Merge remote-tracking branch 'upstream/master' into feature-subaru-long-2023-04-27

2 years ago · 703f378be3
parent 3c758dbb84 aabbe9ff18
commit 703f378be3
246 changed files with 7121 additions and 3099 deletions
--- a/.github/workflows/repo.yml
+++ b/.github/workflows/repo.yml
@ -0,0 +1,28 @@
+name: repo
+
+on:
+  schedule:
+    - cron: "0 15 * * 2"
+  workflow_dispatch:
+
+jobs:
+  pre-commit-autoupdate:
+    name: pre-commit autoupdate
+    runs-on: ubuntu-20.04
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
+    steps:
+    - uses: actions/checkout@v3
+    - name: pre-commit autoupdate
+      run: |
+        git config --global --add safe.directory '*'
+        pre-commit autoupdate
+    - name: Create Pull Request
+      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      with:
+        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        commit-message: Update pre-commit hook versions
+        title: 'pre-commit: autoupdate hooks'
+        branch: pre-commit-updates
+        base: master
+        delete-branch: true
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@ -261,7 +261,7 @@ jobs:
        name: process_replay_diff.txt
        path: selfdrive/test/process_replay/diff.txt
    - name: Upload reference logs
-      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
      run: |
        ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
    - name: "Upload coverage to Codecov"
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@ -4,11 +4,12 @@ repos:
    -   id: check-hooks-apply
    -   id: check-useless-excludes
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.1.0
+    rev: v4.4.0
    hooks:
    -   id: check-ast
        exclude: '^(third_party)/'
    -   id: check-json
+    -   id: check-toml
    -   id: check-xml
    -   id: check-yaml
    -   id: check-merge-conflict
@ -16,7 +17,7 @@ repos:
    -   id: check-added-large-files
        args: ['--maxkb=100']
 -   repo: https://github.com/codespell-project/codespell
-    rev: v2.2.1
+    rev: v2.2.4
    hooks:
    -   id: codespell
        exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
@ -33,7 +34,7 @@ repos:
        types: [python]
        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/PyCQA/flake8
-    rev: 4.0.1
+    rev: 6.0.0
    hooks:
    -   id: flake8
        exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/'
@ -79,6 +80,6 @@ repos:
        language: script
        pass_filenames: false
 -   repo: https://github.com/python-poetry/poetry
-    rev: '1.2.2'
+    rev: '1.4.0'
    hooks:
    -   id: poetry-check
--- a/17
+++ b/17
@ -125,6 +125,21 @@ pipeline {
        }
        */

+        stage('tizi-tests') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tizi", [
+              ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["test boardd loopback", "SINGLE_PANDA=1 python selfdrive/boardd/tests/test_boardd_loopback.py"],
+              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
+              ["test camerad", "python system/camerad/test/test_camerad.py"],
+              ["test exposure", "python system/camerad/test/test_exposure.py"],
+              ["test amp", "python system/hardware/tici/tests/test_amplifier.py"],
+            ])
+          }
+        }
+
        stage('build') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          environment {
@ -156,7 +171,7 @@ pipeline {
          steps {
            phone_steps("tici-common", [
              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test power draw", "python system/hardware/tici/test_power_draw.py"],
+              ["test power draw", "python system/hardware/tici/tests/test_power_draw.py"],
              ["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
              ["test pigeond", "python system/sensord/tests/test_pigeond.py"],
--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,7 +1,12 @@
 Version 0.9.2 (2023-03-XX)
 ========================
+* New driving model, trained on a new dataset
 * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
 * Buick LaCrosse 2017-19 support thanks to koch-cf!
+* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
+* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
+* Kia Niro EV 2023 support thanks to JosselinLecocq!
+* Lexus ES 2017-18 support
 * Škoda Fabia 2022-23 support thanks to jyoung8607!

 Version 0.9.1 (2023-02-28)
--- a/21
+++ b/21
@ -5,6 +5,10 @@ import sysconfig
 import platform
 import numpy as np

+import SCons.Errors
+
+SCons.Warnings.warningAsException(True)
+
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI

@ -118,7 +122,7 @@ else:
      f"#third_party/libyuv/{yuv_dir}/lib",
      f"{brew_prefix}/lib",
      f"{brew_prefix}/Library",
-      f"{brew_prefix}/opt/openssl/lib",
+      f"{brew_prefix}/opt/openssl@3.0/lib",
      f"{brew_prefix}/Cellar",
      "/System/Library/Frameworks/OpenGL.framework/Libraries",
    ]
@ -131,7 +135,7 @@ else:
    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
    cpppath += [
      f"{brew_prefix}/include",
-      f"{brew_prefix}/opt/openssl/include",
+      f"{brew_prefix}/opt/openssl@3.0/include",
    ]
  # Linux 86_64
  else:
@ -310,8 +314,14 @@ else:
    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
  elif arch != "Darwin":
    qt_libs += ["GL"]
+qt_env['QT3DIR'] = qt_env['QTDIR']
+
+# compatibility for older SCons versions
+try:
+  qt_env.Tool('qt3')
+except SCons.Errors.UserError:
+  qt_env.Tool('qt')

-qt_env.Tool('qt')
 qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
 qt_flags = [
  "-D_REENTRANT",
@ -432,11 +442,8 @@ SConscript(['system/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/navd/SConscript'])

-if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
+if (arch in ['x86_64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'):
  SConscript(['tools/replay/SConscript'])
-
-  opendbc = abspath([File('opendbc/can/libdbc.so')])
-  Export('opendbc')
  SConscript(['tools/cabana/SConscript'])

 external_sconscript = GetOption('external_sconscript')
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 7492dc3f45702dfdbe0f353f38844e7fbf39ca71
+Subproject commit 37157b136403ad42bb262cae2abcb5329392d1f4
--- a/common/gpio.py
+++ b/common/gpio.py
@ -1,4 +1,5 @@
-from typing import Optional
+import glob
+from typing import Optional, List

 def gpio_init(pin: int, output: bool) -> None:
  try:
@ -23,3 +24,13 @@ def gpio_read(pin: int) -> Optional[bool]:
    print(f"Failed to set gpio {pin} value: {e}")

  return val
+
+def get_irq_for_action(action: str) -> List[int]:
+  ret = []
+  for fn in glob.glob('/sys/kernel/irq/*/actions'):
+    with open(fn) as f:
+      actions = f.read().strip().split(',')
+      if action in actions:
+        irq = int(fn.split('/')[-2])
+        ret.append(irq)
+  return ret
--- a/common/i2c.cc
+++ b/common/i2c.cc
@ -15,7 +15,7 @@
 #define UNUSED(x) (void)(x)

 #ifdef QCOM2
-// TODO: decide if we want to isntall libi2c-dev everywhere
+// TODO: decide if we want to install libi2c-dev everywhere
 extern "C" {
  #include <linux/i2c-dev.h>
  #include <i2c/smbus.h>
--- a/common/params.cc
+++ b/common/params.cc
@ -98,6 +98,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
    {"CompletedTrainingVersion", PERSISTENT},
    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"CurrentBootlog", PERSISTENT},
    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
    {"DisablePowerDown", PERSISTENT},
@ -110,7 +111,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"DoReboot", CLEAR_ON_MANAGER_START},
    {"DoShutdown", CLEAR_ON_MANAGER_START},
    {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"FirmwareObdQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
    {"ForcePowerDown", CLEAR_ON_MANAGER_START},
    {"GitBranch", PERSISTENT},
    {"GitCommit", PERSISTENT},
@ -154,7 +155,8 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"NavSettingTime24h", PERSISTENT},
    {"NavSettingLeftSide", PERSISTENT},
    {"NavdRender", PERSISTENT},
-    {"ObdMultiplexingDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
    {"OpenpilotEnabledToggle", PERSISTENT},
    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
    {"PandaSignatures", CLEAR_ON_MANAGER_START},
--- a/common/statlog.cc
+++ b/common/statlog.cc
@ -5,6 +5,7 @@
 #include "common/statlog.h"
 #include "common/util.h"

+#include <cstdarg>
 #include <stdio.h>
 #include <mutex>
 #include <zmq.h>
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@ -5,6 +5,7 @@
 #include "common/swaglog.h"

 #include <cassert>
+#include <cstdarg>
 #include <cstring>
 #include <limits>
 #include <mutex>
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -2,9 +2,9 @@

 # Supported Cars

-A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
+A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

-# 239 Supported Cars
+# 243 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -23,6 +23,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM</a>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM</a>||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">GM</a>||
+|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">GM</a>||
 |Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">OBD-II</a>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">FCA</a>||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA</a>||
@ -44,9 +45,9 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A</a>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec</a>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>||
+|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A</a>||
-|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>||
+|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec</a>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A</a>||
 |Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A</a>||
@ -54,12 +55,13 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec</a>||
 |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec</a>||
 |Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec</a>||
+|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Honda Bosch B</a>||
 |Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A</a>||
 |Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A</a>||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec</a>||
 |Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-21">Honda Nidec</a>||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec</a>||
-|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-22">Honda Nidec</a>||
+|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Honda Nidec</a>||
 |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B</a>||
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Hyundai E</a>||
@ -74,7 +76,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Hyundai C</a>||
 |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Hyundai H</a>||
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Hyundai C</a>||
-|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-21">Hyundai H</a>||
+|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Hyundai H</a>||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Hyundai B</a>||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Hyundai G</a>||
 |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O</a>||
@ -98,8 +100,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA</a>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Hyundai E</a>||
 |Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Hyundai P</a>||
-|Kia|EV6 (with HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022">Hyundai P</a>||
-|Kia|EV6 (without HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022">Hyundai L</a>||
+|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Hyundai P</a>||
+|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Hyundai L</a>||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G</a>||
 |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A</a>||
 |Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A</a>||
@ -107,8 +109,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021">Hyundai F</a>||
-|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2022">Hyundai H</a>||
+|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Hyundai A</a>||
+|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Hyundai F</a>||
 |Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A</a>||
 |Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Hyundai C</a>||
 |Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Hyundai D</a>||
@ -125,15 +127,16 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Hyundai K</a>||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H</a>||
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota</a>||
+|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2017-18">Toyota</a>||
 |Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota</a>||
-|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota</a>||
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota</a>||
 |Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota</a>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota</a>||
 |Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota</a>||
 |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota</a>||
 |Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota</a>||
 |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota</a>||
-|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2017-20">Toyota</a>||
+|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Toyota</a>||
 |Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota</a>||
 |Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota</a>||
 |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota</a>||
@ -146,10 +149,10 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda</a>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda</a>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B</a>||
-|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-22">Nissan A</a>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-23">Nissan A</a>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A</a>||
 |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A</a>||
-|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-22">Ram</a>||
+|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Ram</a>||
 |SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533</a>||
 |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533</a>||
 |Subaru|Ascent 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A</a>||
@ -237,8 +240,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533</a>||
 |Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533</a>||
 |Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533</a>||
-|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2020-22">J533</a>[<sup>10</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2020-22">J533</a>[<sup>10</sup>](#footnotes)||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">J533</a>[<sup>10</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">J533</a>[<sup>10</sup>](#footnotes)||
 |Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533</a>[<sup>10</sup>](#footnotes)||
 |Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533</a>[<sup>10</sup>](#footnotes)||
 |Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533</a>||
@ -246,6 +249,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">J533</a>||
 |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">J533</a>||
 |Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">J533</a>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">J533</a>||
 |Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2017">J533</a>||

 <a id="footnotes"></a>
--- a/docs/docker/Dockerfile
+++ b/docs/docker/Dockerfile
@ -11,6 +11,7 @@ WORKDIR ${OPENPILOT_PATH}

 COPY SConstruct ${OPENPILOT_PATH}

+COPY ./body ${OPENPILOT_PATH}/body
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
 COPY ./laika ${OPENPILOT_PATH}/laika
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 6fadabd86043ee19e06c6ed59aa4e688c14fa8e4
+Subproject commit e932f32ab921ed09ba6e304990574693d8ca5199
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit b7d4a6e2718d9ec3cf436441696528bedb1d44cf
+Subproject commit 5adb62bf0483a3b3975e513b4e72d4abd9826aa6
--- a/poetry.lock
+++ b/poetry.lock
@ -55,7 +55,7 @@ frozenlist = ">=1.1.0"
 name = "alabaster"
 version = "0.7.12"
 description = "A configurable sidebar-enabled Sphinx theme"
-category = "dev"
+category = "main"
 optional = false
 python-versions = "*"

@ -119,6 +119,7 @@ packaging = ">20.6"
 [package.source]
 type = "url"
 url = "https://github.com/commaai/apex/releases/download/pytorch2.0.0%2Bcu11.8/apex-0.1-cp38-cp38-linux_x86_64.whl"
+
 [[package]]
 name = "appdirs"
 version = "1.4.4"
@ -373,7 +374,7 @@ azure-nspkg = ">=2.0.0"
 name = "babel"
 version = "2.10.3"
 description = "Internationalization utilities"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.6"

@ -459,6 +460,14 @@ python-versions = "*"
 docutils = ">=0.12"
 Sphinx = ">=4.0,<5.0.0 || >5.0.0,<6"

+[[package]]
+name = "brotli"
+version = "1.0.9"
+description = "Python bindings for the Brotli compression library"
+category = "dev"
+optional = false
+python-versions = "*"
+
 [[package]]
 name = "cachecontrol"
 version = "0.12.11"
@ -847,7 +856,7 @@ python-versions = "*"
 name = "docutils"
 version = "0.17.1"
 description = "Docutils -- Python Documentation Utilities"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"

@ -1193,6 +1202,20 @@ monitor = ["psutil (>=5.7.0)"]
 recommended = ["backports.socketpair", "cffi (>=1.12.2)", "dnspython (>=1.16.0,<2.0)", "idna", "psutil (>=5.7.0)", "selectors2"]
 test = ["backports.socketpair", "cffi (>=1.12.2)", "contextvars (==2.4)", "coverage (>=5.0)", "coveralls (>=1.7.0)", "dnspython (>=1.16.0,<2.0)", "futures", "idna", "mock", "objgraph", "psutil (>=5.7.0)", "requests", "selectors2"]

+[[package]]
+name = "geventhttpclient"
+version = "2.0.2"
+description = "http client library for gevent"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+brotli = "*"
+certifi = "*"
+gevent = ">=0.13"
+six = "*"
+
 [[package]]
 name = "greenlet"
 version = "1.1.3.post0"
@ -1367,7 +1390,7 @@ tifffile = ["tifffile"]
 name = "imagesize"
 version = "1.4.1"
 description = "Getting image size from png/jpeg/jpeg2000/gif file"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"

@ -2496,6 +2519,33 @@ category = "main"
 optional = false
 python-versions = ">=3.8"

+[[package]]
+name = "nvidia-cublas-cu12"
+version = "12.1.0.26"
+description = "CUBLAS native runtime libraries"
+category = "dev"
+optional = false
+python-versions = ">=3"
+
+[[package]]
+name = "nvidia-cuda-runtime-cu12"
+version = "12.1.55"
+description = "CUDA Runtime native Libraries"
+category = "dev"
+optional = false
+python-versions = ">=3"
+
+[[package]]
+name = "nvidia-cudnn-cu12"
+version = "8.9.0.131"
+description = "cuDNN runtime libraries"
+category = "dev"
+optional = false
+python-versions = ">=3"
+
+[package.dependencies]
+nvidia-cublas-cu12 = "*"
+
 [[package]]
 name = "nvidia-ml-py3"
 version = "7.352.0"
@ -2608,6 +2658,7 @@ numpy = [
 [package.source]
 type = "url"
 url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl"
+
 [[package]]
 name = "osmium"
 version = "3.4.1"
@ -2679,6 +2730,23 @@ category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"

+[[package]]
+name = "panflute"
+version = "2.3.0"
+description = "Pythonic Pandoc filters"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+click = ">=6,<9"
+pyyaml = ">=3,<7"
+
+[package.extras]
+dev = ["configparser", "coverage", "flake8", "pandocfilters", "pytest", "pytest-cov", "requests"]
+extras = ["yamlloader (>=1,<2)"]
+pypi = ["Pygments", "docutils", "twine", "wheel"]
+
 [[package]]
 name = "parameterized"
 version = "0.8.1"
@ -3091,7 +3159,7 @@ python-versions = ">=3.6"
 name = "pygments"
 version = "2.13.0"
 description = "Pygments is a syntax highlighting package written in Python."
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.6"

@ -3359,6 +3427,14 @@ category = "dev"
 optional = false
 python-versions = "*"

+[[package]]
+name = "python-rapidjson"
+version = "1.10"
+description = "Python wrapper around rapidjson"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
 [[package]]
 name = "python-socketio"
 version = "5.7.2"
@ -3394,7 +3470,7 @@ numpy = ["numpy (>=1.6.0)"]
 name = "pytz"
 version = "2022.5"
 description = "World timezone definitions, modern and historical"
-category = "dev"
+category = "main"
 optional = false
 python-versions = "*"

@ -3682,6 +3758,27 @@ python-versions = ">=3.6"
 [package.dependencies]
 setuptools = "*"

+[[package]]
+name = "sconscontrib"
+version = "1.0"
+description = ""
+category = "main"
+optional = false
+python-versions = ">=3.6, <4"
+develop = false
+
+[package.dependencies]
+docutils = "*"
+panflute = "*"
+SCons = ">=4"
+sphinx = "*"
+
+[package.source]
+type = "git"
+url = "https://github.com/SCons/scons-contrib.git"
+reference = "HEAD"
+resolved_reference = "f3b0100d3a628e4d18f496815903660a99489bae"
+
 [[package]]
 name = "secretstorage"
 version = "3.3.3"
@ -3860,7 +3957,7 @@ python-versions = ">=3.7"
 name = "snowballstemmer"
 version = "2.2.0"
 description = "This package provides 29 stemmers for 28 languages generated from Snowball algorithms."
-category = "dev"
+category = "main"
 optional = false
 python-versions = "*"

@ -3898,7 +3995,7 @@ python-versions = ">=3.6"
 name = "sphinx"
 version = "5.3.0"
 description = "Python documentation generator"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.6"

@ -3957,7 +4054,7 @@ sphinx = ">=1.2"
 name = "sphinxcontrib-applehelp"
 version = "1.0.2"
 description = "sphinxcontrib-applehelp is a sphinx extension which outputs Apple help books"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.5"

@ -3969,7 +4066,7 @@ test = ["pytest"]
 name = "sphinxcontrib-devhelp"
 version = "1.0.2"
 description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp document."
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.5"

@ -3981,7 +4078,7 @@ test = ["pytest"]
 name = "sphinxcontrib-htmlhelp"
 version = "2.0.0"
 description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.6"

@ -3993,7 +4090,7 @@ test = ["html5lib", "pytest"]
 name = "sphinxcontrib-jsmath"
 version = "1.0.1"
 description = "A sphinx extension which renders display math in HTML via JavaScript"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.5"

@ -4004,7 +4101,7 @@ test = ["flake8", "mypy", "pytest"]
 name = "sphinxcontrib-qthelp"
 version = "1.0.3"
 description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp document."
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.5"

@ -4016,7 +4113,7 @@ test = ["pytest"]
 name = "sphinxcontrib-serializinghtml"
 version = "1.1.5"
 description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)."
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.5"

@ -4132,6 +4229,22 @@ python-versions = ">=3.6"
 [package.extras]
 doc = ["reno", "sphinx", "tornado (>=4.5)"]

+[[package]]
+name = "tensorrt"
+version = "8.6.0"
+description = "A high performance deep learning inference library"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+nvidia-cublas-cu12 = "*"
+nvidia-cuda-runtime-cu12 = "*"
+nvidia-cudnn-cu12 = "*"
+
+[package.extras]
+numpy = ["numpy"]
+
 [[package]]
 name = "terminado"
 version = "0.16.0"
@ -4260,6 +4373,7 @@ opt-einsum = ["opt-einsum (>=3.3)"]
 [package.source]
 type = "url"
 url = "https://download.pytorch.org/whl/cu118/torch-2.0.0%2Bcu118-cp38-cp38-linux_x86_64.whl"
+
 [[package]]
 name = "torchsummary"
 version = "1.5.1"
@ -4288,6 +4402,7 @@ scipy = ["scipy"]
 [package.source]
 type = "url"
 url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.1%2Bcu118-cp38-cp38-linux_x86_64.whl"
+
 [[package]]
 name = "tornado"
 version = "6.2"
@ -4343,6 +4458,25 @@ torch = "*"
 tests = ["autopep8", "flake8", "isort", "numpy", "pytest", "scipy (>=1.7.1)"]
 tutorials = ["matplotlib", "pandas", "tabulate"]

+[[package]]
+name = "tritonclient"
+version = "2.28.0"
+description = "Python client library and utilities for communicating with Triton Inference Server"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+aiohttp = {version = ">=3.8.1", optional = true, markers = "extra == \"http\""}
+geventhttpclient = {version = ">=1.4.4,<=2.0.2", optional = true, markers = "extra == \"http\""}
+numpy = ">=1.19.1"
+python-rapidjson = ">=0.9.1"
+
+[package.extras]
+all = ["aiohttp (>=3.8.1)", "geventhttpclient (>=1.4.4,<=2.0.2)", "grpcio (==1.41.0)", "numpy (>=1.19.1)", "protobuf (>=3.5.0,<3.20)", "python-rapidjson (>=0.9.1)"]
+grpc = ["grpcio (==1.41.0)", "numpy (>=1.19.1)", "protobuf (>=3.5.0,<3.20)", "python-rapidjson (>=0.9.1)"]
+http = ["aiohttp (>=3.8.1)", "geventhttpclient (>=1.4.4,<=2.0.2)", "numpy (>=1.19.1)", "python-rapidjson (>=0.9.1)"]
+
 [[package]]
 name = "types-atomicwrites"
 version = "1.4.5.1"
@ -4606,7 +4740,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
 [metadata]
 lock-version = "1.1"
 python-versions = "~3.8"
-content-hash = "a16ec604c5251dc860a44f7133289d0b7b16120757f8c903f3917329753c52d1"
+content-hash = "774e90b7d2bef68c6d219c8afc3d5717a104a04b9cd7b1b215655eb48fa62d04"

 [metadata.files]
 adal = [
@ -4916,6 +5050,90 @@ breathe = [
    {file = "breathe-4.34.0-py3-none-any.whl", hash = "sha256:48804dcf0e607a89fb6ad88c729ef12743a42db03ae9489be4ef8f7c4011774a"},
    {file = "breathe-4.34.0.tar.gz", hash = "sha256:ac0768a5e84addad3e632028fe67749c567aba2b29088493b64c2c1634bcdba1"},
 ]
+brotli = [
+    {file = "Brotli-1.0.9-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:268fe94547ba25b58ebc724680609c8ee3e5a843202e9a381f6f9c5e8bdb5c70"},
+    {file = "Brotli-1.0.9-cp27-cp27m-manylinux1_i686.whl", hash = "sha256:c2415d9d082152460f2bd4e382a1e85aed233abc92db5a3880da2257dc7daf7b"},
+    {file = "Brotli-1.0.9-cp27-cp27m-manylinux1_x86_64.whl", hash = "sha256:5913a1177fc36e30fcf6dc868ce23b0453952c78c04c266d3149b3d39e1410d6"},
+    {file = "Brotli-1.0.9-cp27-cp27m-win32.whl", hash = "sha256:afde17ae04d90fbe53afb628f7f2d4ca022797aa093e809de5c3cf276f61bbfa"},
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+    {file = "triton-2.0.0-1-cp38-cp38-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:9d4978298b74fcf59a75fe71e535c092b023088933b2f1df933ec32615e4beef"},
+    {file = "triton-2.0.0-1-cp39-cp39-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:74f118c12b437fb2ca25e1a04759173b517582fcf4c7be11913316c764213656"},
+    {file = "triton-2.0.0-1-pp37-pypy37_pp73-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:9618815a8da1d9157514f08f855d9e9ff92e329cd81c0305003eb9ec25cc5add"},
+    {file = "triton-2.0.0-1-pp38-pypy38_pp73-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:1aca3303629cd3136375b82cb9921727f804e47ebee27b2677fef23005c3851a"},
+    {file = "triton-2.0.0-1-pp39-pypy39_pp73-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:e3e13aa8b527c9b642e3a9defcc0fbd8ffbe1c80d8ac8c15a01692478dc64d8a"},
    {file = "triton-2.0.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8f05a7e64e4ca0565535e3d5d3405d7e49f9d308505bb7773d21fb26a4c008c2"},
    {file = "triton-2.0.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bb4b99ca3c6844066e516658541d876c28a5f6e3a852286bbc97ad57134827fd"},
    {file = "triton-2.0.0-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:47b4d70dc92fb40af553b4460492c31dc7d3a114a979ffb7a5cdedb7eb546c08"},
@ -8100,6 +8509,10 @@ triton = [
    {file = "triton-2.0.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:42a0d2c3fc2eab4ba71384f2e785fbfd47aa41ae05fa58bf12cb31dcbd0aeceb"},
    {file = "triton-2.0.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:52c47b72c72693198163ece9d90a721299e4fb3b8e24fd13141e384ad952724f"},
 ]
+tritonclient = [
+    {file = "tritonclient-2.28.0-py3-none-any.whl", hash = "sha256:1f58bbe09a88c35f7979de8ab6579a5337372951f723c0aba31e8bee3e8d79da"},
+    {file = "tritonclient-2.28.0-py3-none-manylinux1_x86_64.whl", hash = "sha256:47d93197a0876a743012db4c03f1100f7b225b9aaf8d5f8025bf4a5d9e61bfd2"},
+]
 types-atomicwrites = [
    {file = "types-atomicwrites-1.4.5.1.tar.gz", hash = "sha256:9e9f0923ebf93524b28bcece5a23ac8c3820f39b060df29f671936d2e4bc04bc"},
    {file = "types_atomicwrites-1.4.5.1-py3-none-any.whl", hash = "sha256:2f1febbdc78b55453b189fa5b136dce34bab7d1d82319163d470e404aab55c83"},
--- a/pyproject.toml
+++ b/pyproject.toml
@ -59,6 +59,7 @@ urllib3 = "^1.26.10"
 utm = "^0.7.0"
 websocket_client = "^1.3.3"
 polyline = "^1.4.0"
+sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}


 [tool.poetry.group.dev.dependencies]
@ -174,6 +175,8 @@ Werkzeug = "^2.1.2"
 zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }
 omegaconf = "^2.3.0"
 osmnx = "==1.2.2"
+tritonclient = {version = "2.28.0", extras = ["http"]}
+tensorrt = "^8.6.0"


 [build-system]
--- a/release/files_common
+++ b/release/files_common
@ -396,9 +396,9 @@ selfdrive/modeld/runners/run.h
 selfdrive/monitoring/dmonitoringd.py
 selfdrive/monitoring/driver_monitor.py

+selfdrive/navd/.gitignore
 selfdrive/navd/__init__.py
-selfdrive/navd/navd.py
-selfdrive/navd/helpers.py
+selfdrive/navd/**

 selfdrive/assets/.gitignore
 selfdrive/assets/assets.qrc
@ -411,6 +411,7 @@ selfdrive/assets/images/*
 selfdrive/assets/offroad/*
 selfdrive/assets/sounds/*
 selfdrive/assets/training/*
+selfdrive/assets/navigation/*

 third_party/.gitignore
 third_party/SConscript
--- a/release/files_tici
+++ b/release/files_tici
@ -4,9 +4,6 @@ third_party/mapbox-gl-native-qt/include/*

 system/timezoned.py

-selfdrive/assets/navigation/*
-selfdrive/assets/training_wide/*
-
 system/camerad/cameras/camera_qcom2.cc
 system/camerad/cameras/camera_qcom2.h
 system/camerad/cameras/camera_util.cc
--- a/selfdrive/assets/compress-images.sh
+++ b/selfdrive/assets/compress-images.sh
@ -1,7 +1,7 @@
 #!/bin/bash

 echo "compressing training guide images"
-optipng -o7 -strip all training/* training_wide/*
+optipng -o7 -strip all training/*

 # This can sometimes provide smaller images
-# mogrify -quality 100 -format jpg training_wide/* training/*
+# mogrify -quality 100 -format jpg training/*
--- a/selfdrive/assets/training/step0.png
+++ b/selfdrive/assets/training/step0.png
--- a/selfdrive/assets/training/step1.png
+++ b/selfdrive/assets/training/step1.png
--- a/selfdrive/assets/training/step10.png
+++ b/selfdrive/assets/training/step10.png
--- a/selfdrive/assets/training/step11.png
+++ b/selfdrive/assets/training/step11.png
--- a/selfdrive/assets/training/step12.png
+++ b/selfdrive/assets/training/step12.png
--- a/selfdrive/assets/training/step13.png
+++ b/selfdrive/assets/training/step13.png
--- a/selfdrive/assets/training/step14.png
+++ b/selfdrive/assets/training/step14.png
--- a/selfdrive/assets/training/step15.png
+++ b/selfdrive/assets/training/step15.png
--- a/selfdrive/assets/training/step16.png
+++ b/selfdrive/assets/training/step16.png
--- a/selfdrive/assets/training/step17.png
+++ b/selfdrive/assets/training/step17.png
--- a/selfdrive/assets/training/step18.png
+++ b/selfdrive/assets/training/step18.png
--- a/selfdrive/assets/training/step2.png
+++ b/selfdrive/assets/training/step2.png
--- a/selfdrive/assets/training/step3.png
+++ b/selfdrive/assets/training/step3.png
--- a/selfdrive/assets/training/step4.png
+++ b/selfdrive/assets/training/step4.png
--- a/selfdrive/assets/training/step5.png
+++ b/selfdrive/assets/training/step5.png
--- a/selfdrive/assets/training/step6.png
+++ b/selfdrive/assets/training/step6.png
--- a/selfdrive/assets/training/step7.png
+++ b/selfdrive/assets/training/step7.png
--- a/selfdrive/assets/training/step8.png
+++ b/selfdrive/assets/training/step8.png
--- a/selfdrive/assets/training/step9.png
+++ b/selfdrive/assets/training/step9.png
--- a/selfdrive/assets/training_wide/step0.png
+++ b/selfdrive/assets/training_wide/step0.png
--- a/selfdrive/assets/training_wide/step1.png
+++ b/selfdrive/assets/training_wide/step1.png
--- a/selfdrive/assets/training_wide/step10.png
+++ b/selfdrive/assets/training_wide/step10.png
--- a/selfdrive/assets/training_wide/step11.png
+++ b/selfdrive/assets/training_wide/step11.png
--- a/selfdrive/assets/training_wide/step12.png
+++ b/selfdrive/assets/training_wide/step12.png
--- a/selfdrive/assets/training_wide/step13.png
+++ b/selfdrive/assets/training_wide/step13.png
--- a/selfdrive/assets/training_wide/step14.png
+++ b/selfdrive/assets/training_wide/step14.png
--- a/selfdrive/assets/training_wide/step15.png
+++ b/selfdrive/assets/training_wide/step15.png
--- a/selfdrive/assets/training_wide/step16.png
+++ b/selfdrive/assets/training_wide/step16.png
--- a/selfdrive/assets/training_wide/step17.png
+++ b/selfdrive/assets/training_wide/step17.png
--- a/selfdrive/assets/training_wide/step18.png
+++ b/selfdrive/assets/training_wide/step18.png
--- a/selfdrive/assets/training_wide/step2.png
+++ b/selfdrive/assets/training_wide/step2.png
--- a/selfdrive/assets/training_wide/step3.png
+++ b/selfdrive/assets/training_wide/step3.png
--- a/selfdrive/assets/training_wide/step4.png
+++ b/selfdrive/assets/training_wide/step4.png
--- a/selfdrive/assets/training_wide/step5.png
+++ b/selfdrive/assets/training_wide/step5.png
--- a/selfdrive/assets/training_wide/step6.png
+++ b/selfdrive/assets/training_wide/step6.png
--- a/selfdrive/assets/training_wide/step7.png
+++ b/selfdrive/assets/training_wide/step7.png
--- a/selfdrive/assets/training_wide/step8.png
+++ b/selfdrive/assets/training_wide/step8.png
--- a/selfdrive/assets/training_wide/step9.png
+++ b/selfdrive/assets/training_wide/step9.png
--- a/selfdrive/boardd/SConscript
+++ b/selfdrive/boardd/SConscript
@ -1,9 +1,11 @@
 Import('env', 'envCython', 'common', 'cereal', 'messaging')

 libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj']
-env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'panda_comms.cc', 'spi.cc'], LIBS=libs)
+panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
+
+env.Program('boardd', ['main.cc', 'boardd.cc'], LIBS=[panda] + libs)
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])

 envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
 if GetOption('test'):
-  env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc', 'panda_comms.cc', 'spi.cc'], LIBS=libs)
+  env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc'], LIBS=[panda] + libs)
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@ -113,31 +113,34 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
    return false;
  }

-  // set to ELM327 for fingerprinting
+  // initialize to ELM327 without OBD multiplexing for fingerprinting
+  bool obd_multiplexing_enabled = false;
  for (int i = 0; i < pandas.size(); i++) {
-    const uint16_t safety_param = (i > 0) ? 1U : 0U;
-    pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
+    pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
  }

-  // wait for FW query at OBD port to finish
+  // openpilot can switch between multiplexing modes for different FW queries
  while (true) {
    if (do_exit || !check_all_connected(pandas) || !ignition) {
      return false;
    }

-    if (p.getBool("FirmwareObdQueryDone")) {
-      LOGW("finished FW query at OBD port");
-      break;
+    bool obd_multiplexing_requested = p.getBool("ObdMultiplexingEnabled");
+    if (obd_multiplexing_requested != obd_multiplexing_enabled) {
+      for (int i = 0; i < pandas.size(); i++) {
+        const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U;
+        pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
      }
-    util::sleep_for(20);
+      obd_multiplexing_enabled = obd_multiplexing_requested;
+      p.putBool("ObdMultiplexingChanged", true);
    }

-  // set to ELM327 to finish fingerprinting and for potential ECU knockouts
-  for (Panda *panda : pandas) {
-    panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
+    if (p.getBool("FirmwareQueryDone")) {
+      LOGW("finished FW query");
+      break;
+    }
+    util::sleep_for(20);
  }
-
-  p.putBool("ObdMultiplexingDisabled", true);

  std::string params;
  LOGW("waiting for params to set safety model");
@ -360,6 +363,8 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
    }

    auto ps = pss[i];
+    ps.setVoltage(health.voltage_pkt);
+    ps.setCurrent(health.current_pkt);
    ps.setUptime(health.uptime_pkt);
    ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt);
    ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt);
@ -380,7 +385,9 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
    ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
    ps.setInterruptLoad(health.interrupt_load);
    ps.setFanPower(health.fan_power);
+    ps.setFanStallCount(health.fan_stall_count);
    ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid));
+    ps.setSpiChecksumErrorCount(health.spi_checksum_error_count);

    std::array<cereal::PandaState::PandaCanState::Builder, PANDA_CAN_CNT> cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};

@ -415,7 +422,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>

    size_t j = 0;
    for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
-        f <= size_t(cereal::PandaState::FaultType::INTERRUPT_RATE_EXTI); f++) {
+         f <= size_t(cereal::PandaState::FaultType::HEARTBEAT_LOOP_WATCHDOG); f++) {
      if (fault_bits.test(f)) {
        faults.set(j, cereal::PandaState::FaultType(f));
        j++;
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@ -21,9 +21,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {

  hw_type = get_hw_type();

-  assert((hw_type != cereal::PandaState::PandaType::WHITE_PANDA) &&
-         (hw_type != cereal::PandaState::PandaType::GREY_PANDA));
-
  has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
            (hw_type == cereal::PandaState::PandaType::DOS) ||
            (hw_type == cereal::PandaState::PandaType::TRES);
@ -203,7 +200,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
    assert(can_data.size() <= 64);
    assert(can_data.size() == dlc_to_len[data_len_code]);

-    can_header header;
+    can_header header = {};
    header.addr = cmsg.getAddress();
    header.extended = (cmsg.getAddress() >= 0x800) ? 1 : 0;
    header.data_len_code = data_len_code;
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@ -115,6 +115,14 @@ def main() -> NoReturn:
          cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
          panda.reset()

+      # Ensure internal panda is present if expected
+      internal_pandas = [panda for panda in pandas if panda.is_internal()]
+      if HARDWARE.has_internal_panda() and len(internal_pandas) == 0:
+        cloudlog.error("Internal panda is missing, resetting")
+        HARDWARE.reset_internal_panda()
+        time.sleep(2)  # wait to come back up
+        continue
+
      # 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))  # type: ignore
--- a/selfdrive/boardd/set_time.py
+++ b/selfdrive/boardd/set_time.py
@ -1,11 +1,9 @@
 #!/usr/bin/env python3
-import datetime
 import os
-import struct
-import usb1
+import datetime
+from panda import Panda

-REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
-MIN_DATE = datetime.datetime(year=2021, month=4, day=1)
+MIN_DATE = datetime.datetime(year=2023, month=4, day=1)

 def set_time(logger):
  sys_time = datetime.datetime.today()
@ -14,24 +12,27 @@ def set_time(logger):
    return

  try:
-    ctx = usb1.USBContext()
-    dev = ctx.openByVendorIDAndProductID(0xbbaa, 0xddcc)
-    if dev is None:
-      logger.info("No panda found")
+    ps = Panda.list()
+    if len(ps) == 0:
+      logger.error("Failed to set time, no pandas found")
      return

+    for s in ps:
+      with Panda(serial=s) as p:
+        if not p.is_internal():
+          continue
+
        # Set system time from panda RTC time
-    dat = dev.controlRead(REQUEST_IN, 0xa0, 0, 0, 8)
-    a = struct.unpack("HBBBBBB", dat)
-    panda_time = datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
+        panda_time = p.get_datetime()
        if panda_time > MIN_DATE:
          logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
          os.system(f"TZ=UTC date -s '{panda_time}'")
+        break
  except Exception:
-    logger.warn("Failed to fetch time from panda")
+    logger.exception("Failed to fetch time from panda")

 if __name__ == "__main__":
  import logging
-  logging.basicConfig(level=logging.INFO)
+  logging.basicConfig(level=logging.DEBUG)

  set_time(logging)
--- a/selfdrive/boardd/spi.cc
+++ b/selfdrive/boardd/spi.cc
@ -57,9 +57,12 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
  uint8_t uid[uid_len] = {0};

  uint32_t spi_mode = SPI_MODE_0;
-  uint32_t spi_speed = 30000000;
  uint8_t spi_bits_per_word = 8;

+  // 50MHz is the max of the 845. note that some older
+  // revs of the comma three may not support this speed
+  uint32_t spi_speed = 50000000;
+
  spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
  if (spi_fd < 0) {
    LOGE("failed opening SPI device %d", spi_fd);
--- a/selfdrive/boardd/tests/test_boardd_loopback.py
+++ b/selfdrive/boardd/tests/test_boardd_loopback.py
@ -40,8 +40,9 @@ class TestBoardd(unittest.TestCase):
        sm.update(1000)

    num_pandas = len(sm['pandaStates'])
-    if TICI:
-      self.assertGreater(num_pandas, 1, "connect another panda for multipanda tests")
+    expected_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
+    self.assertEqual(num_pandas, expected_pandas, "connected pandas ({num_pandas}) doesn't match expected panda count ({expected_pandas}). \
+                                                   connect another panda for multipanda tests.")

    # boardd blocks on CarVin and CarParams
    cp = car.CarParams.new_message()
@ -51,7 +52,7 @@ class TestBoardd(unittest.TestCase):
    cp.safetyConfigs = [safety_config]*num_pandas

    params = Params()
-    params.put_bool("FirmwareObdQueryDone", True)
+    params.put_bool("FirmwareQueryDone", True)
    params.put_bool("ControlsReady", True)
    params.put("CarParams", cp.to_bytes())

--- a/selfdrive/boardd/tests/test_pandad.py
+++ b/selfdrive/boardd/tests/test_pandad.py
@ -4,9 +4,11 @@ import unittest

 import cereal.messaging as messaging
 from panda import Panda
+from common.gpio import gpio_set, gpio_init
 from selfdrive.test.helpers import phone_only
 from selfdrive.manager.process_config import managed_processes
 from system.hardware import HARDWARE
+from system.hardware.tici.pins import GPIO


 class TestPandad(unittest.TestCase):
@ -14,9 +16,9 @@ class TestPandad(unittest.TestCase):
  def tearDown(self):
    managed_processes['pandad'].stop()

-  def _wait_for_boardd(self):
+  def _wait_for_boardd(self, timeout=30):
    sm = messaging.SubMaster(['peripheralState'])
-    for _ in range(30):
+    for _ in range(timeout):
      sm.update(1000)
      if sm.updated['peripheralState']:
        break
@ -30,7 +32,7 @@ class TestPandad(unittest.TestCase):
    time.sleep(1)

    managed_processes['pandad'].start()
-    self._wait_for_boardd()
+    self._wait_for_boardd(60)

  @phone_only
  def test_in_bootstub(self):
@ -40,6 +42,18 @@ class TestPandad(unittest.TestCase):
    managed_processes['pandad'].start()
    self._wait_for_boardd()

+  @phone_only
+  def test_internal_panda_reset(self):
+    gpio_init(GPIO.STM_RST_N, True)
+    gpio_set(GPIO.STM_RST_N, 1)
+    time.sleep(0.5)
+    assert all(not Panda(s).is_internal() for s in Panda.list())
+
+    managed_processes['pandad'].start()
+    self._wait_for_boardd()
+
+    assert any(Panda(s).is_internal() for s in Panda.list())
+
  #def test_out_of_date_fw(self):
  #  pass

--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@ -6,7 +6,7 @@

 # Supported Cars

-A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
+A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

 # {{all_car_info | length}} Supported Cars

--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@ -8,7 +8,7 @@ from selfdrive.car.body.values import SPEED_FROM_RPM

 class CarInterface(CarInterfaceBase):
  @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
    ret.notCar = True
    ret.carName = "body"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@ -8,7 +8,7 @@ from system.version import is_comma_remote, is_tested_branch
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
-from selfdrive.car.fw_versions import disable_obd_multiplexing, get_fw_versions_ordered, match_fw_to_car, get_present_ecus
+from selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
 from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
@ -80,12 +80,13 @@ def fingerprint(logcan, sendcan, num_pandas):
  fixed_fingerprint = os.environ.get('FINGERPRINT', "")
  skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
  ecu_rx_addrs = set()
+  params = Params()

  if not skip_fw_query:
    # Vin query only reliably works through OBDII
    bus = 1

-    cached_params = Params().get("CarParamsCache")
+    cached_params = params.get("CarParamsCache")
    if cached_params is not None:
      cached_params = car.CarParams.from_bytes(cached_params)
      if cached_params.carName == "mock":
@ -98,6 +99,7 @@ def fingerprint(logcan, sendcan, num_pandas):
      cached = True
    else:
      cloudlog.warning("Getting VIN & FW versions")
+      set_obd_multiplexing(params, True)
      vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
      ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
      car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
@ -113,10 +115,11 @@ def fingerprint(logcan, sendcan, num_pandas):
    cloudlog.event("Malformed VIN", vin=vin, error=True)
    vin = VIN_UNKNOWN
  cloudlog.warning("VIN %s", vin)
-
-  params = Params()
  params.put("CarVin", vin)
-  disable_obd_multiplexing(params)
+
+  # disable OBD multiplexing for potential ECU knockouts
+  set_obd_multiplexing(params, False)
+  params.put_bool("FirmwareQueryDone", True)

  finger = gen_empty_fingerprint()
  candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
@ -184,7 +187,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
    candidate = "mock"

  CarInterface, CarController, CarState = interfaces[candidate]
-  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed)
+  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
  CP.carVin = vin
  CP.carFw = car_fw
  CP.fingerprintSource = source
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@ -8,7 +8,7 @@ from selfdrive.car.interfaces import CarInterfaceBase

 class CarInterface(CarInterfaceBase):
  @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
    ret.carName = "chrysler"
    ret.dashcamOnly = candidate in RAM_HD

--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@ -50,6 +50,7 @@ class CarControllerParams:
      self.STEER_DELTA_DOWN = 3
      self.STEER_MAX = 261  # higher than this faults the EPS

+
 STEER_THRESHOLD = 120

 RAM_DT = {CAR.RAM_1500, }
@ -62,6 +63,7 @@ class ChryslerCarInfo(CarInfo):
  package: str = "Adaptive Cruise Control (ACC)"
  harness: Enum = Harness.fca

+
 CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
  CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
  CAR.PACIFICA_2018_HYBRID: None,  # same platforms
@ -73,10 +75,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
  ],
  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 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
-  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram),
+  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness=Harness.ram),
  CAR.RAM_HD: [
    ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram),
-    ChryslerCarInfo("Ram 3500 2020-22", harness=Harness.ram),
+    ChryslerCarInfo("Ram 3500 2019-22", harness=Harness.ram),
  ],
 }

@ -180,79 +182,153 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )

 FW_VERSIONS = {
+  CAR.JEEP_CHEROKEE_2019: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68402971AD',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68355363AB',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68408639AD',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'68456722AC',
+    ],
+    (Ecu.eps, 0x75A, None): [
+      b'68453431AA',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'05035674AB ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'05035707AA',
+    ],
+  },
+
  CAR.RAM_1500: {
    (Ecu.combinationMeter, 0x742, None): [
-      b'68294063AH',
+      b'68294051AG',
+      b'68294051AI',
+      b'68294052AG',
      b'68294063AG',
+      b'68294063AH',
+      b'68294063AI',
+      b'68434846AC',
+      b'68434858AC',
      b'68434860AC',
-      b'68527375AD',
      b'68453503AC',
+      b'68453505AC',
+      b'68453511AC',
+      b'68453513AD',
+      b'68453514AD',
+      b'68510283AG',
+      b'68527375AD',
    ],
    (Ecu.srs, 0x744, None): [
+      b'68428609AB',
      b'68441329AB',
+      b'68473844AB',
      b'68490898AA',
-      b'68428609AB',
      b'68500728AA',
+      b'68615033AA',
    ],
    (Ecu.abs, 0x747, None): [
-      b'68432418AD',
+      b'68292406AH',
      b'68432418AB',
+      b'68432418AD',
+      b'68436004AD',
      b'68436004AE',
+      b'68438454AC',
      b'68438454AD',
-      b'68436004AD',
+      b'68438456AE',
+      b'68438456AF',
      b'68535469AB',
-      b'68438454AC',
+      b'68535470AC',
+      b'68586307AB',
    ],
    (Ecu.fwdRadar, 0x753, None): [
-      b'68320950AL',
+      b'04672892AB',
+      b'04672932AB',
+      b'68320950AH',
+      b'68320950AI',
      b'68320950AJ',
+      b'68320950AL',
+      b'68320950AM',
      b'68454268AB',
-      b'68475160AG',
-      b'04672892AB',
      b'68475160AE',
+      b'68475160AF',
+      b'68475160AG',
    ],
    (Ecu.eps, 0x75A, None): [
+      b'68273275AF',
      b'68273275AG',
+      b'68312176AE',
+      b'68312176AG',
+      b'68440789AC',
+      b'68466110AB',
      b'68469901AA',
+      b'68522583AB',
+      b'68522585AB',
      b'68552788AA',
+      b'68552790AA',
+      b'68585112AB',
    ],
    (Ecu.engine, 0x7e0, None): [
+      b'05036065AE ',
+      b'05036066AE ',
+      b'68378701AI ',
+      b'68378758AM ',
      b'68448163AJ',
+      b'68448165AK',
      b'68500630AD',
+      b'68500630AE',
      b'68539650AD',
-      b'68378758AM ',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'68360078AL',
-      b'68384328AD',
-      b'68360085AL',
+      b'68360080AM',
      b'68360081AM',
-      b'68502994AD',
+      b'68360085AL',
+      b'68384328AD',
+      b'68384332AD',
      b'68445533AB',
-      b'68540431AB',
      b'68484467AC',
+      b'68502994AD',
+      b'68540431AB',
    ],
  },

  CAR.RAM_HD: {
    (Ecu.combinationMeter, 0x742, None): [
      b'68361606AH',
+      b'68437735AC',
      b'68492693AD',
+      b'68525485AB',
+      b'68525487AB',
+      b'68525498AB',
    ],
    (Ecu.srs, 0x744, None): [
      b'68399794AC',
      b'68428503AA',
      b'68428505AA',
+      b'68428507AA',
    ],
    (Ecu.abs, 0x747, None): [
      b'68334977AH',
+      b'68455481AC',
+      b'68504022AA',
      b'68504022AB',
-      b'68530686AB',
      b'68504022AC',
+      b'68530686AB',
+      b'68530686AC',
    ],
    (Ecu.fwdRadar, 0x753, None): [
      b'04672895AB',
      b'56029827AG',
+      b'56029827AH',
+      b'68462657AE',
+      b'68484694AD',
      b'68484694AE',
    ],
    (Ecu.eps, 0x761, None): [
@ -260,7 +336,13 @@ FW_VERSIONS = {
      b'68507906AB',
    ],
    (Ecu.engine, 0x7e0, None): [
+      b'52370131AF',
+      b'52370231AF',
+      b'52370231AG',
+      b'52370931CT',
+      b'52401032AE',
      b'52421132AF',
+      b'68527616AD ',
      b'M2370131MB',
      b'M2421132MB',
    ],
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@ -29,7 +29,7 @@ def get_all_car_info() -> List[CarInfo]:
  all_car_info: List[CarInfo] = []
  footnotes = get_all_footnotes()
  for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
-    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False)
+    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False, docs=True)

    if CP.dashcamOnly or car_info is None:
      continue
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@ -117,8 +117,20 @@ def split_name(name: str) -> Tuple[str, str, str]:

@dataclass
 class CarInfo:
+  # make + model + model years
  name: str
+
+  # Example for Toyota Corolla MY20
+  # requirements: Lane Tracing Assist (LTA) and Dynamic Radar Cruise Control (DRCC)
+  # US Market reference: "All", since all Corolla in the US come standard with LTA and DRCC
+
+  # the simplest description of the requirements for the US market
  package: str
+
+  # the minimum compatibility requirements for this model, regardless
+  # of market. can be a package, trim, or list of features
+  requirements: Optional[str] = None
+
  video_link: Optional[str] = None
  footnotes: List[Enum] = field(default_factory=list)
  min_steer_speed: Optional[float] = None
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@ -9,6 +9,8 @@ from selfdrive.car import make_can_msg
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from system.swaglog import cloudlog

+EcuAddrBusType = Tuple[int, Optional[int], int]
+

 def make_tester_present_msg(addr, bus, subaddr=None):
  dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
@ -33,16 +35,16 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd
  return False


-def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[Tuple[int, Optional[int], int]]:
+def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[EcuAddrBusType]:
  addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
-  queries: Set[Tuple[int, Optional[int], int]] = {(addr, None, bus) for addr in addr_list}
+  queries: Set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
  responses = queries
  return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug)


-def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[Tuple[int, Optional[int], int]],
-                  responses: Set[Tuple[int, Optional[int], int]], timeout: float = 1, debug: bool = False) -> Set[Tuple[int, Optional[int], int]]:
-  ecu_responses: Set[Tuple[int, Optional[int], int]] = set()  # set((addr, subaddr, bus),)
+def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[EcuAddrBusType],
+                  responses: Set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> Set[EcuAddrBusType]:
+  ecu_responses: Set[EcuAddrBusType] = set()  # set((addr, subaddr, bus),)
  try:
    msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]

@ -53,6 +55,10 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
      can_packets = messaging.drain_sock(logcan, wait_for_one=True)
      for packet in can_packets:
        for msg in packet.can:
+          if not len(msg.dat):
+            cloudlog.warning("ECU addr scan: skipping empty remote frame")
+            continue
+
          subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
          if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr):
            if debug:
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@ -158,8 +158,7 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool,
    else:
      lines = 30  # LA_Off

-  # TODO: use level 1 for no sound when less severe?
-  hands_on_wheel_dsply = 2 if steer_alert else 0
+  hands_on_wheel_dsply = 1 if steer_alert else 0

  values = {
    **stock_values,
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@ -11,7 +11,7 @@ GearShifter = car.CarState.GearShifter

 class CarInterface(CarInterfaceBase):
  @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
    ret.carName = "ford"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]

--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@ -27,10 +27,11 @@ class CarControllerParams:
  STEER_DRIVER_ALLOWANCE = 1.0  # Driver intervention threshold, Nm

  # Curvature rate limits
-  # TODO: unify field names used by curvature and angle control cars
-  # ~2 m/s^3 up, ~-3 m/s^3 down
-  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.004, 0.00044, 0.00016])
-  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.006, 0.00066, 0.00024])
+  # The curvature signal is limited to 0.003 to 0.009 m^-1/sec by the EPS depending on speed and direction
+  # Limit to ~2 m/s^3 up, ~3 m/s^3 down at 75 mph
+  # Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.0002, 0.0001])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015])

  ACCEL_MAX = 2.0               # m/s^s max acceleration
  ACCEL_MIN = -3.5              # m/s^s max deceleration
@ -84,7 +85,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
    FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"),
  ],
  CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"),
-  CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022", "Co-Pilot360 Assist"),
+  CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
 }

 FW_QUERY_CONFIG = FwQueryConfig(
@ -150,6 +151,7 @@ FW_VERSIONS = {
      b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.shiftByWire, 0x732, None): [
@ -217,6 +219,7 @@ FW_VERSIONS = {
    ],
    (Ecu.abs, 0x760, None): [
      b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x764, None): [
      b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -228,6 +231,7 @@ FW_VERSIONS = {
      b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.shiftByWire, 0x732, None): [
      b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import capnp
+import copy
 from dataclasses import dataclass, field
 import struct
 from typing import Dict, List, Optional, Tuple
@ -57,10 +58,12 @@ class Request:
  whitelist_ecus: List[int] = field(default_factory=list)
  rx_offset: int = 0x8
  bus: int = 1
+  # Whether this query should be run on the first auxiliary panda (CAN FD cars for example)
+  auxiliary: bool = False
  # FW responses from these queries will not be used for fingerprinting
  logging: bool = False
-  # These requests are done once OBD multiplexing is disabled, after all others
-  non_obd: bool = False
+  # boardd toggles OBD multiplexing on/off as needed
+  obd_multiplexing: bool = True


@dataclass
@ -71,3 +74,10 @@ class FwQueryConfig:
  non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
  # Ecus added for data collection, not to be fingerprinted on
  extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list)
+
+  def __post_init__(self):
+    for i in range(len(self.requests)):
+      if self.requests[i].auxiliary:
+        new_request = copy.deepcopy(self.requests[i])
+        new_request.bus += 4
+        self.requests.append(new_request)
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@ -1,12 +1,12 @@
 #!/usr/bin/env python3
 from collections import defaultdict
-from typing import Any, Optional, Set, Tuple
+from typing import Any, Dict, List, Set
 from tqdm import tqdm

 import panda.python.uds as uds
 from cereal import car
 from common.params import Params
-from selfdrive.car.ecu_addrs import get_ecu_addrs
+from selfdrive.car.ecu_addrs import EcuAddrBusType, get_ecu_addrs
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
@ -19,7 +19,7 @@ FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
 VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)

 MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
-REQUESTS = [(brand, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
+REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]


 def chunks(l, n=128):
@ -39,6 +39,8 @@ def build_fw_dict(fw_versions, filter_brand=None):
 def get_brand_addrs():
  brand_addrs = defaultdict(set)
  for brand, cars in VERSIONS.items():
+    # Add ecus in database + extra ecus to match against
+    brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus}
    for fw in cars.values():
      brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()}
  return brand_addrs
@ -146,37 +148,42 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
  return True, set()


-def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[int], int]]:
-  queries = list()
-  parallel_queries = list()
+def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]:
+  params = Params()
+  # queries are split by OBD multiplexing mode
+  queries: Dict[bool, List[List[EcuAddrBusType]]] = {True: [], False: []}
+  parallel_queries: Dict[bool, List[EcuAddrBusType]] = {True: [], False: []}
  responses = set()

-  for brand, r in REQUESTS:
+  for brand, config, r in REQUESTS:
    # Skip query if no panda available
    if r.bus > num_pandas * 4 - 1:
      continue

    for brand_versions in VERSIONS[brand].values():
-      for ecu_type, addr, sub_addr in brand_versions:
+      for ecu_type, addr, sub_addr in list(brand_versions) + config.extra_ecus:
        # Only query ecus in whitelist if whitelist is not empty
        if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
          a = (addr, sub_addr, r.bus)
          # Build set of queries
          if sub_addr is None:
-            if a not in parallel_queries:
-              parallel_queries.append(a)
+            if a not in parallel_queries[r.obd_multiplexing]:
+              parallel_queries[r.obd_multiplexing].append(a)
          else:  # subaddresses must be queried one by one
-            if [a] not in queries:
-              queries.append([a])
+            if [a] not in queries[r.obd_multiplexing]:
+              queries[r.obd_multiplexing].append([a])

          # Build set of expected responses to filter
          response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
          responses.add((response_addr, sub_addr, r.bus))

-  queries.insert(0, parallel_queries)
+  for obd_multiplexing in queries:
+    queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing])

  ecu_responses = set()
-  for query in queries:
+  for obd_multiplexing in queries:
+    set_obd_multiplexing(params, obd_multiplexing)
+    for query in queries[obd_multiplexing]:
      ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
  return ecu_responses

@ -185,9 +192,9 @@ def get_brand_ecu_matches(ecu_rx_addrs):
  """Returns dictionary of brands and matches with ECUs in their FW versions"""

  brand_addrs = get_brand_addrs()
-  brand_matches = {brand: set() for brand, _ in REQUESTS}
+  brand_matches = {brand: set() for brand, _, _ in REQUESTS}

-  brand_rx_offsets = set((brand, r.rx_offset) for brand, r in REQUESTS)
+  brand_rx_offsets = set((brand, r.rx_offset) for brand, _, r in REQUESTS)
  for addr, sub_addr, _ in ecu_rx_addrs:
    # Since we can't know what request an ecu responded to, add matches for all possible rx offsets
    for brand, rx_offset in brand_rx_offsets:
@ -198,13 +205,13 @@ def get_brand_ecu_matches(ecu_rx_addrs):
  return brand_matches


-def disable_obd_multiplexing(params):
-  if not params.get_bool("ObdMultiplexingDisabled"):
-    params.put_bool("FirmwareObdQueryDone", True)
-
-    cloudlog.warning("Waiting for OBD multiplexing to be disabled")
-    params.get_bool("ObdMultiplexingDisabled", block=True)
-    cloudlog.warning("OBD multiplexing disabled")
+def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
+  if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
+    cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
+    params.remove("ObdMultiplexingChanged")
+    params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
+    params.get_bool("ObdMultiplexingChanged", block=True)
+    cloudlog.warning("OBD multiplexing set successfully")


 def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False):
@ -212,29 +219,25 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand

  all_car_fw = []
  brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
-  matched_brand: Optional[str] = None

  for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
+    # Skip this brand if there are no matching present ECUs
+    if not len(brand_matches[brand]):
+      continue
+
    car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
    all_car_fw.extend(car_fw)
    # Try to match using FW returned from this brand only
    matches = match_fw_to_car_exact(build_fw_dict(car_fw))
    if len(matches) == 1:
-      matched_brand = brand
      break

-  disable_obd_multiplexing(Params())
-
-  # Do non-OBD queries for matched brand, or all if no match is found
-  for brand in FW_QUERY_CONFIGS.keys():
-    if brand == matched_brand or matched_brand is None:
-      all_car_fw.extend(get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, obd_multiplexed=False, debug=debug, progress=progress))
-
  return all_car_fw


-def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, obd_multiplexed=True, debug=False, progress=False):
+def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False):
  versions = VERSIONS.copy()
+  params = Params()

  # Each brand can define extra ECUs to query for data collection
  for brand, config in FW_QUERY_CONFIGS.items():
@ -250,19 +253,15 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
  # ECUs using a subaddress need be queried one by one, the rest can be done in parallel
  addrs = []
  parallel_addrs = []
-  logging_addrs = []
  ecu_types = {}

  for brand, brand_versions in versions.items():
-    for candidate, ecu in brand_versions.items():
+    for ecu in brand_versions.values():
      for ecu_type, addr, sub_addr in ecu.keys():
        a = (brand, addr, sub_addr)
        if a not in ecu_types:
          ecu_types[a] = ecu_type

-        if a not in logging_addrs and candidate == "debug":
-          logging_addrs.append(a)
-
        if sub_addr is None:
          if a not in parallel_addrs:
            parallel_addrs.append(a)
@ -274,16 +273,17 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,

  # Get versions and build capnp list to put into CarParams
  car_fw = []
-  requests = [(brand, r) for brand, r in REQUESTS if query_brand is None or brand == query_brand]
+  requests = [(brand, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand]
  for addr in tqdm(addrs, disable=not progress):
    for addr_chunk in chunks(addr):
-      for brand, r in requests:
+      for brand, config, r in requests:
        # Skip query if no panda available
        if r.bus > num_pandas * 4 - 1:
          continue
-        # Or if request is not designated for current multiplexing mode
-        elif r.non_obd == obd_multiplexed:
-          continue
+
+        # Toggle OBD multiplexing for each request
+        if r.bus % 4 == 1:
+          set_obd_multiplexing(params, r.obd_multiplexing)

        try:
          addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
@ -294,15 +294,15 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
            for (tx_addr, sub_addr), version in query.get_data(timeout).items():
              f = car.CarParams.CarFw.new_message()

-              ecu_key = (brand, tx_addr, sub_addr)
-              f.ecu = ecu_types.get(ecu_key, Ecu.unknown)
+              f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown)
              f.fwVersion = version
              f.address = tx_addr
              f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset)
              f.request = r.request
              f.brand = brand
              f.bus = r.bus
-              f.logging = r.logging or ecu_key in logging_addrs
+              f.logging = r.logging or (f.ecu, tx_addr, sub_addr) in config.extra_ecus
+              f.obdMultiplexing = r.obd_multiplexing

              if sub_addr is not None:
                f.subAddress = sub_addr
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -1,13 +1,14 @@
 #!/usr/bin/env python3
 from cereal import car
-from math import fabs
+from math import fabs, exp
 from panda import Panda

 from common.conversions import Conversions as CV
 from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
 from selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
-from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
+from selfdrive.controls.lib.drive_helpers import get_friction

 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@ -45,11 +46,33 @@ class CarInterface(CarInterfaceBase):
      return CarInterfaceBase.get_steer_feedforward_default

  @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def torque_from_lateral_accel_bolt(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
+                                     lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
+    friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
+
+    def sig(val):
+      return 1 / (1 + exp(-val)) - 0.5
+
+    # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
+    # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
+    # This has big effect on the stability about 0 (noise when going straight)
+    # ToDo: To generalize to other GMs, explore tanh function as the nonlinear
+    a, b, c, _ = [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178]  # weights computed offline
+
+    steer_torque = (sig(lateral_accel_value * a) * b) + (lateral_accel_value * c)
+    return float(steer_torque) + friction
+
+  def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
+    if self.CP.carFingerprint == CAR.BOLT_EUV:
+      return self.torque_from_lateral_accel_bolt
+    else:
+      return self.torque_from_lateral_accel_linear
+
+  @staticmethod
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
    ret.carName = "gm"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
    ret.autoResumeSng = False
-    use_off_car_defaults = len(fingerprint[0]) == 0  # Pick sensible carParams during offline doc generation/CI jobs

    if candidate in EV_CAR:
      ret.transmissionType = TransmissionType.direct
@ -74,11 +97,9 @@ class CarInterface(CarInterfaceBase):
      # Tuning for experimental long
      ret.longitudinalTuning.kpV = [2.0, 1.5]
      ret.longitudinalTuning.kiV = [0.72]
-      ret.stopAccel = -2.0
      ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
      ret.vEgoStopping = 0.25
      ret.vEgoStarting = 0.25
-      ret.longitudinalActuatorDelayUpperBound = 0.5

      if experimental_long:
        ret.pcmCruise = False
@ -88,7 +109,7 @@ class CarInterface(CarInterfaceBase):
    else:  # ASCM, OBD-II harness
      ret.openpilotLongitudinalControl = True
      ret.networkLocation = NetworkLocation.gateway
-      ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not use_off_car_defaults
+      ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
      ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
      # supports stop and go, but initial engage must (conservatively) be above 18mph
      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
@ -113,6 +134,7 @@ class CarInterface(CarInterfaceBase):

    ret.steerLimitTimer = 0.4
    ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
+    ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking

    if candidate == CAR.VOLT:
      ret.mass = 1607. + STD_CARGO_KG
@ -148,7 +170,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.4  # end to end is 13.46
      ret.centerToFront = ret.wheelbase * 0.4
      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_acadia()
-      ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking

    elif candidate == CAR.BUICK_LACROSSE:
      ret.mass = 1712. + STD_CARGO_KG
@ -175,7 +196,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.95  # 116 inches in meters
      ret.steerRatio = 17.3
      ret.centerToFront = ret.wheelbase * 0.5
-      ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate == CAR.ESCALADE_ESV:
@ -213,6 +233,15 @@ class CarInterface(CarInterfaceBase):
      ret.centerToFront = ret.wheelbase * 0.4
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

+    elif candidate == CAR.TRAILBLAZER:
+      ret.mass = 1345. + STD_CARGO_KG
+      ret.wheelbase = 2.64
+      ret.steerRatio = 16.8
+      ret.centerToFront = ret.wheelbase * 0.4
+      tire_stiffness_factor = 1.0
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
    # mass and CG position, so all cars will have approximately similar dyn behaviors
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@ -14,8 +14,8 @@ class CarControllerParams:
  STEER_STEP = 3  # Active control frames per command (~33hz)
  INACTIVE_STEER_STEP = 10  # Inactive control frames per command (10hz)
  STEER_DELTA_UP = 10  # Delta rates require review due to observed EPS weakness
-  STEER_DELTA_DOWN = 25
-  STEER_DRIVER_ALLOWANCE = 50
+  STEER_DELTA_DOWN = 15
+  STEER_DRIVER_ALLOWANCE = 65
  STEER_DRIVER_MULTIPLIER = 4
  STEER_DRIVER_FACTOR = 100
  NEAR_STOP_BRAKE_PHASE = 0.5  # m/s
@ -73,6 +73,7 @@ class CAR:
  BOLT_EUV = "CHEVROLET BOLT EUV 2022"
  SILVERADO = "CHEVROLET SILVERADO 1500 2020"
  EQUINOX = "CHEVROLET EQUINOX 2019"
+  TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021"


 class Footnote(Enum):
@ -105,14 +106,15 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
  CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
  CAR.BOLT_EUV: [
-    GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210"),
+    GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
    GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
  ],
  CAR.SILVERADO: [
    GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
-    GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", "https://youtu.be/5HbNoBLzRwE"),
+    GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
  ],
  CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
+  CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"),
 }


@ -207,6 +209,12 @@ FINGERPRINTS = {
  {
    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
  }],
+  # Trailblazer also matches as a Silverado, so comment out to avoid conflicts.
+  # TODO: split with FW versions
+  CAR.TRAILBLAZER: [
+  {
+  #   190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
+  }],
 }

 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
@ -214,6 +222,6 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_power
 EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}

 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
-CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}
+CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}

 STEER_THRESHOLD = 1.0
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@ -1,7 +1,6 @@
 from collections import namedtuple

 from cereal import car
-from common.conversions import Conversions as CV
 from common.numpy_fast import clip, interp
 from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
@ -117,6 +116,7 @@ class CarController:
    self.brake_last = 0.
    self.apply_brake_last = 0
    self.last_pump_ts = 0.
+    self.stopping_counter = 0

    self.accel = 0.0
    self.speed = 0.0
@ -127,7 +127,8 @@ class CarController:
  def update(self, CC, CS, now_nanos):
    actuators = CC.actuators
    hud_control = CC.hudControl
-    hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH if hud_control.speedVisible else 255
+    conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric)
+    hud_v_cruise = hud_control.setSpeed / conversion if hud_control.speedVisible else 255
    pcm_cancel_cmd = CC.cruiseControl.cancel

    if CC.longActive:
@ -161,7 +162,7 @@ class CarController:
    can_sends = []

    # tester present - w/ no response (keeps radar disabled)
-    if self.CP.carFingerprint in HONDA_BOSCH and self.CP.openpilotLongitudinalControl:
+    if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
      if self.frame % 10 == 0:
        can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))

@ -217,8 +218,9 @@ class CarController:
          self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)

          stopping = actuators.longControlState == LongCtrlState.stopping
+          self.stopping_counter = self.stopping_counter + 1 if stopping else 0
          can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas,
-                                                        stopping, self.CP.carFingerprint))
+                                                        self.stopping_counter, self.CP.carFingerprint))
        else:
          apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
          apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@ -5,7 +5,7 @@ from common.conversions import Conversions as CV
 from common.numpy_fast import interp
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from selfdrive.car.honda.hondacan import get_pt_bus
+from selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus
 from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
 from selfdrive.car.interfaces import CarStateBase

@ -103,7 +103,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
    else:
      checks.append(("CRUISE_PARAMS", 50))

-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
    signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
  elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
    signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"))
@ -120,7 +120,10 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
    signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR"))
    checks.append(("GAS_SENSOR", 50))

-  if CP.openpilotLongitudinalControl:
+  if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+    signals.append(("CRUISE_FAULT", "CRUISE_FAULT_STATUS"))
+    checks.append(("CRUISE_FAULT_STATUS", 50))
+  elif CP.openpilotLongitudinalControl:
    signals += [
      ("BRAKE_ERROR_1", "STANDSTILL"),
      ("BRAKE_ERROR_2", "STANDSTILL")
@ -176,7 +179,7 @@ class CarState(CarStateBase):
    # panda checks if the signal is non-zero
    ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
    # TODO: find a common signal across all cars
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
      ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
    elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
      ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
@ -191,7 +194,9 @@ class CarState(CarStateBase):
    # NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver
    ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")

-    if self.CP.openpilotLongitudinalControl:
+    if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+      self.brake_error = cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"]
+    elif self.CP.openpilotLongitudinalControl:
      self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
    ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0

@ -246,8 +251,7 @@ class CarState(CarStateBase):
        ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
        ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.

-        # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
-        conversion = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS
+        conversion = get_cruise_speed_conversion(self.CP.carFingerprint, self.is_metric)
        # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
        ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion
        self.v_cruise_pcm_prev = ret.cruiseState.speed
@ -294,7 +298,7 @@ class CarState(CarStateBase):
    if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
      self.lkas_hud = cp_cam.vl["LKAS_HUD"]

-    if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ):
+    if self.CP.enableBsm:
      # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
      # more info here: https://github.com/commaai/openpilot/pull/1867
      ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
@ -341,7 +345,7 @@ class CarState(CarStateBase):

  @staticmethod
  def get_body_can_parser(CP):
-    if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G:
+    if CP.enableBsm:
      signals = [("BSM_ALERT", "BSM_STATUS_RIGHT"),
                 ("BSM_ALERT", "BSM_STATUS_LEFT")]

--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@ -21,6 +21,11 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
  return 0


+def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
+  # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
+  return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS
+
+
 def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
  # TODO: do we loose pressure if we keep pump off for long?
  brakelights = apply_brake > 0
@ -46,7 +51,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
  return packer.make_can_msg("BRAKE_COMMAND", bus, values)


-def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_fingerprint):
+def create_acc_commands(packer, enabled, active, accel, gas, stopping_counter, car_fingerprint):
  commands = []
  bus = get_pt_bus(car_fingerprint)
  min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
@ -55,21 +60,29 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_finge
  gas_command = gas if active and accel > min_gas_accel else -30000
  accel_command = accel if active else 0
  braking = 1 if active and accel < min_gas_accel else 0
-  standstill = 1 if active and stopping else 0
-  standstill_release = 1 if active and not stopping else 0
+  standstill = 1 if active and stopping_counter > 0 else 0
+  standstill_release = 1 if active and stopping_counter == 0 else 0

+  # common ACC_CONTROL values
  acc_control_values = {
+    'ACCEL_COMMAND': accel_command,
+    'STANDSTILL': standstill,
+  }
+
+  if car_fingerprint in HONDA_BOSCH_RADARLESS:
+    acc_control_values.update({
+      "CONTROL_ON": enabled,
+      "IDLESTOP_ALLOW": stopping_counter > 200,  # allow idle stop after 4 seconds (50 Hz)
+    })
+  else:
+    acc_control_values.update({
      # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
      "CONTROL_ON": control_on,
      "GAS_COMMAND": gas_command,  # used for gas
-    "ACCEL_COMMAND": accel_command,  # used for brakes
      "BRAKE_LIGHTS": braking,
      "BRAKE_REQUEST": braking,
-    "STANDSTILL": standstill,
      "STANDSTILL_RELEASE": standstill_release,
-  }
-  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
-
+    })
    acc_control_on_values = {
      "SET_TO_3": 0x03,
      "CONTROL_ON": enabled,
@ -79,6 +92,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_finge
    }
    commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))

+  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
  return commands


--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -31,19 +31,17 @@ class CarInterface(CarInterfaceBase):
      return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)

  @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
    ret.carName = "honda"

    if candidate in HONDA_BOSCH:
      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
      ret.radarUnavailable = True
-
-      if candidate not in HONDA_BOSCH_RADARLESS:
      # Disable the radar and let openpilot control longitudinal
      # WARNING: THIS DISABLES AEB!
+      # If Bosch radarless, this blocks ACC messages from the camera
      ret.experimentalLongitudinalAvailable = True
      ret.openpilotLongitudinalControl = experimental_long
-
      ret.pcmCruise = not ret.openpilotLongitudinalControl
    else:
      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
@ -75,6 +73,8 @@ class CarInterface(CarInterfaceBase):
      ret.longitudinalTuning.kpV = [0.25]
      ret.longitudinalTuning.kiV = [0.05]
      ret.longitudinalActuatorDelayUpperBound = 0.5 # s
+      if candidate in HONDA_BOSCH_RADARLESS:
+        ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN  # stock uses -4.0 m/s^2 once stopped but limited by safety model
    else:
      # default longitudinal tuning for all hondas
      ret.longitudinalTuning.kpBP = [0., 5., 35.]
@ -193,15 +193,18 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 0.75
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]

-    elif candidate == CAR.HRV:
+    elif candidate in (CAR.HRV, CAR.HRV_3G):
      ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
      ret.wheelbase = 2.61
      ret.centerToFront = ret.wheelbase * 0.41
      ret.steerRatio = 15.2
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
      tire_stiffness_factor = 0.5
+      if candidate == CAR.HRV:
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
        ret.wheelSpeedFactor = 1.025
+      else:
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]  # TODO: can probably use some tuning

    elif candidate == CAR.ACURA_RDX:
      ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@ -87,6 +87,7 @@ class CAR:
  FIT = "HONDA FIT 2018"
  FREED = "HONDA FREED 2020"
  HRV = "HONDA HRV 2019"
+  HRV_3G = "HONDA HR-V 2023"
  ODYSSEY = "HONDA ODYSSEY 2018"
  ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019"
  ACURA_RDX = "ACURA RDX 2018"
@ -116,19 +117,19 @@ class HondaCarInfo(CarInfo):

 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
  CAR.ACCORD: [
-    HondaCarInfo("Honda Accord 2018-22", "All", "https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
  ],
  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
  CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
    HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
  ],
  CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
  CAR.CIVIC_2022: [
-    HondaCarInfo("Honda Civic 2022", "All"),
-    HondaCarInfo("Honda Civic Hatchback 2022", "All"),
+    HondaCarInfo("Honda Civic 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+    HondaCarInfo("Honda Civic Hatchback 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
  ],
  CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
@ -138,6 +139,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
  CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All"),
  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"),
  CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
  CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
@ -146,7 +148,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
    HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
    HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
  ],
-  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS),
  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
  CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
 }
@ -186,7 +188,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
      [StdQueries.UDS_VERSION_RESPONSE],
      bus=1,
      logging=True,
-      non_obd=True,
+      obd_multiplexing=False,
    ),
  ],
  extra_ecus=[
@ -1246,6 +1248,7 @@ FW_VERSIONS = {
      b'37805-5YF-A750\x00\x00',
      b'37805-5YF-A850\x00\x00',
      b'37805-5YF-A870\x00\x00',
+      b'37805-5YF-AD20\x00\x00',
      b'37805-5YF-C210\x00\x00',
      b'37805-5YF-C220\x00\x00',
      b'37805-5YF-C410\000\000',
@ -1254,16 +1257,20 @@ FW_VERSIONS = {
    (Ecu.vsa, 0x18da28f1, None): [
      b'57114-TJB-A030\x00\x00',
      b'57114-TJB-A040\x00\x00',
+      b'57114-TJB-A120\x00\x00',
    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36802-TJB-A040\x00\x00',
      b'36802-TJB-A050\x00\x00',
+      b'36802-TJB-A540\x00\x00',
    ],
    (Ecu.fwdCamera, 0x18dab5f1, None): [
      b'36161-TJB-A040\x00\x00',
+      b'36161-TJB-A530\x00\x00',
    ],
    (Ecu.shiftByWire, 0x18da0bf1, None): [
      b'54008-TJB-A520\x00\x00',
+      b'54008-TJB-A530\x00\x00',
    ],
    (Ecu.transmission, 0x18da1ef1, None): [
      b'28102-5YK-A610\x00\x00',
@ -1271,6 +1278,7 @@ FW_VERSIONS = {
      b'28102-5YK-A630\x00\x00',
      b'28102-5YK-A700\x00\x00',
      b'28102-5YK-A711\x00\x00',
+      b'28102-5YK-A800\x00\x00',
      b'28102-5YL-A620\x00\x00',
      b'28102-5YL-A700\x00\x00',
      b'28102-5YL-A711\x00\x00',
@ -1282,6 +1290,7 @@ FW_VERSIONS = {
      b'78109-TJB-AB10\x00\x00',
      b'78109-TJB-AD10\x00\x00',
      b'78109-TJB-AF10\x00\x00',
+      b'78109-TJB-AQ20\x00\x00',
      b'78109-TJB-AR10\x00\x00',
      b'78109-TJB-AS10\000\000',
      b'78109-TJB-AU10\x00\x00',
@ -1293,22 +1302,26 @@ FW_VERSIONS = {
    ],
    (Ecu.srs, 0x18da53f1, None): [
      b'77959-TJB-A040\x00\x00',
+      b'77959-TJB-A120\x00\x00',
      b'77959-TJB-A210\x00\x00',
    ],
    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
      b'46114-TJB-A040\x00\x00',
      b'46114-TJB-A050\x00\x00',
      b'46114-TJB-A060\x00\x00',
+      b'46114-TJB-A120\x00\x00',
    ],
    (Ecu.gateway, 0x18daeff1, None): [
      b'38897-TJB-A040\x00\x00',
      b'38897-TJB-A110\x00\x00',
      b'38897-TJB-A120\x00\x00',
+      b'38897-TJB-A220\x00\x00',
    ],
    (Ecu.eps, 0x18da30f1, None): [
      b'39990-TJB-A030\x00\x00',
      b'39990-TJB-A040\x00\x00',
-      b'39990-TJB-A130\x00\x00'
+      b'39990-TJB-A070\x00\x00',
+      b'39990-TJB-A130\x00\x00',
    ],
  },
  CAR.RIDGELINE: {
@ -1408,6 +1421,32 @@ FW_VERSIONS = {
      b'78109-THW-A110\x00\x00',
    ],
  },
+  CAR.HRV_3G: {
+    (Ecu.eps, 0x18DA30F1, None): [
+      b'39990-3W0-A030\x00\x00',
+    ],
+    (Ecu.gateway, 0x18DAEFF1, None): [
+      b'38897-3W1-A010\x00\x00',
+    ],
+    (Ecu.srs, 0x18DA53F1, None): [
+      b'77959-3V0-A820\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18DA60F1, None): [
+      b'78108-3V1-A220\x00\x00',
+    ],
+    (Ecu.vsa, 0x18DA28F1, None): [
+      b'57114-3W0-A040\x00\x00',
+    ],
+    (Ecu.transmission, 0x18DA1EF1, None): [
+      b'28101-6EH-A010\x00\x00',
+    ],
+    (Ecu.programmedFuelInjection, 0x18DA10F1, None): [
+      b'37805-6CT-A710\x00\x00',
+    ],
+    (Ecu.electricBrakeBooster, 0x18DA2BF1, None): [
+      b'46114-3W0-A020\x00\x00',
+    ],
+  },
  CAR.ACURA_ILX: {
    (Ecu.gateway, 0x18daeff1, None): [
      b'38897-TX6-A010\x00\x00',
@ -1526,6 +1565,7 @@ DBC = {
  CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
  CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
  CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
+  CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None),
  CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
  CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
  CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
@ -1545,6 +1585,6 @@ HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
 HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
                                CAR.PILOT, CAR.RIDGELINE}
 HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
-               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022}
-HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G}
-HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022}
+               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
+HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G}
+HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@ -5,6 +5,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.hyundai import hyundaicanfd, hyundaican
+from selfdrive.car.hyundai.hyundaicanfd import CanBus
 from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR

 VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -44,6 +45,7 @@ def process_hud_alert(enabled, fingerprint, hud_control):
 class CarController:
  def __init__(self, dbc_name, CP, VM):
    self.CP = CP
+    self.CAN = CanBus(CP)
    self.params = CarControllerParams(CP)
    self.packer = CANPacker(dbc_name)
    self.angle_limit_counter = 0
@ -85,12 +87,12 @@ class CarController:
      # for longitudinal control, either radar or ADAS driving ECU
      addr, bus = 0x7d0, 0
      if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
-        addr, bus = 0x730, 5
+        addr, bus = 0x730, self.CAN.ECAN
      can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])

      # for blinkers
      if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-        can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 5])
+        can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])

    # >90 degree steering fault prevention
    # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
@ -112,25 +114,25 @@ class CarController:
      hda2_long = hda2 and self.CP.openpilotLongitudinalControl

      # steering control
-      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, lat_active, apply_steer))
+      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, lat_active, apply_steer))

      # disable LFA on HDA2
      if self.frame % 5 == 0 and hda2:
-        can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
+        can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4))

      # LFA and HDA icons
      if self.frame % 5 == 0 and (not hda2 or hda2_long):
-        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled))
+        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))

      # blinkers
      if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-        can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, CC.leftBlinker, CC.rightBlinker))
+        can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))

      if self.CP.openpilotLongitudinalControl:
        if hda2:
-          can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))
+          can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
        if self.frame % 2 == 0:
-          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
+          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
                                                           set_speed_in_units))
          self.accel_last = accel
      else:
@ -139,11 +141,11 @@ class CarController:
          # cruise cancel
          if CC.cruiseControl.cancel:
            if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-              can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, CS.cruise_info))
+              can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CAN, CS.cruise_info))
              self.last_button_frame = self.frame
            else:
              for _ in range(20):
-                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.CANCEL))
+                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
              self.last_button_frame = self.frame

          # cruise standstill resume
@ -153,7 +155,7 @@ class CarController:
              pass
            else:
              for _ in range(20):
-                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.RES_ACCEL))
+                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
              self.last_button_frame = self.frame
    else:
      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active,
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@ -6,8 +6,8 @@ from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus
-from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.hyundaicanfd import CanBus
+from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase

 PREV_BUTTON_SAMPLES = 8
@ -27,9 +27,9 @@ class CarState(CarStateBase):
                          "GEAR_SHIFTER"
    if CP.carFingerprint in CANFD_CAR:
      self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
-    elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
+    elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
      self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
-    elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
+    elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
      self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
    else:  # preferred and elect gear methods use same definition
      self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
@ -123,11 +123,11 @@ class CarState(CarStateBase):

    # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
    # as this seems to be standard over all cars, but is not the preferred method.
-    if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
+    if self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
      gear = cp.vl["CLU15"]["CF_Clu_Gear"]
-    elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
+    elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
      gear = cp.vl["TCU12"]["CUR_GR"]
-    elif self.CP.carFingerprint in FEATURES["use_elect_gears"]:
+    elif self.CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
      gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
    else:
      gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
@ -354,12 +354,12 @@ class CarState(CarStateBase):
        ("EMS16", 100),
      ]

-    if CP.carFingerprint in FEATURES["use_cluster_gears"]:
+    if CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
      signals.append(("CF_Clu_Gear", "CLU15"))
-    elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
+    elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
      signals.append(("CUR_GR", "TCU12"))
      checks.append(("TCU12", 100))
-    elif CP.carFingerprint in FEATURES["use_elect_gears"]:
+    elif CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
      signals.append(("Elect_Gear_Shifter", "ELECT_GEAR"))
      checks.append(("ELECT_GEAR", 20))
    else:
@ -516,7 +516,7 @@ class CarState(CarStateBase):
        ("ACCELERATOR_BRAKE_ALT", 100),
      ]

-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_e_can_bus(CP))
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).ECAN)

  @staticmethod
  def get_cam_can_parser_canfd(CP):
@ -543,4 +543,4 @@ class CarState(CarStateBase):
        ("SCC_CONTROL", 50),
      ]

-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).CAM)
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@ -1,14 +1,44 @@
+import math
+
 from common.numpy_fast import clip
 from selfdrive.car.hyundai.values import HyundaiFlags

-def get_e_can_bus(CP):
+
+class CanBus:
+  def __init__(self, CP, hda2=None, fingerprint=None):
+    if CP is None:
+      assert None not in (hda2, fingerprint)
+      num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4)
+    else:
+      hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value
+      num = len(CP.safetyConfigs)
+
    # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
    # have a different harness than the HDA1 and non-HDA variants in order to split
    # a different bus, since the steering is done by different ECUs.
-  return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4
+    self._a, self._e = 1, 0
+    if hda2:
+      self._a, self._e = 0, 1
+
+    offset = 4*(num - 1)
+    self._a += offset
+    self._e += offset
+    self._cam = 2 + offset
+
+  @property
+  def ECAN(self):
+    return self._e
+
+  @property
+  def ACAN(self):
+    return self._a
+
+  @property
+  def CAM(self):
+    return self._cam


-def create_steering_messages(packer, CP, enabled, lat_active, apply_steer):
+def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):

  ret = []

@ -26,45 +56,45 @@ def create_steering_messages(packer, CP, enabled, lat_active, apply_steer):

  if CP.flags & HyundaiFlags.CANFD_HDA2:
    if CP.openpilotLongitudinalControl:
-      ret.append(packer.make_can_msg("LFA", 5, values))
-    ret.append(packer.make_can_msg("LKAS", 4, values))
+      ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
+    ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values))
  else:
-    ret.append(packer.make_can_msg("LFA", 4, values))
+    ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))

  return ret

-def create_cam_0x2a4(packer, camera_values):
+def create_cam_0x2a4(packer, CAN, camera_values):
  camera_values.update({
    "BYTE7": 0,
  })
-  return packer.make_can_msg("CAM_0x2a4", 4, camera_values)
+  return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, camera_values)

-def create_buttons(packer, CP, cnt, btn):
+def create_buttons(packer, CP, CAN, cnt, btn):
  values = {
    "COUNTER": cnt,
    "SET_ME_1": 1,
    "CRUISE_BUTTONS": btn,
  }

-  bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 6
+  bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)

-def create_acc_cancel(packer, CP, cruise_info_copy):
+def create_acc_cancel(packer, CAN, cruise_info_copy):
  values = cruise_info_copy
  values.update({
    "ACCMode": 4,
  })
-  return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values)
+  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)

-def create_lfahda_cluster(packer, CP, enabled):
+def create_lfahda_cluster(packer, CAN, enabled):
  values = {
    "HDA_ICON": 1 if enabled else 0,
    "LFA_ICON": 2 if enabled else 0,
  }
-  return packer.make_can_msg("LFAHDA_CLUSTER", get_e_can_bus(CP), values)
+  return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)


-def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_override, set_speed):
+def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed):
  jerk = 5
  jn = jerk / 50
  if not enabled or gas_override:
@ -92,15 +122,15 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
    "DISTANCE_SETTING": 4,
  }

-  return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values)
+  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)


-def create_spas_messages(packer, frame, left_blink, right_blink):
+def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
  ret = []

  values = {
  }
-  ret.append(packer.make_can_msg("SPAS1", 5, values))
+  ret.append(packer.make_can_msg("SPAS1", CAN.ECAN, values))

  blink = 0
  if left_blink:
@ -110,12 +140,12 @@ def create_spas_messages(packer, frame, left_blink, right_blink):
  values = {
    "BLINKER_CONTROL": blink,
  }
-  ret.append(packer.make_can_msg("SPAS2", 5, values))
+  ret.append(packer.make_can_msg("SPAS2", CAN.ECAN, values))

  return ret


-def create_adrv_messages(packer, frame):
+def create_adrv_messages(packer, CAN, frame):
  # messages needed to car happy after disabling
  # the ADAS Driving ECU to do longitudinal control

@ -123,7 +153,7 @@ def create_adrv_messages(packer, frame):

  values = {
  }
-  ret.append(packer.make_can_msg("ADRV_0x51", 4, values))
+  ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))

  if frame % 2 == 0:
    values = {
@ -133,7 +163,7 @@ def create_adrv_messages(packer, frame):
      'SET_ME_FC': 0xfc,
      'SET_ME_9': 0x9,
    }
-    ret.append(packer.make_can_msg("ADRV_0x160", 5, values))
+    ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))

  if frame % 5 == 0:
    values = {
@ -142,25 +172,25 @@ def create_adrv_messages(packer, frame):
      'SET_ME_TMP_F': 0xf,
      'SET_ME_TMP_F_2': 0xf,
    }
-    ret.append(packer.make_can_msg("ADRV_0x1ea", 5, values))
+    ret.append(packer.make_can_msg("ADRV_0x1ea", CAN.ECAN, values))

    values = {
      'SET_ME_E1': 0xe1,
      'SET_ME_3A': 0x3a,
    }
-    ret.append(packer.make_can_msg("ADRV_0x200", 5, values))
+    ret.append(packer.make_can_msg("ADRV_0x200", CAN.ECAN, values))

  if frame % 20 == 0:
    values = {
      'SET_ME_15': 0x15,
    }
-    ret.append(packer.make_can_msg("ADRV_0x345", 5, values))
+    ret.append(packer.make_can_msg("ADRV_0x345", CAN.ECAN, values))

  if frame % 100 == 0:
    values = {
      'SET_ME_22': 0x22,
      'SET_ME_41': 0x41,
    }
-    ret.append(packer.make_can_msg("ADRV_0x1da", 5, values))
+    ret.append(packer.make_can_msg("ADRV_0x1da", CAN.ECAN, values))

  return ret
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus
+from selfdrive.car.hyundai.hyundaicanfd import CanBus
 from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
@ -19,7 +19,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu

 class CarInterface(CarInterfaceBase):
  @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
    ret.carName = "hyundai"
    ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None

@ -28,17 +28,20 @@ class CarInterface(CarInterfaceBase):
    # added to selfdrive/car/tests/routes.py, we can remove it from this list.
    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }

+    hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
+    CAN = CanBus(None, hda2, fingerprint)
+
    if candidate in CANFD_CAR:
      # detect HDA2 with ADAS Driving ECU
-      if Ecu.adas in [fw.ecu for fw in car_fw]:
+      if hda2:
        ret.flags |= HyundaiFlags.CANFD_HDA2.value
      else:
        # non-HDA2
-        if 0x1cf not in fingerprint[4]:
+        if 0x1cf not in fingerprint[CAN.ECAN]:
          ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
        # ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
-        if 0x130 not in fingerprint[4]:
-          if 0x40 not in fingerprint[4]:
+        if 0x130 not in fingerprint[CAN.ECAN]:
+          if 0x40 not in fingerprint[CAN.ECAN]:
            ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value
          else:
            ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
@ -136,10 +139,10 @@ class CarInterface(CarInterfaceBase):
      ret.mass = 1985. + STD_CARGO_KG
      ret.wheelbase = 2.78
      ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
-    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN):
-      ret.mass = 3452. * CV.LB_TO_KG + STD_CARGO_KG  # average of all the cars
+    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN):
+      ret.mass = 3543. * CV.LB_TO_KG + STD_CARGO_KG  # average of all the cars
      ret.wheelbase = 2.7
-      ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73  # Spec
+      ret.steerRatio = 13.6  # average of all the cars
      tire_stiffness_factor = 0.385
      if candidate == CAR.KIA_NIRO_PHEV:
        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
@ -248,21 +251,23 @@ class CarInterface(CarInterfaceBase):

    # *** feature detection ***
    if candidate in CANFD_CAR:
-      ret.enableBsm = 0x1e5 in fingerprint[get_e_can_bus(ret)]
+      ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
    else:
      ret.enableBsm = 0x58b in fingerprint[0]

    # *** panda safety config ***
    if candidate in CANFD_CAR:
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
-                           get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]
+      cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
+      if CAN.ECAN >= 4:
+        cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
+      ret.safetyConfigs = cfgs

      if ret.flags & HyundaiFlags.CANFD_HDA2:
-        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
      if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
      if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
-        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
    else:
      if candidate in LEGACY_SAFETY_MODE_CAR:
        # these cars require a special panda safety mode due to missing counters and checksums in the messages
@ -297,12 +302,12 @@ class CarInterface(CarInterfaceBase):
    if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
      addr, bus = 0x7d0, 0
      if CP.flags & HyundaiFlags.CANFD_HDA2.value:
-        addr, bus = 0x730, 5
+        addr, bus = 0x730, CanBus(CP).ECAN
      disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')

    # for blinkers
    if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-      disable_ecu(logcan, sendcan, bus=5, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
+      disable_ecu(logcan, sendcan, bus=CanBus(CP.ECAN), addr=0x7B1, com_cont_req=b'\x28\x83\x01')

  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_cam)
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@ -2,16 +2,21 @@
 import unittest

 from cereal import car
-from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS
+from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS, CAN_GEARS, LEGACY_SAFETY_MODE_CAR, CHECKSUM, CAMERA_SCC_CAR

 Ecu = car.CarParams.Ecu
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}


 class TestHyundaiFingerprint(unittest.TestCase):
+  def test_canfd_not_in_can_features(self):
+    can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, CAMERA_SCC_CAR)
+    for car_model in CANFD_CAR:
+      self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list")
+
  def test_auxiliary_request_ecu_whitelist(self):
    # Asserts only auxiliary Ecus can exist in database for CAN-FD cars
-    whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.bus > 3}
+    whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.auxiliary}

    for car_model in CANFD_CAR:
      ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -100,6 +100,7 @@ class CAR:
  KIA_K5_2021 = "KIA K5 2021"
  KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
  KIA_NIRO_EV = "KIA NIRO EV 2020"
+  KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
  KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
  KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
  KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN"
@ -160,23 +161,23 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
  CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c),
  CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", 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", "All", harness=Harness.hyundai_h),
+  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", 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_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness=Harness.hyundai_o),
  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i),  # TODO: check packages
  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", "https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l),
+  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l),
  CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l),
  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l),
-  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", "https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
+  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
  CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e),
  CAR.TUCSON: [
    HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
    HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
  ],
  CAR.PALISADE: [
-    HyundaiCarInfo("Hyundai Palisade 2020-22", "All", "https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
    HyundaiCarInfo("Kia Telluride 2020-22", "All", harness=Harness.hyundai_h),
  ],
  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
@ -198,18 +199,18 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness=Harness.hyundai_a),
  CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", harness=Harness.hyundai_a),
  CAR.KIA_NIRO_EV: [
-    HyundaiCarInfo("Kia Niro EV 2019", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
-    HyundaiCarInfo("Kia Niro EV 2020", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
-    HyundaiCarInfo("Kia Niro EV 2021", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
-    HyundaiCarInfo("Kia Niro EV 2022", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
+    HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
+    HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
  ],
+  CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", harness=Harness.hyundai_a),
  CAR.KIA_NIRO_PHEV: [
    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", harness=Harness.hyundai_d),
  ],
  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),
+    HyundaiCarInfo("Kia Niro Hybrid 2021-22", harness=Harness.hyundai_f),  # TODO: 2021 could be hyundai_d, verify
  ],
  CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", harness=Harness.hyundai_a),
  CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b),  # TODO: may support 2016, 2018
@ -221,7 +222,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
  CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness=Harness.hyundai_n),
  CAR.KIA_SORENTO: [
-    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
+    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", 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_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness=Harness.hyundai_k),
@ -232,8 +233,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
  CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
  CAR.KIA_EV6: [
    HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", harness=Harness.hyundai_p),
-    HyundaiCarInfo("Kia EV6 (without HDA II) 2022", "Highway Driving Assist", harness=Harness.hyundai_l),
-    HyundaiCarInfo("Kia EV6 (with HDA II) 2022", "Highway Driving Assist II", harness=Harness.hyundai_p)
+    HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", harness=Harness.hyundai_l),
+    HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_p)
  ],

  # Genesis
@ -335,10 +336,15 @@ FINGERPRINTS = {

 HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
  p16(0xf100)  # Long description
+
+HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xf110)  # Alt long description
+
 HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
  p16(0xf100)
+
 HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])

 FW_QUERY_CONFIG = FwQueryConfig(
@ -355,22 +361,46 @@ FW_QUERY_CONFIG = FwQueryConfig(
      [HYUNDAI_VERSION_RESPONSE],
      whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
    ),
-    # CAN-FD queries (camera)
+
+    # CAN-FD queries (from camera)
+    # TODO: combine shared whitelists with CAN requests
    Request(
      [HYUNDAI_VERSION_REQUEST_LONG],
      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar],
-      bus=4,
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac],
+      bus=0,
+      auxiliary=True,
    ),
    Request(
      [HYUNDAI_VERSION_REQUEST_LONG],
      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar],
-      bus=5,
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac],
+      bus=1,
+      auxiliary=True,
+      obd_multiplexing=False,
+    ),
+
+    # CAN-FD debugging queries
+    Request(
+      [HYUNDAI_VERSION_REQUEST_ALT],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
+      bus=0,
+      auxiliary=True,
+    ),
+    Request(
+      [HYUNDAI_VERSION_REQUEST_ALT],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
+      bus=1,
+      auxiliary=True,
+      obd_multiplexing=False,
    ),
  ],
  extra_ecus=[
    (Ecu.adas, 0x730, None),         # ADAS Driving ECU on HDA2 platforms
+    (Ecu.parkingAdas, 0x7b1, None),  # ADAS Parking ECU (may exist on all platforms)
+    (Ecu.hvac, 0x7b3, None),         # HVAC Control Assembly
    (Ecu.cornerRadar, 0x7b7, None),
  ],
 )
@ -424,6 +454,7 @@ FW_VERSIONS = {
      b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2200         ',
      b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
      b'\xf1\x00AEhe SCC F-CUP      1.00 1.02 99110-G2100         ',
+      b'\xf1\x00AEhe SCC FHCUP      1.00 1.00 99110-G2600         ',
    ],
    (Ecu.eps, 0x7d4, None): [
      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2510 4APHC101',
@ -511,7 +542,6 @@ FW_VERSIONS = {
      b'\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
      b'\xf1\x00DN8_ SCC FHCUP      1.00 1.01 99110-L1000         ',
      b'\xf1\x00DN89110-L0000         \xaa\xaa\xaa\xaa\xaa\xaa\xaa     ',
-      b'\xf1\x8799110L0000\xf1\x00DN8_ SCC F-CUP      1.00 1.00 99110-L0000         ',
    ],
    (Ecu.abs, 0x7d1, None): [
      b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
@ -520,6 +550,7 @@ FW_VERSIONS = {
      b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
      b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
      b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300',
+      b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100',
      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
@ -543,6 +574,7 @@ FW_VERSIONS = {
      b'HM6M2_0a0_BD0',
      b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B',
      b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00',
+      b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00',
      b'\xf1\x81HM6M1_0a0_G20',
    ],
    (Ecu.eps, 0x7d4, None): [
@ -562,6 +594,7 @@ FW_VERSIONS = {
      b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
      b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102',
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.02 99211-L1000 190422',
@ -882,18 +915,23 @@ FW_VERSIONS = {
  CAR.KIA_STINGER_2022: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00CK__ SCC F-CUP      1.00 1.00 99110-J5500         ',
+      b'\xf1\x00CK__ SCC FHCUP      1.00 1.00 99110-J5500         ',
    ],
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81HM6M1_0a0_H00',
    ],
    (Ecu.eps, 0x7d4, None): [
      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5380 4C2VR503',
+      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5300 4C2CL503',
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00CK  MFC  AT AUS RHD 1.00 1.00 99211-J5500 210622',
+      b'\xf1\x00CK  MFC  AT KOR LHD 1.00 1.00 99211-J5500 210622',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6',
+      b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2',
    ],
  },
  CAR.PALISADE: {
@ -1025,11 +1063,23 @@ FW_VERSIONS = {
    ],
  },
  CAR.GENESIS_G70: {
-    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ', ],
-    (Ecu.engine, 0x7e0, None): [b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', ],
-    (Ecu.eps, 0x7d4, None): [b'\xf1\x00IK  MDPS R 1.00 1.06 57700-G9420 4I4VL106', ],
-    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920', ],
-    (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ',
+      b'\xf1\x00IK__ SCC F-CUP      1.00 1.01 96400-G9100         ',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IK  MDPS R 1.00 1.06 57700-G9420 4I4VL106',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda',
+      b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda',
+    ],
  },
  CAR.GENESIS_G70_2020: {
    (Ecu.eps, 0x7d4, None): [
@ -1263,6 +1313,14 @@ FW_VERSIONS = {
      b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.03 95740-Q4000 180821',
    ],
  },
+  CAR.KIA_NIRO_EV_2ND_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SG2_ RDR -----      1.00 1.01 99110-AT000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SG2EMFC  AT EUR LHD 1.01 1.09 99211-AT000 220801',
+    ],
+  },
  CAR.KIA_NIRO_PHEV: {
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00',
@ -1444,25 +1502,29 @@ FW_VERSIONS = {
      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.05 99210-AA000 210930',
      b'\xf1\000CN7HMFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.07 99210-AA000 220426',
+      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.08 99210-AA000 220728',
    ],
    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\000CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
+      b'\xf1\x00CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
      b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
    ],
    (Ecu.eps, 0x7d4, None): [
      b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103',
      b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103',
      b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102',
+      b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa',
      b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\000\000\000\000',
      b'\xf1\x816U3K3051\000\000\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa',
      b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00',
+      b'\xf1\x006U3L0_C2\x00\x006U3K9051\x00\x00HCN0G16NS1\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
      b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00',
    ]
  },
  CAR.KONA_HEV: {
@ -1553,6 +1615,7 @@ FW_VERSIONS = {
      b'\xf1\x00CV1 MFC  AT EUR RHD 1.00 1.00 99210-CV100 220630',
      b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.00 99210-CV100 220630',
      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.04 99210-CV000 210823',
+      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.06 99210-CV000 220328',
    ],
  },
  CAR.IONIQ_5: {
@ -1572,9 +1635,12 @@ FW_VERSIONS = {
  },
  CAR.TUCSON_4TH_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X',
    ],
    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
      b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
    ],
  },
@ -1590,6 +1656,7 @@ FW_VERSIONS = {
  },
  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665',
      b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
    ],
    (Ecu.fwdRadar, 0x7d0, None): [
@ -1662,14 +1729,14 @@ CHECKSUM = {
  "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
 }

-FEATURES = {
+CAN_GEARS = {
  # which message has the gear
  "use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
  "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
 }

-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN}

 # The radar does SCC on these cars when HDA I, rather than the camera
 CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN}
@ -1678,7 +1745,7 @@ CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, C
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }

 HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN}  # these cars use a different gas signal
-EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN}
+EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN}

 # these cars require a special panda safety mode due to missing counters and checksums in the messages
 LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER,
@ -1741,4 +1808,5 @@ DBC = {
  CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None),
  CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
 }
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@ -8,10 +8,10 @@ from cereal import car
 from common.basedir import BASEDIR
 from common.conversions import Conversions as CV
 from common.kalman.simple_kalman import KF1D
-from common.numpy_fast import clip, interp
+from common.numpy_fast import clip
 from common.realtime import DT_CTRL
 from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness
-from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_center_deadzone
+from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel

@ -64,6 +64,7 @@ class CarInterfaceBase(ABC):
    self.frame = 0
    self.steering_unpressed = 0
    self.low_speed_alert = False
+    self.no_steer_warning = False
    self.silent_steer_warning = True
    self.v_ego_cluster_seen = False

@ -92,12 +93,12 @@ class CarInterfaceBase(ABC):
    """
    Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
    """
-    return cls.get_params(candidate, gen_empty_fingerprint(), list(), False)
+    return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False)

  @classmethod
-  def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool):
+  def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
    ret = CarInterfaceBase.get_std_params(candidate)
-    ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long)
+    ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)

    # Set common params using fields set by the car interface
    # TODO: get actual value, for now starting with reasonable value for
@ -114,7 +115,7 @@ class CarInterfaceBase(ABC):

  @staticmethod
  @abstractmethod
-  def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool):
+  def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
    raise NotImplementedError

  @staticmethod
@ -131,15 +132,11 @@ class CarInterfaceBase(ABC):
    return self.get_steer_feedforward_default

  @staticmethod
-  def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation):
+  def torque_from_lateral_accel_linear(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
+                                       lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
    # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
-    friction_interp = interp(
-      apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
-      [-FRICTION_THRESHOLD, FRICTION_THRESHOLD],
-      [-torque_params.friction, torque_params.friction]
-    )
-    friction = friction_interp if friction_compensation else 0.0
-    return (lateral_accel_value / torque_params.latAccelFactor) + friction
+    friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
+    return (lateral_accel_value / float(torque_params.latAccelFactor)) + friction

  def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
    return self.torque_from_lateral_accel_linear
@ -282,6 +279,11 @@ class CarInterfaceBase(ABC):
    # Handle permanent and temporary steering faults
    self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
    if cs_out.steerFaultTemporary:
+      if cs_out.steeringPressed and (not self.CS.out.steerFaultTemporary or self.no_steer_warning):
+        self.no_steer_warning = True
+      else:
+        self.no_steer_warning = False
+
        # if the user overrode recently, show a less harsh alert
        if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
          self.silent_steer_warning = True
@ -289,6 +291,7 @@ class CarInterfaceBase(ABC):
        else:
          events.add(EventName.steerTempUnavailable)
    else:
+      self.no_steer_warning = False
      self.silent_steer_warning = False
    if cs_out.steerFaultPermanent:
      events.add(EventName.steerUnavailable)
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@ -60,7 +60,7 @@ class IsoTpParallelQuery:
    return msgs

  def _drain_rx(self):
-    messaging.drain_sock(self.logcan)
+    messaging.drain_sock_raw(self.logcan)
    self.msg_buffer = defaultdict(list)

  def _create_isotp_msg(self, tx_addr, sub_addr, rx_addr):
@ -100,18 +100,16 @@ class IsoTpParallelQuery:
    while True:
      self.rx()

-      if all(request_done.values()):
-        break
-
      for tx_addr, msg in msgs.items():
        try:
-          dat, updated = msg.recv()
+          dat, rx_in_progress = msg.recv()
        except Exception:
          cloudlog.exception(f"Error processing UDS response: {tx_addr}")
          request_done[tx_addr] = True
          continue

-        if updated:
+        # Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses
+        if rx_in_progress:
          response_timeouts[tx_addr] = time.monotonic() + timeout

        if not dat:
@ -123,6 +121,7 @@ class IsoTpParallelQuery:

        if response_valid:
          if counter + 1 < len(self.request):
+            response_timeouts[tx_addr] = time.monotonic() + timeout
            msg.send(self.request[counter + 1])
            request_counter[tx_addr] += 1
          else:
@ -132,18 +131,21 @@ class IsoTpParallelQuery:
          error_code = dat[2] if len(dat) > 2 else -1
          if error_code == 0x78:
            response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout
-            if self.debug:
-              cloudlog.warning(f"iso-tp query response pending: {tx_addr}")
+            cloudlog.error(f"iso-tp query response pending: {tx_addr}")
          else:
-            response_timeouts[tx_addr] = 0
            request_done[tx_addr] = True
            cloudlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")

+      # Mark request done if address timed out
      cur_time = time.monotonic()
-      if cur_time - max(response_timeouts.values()) > 0:
-        for tx_addr in msgs:
+      for tx_addr in response_timeouts:
+        if cur_time - response_timeouts[tx_addr] > 0:
          if request_counter[tx_addr] > 0 and not request_done[tx_addr]:
            cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}")
+          request_done[tx_addr] = True
+
+      # Break if all requests are done (finished or timed out)
+      if all(request_done.values()):
        break

      if cur_time - start_time > total_timeout:
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@ -11,7 +11,7 @@ EventName = car.CarEvent.EventName
 class CarInterface(CarInterfaceBase):

  @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
    ret.carName = "mazda"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
    ret.radarUnavailable = True
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@ -258,11 +258,14 @@ FW_VERSIONS = {
  CAR.MAZDA6: {
    (Ecu.eps, 0x730, None): [
      b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'GFBC-3210X-A-00\000\000\000\000\000\000\000\000\000',
    ],
    (Ecu.engine, 0x7e0, None): [
+      b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PX4F-188K2-D\000\000\000\000\000\000\000\000\000\000\000\000',
      b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYH7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x764, None): [
      b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -270,13 +273,16 @@ FW_VERSIONS = {
    ],
    (Ecu.abs, 0x760, None): [
      b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'GDDM-437K2-A\000\000\000\000\000\000\000\000\000\000\000\000',
    ],
    (Ecu.fwdCamera, 0x706, None): [
      b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'GSH7-67XK2-P\000\000\000\000\000\000\000\000\000\000\000\000',
    ],
    (Ecu.transmission, 0x7e1, None): [
+      b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYH3-21PS1-D\000\000\000\000\000\000\000\000\000\000\000\000',
      b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
@ -291,6 +297,7 @@ FW_VERSIONS = {
      b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXGW-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x764, None): [
      b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@ -19,7 +19,7 @@ class CarInterface(CarInterfaceBase):
    self.prev_speed = 0.

  @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
    ret.carName = "mock"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
    ret.mass = 1700.
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@ -8,7 +8,7 @@ from selfdrive.car.nissan.values import CAR
 class CarInterface(CarInterfaceBase):

  @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
    ret.carName = "nissan"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
    ret.autoResumeSng = False
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@ -39,7 +39,7 @@ class NissanCarInfo(CarInfo):

 CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
  CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
-  CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-22", video_link="https://youtu.be/vaMbtAh_0cY"),
+  CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
  CAR.LEAF_IC: None,  # same platforms
  CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
  CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness=Harness.nissan_b),
@ -126,18 +126,22 @@ FW_VERSIONS = {
    (Ecu.fwdCamera, 0x707, None): [
      b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
      b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80',
+      b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
    ],
    (Ecu.abs, 0x740, None): [
      b'476605SH1D',
      b'476605SK2A',
+      b'476605SD2E',
    ],
    (Ecu.eps, 0x742, None): [
      b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80',
      b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
    ],
    (Ecu.gateway, 0x18dad0f1, None): [
      b'284U25SH3A',
      b'284U25SK2D',
+      b'284U25SF0C',
    ],
  },
  CAR.XTRAIL: {
--- a/Show More
+++ b/Show More