdrive/modeld/models/supercombo.dlc
+selfdrive/modeld/models/dmonitoring_model_q.dlc
 
 selfdrive/modeld/transforms/loadyuv.cc
 selfdrive/modeld/transforms/loadyuv.h
@@ -444,9 +380,6 @@ third_party/SConscript
 
 third_party/linux/**
 third_party/opencl/**
-third_party/zlib/*
-third_party/bzip2/*
-third_party/openmax/**
 
 third_party/json11/json11.cpp
 third_party/json11/json11.hpp
@@ -524,17 +457,14 @@ opendbc/can/common.h
 opendbc/can/common.pxd
 opendbc/can/common_dbc.h
 opendbc/can/dbc.cc
-opendbc/can/dbc.py
-opendbc/can/dbc_template.cc
 opendbc/can/packer.cc
 opendbc/can/packer.py
 opendbc/can/packer_pyx.pyx
 opendbc/can/parser.cc
 opendbc/can/parser.py
 opendbc/can/parser_pyx.pyx
-opendbc/can/process_dbc.py
-opendbc/can/dbc_out/.gitkeep
-opendbc/can/dbc_out/.gitignore
+
+opendbc/comma_body.dbc
 
 opendbc/chrysler_pacifica_2017_hybrid.dbc
 opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc

release/files_pc

@@ -1,5 +1,9 @@
-selfdrive/ui/replay/*
+selfdrive/modeld/runners/onnx*
 
-third_party/mapbox-gl-native-qt/x86_64/**
+third_party/mapbox-gl-native-qt/x86_64/*.so
 
-third_party/qt-plugins/x86_64/**
+third_party/qt-plugins/x86_64/geoservices/*.so
+
+third_party/libyuv/x64/**
+third_party/snpe/x86_64/**
+third_party/snpe/x86_64-linux-clang/**

release/files_tici

@@ -11,15 +11,6 @@ selfdrive/camerad/cameras/camera_qcom2.cc
 selfdrive/camerad/cameras/camera_qcom2.h
 selfdrive/camerad/cameras/real_debayer.cl
 
-selfdrive/hardware/tici/__init__.py
-selfdrive/hardware/tici/hardware.h
-selfdrive/hardware/tici/hardware.py
-selfdrive/hardware/tici/pins.py
-selfdrive/hardware/tici/agnos.py
-selfdrive/hardware/tici/agnos.json
-selfdrive/hardware/tici/amplifier.py
-selfdrive/hardware/tici/updater
-
 selfdrive/ui/qt/spinner_larch64
 selfdrive/ui/qt/text_larch64
 selfdrive/ui/qt/maps/*.cc

release/identity.sh

@@ -2,4 +2,3 @@ export GIT_COMMITTER_NAME="Vehicle Researcher"
 export GIT_COMMITTER_EMAIL="user@comma.ai"
 export GIT_AUTHOR_NAME="Vehicle Researcher"
 export GIT_AUTHOR_EMAIL="user@comma.ai"
-export GIT_SSH_COMMAND="ssh -i /data/gitkey"

scripts/cell.sh

@@ -0,0 +1,5 @@
+#!/usr/bin/bash
+
+nmcli connection modify --temporary lte ipv4.route-metric 1
+nmcli connection modify --temporary lte ipv6.route-metric 1
+nmcli con up lte

scripts/count_cars.py

@@ -2,12 +2,10 @@
 from collections import Counter
 from pprint import pprint
 
-from selfdrive.car.docs import get_tier_car_info
+from selfdrive.car.docs import get_all_car_info
 
 if __name__ == "__main__":
-  tiers = get_tier_car_info()
-  cars = [car for tier_cars in tiers.values() for car in tier_cars]
-
+  cars = get_all_car_info()
   make_count = Counter(l.make for l in cars)
   print("\n", "*" * 20, len(cars), "total", "*" * 20, "\n")
   pprint(make_count)

scripts/restart_modem.sh

@@ -1,2 +0,0 @@
-#!/usr/bin/bash
-echo "restart" > /sys/kernel/debug/msm_subsys/modem

scripts/throttling.sh

@@ -1,16 +0,0 @@
-#!/data/data/com.termux/files/usr/bin/bash
-watch -n1 '
-  cat /sys/kernel/debug/clk/pwrcl_clk/measure
-  cat /sys/kernel/debug/clk/perfcl_clk/measure
-  cat /sys/devices/system/cpu/cpu*/cpufreq/scaling_cur_freq
-  cat /sys/class/kgsl/kgsl-3d0/gpuclk
-  echo
-  echo -n "CPU0 " ; cat /sys/devices/virtual/thermal/thermal_zone5/temp
-  echo -n "CPU1 " ; cat /sys/devices/virtual/thermal/thermal_zone7/temp
-  echo -n "CPU2 " ; cat /sys/devices/virtual/thermal/thermal_zone10/temp
-  echo -n "CPU3 " ; cat /sys/devices/virtual/thermal/thermal_zone12/temp
-  echo -n "MEM  " ; cat /sys/devices/virtual/thermal/thermal_zone2/temp
-  echo -n "GPU  " ; cat /sys/devices/virtual/thermal/thermal_zone16/temp
-  echo -n "BAT  " ; cat /sys/devices/virtual/thermal/thermal_zone29/temp
-'
-

scripts/waste.py

@@ -6,7 +6,7 @@ from multiprocessing import Process
 from setproctitle import setproctitle  # pylint: disable=no-name-in-module
 
 def waste(core):
-  os.sched_setaffinity(0, [core,])
+  os.sched_setaffinity(0, [core,])  # pylint: disable=no-member
 
   m1 = np.zeros((200, 200)) + 0.8
   m2 = np.zeros((200, 200)) + 1.2

selfdrive/athena/athenad.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import base64
+import bz2
 import hashlib
 import io
 import json
@@ -30,7 +31,7 @@ from common.api import Api
 from common.basedir import PERSIST
 from common.file_helpers import CallbackReader
 from common.params import Params
-from common.realtime import sec_since_boot
+from common.realtime import sec_since_boot, set_core_affinity
 from selfdrive.hardware import HARDWARE, PC, TICI
 from selfdrive.loggerd.config import ROOT
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
@@ -64,6 +65,13 @@ UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', '
 
 cur_upload_items: Dict[int, Any] = {}
 
+
+def strip_bz2_extension(fn):
+  if fn.endswith('.bz2'):
+    return fn[:-4]
+  return fn
+
+
 class AbortTransferException(Exception):
   pass
 
@@ -227,14 +235,29 @@ def upload_handler(end_event: threading.Event) -> None:
 
 
 def _do_upload(upload_item, callback=None):
-  with open(upload_item.path, "rb") as f:
+  path = upload_item.path
+  compress = False
+
+  # If file does not exist, but does exist without the .bz2 extension we will compress on the fly
+  if not os.path.exists(path) and os.path.exists(strip_bz2_extension(path)):
+    path = strip_bz2_extension(path)
+    compress = True
+
+  with open(path, "rb") as f:
+    if compress:
+      cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path)
+      data = bz2.compress(f.read())
+      size = len(data)
+      data = io.BytesIO(data)
+    else:
       size = os.fstat(f.fileno()).st_size
+      data = f
 
     if callback:
-      f = CallbackReader(f, callback, size)
+      data = CallbackReader(data, callback, size)
 
     return requests.put(upload_item.url,
-                        data=f,
+                        data=data,
                         headers={**upload_item.headers, 'Content-Length': str(size)},
                         timeout=30)
 
@@ -335,8 +358,9 @@ def uploadFilesToUrls(files_data):
     if len(fn) == 0 or fn[0] == '/' or '..' in fn or 'url' not in file:
       failed.append(fn)
       continue
+
     path = os.path.join(ROOT, fn)
-    if not os.path.exists(path):
+    if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
       failed.append(fn)
       continue
 
@@ -415,7 +439,7 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port):
     ssock, csock = socket.socketpair()
     local_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
     local_sock.connect(('127.0.0.1', local_port))
-    local_sock.setblocking(0)
+    local_sock.setblocking(False)
 
     proxy_end_event = threading.Event()
     threads = [
@@ -680,6 +704,11 @@ def backoff(retries):
 
 
 def main():
+  try:
+    set_core_affinity([0, 1, 2, 3])
+  except Exception:
+    cloudlog.exception("failed to set core affinity")
+
   params = Params()
   dongle_id = params.get("DongleId", encoding='utf-8')
   UploadQueueCache.initialize(upload_queue)

selfdrive/athena/registration.py

@@ -23,13 +23,13 @@ def is_registered_device() -> bool:
   return dongle not in (None, UNREGISTERED_DONGLE_ID)
 
 
-def register(show_spinner=False) -> str:
+def register(show_spinner=False) -> Optional[str]:
   params = Params()
   params.put("SubscriberInfo", HARDWARE.get_subscriber_info())
 
   IMEI = params.get("IMEI", encoding='utf8')
   HardwareSerial = params.get("HardwareSerial", encoding='utf8')
-  dongle_id = params.get("DongleId", encoding='utf8')
+  dongle_id: Optional[str] = params.get("DongleId", encoding='utf8')
   needs_registration = None in (IMEI, HardwareSerial, dongle_id)
 
   pubkey = Path(PERSIST+"/comma/id_rsa.pub")

selfdrive/athena/tests/test_athenad.py

@@ -81,7 +81,8 @@ class TestAthenadMethods(unittest.TestCase):
   def test_listDataDirectory(self):
     route = '2021-03-29--13-32-47'
     segments = [0, 1, 2, 3, 11]
-    filenames = ['qlog.bz2', 'qcamera.ts', 'rlog.bz2', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc']
+
+    filenames = ['qlog', 'qcamera.ts', 'rlog', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc']
     files = [f'{route}--{s}/{f}' for s in segments for f in filenames]
     for file in files:
       fn = os.path.join(athenad.ROOT, file)

selfdrive/boardd/boardd.cc

@@ -115,11 +115,15 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
     return false;
   }
 
+  // set to ELM327 for fingerprinting
   pandas[0]->set_safety_model(cereal::CarParams::SafetyModel::ELM327);
+  for (int i = 1; i < pandas.size(); i++) {
+    pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::SILENT);
+  }
 
   Params p = Params();
 
-  // switch to SILENT when CarVin param is read
+  // wait for VIN to be read
   while (true) {
     if (do_exit || !check_all_connected(pandas) || !ignition) {
       return false;
@@ -135,7 +139,8 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
     util::sleep_for(20);
   }
 
-  pandas[0]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1);
+  // set to ELM327 for ECU knockouts
+  pandas[0]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
 
   std::string params;
   LOGW("waiting for params to set safety model");
@@ -156,7 +161,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
   capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size()));
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
   cereal::CarParams::SafetyModel safety_model;
-  uint32_t safety_param;
+  uint16_t safety_param;
 
   auto safety_configs = car_params.getSafetyConfigs();
   uint16_t alternative_experience = car_params.getAlternativeExperience();
@@ -646,8 +651,6 @@ void boardd_main_thread(std::vector<std::string> serials) {
     Panda *peripheral_panda = pandas[0];
     std::vector<std::thread> threads;
 
-    Params().put("LastPeripheralPandaType", std::to_string((int) peripheral_panda->get_hw_type()));
-
     threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr);
     threads.emplace_back(peripheral_control_thread, peripheral_panda);
     threads.emplace_back(pigeon_thread, peripheral_panda);

selfdrive/boardd/panda.cc

@@ -247,7 +247,7 @@ int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length
   return transferred;
 }
 
-void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint32_t safety_param) {
+void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
   usb_write(0xdc, (uint16_t)safety_model, safety_param);
 }
 

selfdrive/boardd/panda.h

@@ -73,7 +73,7 @@ class Panda {
 
   // Panda functionality
   cereal::PandaState::PandaType get_hw_type();
-  void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint32_t safety_param=0U);
+  void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
   void set_alternative_experience(uint16_t alternative_experience);
   void set_rtc(struct tm sys_time);
   struct tm get_rtc();

selfdrive/boardd/pandad.py

@@ -4,7 +4,7 @@ import os
 import usb1
 import time
 import subprocess
-from typing import NoReturn
+from typing import List, NoReturn
 from functools import cmp_to_key
 
 from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU
@@ -102,7 +102,7 @@ def main() -> NoReturn:
       cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
 
       # Flash pandas
-      pandas = []
+      pandas: List[Panda] = []
       for serial in panda_serials:
         pandas.append(flash_panda(serial))
 
@@ -119,7 +119,7 @@ def main() -> NoReturn:
 
       # sort pandas to have deterministic order
       pandas.sort(key=cmp_to_key(panda_sort_cmp))
-      panda_serials = list(map(lambda p: p.get_usb_serial(), pandas))
+      panda_serials = list(map(lambda p: p.get_usb_serial(), pandas))  # type: ignore
 
       # log panda fw versions
       params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))

selfdrive/camerad/cameras/camera_common.cc

@@ -13,7 +13,6 @@
 #include "selfdrive/camerad/imgproc/utils.h"
 #include "selfdrive/common/clutil.h"
 #include "selfdrive/common/modeldata.h"
-#include "selfdrive/common/params.h"
 #include "selfdrive/common/swaglog.h"
 #include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
@@ -37,10 +36,10 @@ public:
     hdr_ = ci->hdr;
     snprintf(args, sizeof(args),
              "-cl-fast-relaxed-math -cl-denorms-are-zero "
-             "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d "
+             "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
              "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d "
              "-DBAYER_FLIP=%d -DHDR=%d -DCAM_NUM=%d",
-             ci->frame_width, ci->frame_height, ci->frame_stride,
+             ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset,
              b->rgb_width, b->rgb_height, b->rgb_stride,
              ci->bayer_flip, ci->hdr, s->camera_num);
     const char *cl_file = "cameras/real_debayer.cl";
@@ -53,9 +52,9 @@ public:
     CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl));
     CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl));
 
+    const size_t globalWorkSize[] = {size_t(width / 2), size_t(height / 2)};
     const int debayer_local_worksize = 16;
-    constexpr int localMemSize = (debayer_local_worksize + 2 * (3 / 2)) * (debayer_local_worksize + 2 * (3 / 2)) * sizeof(short int);
-    const size_t globalWorkSize[] = {size_t(width), size_t(height)};
+    constexpr int localMemSize = (debayer_local_worksize * 2 + 2) * (debayer_local_worksize * 2 + 2) * 2;
     const size_t localWorkSize[] = {debayer_local_worksize, debayer_local_worksize};
     CL_CHECK(clSetKernelArg(krnl_, 2, localMemSize, 0));
     CL_CHECK(clSetKernelArg(krnl_, 3, sizeof(float), &black_level));
@@ -82,7 +81,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   frame_buf_count = frame_cnt;
 
   // RAW frame
-  const int frame_size = ci->frame_height * ci->frame_stride;
+  const int frame_size = (ci->frame_height + ci->extra_height) * ci->frame_stride;
   camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
   camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
 
@@ -142,11 +141,14 @@ bool CameraBuf::acquire() {
 
   cur_frame_data = camera_bufs_metadata[cur_buf_idx];
   cur_rgb_buf = vipc_server->get_buffer(rgb_type);
+  cur_yuv_buf = vipc_server->get_buffer(yuv_type);
   cl_mem camrabuf_cl = camera_bufs[cur_buf_idx].buf_cl;
   cl_event event;
 
   double start_time = millis_since_boot();
 
+  cur_camera_buf = &camera_bufs[cur_buf_idx];
+
   if (debayer) {
     float gain = 0.0;
     float black_level = 42.0;
@@ -156,18 +158,15 @@ bool CameraBuf::acquire() {
 #else
     if (camera_state->camera_id == CAMERA_ID_IMX390) black_level = 64.0;
 #endif
-    debayer->queue(q, camrabuf_cl, cur_rgb_buf->buf_cl, rgb_width, rgb_height, gain, black_level, &event);
+    debayer->queue(q, camrabuf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, gain, black_level, &event);
   } else {
     assert(rgb_stride == camera_state->ci.frame_stride);
-    CL_CHECK(clEnqueueCopyBuffer(q, camrabuf_cl, cur_rgb_buf->buf_cl, 0, 0, cur_rgb_buf->len, 0, 0, &event));
+    rgb2yuv->queue(q, camrabuf_cl, cur_rgb_buf->buf_cl);
   }
 
   clWaitForEvents(1, &event);
   CL_CHECK(clReleaseEvent(event));
 
-  cur_yuv_buf = vipc_server->get_buffer(yuv_type);
-  rgb2yuv->queue(q, cur_rgb_buf->buf_cl, cur_yuv_buf->buf_cl);
-
   cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
 
   VisionIpcBufExtra extra = {
@@ -175,9 +174,7 @@ bool CameraBuf::acquire() {
                         cur_frame_data.timestamp_sof,
                         cur_frame_data.timestamp_eof,
   };
-  cur_rgb_buf->set_frame_id(cur_frame_data.frame_id);
   cur_yuv_buf->set_frame_id(cur_frame_data.frame_id);
-  vipc_server->send(cur_rgb_buf, &extra);
   vipc_server->send(cur_yuv_buf, &extra);
 
   return true;
@@ -237,6 +234,17 @@ kj::Array<uint8_t> get_frame_image(const CameraBuf *b) {
   return kj::mv(frame_image);
 }
 
+kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b) {
+  const uint8_t *dat = (const uint8_t *)b->cur_camera_buf->addr;
+
+  kj::Array<uint8_t> frame_image = kj::heapArray<uint8_t>(b->cur_camera_buf->len);
+  uint8_t *resized_dat = frame_image.begin();
+
+  memcpy(resized_dat, dat, b->cur_camera_buf->len);
+
+  return kj::mv(frame_image);
+}
+
 static kj::Array<capnp::byte> yuv420_to_jpeg(const CameraBuf *b, int thumbnail_width, int thumbnail_height) {
   // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used.
   std::unique_ptr<uint8[]> buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]);
@@ -377,47 +385,6 @@ std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, pro
   return std::thread(processing_thread, cameras, cs, callback);
 }
 
-static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
-  static const bool is_rhd = Params().getBool("IsRHD");
-  struct ExpRect {int x1, x2, x_skip, y1, y2, y_skip;};
-  const CameraBuf *b = &c->buf;
-
-  int x_offset = 0, y_offset = 0;
-  int frame_width = b->rgb_width, frame_height = b->rgb_height;
-
-
-  ExpRect def_rect;
-  if (Hardware::TICI()) {
-    x_offset = 630, y_offset = 156;
-    frame_width = 668, frame_height = frame_width / 1.33;
-    def_rect = {96, 1832, 2, 242, 1148, 4};
-  } else {
-    def_rect = {is_rhd ? 0 : b->rgb_width * 3 / 5, is_rhd ? b->rgb_width * 2 / 5 : b->rgb_width, 2,
-                b->rgb_height / 3, b->rgb_height, 1};
-  }
-
-  static ExpRect rect = def_rect;
-
-  camera_autoexposure(c, set_exposure_target(b, rect.x1, rect.x2, rect.x_skip, rect.y1, rect.y2, rect.y_skip));
-}
-
-void common_process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  int j = Hardware::TICI() ? 1 : 3;
-  if (cnt % j == 0) {
-    s->sm->update(0);
-    driver_cam_auto_exposure(c, *(s->sm));
-  }
-  MessageBuilder msg;
-  auto framed = msg.initEvent().initDriverCameraState();
-  framed.setFrameType(cereal::FrameData::FrameType::FRONT);
-  fill_frame_data(framed, c->buf.cur_frame_data);
-  if (env_send_driver) {
-    framed.setImage(get_frame_image(&c->buf));
-  }
-  s->pm->send("driverCameraState", msg);
-}
-
-
 void camerad_thread() {
   cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
 #ifdef QCOM2

selfdrive/camerad/cameras/camera_common.h

@@ -47,15 +47,20 @@ const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
 const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
 const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
 const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
+const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
 
 typedef void (*release_cb)(void *cookie, int buf_idx);
 
 typedef struct CameraInfo {
-  int frame_width, frame_height;
-  int frame_stride;
+  uint32_t frame_width, frame_height;
+  uint32_t frame_stride;
   bool bayer;
   int bayer_flip;
   bool hdr;
+  uint32_t frame_offset = 0;
+  uint32_t extra_height = 0;
+  int registers_offset = -1;
+  int stats_offset = -1;
 } CameraInfo;
 
 typedef struct FrameMetadata {
@@ -111,6 +116,7 @@ public:
   FrameMetadata cur_frame_data;
   VisionBuf *cur_rgb_buf;
   VisionBuf *cur_yuv_buf;
+  VisionBuf *cur_camera_buf;
   std::unique_ptr<VisionBuf[]> camera_bufs;
   std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
   int rgb_width, rgb_height, rgb_stride;
@@ -129,9 +135,9 @@ typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
 
 void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data);
 kj::Array<uint8_t> get_frame_image(const CameraBuf *b);
+kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
 float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
 std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
-void common_process_driver_camera(MultiCameraState *s, CameraState *c, int cnt);
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);
 void cameras_open(MultiCameraState *s);

selfdrive/camerad/cameras/camera_qcom2.cc

@@ -31,6 +31,9 @@ const size_t FRAME_WIDTH = 1928;
 const size_t FRAME_HEIGHT = 1208;
 const size_t FRAME_STRIDE = 2896;  // for 12 bit output. 1928 * 12 / 8 + 4 (alignment)
 
+const size_t AR0231_REGISTERS_HEIGHT = 2;
+const size_t AR0231_STATS_HEIGHT = 2;
+
 const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 
 CameraInfo cameras_supported[CAMERA_ID_MAX] = {
@@ -38,17 +41,24 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
     .frame_width = FRAME_WIDTH,
     .frame_height = FRAME_HEIGHT,
     .frame_stride = FRAME_STRIDE,
+    .extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT,
+
+    .registers_offset = 0,
+    .frame_offset = AR0231_REGISTERS_HEIGHT,
+    .stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT,
+
     .bayer = true,
     .bayer_flip = 1,
-    .hdr = false
+    .hdr = false,
   },
   [CAMERA_ID_IMX390] = {
     .frame_width = FRAME_WIDTH,
     .frame_height = FRAME_HEIGHT,
     .frame_stride = FRAME_STRIDE,
+
     .bayer = true,
     .bayer_flip = 1,
-    .hdr = false
+    .hdr = false,
   },
 };
 
@@ -81,17 +91,16 @@ int do_cam_control(int fd, int op_code, void *handle, int size) {
 
   int ret = HANDLE_EINTR(ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol));
   if (ret == -1) {
-    printf("OP CODE ERR - %d \n", op_code);
-    perror("wat");
+    LOGE("VIDIOC_CAM_CONTROL error: op_code %d - errno %d", op_code, errno);
   }
   return ret;
 }
 
-std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data) {
+std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1) {
   struct cam_acquire_dev_cmd cmd = {
       .session_handle = session_handle,
       .handle_type = CAM_HANDLE_USER_POINTER,
-      .num_resources = (uint32_t)(data ? 1 : 0),
+      .num_resources = (uint32_t)(data ? num_resources : 0),
       .resource_hdl = (uint64_t)data,
   };
   int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
@@ -158,6 +167,42 @@ void release_fd(int video0_fd, uint32_t handle) {
   release(video0_fd, handle);
 }
 
+void *MemoryManager::alloc(int size, uint32_t *handle) {
+  lock.lock();
+  void *ptr;
+  if (!cached_allocations[size].empty()) {
+    ptr = cached_allocations[size].front();
+    cached_allocations[size].pop();
+    *handle = handle_lookup[ptr];
+  } else {
+    ptr = alloc_w_mmu_hdl(video0_fd, size, handle);
+    handle_lookup[ptr] = *handle;
+    size_lookup[ptr] = size;
+  }
+  lock.unlock();
+  return ptr;
+}
+
+void MemoryManager::free(void *ptr) {
+  lock.lock();
+  cached_allocations[size_lookup[ptr]].push(ptr);
+  lock.unlock();
+}
+
+MemoryManager::~MemoryManager() {
+  for (auto& x : cached_allocations) {
+    while (!x.second.empty()) {
+      void *ptr = x.second.front();
+      x.second.pop();
+      LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]);
+      munmap(ptr, size_lookup[ptr]);
+      release_fd(video0_fd, handle_lookup[ptr]);
+      handle_lookup.erase(ptr);
+      size_lookup.erase(ptr);
+    }
+  }
+}
+
 int CameraState::clear_req_queue() {
   struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
   req_mgr_flush_request.session_hdl = session_handle;
@@ -186,7 +231,7 @@ void CameraState::sensors_start() {
 void CameraState::sensors_poke(int request_id) {
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet);
-  struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle);
+  struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
   pkt->num_cmd_buf = 0;
   pkt->kmd_cmd_buf_index = -1;
   pkt->header.size = size;
@@ -200,15 +245,14 @@ void CameraState::sensors_poke(int request_id) {
     return;
   }
 
-  munmap(pkt, size);
-  release_fd(multi_cam_state->video0_fd, cam_packet_handle);
+  mm.free(pkt);
 }
 
 void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) {
   // LOGD("sensors_i2c: %d", len);
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
-  struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle);
+  struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
   pkt->num_cmd_buf = 1;
   pkt->kmd_cmd_buf_index = -1;
   pkt->header.size = size;
@@ -218,7 +262,7 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op
   buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload);
   buf_desc[0].type = CAM_CMD_BUF_I2C;
 
-  struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+  struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
   i2c_random_wr->header.count = len;
   i2c_random_wr->header.op_code = 1;
   i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR;
@@ -233,10 +277,8 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op
     return;
   }
 
-  munmap(i2c_random_wr, buf_desc[0].size);
-  release_fd(multi_cam_state->video0_fd, buf_desc[0].mem_handle);
-  munmap(pkt, size);
-  release_fd(multi_cam_state->video0_fd, cam_packet_handle);
+  mm.free(i2c_random_wr);
+  mm.free(pkt);
 }
 
 static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
@@ -248,10 +290,9 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
 };
 
 int CameraState::sensors_init() {
-  int video0_fd = multi_cam_state->video0_fd;
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
-  struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(video0_fd, size, &cam_packet_handle);
+  struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
   pkt->num_cmd_buf = 2;
   pkt->kmd_cmd_buf_index = -1;
   pkt->header.op_code = 0x1000000 | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE;
@@ -260,7 +301,7 @@ int CameraState::sensors_init() {
 
   buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe);
   buf_desc[0].type = CAM_CMD_BUF_LEGACY;
-  struct cam_cmd_i2c_info *i2c_info = (struct cam_cmd_i2c_info *)alloc_w_mmu_hdl(video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+  struct cam_cmd_i2c_info *i2c_info = (struct cam_cmd_i2c_info *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
   auto probe = (struct cam_cmd_probe *)(i2c_info + 1);
 
   probe->camera_id = camera_num;
@@ -302,7 +343,7 @@ int CameraState::sensors_init() {
   //buf_desc[1].size = buf_desc[1].length = 148;
   buf_desc[1].size = buf_desc[1].length = 196;
   buf_desc[1].type = CAM_CMD_BUF_I2C;
-  struct cam_cmd_power *power_settings = (struct cam_cmd_power *)alloc_w_mmu_hdl(video0_fd, buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
+  struct cam_cmd_power *power_settings = (struct cam_cmd_power *)mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
   memset(power_settings, 0, buf_desc[1].size);
 
   // power on
@@ -363,12 +404,9 @@ int CameraState::sensors_init() {
   LOGD("probing the sensor");
   int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
 
-  munmap(i2c_info, buf_desc[0].size);
-  release_fd(video0_fd, buf_desc[0].mem_handle);
-  munmap(power_settings, buf_desc[1].size);
-  release_fd(video0_fd, buf_desc[1].mem_handle);
-  munmap(pkt, size);
-  release_fd(video0_fd, cam_packet_handle);
+  mm.free(i2c_info);
+  mm.free(power_settings);
+  mm.free(pkt);
 
   return ret;
 }
@@ -379,7 +417,7 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
   if (io_mem_handle != 0) {
     size += sizeof(struct cam_buf_io_cfg);
   }
-  struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle);
+  struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
   pkt->num_cmd_buf = 2;
   pkt->kmd_cmd_buf_index = 0;
   // YUV has kmd_cmd_buf_offset = 1780
@@ -387,7 +425,7 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
   // YUV also has patch_offset = 0x1030 and num_patches = 10
 
   if (io_mem_handle != 0) {
-    pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*2;
+    pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
     pkt->num_io_configs = 1;
   }
 
@@ -474,16 +512,16 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
   buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
   buf_desc[1].type = CAM_CMD_BUF_GENERIC;
   buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
-  uint32_t *buf2 = (uint32_t *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle, 0x20);
+  uint32_t *buf2 = (uint32_t *)mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
   memcpy(buf2, &tmp, sizeof(tmp));
 
   if (io_mem_handle != 0) {
     io_cfg[0].mem_handle[0] = io_mem_handle;
 		io_cfg[0].planes[0] = (struct cam_plane_cfg){
-		 .width = FRAME_WIDTH,
-		 .height = FRAME_HEIGHT,
-		 .plane_stride = FRAME_STRIDE,
-		 .slice_height = FRAME_HEIGHT,
+		 .width = ci.frame_width,
+		 .height = ci.frame_height + ci.extra_height,
+		 .plane_stride = ci.frame_stride,
+		 .slice_height = ci.frame_height + ci.extra_height,
 		 .meta_stride = 0x0,    // YUV has meta(stride=0x400, size=0x5000)
 		 .meta_size = 0x0,
 		 .meta_offset = 0x0,
@@ -507,70 +545,63 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
   int ret = device_config(multi_cam_state->isp_fd, session_handle, isp_dev_handle, cam_packet_handle);
   assert(ret == 0);
   if (ret != 0) {
-    printf("ISP CONFIG FAILED\n");
+    LOGE("isp config failed");
   }
 
-  munmap(buf2, buf_desc[1].size);
-  release_fd(multi_cam_state->video0_fd, buf_desc[1].mem_handle);
-  // release_fd(multi_cam_state->video0_fd, buf_desc[0].mem_handle);
-  munmap(pkt, size);
-  release_fd(multi_cam_state->video0_fd, cam_packet_handle);
+  mm.free(buf2);
+  mm.free(pkt);
 }
 
 void CameraState::enqueue_buffer(int i, bool dp) {
   int ret;
   int request_id = request_ids[i];
 
-  if (buf_handle[i]) {
-    release(multi_cam_state->video0_fd, buf_handle[i]);
+  if (buf_handle[i] && sync_objs[i]) {
     // wait
     struct cam_sync_wait sync_wait = {0};
     sync_wait.sync_obj = sync_objs[i];
     sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
-    ret = do_cam_control(multi_cam_state->video1_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
-    // LOGD("fence wait: %d %d", ret, sync_wait.sync_obj);
+    ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
+    if (ret != 0) {
+      LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
+      // TODO: handle frame drop cleanly
+    }
 
     buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof
     if (dp) buf.queue(i);
 
     // destroy old output fence
     struct cam_sync_info sync_destroy = {0};
-    strcpy(sync_destroy.name, "NodeOutputPortFence");
     sync_destroy.sync_obj = sync_objs[i];
-    ret = do_cam_control(multi_cam_state->video1_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
-    // LOGD("fence destroy: %d %d", ret, sync_destroy.sync_obj);
+    ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
+    if (ret != 0) {
+      LOGE("failed to destroy sync object: %d %d", ret, sync_destroy.sync_obj);
+    }
   }
-
-  // do stuff
-  struct cam_req_mgr_sched_request req_mgr_sched_request = {0};
-  req_mgr_sched_request.session_hdl = session_handle;
-  req_mgr_sched_request.link_hdl = link_handle;
-  req_mgr_sched_request.req_id = request_id;
-  ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request));
-  // LOGD("sched req: %d %d", ret, request_id);
 
   // create output fence
   struct cam_sync_info sync_create = {0};
   strcpy(sync_create.name, "NodeOutputPortFence");
-  ret = do_cam_control(multi_cam_state->video1_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
-  // LOGD("fence req: %d %d", ret, sync_create.sync_obj);
+  ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
+  if (ret != 0) {
+    LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj)
+  }
   sync_objs[i] = sync_create.sync_obj;
 
-  // configure ISP to put the image in place
-  struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
-  mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
-  mem_mgr_map_cmd.num_hdl = 1;
-  mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
-  mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
-  ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
-  // LOGD("map buf req: (fd: %d) 0x%x %d", bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
-  buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
+  // schedule request with camera request manager
+  struct cam_req_mgr_sched_request req_mgr_sched_request = {0};
+  req_mgr_sched_request.session_hdl = session_handle;
+  req_mgr_sched_request.link_hdl = link_handle;
+  req_mgr_sched_request.req_id = request_id;
+  ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request));
+  if (ret != 0) {
+    LOGE("failed to schedule cam mgr request: %d %d", ret, request_id);
+  }
 
-  // poke sensor
+  // poke sensor, must happen after schedule
   sensors_poke(request_id);
-  // LOGD("Poked sensor");
 
-  // push the buffer
+  // submit request to the ife
   config_isp(buf_handle[i], sync_objs[i], request_id, buf0_handle, 65632*(i+1));
 }
 
@@ -616,6 +647,9 @@ void CameraState::camera_open() {
   assert(sensor_fd >= 0);
   LOGD("opened sensor for %d", camera_num);
 
+  // init memorymanager for this camera
+  mm.init(multi_cam_state->video0_fd);
+
   // probe the sensor
   LOGD("-- Probing sensor %d", camera_num);
   ret = sensors_init();
@@ -665,23 +699,23 @@ void CameraState::camera_open() {
       .lane_cfg = 0x3210,
 
       .vc = 0x0,
-      .dt = 0x2C,  // CSI_RAW12
+      .dt = 0x12, // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
       .format = CAM_FORMAT_MIPI_RAW_12,
 
       .test_pattern = 0x2,  // 0x3?
       .usage_type = 0x0,
 
       .left_start = 0,
-      .left_stop = FRAME_WIDTH - 1,
-      .left_width = FRAME_WIDTH,
+      .left_stop = ci.frame_width - 1,
+      .left_width = ci.frame_width,
 
       .right_start = 0,
-      .right_stop = FRAME_WIDTH - 1,
-      .right_width = FRAME_WIDTH,
+      .right_stop = ci.frame_width - 1,
+      .right_width = ci.frame_width,
 
       .line_start = 0,
-      .line_stop = FRAME_HEIGHT - 1,
-      .height = FRAME_HEIGHT,
+      .line_stop = ci.frame_height + ci.extra_height - 1,
+      .height = ci.frame_height + ci.extra_height,
 
       .pixel_clk = 0x0,
       .batch_size = 0x0,
@@ -693,8 +727,8 @@ void CameraState::camera_open() {
       .data[0] = (struct cam_isp_out_port_info){
           .res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
           .format = CAM_FORMAT_MIPI_RAW_12,
-          .width = FRAME_WIDTH,
-          .height = FRAME_HEIGHT,
+          .width = ci.frame_width,
+          .height = ci.frame_height + ci.extra_height,
           .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
       },
   };
@@ -729,7 +763,7 @@ void CameraState::camera_open() {
   {
     uint32_t cam_packet_handle = 0;
     int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
-    struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle);
+    struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
     pkt->num_cmd_buf = 1;
     pkt->kmd_cmd_buf_index = -1;
     pkt->header.size = size;
@@ -738,7 +772,7 @@ void CameraState::camera_open() {
     buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info);
     buf_desc[0].type = CAM_CMD_BUF_GENERIC;
 
-    struct cam_csiphy_info *csiphy_info = (struct cam_csiphy_info *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+    struct cam_csiphy_info *csiphy_info = (struct cam_csiphy_info *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
     csiphy_info->lane_mask = 0x1f;
     csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels??
     csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane
@@ -751,10 +785,8 @@ void CameraState::camera_open() {
     int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle);
     assert(ret_ == 0);
 
-    munmap(csiphy_info, buf_desc[0].size);
-    release_fd(multi_cam_state->video0_fd, buf_desc[0].mem_handle);
-    munmap(pkt, size);
-    release_fd(multi_cam_state->video0_fd, cam_packet_handle);
+    mm.free(csiphy_info);
+    mm.free(pkt);
   }
 
   // link devices
@@ -781,6 +813,18 @@ void CameraState::camera_open() {
   ret = device_control(multi_cam_state->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle);
   LOGD("start isp: %d", ret);
 
+  for (int i = 0; i < FRAME_BUF_COUNT; i++) {
+    // configure ISP to put the image in place
+    struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
+    mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
+    mem_mgr_map_cmd.num_hdl = 1;
+    mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
+    mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
+    ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+    LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
+    buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
+  }
+
   // TODO: this is unneeded, should we be doing the start i2c in a different way?
   //ret = device_control(sensor_fd, CAM_START_DEV, session_handle, sensor_dev_handle);
   //LOGD("start sensor: %d", ret);
@@ -807,9 +851,9 @@ void cameras_open(MultiCameraState *s) {
   LOGD("opened video0");
 
   // video1 is cam_sync, the target of some ioctls
-  s->video1_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-cam_sync-video-index0", O_RDWR | O_NONBLOCK));
-  assert(s->video1_fd >= 0);
-  LOGD("opened video1");
+  s->cam_sync_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-cam_sync-video-index0", O_RDWR | O_NONBLOCK));
+  assert(s->cam_sync_fd >= 0);
+  LOGD("opened video1 (cam_sync)");
 
   // looks like there's only one of these
   s->isp_fd = open_v4l_by_name_and_index("cam-isp");
@@ -834,16 +878,16 @@ void cameras_open(MultiCameraState *s) {
   LOG("-- Subscribing");
   static struct v4l2_event_subscription sub = {0};
   sub.type = V4L_EVENT_CAM_REQ_MGR_EVENT;
-  sub.id = 2; // should use boot time for sof
+  sub.id = V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS;
   ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
-  printf("req mgr subscribe: %d\n", ret);
+  LOGD("req mgr subscribe: %d", ret);
 
   s->driver_cam.camera_open();
-  printf("driver camera opened \n");
+  LOGD("driver camera opened");
   s->road_cam.camera_open();
-  printf("road camera opened \n");
+  LOGD("road camera opened");
   s->wide_road_cam.camera_open();
-  printf("wide road camera opened \n");
+  LOGD("wide road camera opened");
 }
 
 void CameraState::camera_close() {
@@ -883,6 +927,11 @@ void CameraState::camera_close() {
     LOGD("release isp: %d", ret);
     ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle);
     LOGD("release csiphy: %d", ret);
+
+    for (int i = 0; i < FRAME_BUF_COUNT; i++) {
+      release(multi_cam_state->video0_fd, buf_handle[i]);
+    }
+    LOGD("released buffers");
   }
 
   ret = device_control(sensor_fd, CAM_RELEASE_DEV, session_handle, sensor_dev_handle);
@@ -903,6 +952,70 @@ void cameras_close(MultiCameraState *s) {
   delete s->pm;
 }
 
+std::map<uint16_t, std::pair<int, int>> CameraState::ar0231_build_register_lut(uint8_t *data) {
+  // This function builds a lookup table from register address, to a pair of indices in the
+  // buffer where to read this address. The buffer contains padding bytes,
+  // as well as markers to indicate the type of the next byte.
+  //
+  // 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address.
+  // Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional
+  // for contigous ranges. See page 27-29 of the AR0231 Developer guide for more information.
+
+  int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3};
+  auto get_next_idx = [](int cur_idx) {
+    return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1; // Every third byte is padding
+  };
+
+  std::map<uint16_t, std::pair<int, int>> registers;
+  for (int register_row = 0; register_row < 2; register_row++) {
+    uint8_t *registers_raw = data + ci.frame_stride * register_row;
+    assert(registers_raw[0] == 0x0a); // Start of line
+
+    int value_tag_count = 0;
+    int first_val_idx = 0;
+    uint16_t cur_addr = 0;
+
+    for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) {
+      int val_idx = get_next_idx(i);
+
+      uint8_t tag = registers_raw[i];
+      uint16_t val = registers_raw[val_idx];
+
+      if (tag == 0xAA) { // Register MSB tag
+        cur_addr = val << 8;
+      } else if (tag == 0xA5) { // Register LSB tag
+        cur_addr |= val;
+        cur_addr -= 2; // Next value tag will increment address again
+      } else if (tag == 0x5A) { // Value tag
+
+        // First tag
+        if (value_tag_count % 2 == 0) {
+          cur_addr += 2;
+          first_val_idx = val_idx;
+        } else {
+          registers[cur_addr] = std::make_pair(first_val_idx + ci.frame_stride * register_row, val_idx + ci.frame_stride * register_row);
+        }
+
+        value_tag_count++;
+      }
+    }
+  }
+  return registers;
+}
+
+std::map<uint16_t, uint16_t> CameraState::ar0231_parse_registers(uint8_t *data, std::initializer_list<uint16_t> addrs) {
+  if (ar0231_register_lut.empty()) {
+    ar0231_register_lut = ar0231_build_register_lut(data);
+  }
+
+  std::map<uint16_t, uint16_t> registers;
+  for (uint16_t addr : addrs) {
+    auto offset = ar0231_register_lut[addr];
+    registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second];
+  }
+  return registers;
+}
+
 void CameraState::handle_camera_event(void *evdat) {
   if (!enabled) return;
   struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat;
@@ -1082,7 +1195,56 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
   s->set_camera_exposure(grey_frac);
 }
 
-// called by processing_thread
+static float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) {
+  // See AR0231 Developer Guide - page 36
+  float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2);
+  float t0 = 55.0 - slope * (float)calib2;
+  return t0 + slope * (float)data_reg;
+}
+
+static void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::FrameData::Builder &framed){
+  const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55};
+  uint8_t *data = (uint8_t*)c->buf.cur_camera_buf->addr + c->ci.registers_offset;
+
+  if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0){
+    LOGE("unexpected register data found");
+    return;
+  }
+
+  auto registers = c->ar0231_parse_registers(data, {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc});
+
+  uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002];
+  framed.setFrameIdSensor(frame_id);
+
+  float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]);
+  float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]);
+  framed.setTemperaturesC({temp_0, temp_1});
+}
+
+static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
+  struct ExpRect {int x1, x2, x_skip, y1, y2, y_skip;};
+  const CameraBuf *b = &c->buf;
+  static ExpRect rect = {96, 1832, 2, 242, 1148, 4};
+  camera_autoexposure(c, set_exposure_target(b, rect.x1, rect.x2, rect.x_skip, rect.y1, rect.y2, rect.y_skip));
+}
+
+static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
+  s->sm->update(0);
+  driver_cam_auto_exposure(c, *(s->sm));
+
+  MessageBuilder msg;
+  auto framed = msg.initEvent().initDriverCameraState();
+  framed.setFrameType(cereal::FrameData::FrameType::FRONT);
+  fill_frame_data(framed, c->buf.cur_frame_data);
+  if (env_send_driver) {
+    framed.setImage(get_frame_image(&c->buf));
+  }
+  if (c->camera_id == CAMERA_ID_AR0231) {
+    ar0231_process_registers(s, c, framed);
+  }
+  s->pm->send("driverCameraState", msg);
+}
+
 void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
   const CameraBuf *b = &c->buf;
 
@@ -1091,12 +1253,19 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
   fill_frame_data(framed, b->cur_frame_data);
   if ((c == &s->road_cam && env_send_road) || (c == &s->wide_road_cam && env_send_wide_road)) {
     framed.setImage(get_frame_image(b));
+  } else if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) {  // no overlap with qlog decimation
+    framed.setImage(get_raw_frame_image(b));
   }
   LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera");
   if (c == &s->road_cam) {
     framed.setTransform(b->yuv_transform.v);
     LOGT(c->buf.cur_frame_data.frame_id, "%s: Transformed", "RoadCamera");
   }
+
+  if (c->camera_id == CAMERA_ID_AR0231) {
+    ar0231_process_registers(s, c, framed);
+  }
+
   s->pm->send(c == &s->road_cam ? "roadCameraState" : "wideRoadCameraState", msg);
 
   const auto [x, y, w, h] = (c == &s->wide_road_cam) ? std::tuple(96, 250, 1734, 524) : std::tuple(96, 160, 1734, 986);
@@ -1107,7 +1276,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
 void cameras_run(MultiCameraState *s) {
   LOG("-- Starting threads");
   std::vector<std::thread> threads;
-  if (s->driver_cam.enabled) threads.push_back(start_process_thread(s, &s->driver_cam, common_process_driver_camera));
+  if (s->driver_cam.enabled) threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
   if (s->road_cam.enabled) threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera));
   if (s->wide_road_cam.enabled) threads.push_back(start_process_thread(s, &s->wide_road_cam, process_road_camera));
 
@@ -1151,7 +1320,7 @@ void cameras_run(MultiCameraState *s) {
         } else if (event_data->session_hdl == s->driver_cam.session_handle) {
           s->driver_cam.handle_camera_event(event_data);
         } else {
-          printf("Unknown vidioc event source\n");
+          LOGE("Unknown vidioc event source");
           assert(false);
         }
       }
@@ -1166,3 +1335,4 @@ void cameras_run(MultiCameraState *s) {
 
   cameras_close(s);
 }
+

selfdrive/camerad/cameras/camera_qcom2.h

@@ -1,6 +1,8 @@
 #pragma once
 
 #include <cstdint>
+#include <map>
+#include <utility>
 
 #include <media/cam_req_mgr.h>
 
@@ -9,6 +11,20 @@
 
 #define FRAME_BUF_COUNT 4
 
+class MemoryManager {
+  public:
+    void init(int _video0_fd) { video0_fd = _video0_fd; }
+    void *alloc(int len, uint32_t *handle);
+    void free(void *ptr);
+    ~MemoryManager();
+  private:
+    std::mutex lock;
+    std::map<void *, uint32_t> handle_lookup;
+    std::map<void *, int> size_lookup;
+    std::map<int, std::queue<void *> > cached_allocations;
+    int video0_fd;
+};
+
 class CameraState {
 public:
   MultiCameraState *multi_cam_state;
@@ -42,6 +58,8 @@ public:
   void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type, bool enabled);
   void camera_close();
 
+  std::map<uint16_t, uint16_t> ar0231_parse_registers(uint8_t *data, std::initializer_list<uint16_t> addrs);
+
   int32_t session_handle;
   int32_t sensor_dev_handle;
   int32_t isp_dev_handle;
@@ -60,6 +78,8 @@ public:
   int camera_id;
 
   CameraBuf buf;
+  MemoryManager mm;
+
 private:
   void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset);
   void enqueue_req_multi(int start, int n, bool dp);
@@ -69,11 +89,15 @@ private:
   int sensors_init();
   void sensors_poke(int request_id);
   void sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word);
+
+  // Register parsing
+  std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
+  std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(uint8_t *data);
 };
 
 typedef struct MultiCameraState {
   unique_fd video0_fd;
-  unique_fd video1_fd;
+  unique_fd cam_sync_fd;
   unique_fd isp_fd;
   int device_iommu;
   int cdm_iommu;

selfdrive/camerad/cameras/camera_replay.cc

@@ -30,9 +30,9 @@ void camera_init(VisionIpcServer *v, CameraState *s, int camera_id, unsigned int
   }
 
   CameraInfo ci = {
-      .frame_width = s->frame->width,
-      .frame_height = s->frame->height,
-      .frame_stride = s->frame->width * 3,
+      .frame_width = (uint32_t)s->frame->width,
+      .frame_height = (uint32_t)s->frame->height,
+      .frame_stride = (uint32_t)s->frame->width * 3,
   };
   s->ci = ci;
   s->camera_num = camera_id;
@@ -47,17 +47,16 @@ void camera_close(CameraState *s) {
 void run_camera(CameraState *s) {
   uint32_t stream_frame_id = 0, frame_id = 0;
   size_t buf_idx = 0;
-  std::unique_ptr<uint8_t[]> rgb_buf = std::make_unique<uint8_t[]>(s->frame->getRGBSize());
   std::unique_ptr<uint8_t[]> yuv_buf = std::make_unique<uint8_t[]>(s->frame->getYUVSize());
   while (!do_exit) {
     if (stream_frame_id == s->frame->getFrameCount()) {
       // loop stream
       stream_frame_id = 0;
     }
-    if (s->frame->get(stream_frame_id++, rgb_buf.get(), yuv_buf.get())) {
+    if (s->frame->get(stream_frame_id++, yuv_buf.get())) {
       s->buf.camera_bufs_metadata[buf_idx] = {.frame_id = frame_id};
       auto &buf = s->buf.camera_bufs[buf_idx];
-      CL_CHECK(clEnqueueWriteBuffer(buf.copy_q, buf.buf_cl, CL_TRUE, 0, s->frame->getRGBSize(), rgb_buf.get(), 0, NULL, NULL));
+      CL_CHECK(clEnqueueWriteBuffer(buf.copy_q, buf.buf_cl, CL_TRUE, 0, s->frame->getYUVSize(), yuv_buf.get(), 0, NULL, NULL));
       s->buf.queue(buf_idx);
       ++frame_id;
       buf_idx = (buf_idx + 1) % FRAME_BUF_COUNT;

selfdrive/camerad/cameras/real_debayer.cl

@@ -1,88 +1,84 @@
+#ifdef HALF_AS_FLOAT
+#define half float
+#define half2 float2
+#define half3 float3
+#define half4 float4
+#else
 #pragma OPENCL EXTENSION cl_khr_fp16 : enable
+#endif
+
+#define UV_WIDTH RGB_WIDTH / 2
+#define UV_HEIGHT RGB_HEIGHT / 2
+#define U_OFFSET RGB_WIDTH * RGB_HEIGHT
+#define V_OFFSET RGB_WIDTH * RGB_HEIGHT + UV_WIDTH * UV_HEIGHT
+
+#define RGB_TO_Y(r, g, b) ((((mul24(b, 13) + mul24(g, 65) + mul24(r, 33)) + 64) >> 7) + 16)
+#define RGB_TO_U(r, g, b) ((mul24(b, 56) - mul24(g, 37) - mul24(r, 19) + 0x8080) >> 8)
+#define RGB_TO_V(r, g, b) ((mul24(r, 56) - mul24(g, 47) - mul24(b, 9) + 0x8080) >> 8)
+#define AVERAGE(x, y, z, w) ((convert_ushort(x) + convert_ushort(y) + convert_ushort(z) + convert_ushort(w) + 1) >> 1)
 
-const __constant half3 color_correction[3] = {
 // post wb CCM
-  (half3)(1.82717181, -0.31231438, 0.07307673),
-  (half3)(-0.5743977, 1.36858544, -0.53183455),
-  (half3)(-0.25277411, -0.05627105, 1.45875782),
-};
+const __constant half3 color_correction_0 = (half3)(1.82717181, -0.31231438, 0.07307673);
+const __constant half3 color_correction_1 = (half3)(-0.5743977, 1.36858544, -0.53183455);
+const __constant half3 color_correction_2 = (half3)(-0.25277411, -0.05627105, 1.45875782);
 
 // tone mapping params
-const half cpk = 0.75;
-const half cpb = 0.125;
-const half cpxk = 0.0025;
-const half cpxb = 0.01;
-
-half mf(half x, half cp) {
-  half rk = 9 - 100*cp;
-  if (x > cp) {
-    return (rk * (x-cp) * (1-(cpk*cp+cpb)) * (1+1/(rk*(1-cp))) / (1+rk*(x-cp))) + cpk*cp + cpb;
-  } else if (x < cp) {
-    return (rk * (x-cp) * (cpk*cp+cpb) * (1+1/(rk*cp)) / (1-rk*(x-cp))) + cpk*cp + cpb;
-  } else {
-    return x;
+const half gamma_k = 0.75;
+const half gamma_b = 0.125;
+const half mp = 0.01; // ideally midpoint should be adaptive
+const half rk = 9 - 100*mp;
+
+inline half3 gamma_apply(half3 x) {
+  // poly approximation for s curve
+  return (x > mp) ?
+    ((rk * (x-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(x-mp))) + gamma_k*mp + gamma_b) :
+    ((rk * (x-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(x-mp))) + gamma_k*mp + gamma_b);
 }
+
+inline half3 color_correct(half3 rgb) {
+  half3 ret = (half)rgb.x * color_correction_0;
+  ret += (half)rgb.y * color_correction_1;
+  ret += (half)rgb.z * color_correction_2;
+  return gamma_apply(ret);
 }
 
-half3 color_correct(half3 rgb) {
-  half3 ret = (0,0,0);
-  half cpx = 0.01;
-  ret += (half)rgb.x * color_correction[0];
-  ret += (half)rgb.y * color_correction[1];
-  ret += (half)rgb.z * color_correction[2];
-  ret.x = mf(ret.x, cpx);
-  ret.y = mf(ret.y, cpx);
-  ret.z = mf(ret.z, cpx);
-  ret = clamp(0.0h, 255.0h, ret*255.0h);
-  return ret;
+inline half get_vignetting_s(float r) {
+  if (r < 62500) {
+    return (half)(1.0f + 0.0000008f*r);
+  } else if (r < 490000) {
+    return (half)(0.9625f + 0.0000014f*r);
+  } else if (r < 1102500) {
+    return (half)(1.26434f + 0.0000000000016f*r*r);
+  } else {
+    return (half)(0.53503625f + 0.0000000000022f*r*r);
+  }
 }
 
 inline half val_from_10(const uchar * source, int gx, int gy, half black_level) {
   // parse 12bit
-  int start = gy * FRAME_STRIDE + (3 * (gx / 2));
+  int start = gy * FRAME_STRIDE + (3 * (gx / 2)) + (FRAME_STRIDE * FRAME_OFFSET);
   int offset = gx % 2;
   uint major = (uint)source[start + offset] << 4;
   uint minor = (source[start + 2] >> (4 * offset)) & 0xf;
-  half pv = (half)((major + minor)/4);
+  half pv = ((half)(major + minor)) / 4.0;
 
   // normalize
-  pv = max(0.0h, pv - black_level);
-  pv /= (1024.0f - black_level);
+  pv = max((half)0.0, pv - black_level);
+  pv /= (1024.0 - black_level);
 
   // correct vignetting
   if (CAM_NUM == 1) { // fcamera
     gx = (gx - RGB_WIDTH/2);
     gy = (gy - RGB_HEIGHT/2);
-    float r = gx*gx + gy*gy;
-    half s;
-    if (r < 62500) {
-      s = (half)(1.0f + 0.0000008f*r);
-    } else if (r < 490000) {
-      s = (half)(0.9625f + 0.0000014f*r);
-    } else if (r < 1102500) {
-      s = (half)(1.26434f + 0.0000000000016f*r*r);
-    } else {
-      s = (half)(0.53503625f + 0.0000000000022f*r*r);
-    }
-    pv = s * pv;
+    pv *= get_vignetting_s(gx*gx + gy*gy);
   }
 
-  pv = clamp(0.0h, 1.0h, pv);
+  pv = clamp(pv, (half)0.0, (half)1.0);
   return pv;
 }
 
-half fabs_diff(half x, half y) {
-  return fabs(x-y);
-}
-
-half phi(half x) {
-  // detection funtion
-  return 2 - x;
-  // if (x > 1) {
-  //   return 1 / x;
-  // } else {
-  //   return 2 - x;
-  // }
+inline half get_k(half a, half b, half c, half d) {
+  return 2.0 - (fabs(a - b) + fabs(c - d));
 }
 
 __kernel void debayer10(const __global uchar * in,
@@ -91,116 +87,122 @@ __kernel void debayer10(const __global uchar * in,
                         float black_level
                        )
 {
-  const int x_global = get_global_id(0);
-  const int y_global = get_global_id(1);
+  const int gid_x = get_global_id(0);
+  const int gid_y = get_global_id(1);
 
-  const int localRowLen = 2 + get_local_size(0); // 2 padding
-  const int x_local = get_local_id(0); // 0-15
-  const int y_local = get_local_id(1); // 0-15
-  const int localOffset = (y_local + 1) * localRowLen + x_local + 1; // max 18x18-1
+  const int lid_x = get_local_id(0);
+  const int lid_y = get_local_id(1);
 
-  int out_idx = 3 * x_global + 3 * y_global * RGB_WIDTH;
+  const int localRowLen = mad24(get_local_size(0), 2, 2); // 2 padding
+  const int localColLen = mad24(get_local_size(1), 2, 2);
 
-  half pv = val_from_10(in, x_global, y_global, black_level);
-  cached[localOffset] = pv;
+  const int x_global = mul24(gid_x, 2);
+  const int y_global = mul24(gid_y, 2);
 
-  // don't care
-  if (x_global < 1 || x_global >= RGB_WIDTH - 1 || y_global < 1 || y_global >= RGB_HEIGHT - 1) {
-    return;
-  }
+  const int x_local = mad24(lid_x, 2, 1);
+  const int y_local = mad24(lid_y, 2, 1);
+
+  const int x_global_mod = (gid_x == 0 || gid_x == get_global_size(0) - 1) ? -1: 1;
+  const int y_global_mod = (gid_y == 0 || gid_y == get_global_size(1) - 1) ? -1: 1;
+
+  int localColOffset = 0;
+  int globalColOffset;
 
-  // cache padding
-  int localColOffset = -1;
-  int globalColOffset = -1;
-
-  // cache padding
-  if (x_local < 1) {
-    localColOffset = x_local;
-    globalColOffset = -1;
-    cached[(y_local + 1) * localRowLen + x_local] = val_from_10(in, x_global-1, y_global, black_level);
-  } else if (x_local >= get_local_size(0) - 1) {
-    localColOffset = x_local + 2;
-    globalColOffset = 1;
-    cached[localOffset + 1] = val_from_10(in, x_global+1, y_global, black_level);
+  cached[mad24(y_local + 0, localRowLen, x_local + 0)] = val_from_10(in, x_global + 0, y_global + 0, black_level);
+  cached[mad24(y_local + 0, localRowLen, x_local + 1)] = val_from_10(in, x_global + 1, y_global + 0, black_level);
+  cached[mad24(y_local + 1, localRowLen, x_local + 0)] = val_from_10(in, x_global + 0, y_global + 1, black_level);
+  cached[mad24(y_local + 1, localRowLen, x_local + 1)] = val_from_10(in, x_global + 1, y_global + 1, black_level);
+
+  if (lid_x == 0) {  // left edge
+    localColOffset = -1;
+    globalColOffset = -x_global_mod;
+    cached[mad24(y_local + 0, localRowLen, x_local - 1)] = val_from_10(in, x_global - x_global_mod, y_global + 0, black_level);
+    cached[mad24(y_local + 1, localRowLen, x_local - 1)] = val_from_10(in, x_global - x_global_mod, y_global + 1, black_level);
+  } else if (lid_x == get_local_size(0) - 1) {  // right edge
+    localColOffset = 2;
+    globalColOffset = x_global_mod + 1;
+    cached[mad24(y_local + 0, localRowLen, x_local + 2)] = val_from_10(in, x_global + x_global_mod + 1, y_global + 0, black_level);
+    cached[mad24(y_local + 1, localRowLen, x_local + 2)] = val_from_10(in, x_global + x_global_mod + 1, y_global + 1, black_level);
   }
 
-  if (y_local < 1) {
-    cached[y_local * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global-1, black_level);
-    if (localColOffset != -1) {
-      cached[y_local * localRowLen + localColOffset] = val_from_10(in, x_global+globalColOffset, y_global-1, black_level);
+  if (lid_y == 0) {  // top row
+    cached[mad24(y_local - 1, localRowLen, x_local + 0)] = val_from_10(in, x_global + 0, y_global - y_global_mod, black_level);
+    cached[mad24(y_local - 1, localRowLen, x_local + 1)] = val_from_10(in, x_global + 1, y_global - y_global_mod, black_level);
+    if (localColOffset != 0) {  // cache corners
+      cached[mad24(y_local - 1, localRowLen, x_local + localColOffset)] = val_from_10(in, x_global + globalColOffset, y_global - y_global_mod, black_level);
     }
-  } else if (y_local >= get_local_size(1) - 1) {
-    cached[(y_local + 2) * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global+1, black_level);
-    if (localColOffset != -1) {
-      cached[(y_local + 2) * localRowLen + localColOffset] = val_from_10(in, x_global+globalColOffset, y_global+1, black_level);
+  } else if (lid_y == get_local_size(1) - 1) {  // bottom row
+    cached[mad24(y_local + 2, localRowLen, x_local + 0)] = val_from_10(in, x_global + 0, y_global + y_global_mod + 1, black_level);
+    cached[mad24(y_local + 2, localRowLen, x_local + 1)] = val_from_10(in, x_global + 1, y_global + y_global_mod + 1, black_level);
+    if (localColOffset != 0) {  // cache corners
+      cached[mad24(y_local + 2, localRowLen, x_local + localColOffset)] = val_from_10(in, x_global + globalColOffset, y_global + y_global_mod + 1, black_level);
     }
   }
 
   // sync
   barrier(CLK_LOCAL_MEM_FENCE);
 
-  half d1 = cached[localOffset - localRowLen - 1];
-  half d2 = cached[localOffset - localRowLen + 1];
-  half d3 = cached[localOffset + localRowLen - 1];
-  half d4 = cached[localOffset + localRowLen + 1];
-  half n1 = cached[localOffset - localRowLen];
-  half n2 = cached[localOffset + 1];
-  half n3 = cached[localOffset + localRowLen];
-  half n4 = cached[localOffset - 1];
-
   half3 rgb;
+  uchar3 rgb_out[4];
 
-  // a simplified version of https://opensignalprocessingjournal.com/contents/volumes/V6/TOSIGPJ-6-1/TOSIGPJ-6-1.pdf
-  if (x_global % 2 == 0) {
-    if (y_global % 2 == 0) {
-      rgb.y = pv; // G1(R)
-      half k1 = phi(fabs_diff(d1, pv) + fabs_diff(d2, pv));
-      half k2 = phi(fabs_diff(d2, pv) + fabs_diff(d4, pv));
-      half k3 = phi(fabs_diff(d3, pv) + fabs_diff(d4, pv));
-      half k4 = phi(fabs_diff(d1, pv) + fabs_diff(d3, pv));
-      // R_G1
-      rgb.x = (k2*n2+k4*n4)/(k2+k4);
-      // B_G1
-      rgb.z = (k1*n1+k3*n3)/(k1+k3);
-    } else {
-      rgb.z = pv; // B
-      half k1 = phi(fabs_diff(d1, d3) + fabs_diff(d2, d4));
-      half k2 = phi(fabs_diff(n1, n4) + fabs_diff(n2, n3));
-      half k3 = phi(fabs_diff(d1, d2) + fabs_diff(d3, d4));
-      half k4 = phi(fabs_diff(n1, n2) + fabs_diff(n3, n4));
-      // G_B
-      rgb.y = (k1*(n1+n3)*0.5+k3*(n2+n4)*0.5)/(k1+k3);
-      // R_B
-      rgb.x = (k2*(d2+d3)*0.5+k4*(d1+d4)*0.5)/(k2+k4);
-    }
-  } else {
-    if (y_global % 2 == 0) {
-      rgb.x = pv; // R
-      half k1 = phi(fabs_diff(d1, d3) + fabs_diff(d2, d4));
-      half k2 = phi(fabs_diff(n1, n4) + fabs_diff(n2, n3));
-      half k3 = phi(fabs_diff(d1, d2) + fabs_diff(d3, d4));
-      half k4 = phi(fabs_diff(n1, n2) + fabs_diff(n3, n4));
-      // G_R
-      rgb.y = (k1*(n1+n3)*0.5+k3*(n2+n4)*0.5)/(k1+k3);
-      // B_R
-      rgb.z = (k2*(d2+d3)*0.5+k4*(d1+d4)*0.5)/(k2+k4);
-    } else {
-      rgb.y = pv; // G2(B)
-      half k1 = phi(fabs_diff(d1, pv) + fabs_diff(d2, pv));
-      half k2 = phi(fabs_diff(d2, pv) + fabs_diff(d4, pv));
-      half k3 = phi(fabs_diff(d3, pv) + fabs_diff(d4, pv));
-      half k4 = phi(fabs_diff(d1, pv) + fabs_diff(d3, pv));
-      // R_G2
-      rgb.x = (k1*n1+k3*n3)/(k1+k3);
-      // B_G2
-      rgb.z = (k2*n2+k4*n4)/(k2+k4);
-    }
-  }
-
-  rgb = clamp(0.0h, 1.0h, rgb);
-  rgb = color_correct(rgb);
+  const half4 va = vload4(0, cached + mad24(lid_y * 2 + 0, localRowLen, lid_x * 2));
+  const half4 vb = vload4(0, cached + mad24(lid_y * 2 + 1, localRowLen, lid_x * 2));
+  const half4 vc = vload4(0, cached + mad24(lid_y * 2 + 2, localRowLen, lid_x * 2));
+  const half4 vd = vload4(0, cached + mad24(lid_y * 2 + 3, localRowLen, lid_x * 2));
 
-  out[out_idx + 0] = (uchar)(rgb.z);
-  out[out_idx + 1] = (uchar)(rgb.y);
-  out[out_idx + 2] = (uchar)(rgb.x);
+  // a simplified version of https://opensignalprocessingjournal.com/contents/volumes/V6/TOSIGPJ-6-1/TOSIGPJ-6-1.pdf
+  const half k01 = get_k(va.s0, vb.s1, va.s2, vb.s1);
+  const half k02 = get_k(va.s2, vb.s1, vc.s2, vb.s1);
+  const half k03 = get_k(vc.s0, vb.s1, vc.s2, vb.s1);
+  const half k04 = get_k(va.s0, vb.s1, vc.s0, vb.s1);
+  rgb.x = (k02*vb.s2+k04*vb.s0)/(k02+k04); // R_G1
+  rgb.y = vb.s1; // G1(R)
+  rgb.z = (k01*va.s1+k03*vc.s1)/(k01+k03); // B_G1
+  rgb_out[0] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
+
+  const half k11 = get_k(va.s1, vc.s1, va.s3, vc.s3);
+  const half k12 = get_k(va.s2, vb.s1, vb.s3, vc.s2);
+  const half k13 = get_k(va.s1, va.s3, vc.s1, vc.s3);
+  const half k14 = get_k(va.s2, vb.s3, vc.s2, vb.s1);
+  rgb.x = vb.s2; // R
+  rgb.y = (k11*(va.s2+vc.s2)*0.5+k13*(vb.s3+vb.s1)*0.5)/(k11+k13); // G_R
+  rgb.z = (k12*(va.s3+vc.s1)*0.5+k14*(va.s1+vc.s3)*0.5)/(k12+k14); // B_R
+  rgb_out[1] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
+
+  const half k21 = get_k(vb.s0, vd.s0, vb.s2, vd.s2);
+  const half k22 = get_k(vb.s1, vc.s0, vc.s2, vd.s1);
+  const half k23 = get_k(vb.s0, vb.s2, vd.s0, vd.s2);
+  const half k24 = get_k(vb.s1, vc.s2, vd.s1, vc.s0);
+  rgb.x = (k22*(vb.s2+vd.s0)*0.5+k24*(vb.s0+vd.s2)*0.5)/(k22+k24); // R_B
+  rgb.y = (k21*(vb.s1+vd.s1)*0.5+k23*(vc.s2+vc.s0)*0.5)/(k21+k23); // G_B
+  rgb.z = vc.s1; // B
+  rgb_out[2] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
+
+  const half k31 = get_k(vb.s1, vc.s2, vb.s3, vc.s2);
+  const half k32 = get_k(vb.s3, vc.s2, vd.s3, vc.s2);
+  const half k33 = get_k(vd.s1, vc.s2, vd.s3, vc.s2);
+  const half k34 = get_k(vb.s1, vc.s2, vd.s1, vc.s2);
+  rgb.x = (k31*vb.s2+k33*vd.s2)/(k31+k33); // R_G2
+  rgb.y = vc.s2; // G2(B)
+  rgb.z = (k32*vc.s3+k34*vc.s1)/(k32+k34); // B_G2
+  rgb_out[3] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0)) * 255.0);
+
+  // write ys
+  uchar2 yy = (uchar2)(
+    RGB_TO_Y(rgb_out[0].s0, rgb_out[0].s1, rgb_out[0].s2),
+    RGB_TO_Y(rgb_out[1].s0, rgb_out[1].s1, rgb_out[1].s2)
+  );
+  vstore2(yy, 0, out + mad24(gid_y * 2, RGB_WIDTH, gid_x * 2));
+  yy = (uchar2)(
+    RGB_TO_Y(rgb_out[2].s0, rgb_out[2].s1, rgb_out[2].s2),
+    RGB_TO_Y(rgb_out[3].s0, rgb_out[3].s1, rgb_out[3].s2)
+  );
+  vstore2(yy, 0, out + mad24(gid_y * 2 + 1, RGB_WIDTH, gid_x * 2));
+
+  // write uvs
+  const short ar = AVERAGE(rgb_out[0].s0, rgb_out[1].s0, rgb_out[2].s0, rgb_out[3].s0);
+  const short ag = AVERAGE(rgb_out[0].s1, rgb_out[1].s1, rgb_out[2].s1, rgb_out[3].s1);
+  const short ab = AVERAGE(rgb_out[0].s2, rgb_out[1].s2, rgb_out[2].s2, rgb_out[3].s2);
+  out[U_OFFSET + mad24(gid_y, UV_WIDTH, gid_x)] = RGB_TO_U(ar, ag, ab);
+  out[V_OFFSET + mad24(gid_y, UV_WIDTH, gid_x)] = RGB_TO_V(ar, ag, ab);
 }

selfdrive/camerad/cameras/sensor2_i2c.h

@@ -67,7 +67,7 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
   {0x30A6, 0x0001}, // Y_ODD_INC_
   {0x3402, 0x0788}, // X_OUTPUT_CONTROL
   {0x3404, 0x04B8}, // Y_OUTPUT_CONTROL
-  {0x3064, 0x1802}, // SMIA_TEST
+  {0x3064, 0x1982}, // SMIA_TEST
   {0x30BA, 0x11F2}, // DIGITAL_CTRL
 
   // Enable external trigger and disable GPIO outputs
@@ -83,10 +83,10 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
   // Readout Settings
   {0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI
   {0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12
-  {0x3342, 0x122C}, // MIPI_F1_PDT_EDT
-  {0x3346, 0x122C}, // MIPI_F2_PDT_EDT
-  {0x334A, 0x122C}, // MIPI_F3_PDT_EDT
-  {0x334E, 0x122C}, // MIPI_F4_PDT_EDT
+  {0x3342, 0x1212}, // MIPI_F1_PDT_EDT
+  {0x3346, 0x1212}, // MIPI_F2_PDT_EDT
+  {0x334A, 0x1212}, // MIPI_F3_PDT_EDT
+  {0x334E, 0x1212}, // MIPI_F4_PDT_EDT
   {0x3344, 0x0011}, // MIPI_F1_VDT_VC
   {0x3348, 0x0111}, // MIPI_F2_VDT_VC
   {0x334C, 0x0211}, // MIPI_F3_VDT_VC
@@ -101,6 +101,10 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
   {0x3370, 0x03B1}, // DBLC
   {0x3044, 0x0400}, // DARK_CONTROL
 
+  // Enable temperature sensor
+  {0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG
+  {0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG
+
   // Enable dead pixel correction using
   // the 1D line correction scheme
   {0x31E0, 0x0003},
@@ -114,9 +118,7 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
   {0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN
   {0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN
   {0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_
-  {0x321E, 0x08CB}, // FINE_INTEGRATION_TIME2
-  {0x321E, 0x08CB}, // FINE_INTEGRATION_TIME3
-  {0x321E, 0x0894}, // FINE_INTEGRATION_TIME4
+  {0x321E, 0x0894}, // FINE_INTEGRATION_TIME2
 
   {0x31D0, 0x0000}, // COMPANDING, no good in 10 bit?
   {0x33DA, 0x0000}, // COMPANDING

selfdrive/camerad/snapshot/snapshot.py

@@ -17,9 +17,9 @@ from selfdrive.manager.process_config import managed_processes
 LM_THRESH = 120  # defined in selfdrive/camerad/imgproc/utils.h
 
 VISION_STREAMS = {
-  "roadCameraState": VisionStreamType.VISION_STREAM_RGB_ROAD,
-  "driverCameraState": VisionStreamType.VISION_STREAM_RGB_DRIVER,
-  "wideRoadCameraState": VisionStreamType.VISION_STREAM_RGB_WIDE_ROAD,
+  "roadCameraState": VisionStreamType.VISION_STREAM_ROAD,
+  "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
+  "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD,
 }
 
 
@@ -28,12 +28,28 @@ def jpeg_write(fn, dat):
   img.save(fn, "JPEG")
 
 
-def extract_image(buf, w, h, stride):
-  img = np.hstack([buf[i * stride:i * stride + 3 * w] for i in range(h)])
-  b = img[::3].reshape(h, w)
-  g = img[1::3].reshape(h, w)
-  r = img[2::3].reshape(h, w)
-  return np.dstack([r, g, b])
+def yuv_to_rgb(y, u, v):
+  ul = np.repeat(np.repeat(u, 2).reshape(u.shape[0], y.shape[1]), 2, axis=0).reshape(y.shape)
+  vl = np.repeat(np.repeat(v, 2).reshape(v.shape[0], y.shape[1]), 2, axis=0).reshape(y.shape)
+
+  yuv = np.dstack((y, ul, vl)).astype(np.int16)
+  yuv[:, :, 1:] -= 128
+
+  m = np.array([
+    [1.00000,  1.00000, 1.00000],
+    [0.00000, -0.39465, 2.03211],
+    [1.13983, -0.58060, 0.00000],
+  ])
+  rgb = np.dot(yuv, m)
+  return rgb.astype(np.uint8)
+
+
+def extract_image(buf, w, h):
+  y = np.array(buf[:w*h], dtype=np.uint8).reshape((h, w))
+  u = np.array(buf[w*h: w*h+(w//2)*(h//2)], dtype=np.uint8).reshape((h//2, w//2))
+  v = np.array(buf[w*h+(w//2)*(h//2):], dtype=np.uint8).reshape((h//2, w//2))
+
+  return yuv_to_rgb(y, u, v)
 
 
 def rois_in_focus(lapres: List[float]) -> float:
@@ -63,10 +79,10 @@ def get_snapshots(frame="roadCameraState", front_frame="driverCameraState", focu
   rear, front = None, None
   if frame is not None:
     c = vipc_clients[frame]
-    rear = extract_image(c.recv(), c.width, c.height, c.stride)
+    rear = extract_image(c.recv(), c.width, c.height)
   if front_frame is not None:
     c = vipc_clients[front_frame]
-    front = extract_image(c.recv(), c.width, c.height, c.stride)
+    front = extract_image(c.recv(), c.width, c.height)
   return rear, front
 
 

selfdrive/car/CARS_template.md

@@ -1,5 +1,5 @@
 {% set footnote_tag = '[<sup>{}</sup>](#footnotes)' -%}
-{% set star_icon = '<a href="#"><img valign="top" src="assets/icon-star-{}.svg" width="22" /></a>' -%}
+{% set star_icon = '<a href="##"><img valign="top" src="assets/icon-star-{}.svg" width="22" /></a>' -%}
 
 # Supported Cars
 

selfdrive/car/__init__.py

@@ -1,6 +1,7 @@
 # functions common among cars
 from cereal import car
 from common.numpy_fast import clip
+from typing import Dict
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
@@ -41,7 +42,7 @@ def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor
   return tire_stiffness_front, tire_stiffness_rear
 
 
-def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None):
+def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> Dict[str, str]:
   return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
 
 

selfdrive/car/body/carstate.py

@@ -20,6 +20,9 @@ class CarState(CarStateBase):
     ret.steerFaultPermanent = any([cp.vl['VAR_VALUES']['MOTOR_ERR_L'], cp.vl['VAR_VALUES']['MOTOR_ERR_R'],
                                    cp.vl['VAR_VALUES']['FAULT']])
 
+    ret.charging = cp.vl["BODY_DATA"]["CHARGER_CONNECTED"] == 1
+    ret.fuelGauge = cp.vl["BODY_DATA"]["BATT_PERCENTAGE"] / 100
+
     # irrelevant for non-car
     ret.gearShifter = car.CarState.GearShifter.drive
     ret.cruiseState.enabled = True

selfdrive/car/body/values.py

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

selfdrive/car/chrysler/carcontroller.py

@@ -1,16 +1,16 @@
 from cereal import car
+from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_toyota_steer_torque_limits
-from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \
-                                               create_wheel_buttons
+from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_wheel_buttons
 from selfdrive.car.chrysler.values import CAR, CarControllerParams
-from opendbc.can.packer import CANPacker
 
-class CarController():
+
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.apply_steer_last = 0
-    self.ccframe = 0
-    self.prev_frame = -1
+    self.frame = 0
+    self.prev_lkas_frame = -1
     self.hud_count = 0
     self.car_fingerprint = CP.carFingerprint
     self.gone_fast_yet = False
@@ -18,12 +18,13 @@ class CarController():
 
     self.packer = CANPacker(dbc_name)
 
-  def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
+  def update(self, CC, CS):
     # this seems needed to avoid steering faults and to force the sync with the EPS counter
-    frame = CS.lkas_counter
-    if self.prev_frame == frame:
+    if self.prev_lkas_frame == CS.lkas_counter:
       return car.CarControl.Actuators.new_message(), []
 
+    actuators = CC.actuators
+
     # steer torque
     new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
@@ -36,7 +37,7 @@ class CarController():
     elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
       if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
         self.gone_fast_yet = False  # < 14.5m/s stock turns off this bit, but fine down to 13.5
-    lkas_active = moving_fast and enabled
+    lkas_active = moving_fast and CC.enabled
 
     if not lkas_active:
       apply_steer = 0
@@ -47,26 +48,21 @@ class CarController():
 
     # *** control msgs ***
 
-    if pcm_cancel_cmd:
-      # TODO: would be better to start from frame_2b3
-      new_msg = create_wheel_buttons(self.packer, self.ccframe, cancel=True)
-      can_sends.append(new_msg)
+    if CC.cruiseControl.cancel:
+      can_sends.append(create_wheel_buttons(self.packer, CS.button_counter + 1, cancel=True))
 
     # LKAS_HEARTBIT is forwarded by Panda so no need to send it here.
     # frame is 100Hz (0.01s period)
-    if (self.ccframe % 25 == 0):  # 0.25s period
-      if (CS.lkas_car_model != -1):
-        new_msg = create_lkas_hud(
-            self.packer, CS.out.gearShifter, lkas_active, hud_alert,
-            self.hud_count, CS.lkas_car_model)
-        can_sends.append(new_msg)
+    if self.frame % 25 == 0:  # 0.25s period
+      if CS.lkas_car_model != -1:
+        can_sends.append(create_lkas_hud(self.packer, CS.out.gearShifter, lkas_active,
+                                         CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model))
         self.hud_count += 1
 
-    new_msg = create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, frame)
-    can_sends.append(new_msg)
+    can_sends.append(create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, CS.lkas_counter))
 
-    self.ccframe += 1
-    self.prev_frame = frame
+    self.frame += 1
+    self.prev_lkas_frame = CS.lkas_counter
 
     new_actuators = actuators.copy()
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX

selfdrive/car/chrysler/carstate.py

@@ -53,6 +53,7 @@ class CarState(CarStateBase):
     ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
     # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
     ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
+    ret.accFaulted = cp.vl["ACC_2"]["ACC_FAULTED"] != 0
 
     ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
     ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
@@ -69,6 +70,7 @@ class CarState(CarStateBase):
     self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
     self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"]
     self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]
+    self.button_counter = cp.vl["WHEEL_BUTTONS"]["COUNTER"]
 
     return ret
 
@@ -93,6 +95,7 @@ class CarState(CarStateBase):
       ("STEERING_RATE", "STEERING"),
       ("TURN_SIGNALS", "STEERING_LEVERS"),
       ("ACC_STATUS_2", "ACC_2"),
+      ("ACC_FAULTED", "ACC_2"),
       ("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
       ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"),
       ("CRUISE_STATE", "DASHBOARD"),
@@ -102,6 +105,7 @@ class CarState(CarStateBase):
       ("COUNTER", "EPS_STATUS",),
       ("TRACTION_OFF", "TRACTION_BUTTON"),
       ("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS"),
+      ("COUNTER", "WHEEL_BUTTONS"),
     ]
 
     checks = [
@@ -114,6 +118,7 @@ class CarState(CarStateBase):
       ("ACC_2", 50),
       ("GEAR", 50),
       ("ACCEL_GAS_134", 50),
+      ("WHEEL_BUTTONS", 50),
       ("DASHBOARD", 15),
       ("STEERING_LEVERS", 10),
       ("SEATBELT_STATUS", 2),

selfdrive/car/chrysler/chryslercan.py

@@ -52,6 +52,6 @@ def create_wheel_buttons(packer, frame, cancel=False):
   # WHEEL_BUTTONS (571) Message sent to cancel ACC.
   values = {
     "ACC_CANCEL": cancel,
-    "COUNTER": frame % 10
+    "COUNTER": frame % 0x10
   }
   return packer.make_can_msg("WHEEL_BUTTONS", 0, values)

selfdrive/car/chrysler/interface.py

@@ -65,8 +65,4 @@ class CarInterface(CarInterfaceBase):
   # pass in a car.CarControl
   # to be called @ 100hz
   def apply(self, c):
-
-    if (self.CS.frame == -1):
-      return car.CarControl.Actuators.new_message(), []  # if we haven't seen a frame 220, then do not update.
-
-    return self.CC.update(c.enabled, self.CS, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert)
+    return self.CC.update(c, self.CS)

selfdrive/car/chrysler/values.py

@@ -1,10 +1,13 @@
+from dataclasses import dataclass
+from enum import Enum
 from typing import Dict, List, Union
 
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo
+from selfdrive.car.docs_definitions import CarInfo, Harness
 from cereal import car
 Ecu = car.CarParams.Ecu
 
+
 class CarControllerParams:
   STEER_MAX = 261         # 262 faults
   STEER_DELTA_UP = 3      # 3 is stock. 100 is fine. 200 is too much it seems
@@ -22,13 +25,19 @@ class CAR:
   JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"  # includes 2020 Trailhawk
 
 
-CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
-  CAR.PACIFICA_2017_HYBRID: CarInfo("Chrysler Pacifica Hybrid 2017-18", "Adaptive Cruise"),
-  CAR.PACIFICA_2019_HYBRID: CarInfo("Chrysler Pacifica Hybrid 2019-21", "Adaptive Cruise"),
-  CAR.PACIFICA_2018: CarInfo("Chrysler Pacifica 2017-18", "Adaptive Cruise"),
-  CAR.PACIFICA_2020: CarInfo("Chrysler Pacifica 2020", "Adaptive Cruise"),
-  CAR.JEEP_CHEROKEE: CarInfo("Jeep Grand Cherokee 2016-18", "Adaptive Cruise", "https://www.youtube.com/watch?v=eLR9o2JkuRk"),
-  CAR.JEEP_CHEROKEE_2019: CarInfo("Jeep Grand Cherokee 2019-20", "Adaptive Cruise", "https://www.youtube.com/watch?v=jBe4lWnRSu4"),
+@dataclass
+class ChryslerCarInfo(CarInfo):
+  package: str = "Adaptive Cruise"
+  harness: Enum = Harness.fca
+
+
+CAR_INFO: Dict[str, Union[ChryslerCarInfo, List[ChryslerCarInfo]]] = {
+  CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
+  CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-21"),
+  CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
+  CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2020"),
+  CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
+  CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-20", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
 }
 
 # Unique CAN messages:

selfdrive/car/docs.py

@@ -26,9 +26,8 @@ CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
 CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
 
 
-def get_tier_car_info() -> Dict[Tier, List[CarInfo]]:
-  tier_car_info: Dict[Tier, List[CarInfo]] = {tier: [] for tier in Tier}
-
+def get_all_car_info() -> List[CarInfo]:
+  all_car_info: List[CarInfo] = []
   for models in get_interface_attr("CAR_INFO").values():
     for model, car_info in models.items():
       # Hyundai exception: those with radar have openpilot longitudinal
@@ -43,8 +42,17 @@ def get_tier_car_info() -> Dict[Tier, List[CarInfo]]:
         car_info = (car_info,)
 
       for _car_info in car_info:
-        _car_info.init(CP, non_tested_cars, ALL_FOOTNOTES)
-        tier_car_info[_car_info.tier].append(_car_info)
+        all_car_info.append(_car_info.init(CP, non_tested_cars, ALL_FOOTNOTES))
+
+  # Sort cars by make and model + year
+  sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: (car.make + car.model).lower())
+  return sorted_cars
+
+
+def sort_by_tier(all_car_info: List[CarInfo]) -> Dict[Tier, List[CarInfo]]:
+  tier_car_info: Dict[Tier, List[CarInfo]] = {tier: [] for tier in Tier}
+  for car_info in all_car_info:
+    tier_car_info[car_info.tier].append(car_info)
 
   # Sort cars by make and model + year
   for tier, cars in tier_car_info.items():
@@ -53,12 +61,14 @@ def get_tier_car_info() -> Dict[Tier, List[CarInfo]]:
   return tier_car_info
 
 
-def generate_cars_md(tier_car_info: Dict[Tier, List[CarInfo]], template_fn: str) -> str:
+def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str:
   with open(template_fn, "r") as f:
     template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
 
   footnotes = [fn.value.text for fn in ALL_FOOTNOTES]
-  return template.render(tiers=tier_car_info, footnotes=footnotes, Star=Star, Column=Column)
+  cars_md: str = template.render(tiers=sort_by_tier(all_car_info), all_car_info=all_car_info,
+                                 footnotes=footnotes, Star=Star, Column=Column)
+  return cars_md
 
 
 if __name__ == "__main__":
@@ -70,5 +80,5 @@ if __name__ == "__main__":
   args = parser.parse_args()
 
   with open(args.out, 'w') as f:
-    f.write(generate_cars_md(get_tier_car_info(), args.template))
+    f.write(generate_cars_md(get_all_car_info(), args.template))
   print(f"Generated and written to {args.out}")

selfdrive/car/docs_definitions.py

@@ -50,13 +50,16 @@ class CarInfo:
   min_steer_speed: Optional[float] = None
   min_enable_speed: Optional[float] = None
   good_torque: bool = False
+  harness: Optional[Enum] = None
 
   def init(self, CP: car.CarParams, non_tested_cars: List[str], all_footnotes: Dict[Enum, int]):
     # TODO: set all the min steer speeds in carParams and remove this
     min_steer_speed = CP.minSteerSpeed
     if self.min_steer_speed is not None:
       min_steer_speed = self.min_steer_speed
-      assert CP.minSteerSpeed == 0, f"Minimum steer speed set in both CarInfo and CarParams for {CP.carFingerprint}"
+      assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarInfo and CarParams"
+
+    assert self.harness is not None, f"{CP.carFingerprint}: Need to specify car harness"
 
     # TODO: set all the min enable speeds in carParams correctly and remove this
     min_enable_speed = CP.minEnableSpeed
@@ -74,7 +77,7 @@ class CarInfo:
       Column.FSR_LONGITUDINAL: min_enable_speed <= 0.,
       Column.FSR_STEERING: min_steer_speed <= 0.,
       Column.STEERING_TORQUE: self.good_torque,
-      Column.MAINTAINED: CP.carFingerprint not in non_tested_cars,
+      Column.MAINTAINED: CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none,
     }
 
     if CP.notCar:
@@ -91,6 +94,7 @@ class CarInfo:
         self.row[column] = footnote.value.star
 
     self.tier = {5: Tier.GOLD, 4: Tier.SILVER}.get(list(self.row.values()).count(Star.FULL), Tier.BRONZE)
+    return self
 
   @no_type_check
   def get_column(self, column: Column, star_icon: str, footnote_tag: str) -> str:
@@ -103,3 +107,34 @@ class CarInfo:
       item += footnote_tag.format(self.all_footnotes[footnote])
 
     return item
+
+
+class Harness(Enum):
+  nidec = "Honda Nidec"
+  bosch = "Honda Bosch"
+  toyota = "Toyota"
+  subaru = "Subaru"
+  fca = "FCA"
+  vw = "VW"
+  j533 = "J533"
+  hyundai_a = "Hyundai A"
+  hyundai_b = "Hyundai B"
+  hyundai_c = "Hyundai C"
+  hyundai_d = "Hyundai D"
+  hyundai_e = "Hyundai E"
+  hyundai_f = "Hyundai F"
+  hyundai_g = "Hyundai G"
+  hyundai_h = "Hyundai H"
+  hyundai_i = "Hyundai I"
+  hyundai_j = "Hyundai J"
+  hyundai_k = "Hyundai K"
+  hyundai_l = "Hyundai L"
+  hyundai_m = "Hyundai M"
+  hyundai_n = "Hyundai N"
+  hyundai_o = "Hyundai O"
+  custom = "Developer"
+  obd_ii = "OBD-II"
+  nissan_a = "Nissan A"
+  nissan_b = "Nissan B"
+  mazda = "Mazda"
+  none = "None"

selfdrive/car/gm/carstate.py

@@ -62,14 +62,14 @@ class CarState(CarStateBase):
     ret.parkingBrake = pt_cp.vl["EPBStatus"]["EPBClosed"] == 1
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
-    self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
+    ret.accFaulted = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED
 
     # Regen braking is braking
     if self.car_fingerprint == CAR.VOLT:
       ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
 
-    ret.cruiseState.enabled = self.pcm_acc_status != AccState.OFF
-    ret.cruiseState.standstill = self.pcm_acc_status == AccState.STANDSTILL
+    ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
+    ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
 
     return ret
 

selfdrive/car/gm/interface.py

@@ -4,8 +4,7 @@ from math import fabs
 
 from common.conversions import Conversions as CV
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
-from selfdrive.car.gm.values import CAR, CruiseButtons, \
-                                    AccState, CarControllerParams
+from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams
 from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -190,8 +189,6 @@ class CarInterface(CarInterfaceBase):
       events.add(EventName.belowEngageSpeed)
     if ret.cruiseState.standstill:
       events.add(EventName.resumeRequired)
-    if self.CS.pcm_acc_status == AccState.FAULTED:
-      events.add(EventName.accFaulted)
     if ret.vEgo < self.CP.minSteerSpeed:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 

selfdrive/car/gm/values.py

@@ -1,9 +1,10 @@
+from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Union
 
 from cereal import car
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column
+from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
 Ecu = car.CarParams.Ecu
 
 
@@ -62,14 +63,20 @@ class Footnote(Enum):
     Column.MODEL)
 
 
-CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
-  CAR.HOLDEN_ASTRA: CarInfo("Holden Astra 2017", "Adaptive Cruise"),
-  CAR.VOLT: CarInfo("Chevrolet Volt 2017-18", "Adaptive Cruise", footnotes=[Footnote.OBD_II], min_enable_speed=0),
-  CAR.CADILLAC_ATS: CarInfo("Cadillac ATS Premium Performance 2018", "Adaptive Cruise"),
-  CAR.MALIBU: CarInfo("Chevrolet Malibu Premier 2017", "Adaptive Cruise"),
-  CAR.ACADIA: CarInfo("GMC Acadia 2018", "Adaptive Cruise", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo", footnotes=[Footnote.OBD_II]),
-  CAR.BUICK_REGAL: CarInfo("Buick Regal Essence 2018", "Adaptive Cruise"),
-  CAR.ESCALADE_ESV: CarInfo("Cadillac Escalade ESV 2016", "ACC + LKAS", footnotes=[Footnote.OBD_II]),
+@dataclass
+class GMCarInfo(CarInfo):
+  package: str = "Adaptive Cruise"
+  harness: Enum = Harness.none
+
+
+CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
+  CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017", harness=Harness.custom),
+  CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", footnotes=[Footnote.OBD_II], min_enable_speed=0, harness=Harness.custom),
+  CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
+  CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017", harness=Harness.custom),
+  CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo", footnotes=[Footnote.OBD_II]),
+  CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
+  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "ACC + LKAS", footnotes=[Footnote.OBD_II]),
 }
 
 

selfdrive/car/honda/carcontroller.py

@@ -112,10 +112,10 @@ class CarController:
     self.apply_brake_last = 0
     self.last_pump_ts = 0.
 
-    self.accel = 0
-    self.speed = 0
-    self.gas = 0
-    self.brake = 0
+    self.accel = 0.0
+    self.speed = 0.0
+    self.gas = 0.0
+    self.brake = 0.0
 
   def update(self, CC, CS):
     actuators = CC.actuators

selfdrive/car/honda/values.py

@@ -1,14 +1,16 @@
+from dataclasses import dataclass
 from enum import Enum, IntFlag
 from typing import Dict, List, Union
 
 from cereal import car
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column
 from common.conversions import Conversions as CV
+from selfdrive.car import dbc_dict
+from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
 
 Ecu = car.CarParams.Ecu
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
+
 class CarControllerParams:
   # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
   # perform the closed loop control, and might need some
@@ -53,6 +55,7 @@ class CruiseButtons:
   CANCEL = 2
   MAIN = 1
 
+
 # See dbc files for info on values
 VISUAL_HUD = {
   VisualAlert.none: 0,
@@ -97,33 +100,39 @@ class Footnote(Enum):
     Column.FSR_STEERING)
 
 
-CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
+@dataclass
+class HondaCarInfo(CarInfo):
+  package: str = "Honda Sensing"
+  min_steer_speed: float = 12. * CV.MPH_TO_MS
+
+
+CAR_INFO: Dict[str, Union[HondaCarInfo, List[HondaCarInfo]]] = {
   CAR.ACCORD: [
-    CarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
-    CarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
+    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
   ],
-  CAR.ACCORDH: CarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-  CAR.CIVIC: CarInfo("Honda Civic 2016-18", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
+  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec),
   CAR.CIVIC_BOSCH: [
-    CarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
-    CarInfo("Honda Civic Hatchback 2017-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
-  ],
-  CAR.ACURA_ILX: CarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
-  CAR.CRV: CarInfo("Honda CR-V 2015-16", "Touring", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.CRV_5G: CarInfo("Honda CR-V 2017-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
-  # CAR.CRV_EU: CarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
-  CAR.CRV_HYBRID: CarInfo("Honda CR-V Hybrid 2017-19", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.FIT: CarInfo("Honda Fit 2018-19", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.FREED: CarInfo("Honda Freed 2020", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.HRV: CarInfo("Honda HR-V 2019-20", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.ODYSSEY: CarInfo("Honda Odyssey 2018-20", "Honda Sensing"),
-  CAR.ACURA_RDX: CarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.ACURA_RDX_3G: CarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-  CAR.PILOT: CarInfo("Honda Pilot 2016-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.PASSPORT: CarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.RIDGELINE: CarInfo("Honda Ridgeline 2017-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.INSIGHT: CarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-  CAR.HONDA_E: CarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch),
+    HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch),
+  ],
+  CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring", harness=Harness.nidec),
+  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch),
+  # CAR.CRV_EU: HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
+  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch),
+  CAR.FIT: HondaCarInfo("Honda Fit 2018-19", harness=Harness.nidec),
+  CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec),
+  CAR.HRV: HondaCarInfo("Honda HR-V 2019-20", harness=Harness.nidec),
+  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec),
+  CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec),
+  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
+  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-21", harness=Harness.nidec),
+  CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec),
+  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec),
+  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
+  CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
 }
 
 
@@ -1118,12 +1127,14 @@ FW_VERSIONS = {
   CAR.PASSPORT: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-RLV-B220\x00\x00',
+      b'37805-RLV-B210\x00\x00',
     ],
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TGS-A230\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36161-TGS-A030\x00\x00',
+      b'36161-TGS-A130\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TG7-A040\x00\x00',
@@ -1139,6 +1150,7 @@ FW_VERSIONS = {
     ],
     (Ecu.combinationMeter, 0x18da60f1, None): [
       b'78109-TGS-AT20\x00\x00',
+      b'78109-TGS-AX20\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TGS-A530\x00\x00',

selfdrive/car/hyundai/interface.py

@@ -125,8 +125,8 @@ class CarInterface(CarInterfaceBase):
     elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG
-      ret.wheelbase = 2.7
-      ret.steerRatio = 13.73 * 1.15  # Spec
+      ret.wheelbase = 2.6
+      ret.steerRatio = 13.42  # Spec
       tire_stiffness_factor = 0.385
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]

selfdrive/car/hyundai/values.py

@@ -4,7 +4,7 @@ from typing import Dict, List, Union
 from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo
+from selfdrive.car.docs_definitions import CarInfo, Harness
 Ecu = car.CarParams.Ecu
 
 # Steer torque limits
@@ -82,53 +82,66 @@ class HyundaiCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Union[HyundaiCarInfo, List[HyundaiCarInfo]]] = {
-  CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS),
-  CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c"),
-  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", video_link="https://youtu.be/_EdYQtV52-c"),
-  CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS),
-  CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19"),
-  CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "SCC + LFA"),
-  CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019"),
-  CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020"),
-  CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", "SCC + LKAS"),
-  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21"),
-  CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020"),
-  CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21"),
-  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020"),
-  CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All"),
-  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All"),
-  CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All"),
-  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All"),
-  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw"),
-  CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19"),
-  CAR.TUCSON_DIESEL_2019: HyundaiCarInfo("Hyundai Tucson Diesel 2019", "SCC + LKAS"),
+  CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b),
+  CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
+  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
+  CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j),
+  CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c),
+  CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "SCC + LFA", harness=Harness.hyundai_h),
+  CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c),
+  CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", harness=Harness.hyundai_h),
+  CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c),
+  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", harness=Harness.hyundai_h),
+  CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b),
+  CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g),
+  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", harness=Harness.hyundai_i),
+  CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d),
+  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", harness=Harness.hyundai_l),
+  CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l),
+  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l),
+  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
+  CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e),
+  CAR.TUCSON_DIESEL_2019: HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
   CAR.PALISADE: [
-    HyundaiCarInfo("Hyundai Palisade 2020-21", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456"),
-    HyundaiCarInfo("Kia Telluride 2020"),
+    HyundaiCarInfo("Hyundai Palisade 2020-21", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Kia Telluride 2020", harness=Harness.hyundai_h),
   ],
-  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS),
-  CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All"),
+  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
+  CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
 
   # Kia
-  CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2018-21"),
-  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC + LFA"),
-  CAR.KIA_NIRO_EV: HyundaiCarInfo("Kia Niro Electric 2019-22", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo"),
-  CAR.KIA_NIRO_HEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2019", min_enable_speed=10. * CV.MPH_TO_MS),
-  CAR.KIA_NIRO_HEV_2021: HyundaiCarInfo("Kia Niro Hybrid 2021-22"),
+  CAR.KIA_FORTE: [
+    HyundaiCarInfo("Kia Forte 2018", harness=Harness.hyundai_b),
+    HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
+  ],
+  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC + LFA", harness=Harness.hyundai_a),
+  CAR.KIA_NIRO_EV: [
+    HyundaiCarInfo("Kia Niro Electric 2019-20", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
+    HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
+    HyundaiCarInfo("Kia Niro Electric 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
+  ],
+  CAR.KIA_NIRO_HEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2019", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
+  CAR.KIA_NIRO_HEV_2021: [
+    HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f),  # TODO: could be hyundai_d, verify
+    HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h),
+  ],
   CAR.KIA_OPTIMA: [
-    HyundaiCarInfo("Kia Optima 2017", min_steer_speed=32. * CV.MPH_TO_MS),
-    HyundaiCarInfo("Kia Optima 2019"),
+    HyundaiCarInfo("Kia Optima 2017", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b),
+    HyundaiCarInfo("Kia Optima 2019", harness=Harness.hyundai_g),
+  ],
+  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
+  CAR.KIA_SORENTO: [
+    HyundaiCarInfo("Kia Sorento 2018", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
+    HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
   ],
-  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021"),
-  CAR.KIA_SORENTO: HyundaiCarInfo("Kia Sorento 2018-19", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8"),
-  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0"),
-  CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019"),
+  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
+  CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
 
   # Genesis
-  CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018", "All"),
-  CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All"),
-  CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018", "All"),
-  CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2018", "All"),
+  CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018", "All", harness=Harness.hyundai_f),
+  CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f),
+  CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018", "All", harness=Harness.hyundai_h),
+  CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2018", "All", harness=Harness.hyundai_c),
 }
 
 class Buttons:

selfdrive/car/interfaces.py

@@ -159,6 +159,8 @@ class CarInterfaceBase(ABC):
       events.add(EventName.brakeHold)
     if cs_out.parkingBrake:
       events.add(EventName.parkBrake)
+    if cs_out.accFaulted:
+      events.add(EventName.accFaulted)
 
     # Handle permanent and temporary steering faults
     self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
@@ -187,6 +189,7 @@ class CarInterfaceBase(ABC):
 
 class RadarInterfaceBase(ABC):
   def __init__(self, CP):
+    self.rcp = None
     self.pts = {}
     self.delay = 0
     self.radar_ts = CP.radarTimeStep

selfdrive/car/mazda/values.py

@@ -1,7 +1,9 @@
+from dataclasses import dataclass
+from enum import Enum
 from typing import Dict, List, Union
 
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo
+from selfdrive.car.docs_definitions import CarInfo, Harness
 from cereal import car
 Ecu = car.CarParams.Ecu
 
@@ -27,13 +29,19 @@ class CAR:
   CX5_2022 = "MAZDA CX-5 2022"
 
 
-CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
-  CAR.CX5: CarInfo("Mazda CX-5 2017, 2019", "All"),  # TODO: verify years and torque for first 4
-  CAR.CX9: CarInfo("Mazda CX-9 2016-17", "All"),
-  CAR.MAZDA3: CarInfo("Mazda 3 2017", "All"),
-  CAR.MAZDA6: CarInfo("Mazda 6 2017", "All"),
-  CAR.CX9_2021: CarInfo("Mazda CX-9 2021", "All", good_torque=True),
-  CAR.CX5_2022: CarInfo("Mazda CX-5 2022", "All", good_torque=True),
+@dataclass
+class MazdaCarInfo(CarInfo):
+  package: str = "All"
+  harness: Enum = Harness.mazda
+
+
+CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
+  CAR.CX5: MazdaCarInfo("Mazda CX-5 2017, 2019"),  # TODO: verify years and torque for first 4
+  CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-17"),
+  CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017"),
+  CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017"),
+  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021", good_torque=True),
+  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022", good_torque=True),
 }
 
 

selfdrive/car/nissan/values.py

@@ -1,7 +1,9 @@
+from dataclasses import dataclass
 from typing import Dict, List, Union
+from enum import Enum
 
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo
+from selfdrive.car.docs_definitions import CarInfo, Harness
 from cereal import car
 Ecu = car.CarParams.Ecu
 
@@ -24,11 +26,17 @@ class CAR:
   ALTIMA = "NISSAN ALTIMA 2020"
 
 
-CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
-  CAR.XTRAIL: CarInfo("Nissan X-Trail 2017", "ProPILOT"),
-  CAR.LEAF: CarInfo("Nissan Leaf 2018-22", "ProPILOT"),
-  CAR.ROGUE: CarInfo("Nissan Rogue 2018-20", "ProPILOT"),
-  CAR.ALTIMA: CarInfo("Nissan Altima 2019-20", "ProPILOT"),
+@dataclass
+class NissanCarInfo(CarInfo):
+  package: str = "ProPILOT"
+  harness: Enum = Harness.nissan_a
+
+
+CAR_INFO: Dict[str, Union[NissanCarInfo, List[NissanCarInfo]]] = {
+  CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
+  CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-22"),
+  CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
+  CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness=Harness.nissan_b),
 }
 
 FINGERPRINTS = {

selfdrive/car/subaru/values.py

@@ -1,11 +1,14 @@
 from dataclasses import dataclass
+from enum import Enum
 from typing import Dict, List, Union
 
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo
+from selfdrive.car.docs_definitions import CarInfo, Harness
 from cereal import car
+
 Ecu = car.CarParams.Ecu
 
+
 class CarControllerParams:
   def __init__(self, CP):
     if CP.carFingerprint == CAR.IMPREZA_2020:
@@ -34,6 +37,7 @@ class CAR:
 @dataclass
 class SubaruCarInfo(CarInfo):
   package: str = "EyeSight"
+  harness: Enum = Harness.subaru
 
 
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
@@ -121,6 +125,7 @@ FW_VERSIONS = {
       b'\x00\x00d)\x00\x00\x00\x00',
       b'\x00\x00c\xf4\x00\x00\x00\x00',
       b'\x00\x00d\xdc\x00\x00\x00\x00',
+      b'\x00\x00dd\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xaa\x61\x66\x73\x07',
@@ -164,14 +169,19 @@ FW_VERSIONS = {
       b'\xa2 \0313\000',
       b'\xa2 !i\000',
       b'\xa2 !`\000',
+      b'\xf1\x00\xb2\x06\x04',
+      b'\xa2  `\x00',
     ],
     (Ecu.eps, 0x746, None): [
       b'\x9a\xc0\000\000',
       b'\n\xc0\004\000',
+      b'\x9a\xc0\x04\x00',
     ],
     (Ecu.fwdCamera, 0x787, None): [
       b'\000\000eb\037@ \"',
       b'\000\000e\x8f\037@ )',
+      b'\x00\x00eq\x1f@ "',
+      b'\x00\x00eq\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xca!ap\a',
@@ -179,43 +189,52 @@ FW_VERSIONS = {
       b'\xca!`0\a',
       b'\xcc\"f0\a',
       b'\xcc!fp\a',
+      b'\xf1\x00\xa2\x10\t',
+      b'\xca!f@\x07',
+      b'\xca!fp\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe6\xf5\004\000\000',
       b'\xe6\xf5$\000\000',
       b'\xe7\xf6B0\000',
       b'\xe7\xf5D0\000',
+      b'\xf1\x00\xd7\x10@',
+      b'\xe6\xf5D0\x00',
     ],
   },
   CAR.FORESTER: {
     (Ecu.esp, 0x7b0, None): [
-      b'\xa3 \030\024\000',
+      b'\xa3 \x18\x14\x00',
       b'\xa3  \024\000',
       b'\xa3 \031\024\000',
-      b'\xa3  \024\001',
+      b'\xa3  \x14\x01',
+      b'\xf1\x00\xbb\r\x05',
     ],
     (Ecu.eps, 0x746, None): [
-      b'\x8d\xc0\004\000',
+      b'\x8d\xc0\x04\x00',
     ],
     (Ecu.fwdCamera, 0x787, None): [
-      b'\000\000e!\037@ \021',
-      b'\000\000e\x97\037@ 0',
+      b'\x00\x00e!\x1f@ \x11',
+      b'\x00\x00e\x97\x1f@ 0',
       b'\000\000e`\037@  ',
       b'\xf1\x00\xac\x02\x00',
+      b'\x00\x00e!\x00\x00\x00\x00',
+      b'\x00\x00e\x97\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
-      b'\xb6\"`A\a',
-      b'\xcf"`0\a',
+      b'\xb6"`A\x07',
+      b'\xcf"`0\x07',
       b'\xcb\"`@\a',
       b'\xcb\"`p\a',
       b'\xf1\x00\xa2\x10\n',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\032\xf6B0\000',
-      b'\032\xf6F`\000',
+      b'\x1a\xf6F`\x00',
       b'\032\xf6b`\000',
-      b'\032\xf6B`\000',
+      b'\x1a\xf6B`\x00',
       b'\xf1\x00\xa4\x10@',
+      b'\x1a\xf6b0\x00',
     ],
   },
   CAR.FORESTER_PREGLOBAL: {
@@ -244,6 +263,7 @@ FW_VERSIONS = {
       b'\xda\xfd\xe0\x80\x00',
       b'\xdc\xf2`\x81\000',
       b'\xdc\xf2`\x80\x00',
+      b'\x1a\xf6F`\x00',
     ],
   },
   CAR.LEGACY_PREGLOBAL: {

selfdrive/car/tesla/carcontroller.py

@@ -9,7 +9,6 @@ class CarController:
     self.CP = CP
     self.frame = 0
     self.last_angle = 0
-    self.long_control_counter = 0
     self.packer = CANPacker(dbc_name)
     self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
     self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
@@ -41,15 +40,15 @@ class CarController:
     self.last_angle = apply_angle
     can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, self.frame))
 
-    # Longitudinal control (40Hz)
-    if self.CP.openpilotLongitudinalControl and self.frame % 5 in (0, 2):
+    # Longitudinal control (in sync with stock message, about 40Hz)
+    if self.CP.openpilotLongitudinalControl:
       target_accel = actuators.accel
       target_speed = max(CS.out.vEgo + (target_accel * CarControllerParams.ACCEL_TO_SPEED_MULTIPLIER), 0)
       max_accel = 0 if target_accel < 0 else target_accel
       min_accel = 0 if target_accel > 0 else target_accel
 
-      can_sends.extend(self.tesla_can.create_longitudinal_commands(CS.acc_state, target_speed, min_accel, max_accel, self.long_control_counter))
-      self.long_control_counter += 1
+      while len(CS.das_control_counters) > 0:
+        can_sends.extend(self.tesla_can.create_longitudinal_commands(CS.acc_state, target_speed, min_accel, max_accel, CS.das_control_counters.popleft()))
 
     # Cancel on user steering override, since there is no steering torque blending
     if hands_on_fault:

selfdrive/car/tesla/carstate.py

@@ -1,4 +1,5 @@
 import copy
+from collections import deque
 from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
@@ -17,6 +18,7 @@ class CarState(CarStateBase):
     self.hands_on_level = 0
     self.steer_warning = None
     self.acc_state = 0
+    self.das_control_counters = deque(maxlen=32)
 
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
@@ -87,9 +89,13 @@ class CarState(CarStateBase):
 
     # TODO: blindspot
 
+    # AEB
+    ret.stockAeb = (cp_cam.vl["DAS_control"]["DAS_aebEvent"] == 1)
+
     # Messages needed by carcontroller
     self.msg_stw_actn_req = copy.copy(cp.vl["STW_ACTN_RQ"])
     self.acc_state = cp_cam.vl["DAS_control"]["DAS_accState"]
+    self.das_control_counters.extend(cp_cam.vl_all["DAS_control"]["DAS_controlCounter"])
 
     return ret
 
@@ -177,6 +183,8 @@ class CarState(CarStateBase):
     signals = [
       # sig_name, sig_address
       ("DAS_accState", "DAS_control"),
+      ("DAS_aebEvent", "DAS_control"),
+      ("DAS_controlCounter", "DAS_control"),
     ]
     checks = [
       # sig_address, frequency

selfdrive/car/tesla/teslacan.py

@@ -51,7 +51,7 @@ class TeslaCAN:
       "DAS_jerkMax": CarControllerParams.JERK_LIMIT_MAX,
       "DAS_accelMin": min_accel,
       "DAS_accelMax": max_accel,
-      "DAS_controlCounter": (cnt % 8),
+      "DAS_controlCounter": cnt,
       "DAS_controlChecksum": 0,
     }
 

selfdrive/car/tests/routes.py

@@ -29,7 +29,7 @@ non_tested_cars = [
 TestRoute = namedtuple('TestRoute', ['route', 'car_fingerprint', 'segment'], defaults=(None,))
 
 routes = [
-  TestRoute("d6ac8ebdb47bc549|2022-03-31--13-10-06", COMMA.BODY),
+  TestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.BODY),
 
   TestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_CHEROKEE),
   TestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_CHEROKEE_2019),
@@ -128,6 +128,7 @@ routes = [
   TestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H),
   TestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
   TestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2),
+  TestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022),
   TestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
   TestRoute("25057fa6a5a63dfb|2020-03-04--08-44-23", TOYOTA.LEXUS_CTH),
   TestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ESH_TSS2),

selfdrive/car/tests/test_car_interfaces.py

@@ -64,7 +64,8 @@ class TestCarInterfaces(unittest.TestCase):
 
     # Run radar interface once
     radar_interface.update([])
-    if not car_params.radarOffCan and hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
+    if not car_params.radarOffCan and radar_interface.rcp is not None and \
+       hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
       radar_interface._update([radar_interface.trigger_msg])
 
 if __name__ == "__main__":

selfdrive/car/tests/test_docs.py

@@ -1,15 +1,15 @@
 #!/usr/bin/env python3
 import unittest
 
-from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_tier_car_info
+from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
 
 
 class TestCarDocs(unittest.TestCase):
   def setUp(self):
-    self.tier_cars = get_tier_car_info()
+    self.all_cars = get_all_car_info()
 
   def test_generator(self):
-    generated_cars_md = generate_cars_md(self.tier_cars, CARS_MD_TEMPLATE)
+    generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
     with open(CARS_MD_OUT, "r") as f:
       current_cars_md = f.read()
 
@@ -18,8 +18,7 @@ class TestCarDocs(unittest.TestCase):
 
   def test_naming_conventions(self):
     # Asserts market-standard car naming conventions by make
-    for cars in self.tier_cars.values():
-      for car in cars:
+    for car in self.all_cars:
       if car.car_name == "hyundai":
         tokens = car.model.lower().split(" ")
         self.assertNotIn("phev", tokens, "Use `Plug-in Hybrid`")

selfdrive/car/tests/test_models.py

@@ -15,7 +15,6 @@ from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.gm.values import CAR as GM
 from selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
 from selfdrive.car.hyundai.values import CAR as HYUNDAI
-from selfdrive.car.toyota.values import CAR as TOYOTA
 from selfdrive.car.tests.routes import non_tested_cars, routes, TestRoute
 from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
@@ -144,11 +143,11 @@ class TestCarModel(unittest.TestCase):
     assert RI
 
     error_cnt = 0
-    for msg in self.can_msgs:
-      radar_data = RI.update((msg.as_builder().to_bytes(),))
-      if radar_data is not None:
-        error_cnt += car.RadarData.Error.canError in radar_data.errors
-    self.assertLess(error_cnt, 20)
+    for i, msg in enumerate(self.can_msgs):
+      rr = RI.update((msg.as_builder().to_bytes(),))
+      if rr is not None and i > 50:
+        error_cnt += car.RadarData.Error.canError in rr.errors
+    self.assertEqual(error_cnt, 0)
 
   def test_panda_safety_rx_valid(self):
     if self.CP.dashcamOnly:
@@ -244,10 +243,6 @@ class TestCarModel(unittest.TestCase):
 
       CS_prev = CS
 
-    # TODO: add flag to toyota safety
-    if self.CP.carFingerprint == TOYOTA.SIENNA and checks['brakePressed'] < 25:
-      checks['brakePressed'] = 0
-
     failed_checks = {k: v for k, v in checks.items() if v > 0}
     self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
 

selfdrive/car/toyota/carcontroller.py

@@ -54,8 +54,7 @@ class CarController:
     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
     self.steer_rate_limited = new_steer != apply_steer
 
-    # Cut steering while we're in a known fault state (2s)
-    if not CC.latActive or CS.steer_state in (9, 25):
+    if not CC.latActive:
       apply_steer = 0
       apply_steer_req = 0
     else:

selfdrive/car/toyota/carstate.py

@@ -6,7 +6,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, EPS_SCALE
+from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE
 
 
 class CarState(CarStateBase):
@@ -82,7 +82,10 @@ class CarState(CarStateBase):
     ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
     # we could use the override bit from dbc, but it's triggered at too high torque values
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-    ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] not in (1, 5)
+    # steer rate fault, goes to 21 or 25 for 1 frame, then 9 for ~2 seconds
+    ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 21, 25)
+    # 17 is a fault from a prolonged high torque delta between cmd and user
+    ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17
 
     if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
       ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
@@ -91,8 +94,12 @@ class CarState(CarStateBase):
       ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
       ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS
 
-    if self.CP.carFingerprint in TSS2_CAR:
+    if self.CP.carFingerprint in RADAR_ACC_CAR:
+      self.acc_type = cp.vl["ACC_CONTROL"]["ACC_TYPE"]
+      ret.stockFcw = bool(cp.vl["ACC_HUD"]["FCW"])
+    elif self.CP.carFingerprint in TSS2_CAR:
       self.acc_type = cp_cam.vl["ACC_CONTROL"]["ACC_TYPE"]
+      ret.stockFcw = bool(cp_cam.vl["ACC_HUD"]["FCW"])
 
     # some TSS2 cars have low speed lockout permanently set, so ignore on those cars
     # these cars are identified by an ACC_TYPE value of 2.
@@ -116,8 +123,6 @@ class CarState(CarStateBase):
     ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
 
     ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
-    # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
-    self.steer_state = cp.vl["EPS_STATUS"]["LKA_STATE"]
 
     if self.CP.enableBsm:
       ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
@@ -204,6 +209,16 @@ class CarState(CarStateBase):
       ]
       checks.append(("BSM", 1))
 
+    if CP.carFingerprint in RADAR_ACC_CAR:
+      signals += [
+        ("ACC_TYPE", "ACC_CONTROL"),
+        ("FCW", "ACC_HUD"),
+      ]
+      checks += [
+        ("ACC_CONTROL", 33),
+        ("ACC_HUD", 1),
+      ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
 
   @staticmethod
@@ -219,8 +234,14 @@ class CarState(CarStateBase):
       ("PRE_COLLISION", 0), # TODO: figure out why freq is inconsistent
     ]
 
-    if CP.carFingerprint in TSS2_CAR:
-      signals.append(("ACC_TYPE", "ACC_CONTROL"))
-      checks.append(("ACC_CONTROL", 33))
+    if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
+      signals += [
+        ("ACC_TYPE", "ACC_CONTROL"),
+        ("FCW", "ACC_HUD"),
+      ]
+      checks += [
+        ("ACC_CONTROL", 33),
+        ("ACC_HUD", 1),
+      ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)

selfdrive/car/toyota/interface.py

@@ -1,8 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
 from common.conversions import Conversions as CV
+from panda import Panda
 from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
-from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
+from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -22,6 +23,9 @@ class CarInterface(CarInterfaceBase):
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
     ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
 
+    if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH):
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
+
     ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
     ret.steerLimitTimer = 0.4
     ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop
@@ -42,8 +46,8 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.78
       ret.steerRatio = 17.4
       tire_stiffness_factor = 0.5533
-      ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE)
+      ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
+      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.8, FRICTION=0.06)
 
     elif candidate in (CAR.RAV4, CAR.RAV4H):
       stop_and_go = True if (candidate in CAR.RAV4H) else False
@@ -51,7 +55,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.88   # 14.5 is spec end-to-end
       tire_stiffness_factor = 0.5533
       ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.5, FRICTION=0.06)
+      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.8, FRICTION=0.06)
 
     elif candidate == CAR.COROLLA:
       ret.wheelbase = 2.70
@@ -83,6 +87,9 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.7
       tire_stiffness_factor = 0.7933
       ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
+      if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
+        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.4, FRICTION=0.05)
+      else:
         set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
@@ -111,7 +118,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
       set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
 
-    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4H_TSS2):
+    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
       stop_and_go = True
       ret.wheelbase = 2.68986
       ret.steerRatio = 14.3
@@ -119,7 +126,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG  # Average between ICE and Hybrid
       set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
 
-      # 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
+      # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
       # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
       for fw in car_fw:
         if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
@@ -132,7 +139,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.9
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=3.0, FRICTION=0.08)
+      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.0, FRICTION=0.07)
 
     elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
       stop_and_go = True
@@ -217,7 +224,10 @@ class CarInterface(CarInterfaceBase):
     ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu)
     ret.enableGasInterceptor = 0x201 in fingerprint[0]
     # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
-    ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in TSS2_CAR
+    ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
+
+    if not ret.openpilotLongitudinalControl:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
 
     # we can't use the fingerprint to detect this reliably, since
     # the EV gas pedal signal can take a couple seconds to appear

selfdrive/car/toyota/radar_interface.py

@@ -6,6 +6,9 @@ from selfdrive.car.interfaces import RadarInterfaceBase
 
 
 def _create_radar_can_parser(car_fingerprint):
+  if DBC[car_fingerprint]['radar'] is None:
+    return None
+
   if car_fingerprint in TSS2_CAR:
     RADAR_A_MSGS = list(range(0x180, 0x190))
     RADAR_B_MSGS = list(range(0x190, 0x1a0))
@@ -48,7 +51,7 @@ class RadarInterface(RadarInterfaceBase):
     self.no_radar = CP.carFingerprint in NO_DSU_CAR and CP.carFingerprint not in TSS2_CAR
 
   def update(self, can_strings):
-    if self.no_radar:
+    if self.no_radar or self.rcp is None:
       return super().update(None)
 
     vls = self.rcp.update_strings(can_strings)

selfdrive/car/toyota/tunes.py

@@ -54,9 +54,9 @@ def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=.1):
   if name == LatTunes.TORQUE:
     tune.init('torque')
     tune.torque.useSteeringAngle = True
-    tune.torque.kp = 2.0 / MAX_LAT_ACCEL
+    tune.torque.kp = 1.0 / MAX_LAT_ACCEL
     tune.torque.kf = 1.0 / MAX_LAT_ACCEL
-    tune.torque.ki = 0.5 / MAX_LAT_ACCEL
+    tune.torque.ki = 0.1 / MAX_LAT_ACCEL
     tune.torque.friction = FRICTION
   elif name == LatTunes.INDI_PRIUS:
     tune.init('indi')

selfdrive/car/toyota/values.py

@@ -6,7 +6,7 @@ from typing import Dict, List, Union
 from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Star
+from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, Star
 
 Ecu = car.CarParams.Ecu
 MIN_ACC_SPEED = 19. * CV.MPH_TO_MS
@@ -63,6 +63,7 @@ class CAR:
   RAV4H = "TOYOTA RAV4 HYBRID 2017"
   RAV4_TSS2 = "TOYOTA RAV4 2019"
   RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
+  RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022"
   MIRAI = "TOYOTA MIRAI 2021"  # TSS 2.5
   SIENNA = "TOYOTA SIENNA 2018"
 
@@ -99,6 +100,7 @@ class Footnote(Enum):
 class ToyotaCarInfo(CarInfo):
   package: str = "All"
   good_torque: bool = True
+  harness: Enum = Harness.toyota
 
 
 CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
@@ -142,6 +144,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.RAV4H: ToyotaCarInfo("Toyota RAV4 Hybrid 2016-18", "TSS-P", footnotes=[Footnote.DSU]),
   CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
   CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
+  CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022"),
   CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
   CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU]),
 
@@ -149,7 +152,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]),
   CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]),
   CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-21"),
-  CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-21"),
+  CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22"),
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
   CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]),
   CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]),
@@ -1330,6 +1333,31 @@ FW_VERSIONS = {
       b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
     ],
   },
+  CAR.RAV4H_TSS2_2022: {
+    (Ecu.esp, 0x7b0, None): [
+      b'\x01F15264283100\x00\x00\x00\x00',
+      b'\x01F15264286200\x00\x00\x00\x00',
+      b'\x01F15264286100\x00\x00\x00\x00',
+      b'\x01F15264283200\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00',
+      b'8965B42182\x00\x00\x00\x00\x00\x00',
+      b'8965B42172\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x01896634A62000\x00\x00\x00\x00',
+      b'\x01896634A08000\x00\x00\x00\x00',
+      b'\x01896634A61000\x00\x00\x00\x00',
+      b'\x01896634A02001\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F0R01100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
+    ],
+  },
   CAR.SIENNA: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630832100\x00\x00\x00\x00',
@@ -1423,22 +1451,26 @@ FW_VERSIONS = {
       b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
       b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
       b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
+      b'\x01896633T38000\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x7b0, None): [
       b'F152633423\x00\x00\x00\x00\x00\x00',
       b'F152633680\x00\x00\x00\x00\x00\x00',
       b'F152633681\x00\x00\x00\x00\x00\x00',
+      b'F152633F50\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B33252\x00\x00\x00\x00\x00\x00',
       b'8965B33590\x00\x00\x00\x00\x00\x00',
       b'8965B33690\x00\x00\x00\x00\x00\x00',
+      b'8965B33721\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301100\x00\x00\x00\x00',
       b'\x018821F3301200\x00\x00\x00\x00',
       b'\x018821F3301300\x00\x00\x00\x00',
       b'\x018821F3301400\x00\x00\x00\x00',
+      b'\x018821F6201300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
@@ -1447,6 +1479,7 @@ FW_VERSIONS = {
       b'\x028646F3304100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F3304200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+      b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
   CAR.LEXUS_ESH: {
@@ -1733,6 +1766,7 @@ FW_VERSIONS = {
   CAR.PRIUS_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966347C6000\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',
@@ -1840,6 +1874,7 @@ DBC = {
   CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
+  CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
   CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@@ -1853,14 +1888,17 @@ DBC = {
 EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100})
 
 # Toyota/Lexus Safety Sense 2.0 and 2.5
-TSS2_CAR = {CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2,
+TSS2_CAR = {CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
             CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
             CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2}
 
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
 
+# these cars have a radar which sends ACC messages instead of the camera
+RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022}
+
 EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS,
-                 CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
+                 CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
                  CAR.LEXUS_RXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}
 
 # no resume button press required

selfdrive/car/volkswagen/carstate.py

@@ -93,12 +93,11 @@ class CarState(CarStateBase):
     ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])
 
     # Update ACC radar status.
-    self.tsk_status = pt_cp.vl["TSK_06"]["TSK_Status"]
-    if self.tsk_status == 2:
+    if pt_cp.vl["TSK_06"]["TSK_Status"] == 2:
       # ACC okay and enabled, but not currently engaged
       ret.cruiseState.available = True
       ret.cruiseState.enabled = False
-    elif self.tsk_status in (3, 4, 5):
+    elif pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5):
       # ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or overrun coast-down (5)
       ret.cruiseState.available = True
       ret.cruiseState.enabled = True
@@ -106,6 +105,7 @@ class CarState(CarStateBase):
       # ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
       ret.cruiseState.available = False
       ret.cruiseState.enabled = False
+    ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
 
     # Update ACC setpoint. When the setpoint is zero or there's an error, the
     # radar sends a set-speed of ~90.69 m/s / 203mph.

selfdrive/car/volkswagen/interface.py

@@ -177,10 +177,6 @@ class CarInterface(CarInterfaceBase):
 
     events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic])
 
-    # Vehicle health and operation safety checks
-    if self.CS.tsk_status in (6, 7):
-      events.add(EventName.accFaulted)
-
     # Low speed steer alert hysteresis logic
     if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
       self.low_speed_alert = True

selfdrive/car/volkswagen/values.py

@@ -5,13 +5,14 @@ from typing import Dict, List, Union
 
 from cereal import car
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column
+from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
 
 Ecu = car.CarParams.Ecu
 NetworkLocation = car.CarParams.NetworkLocation
 TransmissionType = car.CarParams.TransmissionType
 GearShifter = car.CarState.GearShifter
 
+
 class CarControllerParams:
   HCA_STEP = 2                   # HCA_01 message frequency 50Hz
   LDW_STEP = 10                  # LDW_02 message frequency 10Hz
@@ -30,14 +31,17 @@ class CarControllerParams:
   STEER_DRIVER_MULTIPLIER = 3    # weight driver torque heavily
   STEER_DRIVER_FACTOR = 1        # from dbc
 
+
 class CANBUS:
   pt = 0
   cam = 2
 
+
 class DBC_FILES:
   mqb = "vw_mqb_2010"  # Used for all cars with MQB-style CAN messaging
 
-DBC = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None))  # type: Dict[str, Dict[str, str]]
+
+DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None))
 
 BUTTON_STATES = {
   "accelCruise": False,
@@ -60,6 +64,7 @@ MQB_LDW_MESSAGES = {
   "laneAssistDeactivated": 10,          # "Lane Assist deactivated." silent with persistent icon afterward
 }
 
+
 # Check the 7th and 8th characters of the VIN before adding a new CAR. If the
 # chassis code is already listed below, don't add a new CAR, just add to the
 # FW_VERSIONS for that existing CAR.
@@ -110,11 +115,12 @@ class Footnote(Enum):
 class VWCarInfo(CarInfo):
   package: str = "Driver Assistance"
   good_torque: bool = True
+  harness: Enum = Harness.vw
 
 
 CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
-  CAR.ARTEON_MK1: VWCarInfo("Volkswagen Arteon 2018, 2021", footnotes=[Footnote.VW_HARNESS]),
-  CAR.ATLAS_MK1: VWCarInfo("Volkswagen Atlas 2018-19, 2022", footnotes=[Footnote.VW_HARNESS]),
+  CAR.ARTEON_MK1: VWCarInfo("Volkswagen Arteon 2018, 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+  CAR.ATLAS_MK1: VWCarInfo("Volkswagen Atlas 2018-19, 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
   CAR.GOLF_MK7: [
     VWCarInfo("Volkswagen e-Golf 2014, 2018-20"),
     VWCarInfo("Volkswagen Golf 2015-20"),
@@ -131,15 +137,15 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   ],
   CAR.PASSAT_MK8: VWCarInfo("Volkswagen Passat 2016-18", footnotes=[Footnote.PASSAT]),
   CAR.POLO_MK6: VWCarInfo("Volkswagen Polo 2020"),
-  CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS]),
-  CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_HARNESS]),
-  CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2020-22", footnotes=[Footnote.VW_HARNESS]),
+  CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+  CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+  CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
   CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"),
   CAR.TRANSPORTER_T61: [
-    VWCarInfo("Volkswagen Caravelle 2020", footnotes=[Footnote.VW_HARNESS]),
-    VWCarInfo("Volkswagen California 2021", footnotes=[Footnote.VW_HARNESS]),
+    VWCarInfo("Volkswagen Caravelle 2020", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen California 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
   ],
-  CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_HARNESS]),
+  CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
   CAR.AUDI_A3_MK3: [
     VWCarInfo("Audi A3 2014-19", "ACC + Lane Assist"),
     VWCarInfo("Audi A3 Sportback e-tron 2017-18", "ACC + Lane Assist"),
@@ -517,6 +523,7 @@ FW_VERSIONS = {
       b'\xf1\x8704L906026EJ\xf1\x893661',
       b'\xf1\x8704L906027G \xf1\x899893',
       b'\xf1\x875N0906259  \xf1\x890002',
+      b'\xf1\x875NA907115E \xf1\x890005',
       b'\xf1\x8783A907115B \xf1\x890005',
       b'\xf1\x8783A907115G \xf1\x890001',
     ],
@@ -527,6 +534,7 @@ FW_VERSIONS = {
       b'\xf1\x870DL300011N \xf1\x892001',
       b'\xf1\x870DL300011N \xf1\x892012',
       b'\xf1\x870DL300013A \xf1\x893005',
+      b'\xf1\x870DL300013G \xf1\x892119',
       b'\xf1\x870DL300013G \xf1\x892120',
     ],
     (Ecu.srs, 0x715, None): [
@@ -534,6 +542,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100',
       b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100',
     ],
     (Ecu.eps, 0x712, None): [

selfdrive/common/params.cc

@@ -60,9 +60,9 @@ bool create_params_path(const std::string &param_path, const std::string &key_pa
   return true;
 }
 
-std::string ensure_params_path(const std::string &path = {}) {
+std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) {
   std::string params_path = path.empty() ? Path::params() : path;
-  if (!create_params_path(params_path, params_path + "/d")) {
+  if (!create_params_path(params_path, params_path + prefix)) {
     throw std::runtime_error(util::string_format("Failed to ensure params path, errno=%d", errno));
   }
   return params_path;
@@ -94,6 +94,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CompletedTrainingVersion", PERSISTENT},
     {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"DisablePowerDown", PERSISTENT},
     {"DisableRadar_Allow", PERSISTENT},
     {"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB
@@ -131,7 +132,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
-    {"LastPeripheralPandaType", PERSISTENT},
     {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
     {"LastSystemShutdown", CLEAR_ON_MANAGER_START},
     {"LastUpdateException", CLEAR_ON_MANAGER_START},
@@ -180,9 +180,12 @@ std::unordered_map<std::string, uint32_t> keys = {
 
 } // namespace
 
+
 Params::Params(const std::string &path) {
-  static std::string default_param_path = ensure_params_path();
-  params_path = path.empty() ? default_param_path : ensure_params_path(path);
+  const char* env = std::getenv("OPENPILOT_PREFIX");
+  prefix = env ? "/" + std::string(env) : "/d";
+  std::string default_param_path = ensure_params_path(prefix);
+  params_path = path.empty() ? default_param_path : ensure_params_path(prefix, path);
 }
 
 bool Params::checkKey(const std::string &key) {

selfdrive/common/params.h

@@ -18,7 +18,7 @@ public:
   bool checkKey(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);
   inline std::string getParamPath(const std::string &key = {}) {
-    return key.empty() ? params_path + "/d" : params_path + "/d/" + key;
+    return params_path + prefix + (key.empty() ? "" : "/" + key);
   }
 
   // Delete a value
@@ -43,4 +43,5 @@ public:
 
 private:
   std::string params_path;
+  std::string prefix;
 };