Merge remote-tracking branch 'upstream/master' into toyota-lta

.github/workflows/prebuilt.yaml

@@ -16,7 +16,6 @@ jobs:
   build_prebuilt:
     name: build prebuilt
     runs-on: ubuntu-20.04
-    timeout-minutes: 60
     if: github.repository == 'commaai/openpilot'
     env:
       IMAGE_NAME: openpilot-prebuilt

.github/workflows/release.yaml

@@ -8,7 +8,6 @@ jobs:
   build_masterci:
     name: build master-ci
     runs-on: ubuntu-20.04
-    timeout-minutes: 60
     if: github.repository == 'commaai/openpilot'
     steps:
     - name: Wait for green check mark

.github/workflows/selfdrive_tests.yaml

@@ -32,7 +32,6 @@ jobs:
   build_release:
     name: build release
     runs-on: ubuntu-20.04
-    timeout-minutes: 30
     env:
       STRIPPED_DIR: /tmp/releasepilot
     steps:
@@ -61,12 +60,11 @@ jobs:
         cp .pylintrc $STRIPPED_DIR
         cp mypy.ini $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "SKIP=test_translations pre-commit run --all"
+        ${{ env.RUN }} "pre-commit run --all"
 
   build_all:
     name: build all
     runs-on: ubuntu-20.04
-    timeout-minutes: 30
     steps:
     - uses: actions/checkout@v3
       with:
@@ -84,7 +82,6 @@ jobs:
   #build_mac:
   #  name: build macos
   #  runs-on: macos-latest
-  #  timeout-minutes: 60
   #  steps:
   #  - uses: actions/checkout@v3
   #    with:
@@ -141,7 +138,6 @@ jobs:
   docker_push:
     name: docker push
     runs-on: ubuntu-20.04
-    timeout-minutes: 22
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
     needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast
     steps:
@@ -150,14 +146,12 @@ jobs:
         submodules: true
     - name: Build Docker image
       run: eval "$BUILD"
-      timeout-minutes: 13
     - name: Push to container registry
       run: |
         $DOCKER_LOGIN
         docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
     - name: Build CL Docker image
       run: eval "$BUILD_CL"
-      timeout-minutes: 4
     - name: Push to container registry
       run: |
         $DOCKER_LOGIN
@@ -166,7 +160,6 @@ jobs:
   static_analysis:
     name: static analysis
     runs-on: ubuntu-20.04
-    timeout-minutes: 20
     steps:
     - uses: actions/checkout@v3
       with:
@@ -174,13 +167,11 @@ jobs:
     - name: Build Docker image
       run: eval "$BUILD"
     - name: pre-commit
-      timeout-minutes: 5
       run: ${{ env.RUN }} "pre-commit run --all"
 
   valgrind:
     name: valgrind
     runs-on: ubuntu-20.04
-    timeout-minutes: 20
     steps:
     - uses: actions/checkout@v3
       with:
@@ -198,7 +189,6 @@ jobs:
   unit_tests:
     name: unit tests
     runs-on: ubuntu-20.04
-    timeout-minutes: 30
     steps:
     - uses: actions/checkout@v3
       with:
@@ -207,7 +197,6 @@ jobs:
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run unit tests
-      timeout-minutes: 15
       run: |
         ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
                         $UNIT_TEST common && \
@@ -219,6 +208,7 @@ jobs:
                         $UNIT_TEST selfdrive/car && \
                         $UNIT_TEST selfdrive/locationd && \
                         selfdrive/locationd/test/_test_locationd_lib.py && \
+                        ./selfdrive/locationd/test/test_glonass_runner && \
                         $UNIT_TEST selfdrive/athena && \
                         $UNIT_TEST selfdrive/thermald && \
                         $UNIT_TEST system/hardware/tici && \
@@ -241,7 +231,6 @@ jobs:
   process_replay:
     name: process replay
     runs-on: ubuntu-20.04
-    timeout-minutes: 25
     steps:
     - uses: actions/checkout@v3
       with:
@@ -261,6 +250,7 @@ jobs:
         ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                         coverage xml"
     - name: Print diff
+      id: print-diff
       if: always()
       run: cat selfdrive/test/process_replay/diff.txt
     - uses: actions/upload-artifact@v2
@@ -270,7 +260,7 @@ jobs:
         name: process_replay_diff.txt
         path: selfdrive/test/process_replay/diff.txt
     - name: Upload reference logs
-      if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.event_name == 'pull_request' && 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"
@@ -279,7 +269,6 @@ jobs:
   test_modeld:
     name: model tests
     runs-on: ubuntu-20.04
-    timeout-minutes: 20
     steps:
     - uses: actions/checkout@v3
       with:
@@ -292,12 +281,10 @@ jobs:
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run model replay with ONNX
-      timeout-minutes: 2
       run: |
         ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
                            coverage xml"
     - name: Run unit tests
-      timeout-minutes: 5
       run: |
         ${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \
                            coverage xml"
@@ -307,7 +294,6 @@ jobs:
   test_longitudinal:
     name: longitudinal
     runs-on: ubuntu-20.04
-    timeout-minutes: 20
     steps:
     - uses: actions/checkout@v3
       with:
@@ -322,7 +308,6 @@ jobs:
                         cd selfdrive/test/longitudinal_maneuvers && \
                         coverage run ./test_longitudinal.py && \
                         coverage xml"
-      timeout-minutes: 2
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
     - uses: actions/upload-artifact@v2
@@ -335,7 +320,6 @@ jobs:
   test_cars:
     name: cars
     runs-on: ubuntu-20.04
-    timeout-minutes: 20
     strategy:
       fail-fast: false
       matrix:
@@ -354,7 +338,6 @@ jobs:
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
-      timeout-minutes: 12
       run: |
         ${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \
                         coverage xml && \
@@ -368,7 +351,6 @@ jobs:
   car_docs_diff:
     name: PR comments
     runs-on: ubuntu-20.04
-    timeout-minutes: 20
     if: github.event_name == 'pull_request'
     steps:
       - uses: actions/checkout@v3

.github/workflows/tools_tests.yaml

@@ -30,7 +30,6 @@ jobs:
   plotjuggler:
     name: plotjuggler
     runs-on: ubuntu-20.04
-    timeout-minutes: 20
     steps:
     - uses: actions/checkout@v3
       with:
@@ -38,7 +37,6 @@ jobs:
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Unit test
-      timeout-minutes: 2
       run: |
         ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \
                         apt-get update && \
@@ -49,7 +47,6 @@ jobs:
   simulator:
     name: simulator
     runs-on: ubuntu-20.04
-    timeout-minutes: 30
     env:
       IMAGE_NAME: openpilot-sim
     if: github.repository == 'commaai/openpilot'
@@ -74,7 +71,6 @@ jobs:
   docs:
     name: build docs
     runs-on: ubuntu-20.04
-    timeout-minutes: 25
     steps:
     - uses: actions/checkout@v3
       with:

.pre-commit-config.yaml

@@ -7,7 +7,7 @@ repos:
     rev: v4.1.0
     hooks:
     -   id: check-ast
-        exclude: '^(pyextra)/'
+        exclude: '^(third_party)/'
     -   id: check-json
     -   id: check-xml
     -   id: check-yaml
@@ -19,7 +19,7 @@ repos:
     rev: v2.2.1
     hooks:
     -   id: codespell
-        exclude: '^(pyextra/)|(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(include/)|(selfdrive/ui/translations/.*.ts)|(selfdrive/controls/lib/cluster)'
+        exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
         args:
         # if you've got a short variable name that's getting flagged, add it here
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup
@@ -31,12 +31,12 @@ repos:
         entry: mypy
         language: system
         types: [python]
-        exclude: '^(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
+        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
     hooks:
     -   id: flake8
-        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/'
+        exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/'
         additional_dependencies: ['flake8-no-implicit-concat']
         args:
         - --indent-size=2
@@ -51,7 +51,7 @@ repos:
         entry: pylint
         language: system
         types: [python]
-        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
+        exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
         args:
         - -j0
         - -rn
@@ -64,7 +64,7 @@ repos:
         entry: cppcheck
         language: system
         types: [c++]
-        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
+        exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
         args:
         - --error-exitcode=1
         - --language=c++

Dockerfile.openpilot

@@ -10,7 +10,6 @@ WORKDIR ${OPENPILOT_PATH}
 
 COPY SConstruct ${OPENPILOT_PATH}
 
-COPY ./pyextra ${OPENPILOT_PATH}/pyextra
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
 COPY ./laika ${OPENPILOT_PATH}/laika

Jenkinsfile

@@ -13,6 +13,8 @@ export GIT_COMMIT=${env.GIT_COMMIT}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
 export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
 
+export GIT_SSH_COMMAND="ssh -i /data/gitkey"
+
 source ~/.bash_profile
 if [ -f /TICI ]; then
   source /etc/profile
@@ -56,14 +58,26 @@ pipeline {
   }
 
   stages {
-    stage('build release3') {
+    stage('build release3-staging') {
       agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
       when {
         branch 'devel-staging'
       }
       steps {
         phone_steps("tici-needs-can", [
-          ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+          ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
+        ])
+      }
+    }
+
+    stage('build nightly') {
+      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+      when {
+        branch 'master-ci'
+      }
+      steps {
+        phone_steps("tici-needs-can", [
+          ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
         ])
       }
     }
@@ -81,6 +95,7 @@ pipeline {
 
       parallel {
 
+        /*
         stage('simulator') {
           agent {
             dockerfile {
@@ -90,7 +105,8 @@ pipeline {
             }
           }
           steps {
-            sh "git config --global --add safe.directory ${WORKSPACE}"
+            sh "git config --global --add safe.directory '*'"
+            sh "git submodule update --init --recursive"
             sh "git lfs pull"
             lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
               sh "${WORKSPACE}/tools/sim/build_container.sh"
@@ -107,6 +123,7 @@ pipeline {
             }
           }
         }
+        */
 
         stage('build') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
@@ -151,7 +168,7 @@ pipeline {
         stage('camerad-ar') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           steps {
-            phone_steps("tici-ar0321", [
+            phone_steps("tici-ar0231", [
               ["build", "cd selfdrive/manager && ./build.py"],
               ["test camerad", "python system/camerad/test/test_camerad.py"],
               ["test exposure", "python system/camerad/test/test_exposure.py"],
@@ -189,7 +206,7 @@ pipeline {
           steps {
             phone_steps("tici-common", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+              ["model replay", "cd selfdrive/test/process_replay && NO_NAV=1 ./model_replay.py"],
             ])
           }
         }

README.md

@@ -103,7 +103,6 @@ Directory Structure
     ├── opendbc             # Files showing how to interpret data from cars
     ├── panda               # Code used to communicate on CAN
     ├── third_party         # External libraries
-    ├── pyextra             # Extra python packages
     └── system              # Generic services
         ├── camerad         # Driver to capture images from the camera sensors
         ├── clocksd         # Broadcasts current time
@@ -143,7 +142,4 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
 <img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
 
 [![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions)
-[![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
-[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
-[![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
 [![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)

RELEASES.md

@@ -1,12 +1,27 @@
-Version 0.9.1 (2022-12-XX)
+Version 0.9.2 (2023-03-XX)
 ========================
-* Adjust alert volume using ambient noise level
-* Removed driver monitoring timer resetting on interaction if face detected and distracted
-* New German translation thanks to Vrabetz and CzokNorris!
+* Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
+
+Version 0.9.1 (2023-02-28)
+========================
+* New driving model
+  * 30% improved height estimation resulting in better driving performance for tall cars
+* Driver monitoring: removed timer resetting on user interaction if distracted
+* UI updates
+  * Adjust alert volume using ambient noise level
+  * Driver monitoring icon shows driver's head pose
+  * German translation thanks to Vrabetz and CzokNorris!
+* Cadillac Escalade 2017 support thanks to rickygilleland!
 * Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
 * Genesis GV60 2023 support thanks to sunnyhaibin!
 * Hyundai Tucson 2022-23 support
+* Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
+* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Sorento 2022-23 support thanks to sunnyhaibin!
 * Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Toyota C-HR 2021 support thanks to eFiniLan!
+* Toyota C-HR Hybrid 2022 support thanks to Korben00!
+* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
 
 Version 0.9.0 (2022-11-21)
 ========================

SConstruct

@@ -71,10 +71,10 @@ if arch == "aarch64" and AGNOS:
 lenv = {
   "PATH": os.environ['PATH'],
   "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
-  "PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
+  "PYTHONPATH": Dir("#").abspath,
 
   "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
-  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
+  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
   "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
 }
 
@@ -197,10 +197,6 @@ env = Environment(
     "#third_party/libyuv/include",
     "#third_party/json11",
     "#third_party/curl/include",
-    "#third_party/libgralloc/include",
-    "#third_party/android_frameworks_native/include",
-    "#third_party/android_hardware_libhardware/include",
-    "#third_party/android_system_core/include",
     "#third_party/linux/include",
     "#third_party/snpe/include",
     "#third_party/mapbox-gl-native-qt/include",
@@ -282,7 +278,7 @@ Export('envCython')
 
 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"]
 
 qt_libs = []
 if arch == "Darwin":
@@ -311,6 +307,7 @@ else:
   qt_libs = [f"Qt5{m}" for m in qt_modules]
   if arch == "larch64":
     qt_libs += ["GLESv2", "wayland-client"]
+    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
   elif arch != "Darwin":
     qt_libs += ["GL"]
 
@@ -387,10 +384,10 @@ rednose_config = {
 if arch != "larch64":
   rednose_config['to_build'].update({
     'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps),
+    'lane': ('#selfdrive/locationd/models/lane_kf.py', True, [], rednose_deps),
     'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
     'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
     'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []),
-    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, [], rednose_deps),
   })
 
 Export('rednose_config')
@@ -422,7 +419,6 @@ SConscript(['common/transformations/SConscript'])
 
 SConscript(['selfdrive/modeld/SConscript'])
 
-SConscript(['selfdrive/controls/lib/cluster/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
 

body

@@ -1 +1 @@
-Subproject commit dc780f858c1ef641471d09b72569e199e3e10acb
+Subproject commit e1805f65ee75fab4454c21eda8b42b49d4bdc48f

cereal

@@ -1 +1 @@
-Subproject commit 22b1431132b038253a24ab3fbbe3af36ef93b95b
+Subproject commit b88523f05ac958f87a8f6d57c3f4bb20da55f216

common/SConscript

@@ -10,11 +10,13 @@ common_libs = [
   'statlog.cc',
   'swaglog.cc',
   'util.cc',
-  'gpio.cc',
   'i2c.cc',
   'watchdog.cc',
 ]
 
+if arch != "Darwin":
+  common_libs.append('gpio.cc')
+
 _common = fxn('common', common_libs, LIBS="json11")
 
 files = [

common/clutil.cc

@@ -5,6 +5,7 @@
 #include <memory>
 
 #include "common/util.h"
+#include "common/swaglog.h"
 
 namespace {  // helper functions
 
@@ -31,14 +32,14 @@ void cl_print_info(cl_platform_id platform, cl_device_id device) {
     case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
   }
 
-  std::cout << "vendor: " << get_platform_info(platform, CL_PLATFORM_VENDOR) << std::endl
-            << "platform version: " << get_platform_info(platform, CL_PLATFORM_VERSION) << std::endl
-            << "profile: " << get_platform_info(platform, CL_PLATFORM_PROFILE) << std::endl
-            << "extensions: " << get_platform_info(platform, CL_PLATFORM_EXTENSIONS) << std::endl
-            << "name :" << get_device_info(device, CL_DEVICE_NAME) << std::endl
-            << "device version :" << get_device_info(device, CL_DEVICE_VERSION) << std::endl
-            << "max work group size :" << work_group_size << std::endl
-            << "type = " << device_type << " = " << type_str << std::endl;
+  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
+  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
+  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
+  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
+  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
+  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
+  LOGD("max work group size: %d", work_group_size);
+  LOGD("type = %d = ", device_type, type_str);
 }
 
 void cl_print_build_errors(cl_program program, cl_device_id device) {
@@ -49,7 +50,7 @@ void cl_print_build_errors(cl_program program, cl_device_id device) {
   std::string log(log_size, '\0');
   clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
 
-  std::cout << "build failed; status=" << status << ", log:" << std::endl << log << std::endl;
+  LOGE("build failed; status=%d, log: %s", status, log.c_str());
 }
 
 }  // namespace
@@ -61,14 +62,15 @@ cl_device_id cl_get_device_id(cl_device_type device_type) {
   CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
 
   for (size_t i = 0; i < num_platforms; ++i) {
-    std::cout << "platform[" << i << "] CL_PLATFORM_NAME: " << get_platform_info(platform_ids[i], CL_PLATFORM_NAME) << std::endl;
+    LOGD("platform[%d] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
+
     // Get first device
     if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
       cl_print_info(platform_ids[i], device_id);
       return device_id;
     }
   }
-  std::cout << "No valid openCL platform found" << std::endl;
+  LOGE("No valid openCL platform found");
   assert(0);
   return nullptr;
 }

common/gpio.cc

@@ -1,5 +1,20 @@
 #include "common/gpio.h"
 
+#ifdef __APPLE__
+int gpio_init(int pin_nr, bool output) {
+  return 0;
+}
+
+int gpio_set(int pin_nr, bool high) {
+  return 0;
+}
+
+int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
+  return 0;
+}
+
+#else
+
 #include <fcntl.h>
 #include <unistd.h>
 
@@ -63,3 +78,5 @@ int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int p
   close(fd);
   return rq.fd;
 }
+
+#endif

common/params.cc

@@ -104,13 +104,14 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisablePowerDown", PERSISTENT},
     {"ExperimentalMode", PERSISTENT},
     {"ExperimentalModeConfirmed", PERSISTENT},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB
+    {"ExperimentalLongitudinalEnabled", PERSISTENT},
     {"DisableUpdates", PERSISTENT},
     {"DisengageOnAccelerator", PERSISTENT},
     {"DongleId", PERSISTENT},
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
+    {"FirmwareObdQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"ForcePowerDown", CLEAR_ON_MANAGER_START},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
@@ -134,9 +135,10 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsRhdDetected", PERSISTENT},
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"IsTestedBranch", CLEAR_ON_MANAGER_START},
+    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
-    {"LaikadEphemeris", PERSISTENT | DONT_LOG},
+    {"LaikadEphemerisV2", PERSISTENT | DONT_LOG},
     {"LanguageSetting", PERSISTENT},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
@@ -153,6 +155,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"NavSettingTime24h", PERSISTENT},
     {"NavSettingLeftSide", PERSISTENT},
     {"NavdRender", PERSISTENT},
+    {"ObdMultiplexingDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"OpenpilotEnabledToggle", PERSISTENT},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
@@ -169,7 +172,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},
-    {"UpdateAvailable", CLEAR_ON_MANAGER_START},
+    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
     {"UpdaterState", CLEAR_ON_MANAGER_START},
     {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.1"
+#define COMMA_VERSION "0.9.2"

docs/CARS.md

@@ -4,239 +4,254 @@
 
 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.
 
-# 222 Supported Cars
+# 237 Supported Cars
 
-|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Acura|RDX 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)](##)|Honda Bosch A|
-|Audi|A3 2014-19|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)](##)|J533|
-|Audi|A3 Sportback e-tron 2017-18|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)](##)|J533|
-|Audi|Q2 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)](##)|J533|
-|Audi|Q3 2019-23|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)](##)|J533|
-|Audi|RS3 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)](##)|J533|
-|Audi|S3 2015-17|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)](##)|J533|
-|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
-|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)](##)|GM|
-|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)](##)|GM|
-|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|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)](##)|FCA|
-|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)](##)|FCA|
-|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|
-|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Genesis|GV60 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)](##)|Hyundai K|
-|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
-|Honda|Accord 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)](##)|Honda Bosch A|
-|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)](##)|Honda Bosch A|
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|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)](##)|Honda Bosch A|
-|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
-|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)](##)|Honda Bosch A|
-|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
-|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|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)](##)|Honda Bosch 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)](##)|Honda Bosch A|
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|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)](##)|Honda Bosch 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)](##)|Honda Bosch A|
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|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)](##)|Hyundai B|
-|Hyundai|Elantra 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)](##)|Hyundai K|
-|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)](##)|Hyundai E|
-|Hyundai|Elantra Hybrid 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)](##)|Hyundai K|
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
-|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Hyundai|Ioniq 5 (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)](##)|Hyundai Q|
-|Hyundai|Ioniq 5 (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)](##)|Hyundai Q|
-|Hyundai|Ioniq 5 (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)](##)|Hyundai K|
-|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|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)](##)|Hyundai C|
-|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)](##)|Hyundai H|
-|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)](##)|Hyundai C|
-|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)](##)|Hyundai H|
-|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)](##)|Hyundai B|
-|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)](##)|Hyundai G|
-|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|
-|Hyundai|Kona 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)](##)|Hyundai I|
-|Hyundai|Palisade 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)](##)|Hyundai H|
-|Hyundai|Santa Cruz 2021-22[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|
-|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Hyundai|Sonata 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)](##)|Hyundai A|
-|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Hyundai|Tucson Diesel 2019|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)](##)|Hyundai L|
-|Hyundai|Tucson Hybrid 2022[<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)](##)|Hyundai N|
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|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)](##)|FCA|
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|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)](##)|Hyundai P|
-|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)](##)|Hyundai P|
-|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)](##)|Hyundai L|
-|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)](##)|Hyundai G|
-|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)](##)|Hyundai A|
-|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|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)](##)|Hyundai F|
-|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)](##)|Hyundai C|
-|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)](##)|Hyundai H|
-|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)](##)|Hyundai F|
-|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)](##)|Hyundai H|
-|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)](##)|Hyundai C|
-|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
-|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
-|Kia|Seltos 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)](##)|Hyundai A|
-|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Kia|Sportage 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)](##)|Hyundai N|
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|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)](##)|Hyundai K|
-|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)](##)|Hyundai H|
-|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)](##)|Toyota|
-|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|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)](##)|Toyota|
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|RX Hybrid 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)](##)|Toyota|
-|Lexus|RX Hybrid 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)](##)|Toyota|
-|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
-|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|
-|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
-|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)](##)|Ram|
-|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)](##)|J533|
-|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)](##)|J533|
-|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
-|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
-|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Škoda|Kamiq 2021[<sup>7</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)](##)|J533[<sup>10</sup>](#footnotes)|
-|Škoda|Karoq 2019-21|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)](##)|J533|
-|Škoda|Kodiaq 2018-19|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)](##)|J533|
-|Škoda|Octavia 2015, 2018-19|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)](##)|J533|
-|Škoda|Octavia RS 2016|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)](##)|J533|
-|Škoda|Scala 2020|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)](##)|J533[<sup>10</sup>](#footnotes)|
-|Škoda|Superb 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)](##)|J533|
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Avalon 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)](##)|Toyota|
-|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|RAV4 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)](##)|Toyota|
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 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)](##)|Toyota|
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Volkswagen|Arteon 2018-22|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)](##)|J533|
-|Volkswagen|Arteon eHybrid 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)](##)|J533|
-|Volkswagen|Arteon R 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)](##)|J533|
-|Volkswagen|Atlas 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)](##)|J533|
-|Volkswagen|Atlas 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)](##)|J533|
-|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|CC 2018-22|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)](##)|J533|
-|Volkswagen|e-Golf 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)](##)|J533|
-|Volkswagen|Golf 2015-20|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)](##)|J533|
-|Volkswagen|Golf Alltrack 2015-19|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)](##)|J533|
-|Volkswagen|Golf GTD 2015-20|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)](##)|J533|
-|Volkswagen|Golf GTE 2015-20|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)](##)|J533|
-|Volkswagen|Golf GTI 2015-21|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)](##)|J533|
-|Volkswagen|Golf R 2015-19|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)](##)|J533|
-|Volkswagen|Golf SportsVan 2015-20|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)](##)|J533|
-|Volkswagen|Jetta 2018-22|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)](##)|J533|
-|Volkswagen|Jetta GLI 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)](##)|J533|
-|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)](##)|J533|
-|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)](##)|J533|
-|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)](##)|J533|
-|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)](##)|J533[<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)](##)|J533[<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)](##)|J533[<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)](##)|J533[<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)](##)|J533|
-|Volkswagen|Teramont 2018-22|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)](##)|J533|
-|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)](##)|J533|
-|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)](##)|J533|
-|Volkswagen|Tiguan 2019-22|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)](##)|J533|
-|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)](##)|J533|
+|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
+|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Honda Nidec</a>||
+|Acura|RDX 2016-18|AcuraWatch Plus|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=Acura&model=RDX 2016-18">Honda Nidec</a>||
+|Acura|RDX 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=Acura&model=RDX 2019-22">Honda Bosch A</a>||
+|Audi|A3 2014-19|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=Audi&model=A3 2014-19">J533</a>||
+|Audi|A3 Sportback e-tron 2017-18|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=Audi&model=A3 Sportback e-tron 2017-18">J533</a>||
+|Audi|Q2 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=Audi&model=Q2 2018">J533</a>||
+|Audi|Q3 2019-23|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=Audi&model=Q3 2019-23">J533</a>||
+|Audi|RS3 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=Audi&model=RS3 2018">J533</a>||
+|Audi|S3 2015-17|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=Audi&model=S3 2015-17">J533</a>||
+|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|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=Cadillac&model=Escalade 2017">OBD-II</a>||
+|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|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=Cadillac&model=Escalade ESV 2016">OBD-II</a>||
+|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|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>||
+|Chrysler|Pacifica 2021|All|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 2021">FCA</a>||
+|Chrysler|Pacifica Hybrid 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 Hybrid 2017-18">FCA</a>||
+|Chrysler|Pacifica Hybrid 2019-22|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 Hybrid 2019-22">FCA</a>||
+|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
+|Genesis|G70 2018-19|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=Genesis&model=G70 2018-19">Hyundai F</a>||
+|Genesis|G70 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=Genesis&model=G70 2020">Hyundai F</a>||
+|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>||
+|Genesis|G80 2018-19|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=Genesis&model=G80 2018-19">Hyundai H</a>||
+|Genesis|G90 2017-18|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=Genesis&model=G90 2017-18">Hyundai C</a>||
+|Genesis|GV60 (Advanced Trim) 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=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A</a>||
+|Genesis|GV60 (Performance Trim) 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=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K</a>||
+|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|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=Genesis&model=GV70 2022-23">Hyundai L</a>||
+|GMC|Acadia 2018[<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=GMC&model=Acadia 2018">OBD-II</a>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|GMC|Sierra 1500 2020-21|Driver Alert 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=GMC&model=Sierra 1500 2020-21">GM</a>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Accord 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 2018-22">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|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 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|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>||
+|Honda|e 2020|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=e 2020">Honda Bosch A</a>||
+|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|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>||
+|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>||
+|Hyundai|Elantra Hybrid 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 Hybrid 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|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 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=Genesis 2015-16">Hyundai J</a>||
+|Hyundai|i30 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=i30 2017-19">Hyundai E</a>||
+|Hyundai|Ioniq 5 (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=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Hyundai Q</a>||
+|Hyundai|Ioniq 5 (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=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Hyundai Q</a>||
+|Hyundai|Ioniq 5 (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=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Hyundai K</a>||
+|Hyundai|Ioniq Electric 2019|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 Electric 2019">Hyundai C</a>||
+|Hyundai|Ioniq Electric 2020|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 Electric 2020">Hyundai H</a>||
+|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|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>||
+|Hyundai|Kona 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=Hyundai&model=Kona Hybrid 2020">Hyundai I</a>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Palisade 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=Hyundai&model=Palisade 2020-22">Hyundai H</a>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|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=Santa Cruz 2022-23">Hyundai N</a>||
+|Hyundai|Santa Fe 2019-20|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=Hyundai&model=Santa Fe 2019-20">Hyundai D</a>||
+|Hyundai|Santa Fe 2021-22|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=Hyundai&model=Santa Fe 2021-22">Hyundai L</a>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Fe Hybrid 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=Hyundai&model=Santa Fe Hybrid 2022">Hyundai L</a>||
+|Hyundai|Santa Fe Plug-in Hybrid 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=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Hyundai L</a>||
+|Hyundai|Sonata 2018-19|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=Sonata 2018-19">Hyundai E</a>||
+|Hyundai|Sonata 2020-23|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=Hyundai&model=Sonata 2020-23">Hyundai A</a>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Hyundai A</a>||
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 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=Tucson 2021">Hyundai L</a>||
+|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|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=Tucson 2022">Hyundai N</a>||
+|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|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=Tucson 2023">Hyundai N</a>||
+|Hyundai|Tucson Diesel 2019|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=Tucson Diesel 2019">Hyundai L</a>||
+|Hyundai|Tucson Hybrid 2022[<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=Hyundai&model=Tucson Hybrid 2022">Hyundai N</a>||
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Hyundai E</a>||
+|Jeep|Grand Cherokee 2016-18|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=Jeep&model=Grand Cherokee 2016-18">FCA</a>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|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|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>||
+|Kia|Niro EV 2019|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 2019">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 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 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>||
+|Kia|Optima 2017|Advanced Smart Cruise Control|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=Kia&model=Optima 2017">Hyundai B</a>||
+|Kia|Optima 2019-20|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=Optima 2019-20">Hyundai G</a>||
+|Kia|Seltos 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=Seltos 2021">Hyundai A</a>||
+|Kia|Sorento 2018|Advanced Smart Cruise Control|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=Sorento 2018">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 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=Sorento 2019">Hyundai E</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2022-23[<sup>5</sup>](#footnotes)|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=Sorento 2022-23">Hyundai K</a>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|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=Sorento Plug-in Hybrid 2022-23">Hyundai A</a>||
+|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|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=Sportage 2023">Hyundai N</a>||
+|Kia|Sportage 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=Sportage Hybrid 2023">Hyundai N</a>||
+|Kia|Stinger 2018-20|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=Stinger 2018-20">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|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 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 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|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>||
+|Lexus|RX Hybrid 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 Hybrid 2016">Toyota</a>||
+|Lexus|RX Hybrid 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 Hybrid 2017-19">Toyota</a>||
+|Lexus|RX 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=RX Hybrid 2020-21">Toyota</a>||
+|Lexus|UX Hybrid 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=UX Hybrid 2019-22">Toyota</a>||
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|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|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>||
+|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|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=Subaru&model=Ascent 2019-21">Subaru A</a>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|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=Subaru&model=Crosstrek 2020-23">Subaru A</a>||
+|Subaru|Forester 2019-21|All|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=Subaru&model=Forester 2019-21">Subaru A</a>||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Subaru A</a>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance|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=Subaru&model=Impreza 2020-22">Subaru A</a>||
+|Subaru|Legacy 2020-22|All|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=Subaru&model=Legacy 2020-22">Subaru B</a>||
+|Subaru|Outback 2020-22|All|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=Subaru&model=Outback 2020-22">Subaru B</a>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|XV 2020-21|EyeSight Driver Assistance|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=Subaru&model=XV 2020-21">Subaru A</a>||
+|Škoda|Kamiq 2021[<sup>7</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=Škoda&model=Kamiq 2021">J533</a>[<sup>10</sup>](#footnotes)||
+|Škoda|Karoq 2019-21|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=Škoda&model=Karoq 2019-21">J533</a>||
+|Škoda|Kodiaq 2018-19|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=Škoda&model=Kodiaq 2018-19">J533</a>||
+|Škoda|Octavia 2015, 2018-19|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=Škoda&model=Octavia 2015, 2018-19">J533</a>||
+|Škoda|Octavia RS 2016|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=Škoda&model=Octavia RS 2016">J533</a>||
+|Škoda|Scala 2020|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=Škoda&model=Scala 2020">J533</a>[<sup>10</sup>](#footnotes)||
+|Škoda|Superb 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=Škoda&model=Superb 2015-22">J533</a>||
+|Toyota|Alphard 2019-20|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=Toyota&model=Alphard 2019-20">Toyota</a>||
+|Toyota|Alphard Hybrid 2021|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=Toyota&model=Alphard Hybrid 2021">Toyota</a>||
+|Toyota|Avalon 2016|Toyota Safety Sense P|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=Toyota&model=Avalon 2016">Toyota</a>||
+|Toyota|Avalon 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=Toyota&model=Avalon 2017-18">Toyota</a>||
+|Toyota|Avalon 2019-21|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=Toyota&model=Avalon 2019-21">Toyota</a>||
+|Toyota|Avalon 2022|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=Toyota&model=Avalon 2022">Toyota</a>||
+|Toyota|Avalon Hybrid 2019-21|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=Toyota&model=Avalon Hybrid 2019-21">Toyota</a>||
+|Toyota|Avalon Hybrid 2022|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=Toyota&model=Avalon Hybrid 2022">Toyota</a>||
+|Toyota|C-HR 2017-20|All|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=Toyota&model=C-HR 2017-20">Toyota</a>||
+|Toyota|C-HR 2021|All|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=Toyota&model=C-HR 2021">Toyota</a>||
+|Toyota|C-HR Hybrid 2017-20|All|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=Toyota&model=C-HR Hybrid 2017-20">Toyota</a>||
+|Toyota|C-HR Hybrid 2021-22|All|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=Toyota&model=C-HR Hybrid 2021-22">Toyota</a>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-22">Toyota</a>||
+|Toyota|Camry Hybrid 2018-20|All|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=Toyota&model=Camry Hybrid 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry Hybrid 2021-23|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=Toyota&model=Camry Hybrid 2021-23">Toyota</a>||
+|Toyota|Corolla 2017-19|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=Toyota&model=Corolla 2017-19">Toyota</a>||
+|Toyota|Corolla 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=Toyota&model=Corolla 2020-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 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=Toyota&model=Corolla Cross (Non-US only) 2020-23">Toyota</a>||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota</a>||
+|Toyota|Corolla Hatchback 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=Toyota&model=Corolla Hatchback 2019-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Hybrid 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=Toyota&model=Corolla Hybrid 2020-22">Toyota</a>||
+|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 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=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Toyota</a>||
+|Toyota|Highlander 2017-19|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=Toyota&model=Highlander 2017-19">Toyota</a>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Highlander 2020-23|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=Toyota&model=Highlander 2020-23">Toyota</a>||
+|Toyota|Highlander Hybrid 2017-19|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=Toyota&model=Highlander Hybrid 2017-19">Toyota</a>||
+|Toyota|Highlander Hybrid 2020-23|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=Toyota&model=Highlander Hybrid 2020-23">Toyota</a>||
+|Toyota|Mirai 2021|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=Toyota&model=Mirai 2021">Toyota</a>||
+|Toyota|Prius 2016|Toyota Safety Sense P|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=Toyota&model=Prius 2016">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius 2017-20|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=Toyota&model=Prius 2017-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius 2021-22|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=Toyota&model=Prius 2021-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2017-20|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=Toyota&model=Prius Prime 2017-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2021-22|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=Toyota&model=Prius Prime 2021-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 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=Toyota&model=Prius v 2017">Toyota</a>||
+|Toyota|RAV4 2016|Toyota Safety Sense P|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=Toyota&model=RAV4 2016">Toyota</a>||
+|Toyota|RAV4 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=Toyota&model=RAV4 2017-18">Toyota</a>||
+|Toyota|RAV4 2019-21|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=Toyota&model=RAV4 2019-21">Toyota</a>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 2022|All|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=Toyota&model=RAV4 2022">Toyota</a>||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|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=Toyota&model=RAV4 Hybrid 2016">Toyota</a>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 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=Toyota&model=RAV4 Hybrid 2017-18">Toyota</a>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2019-21|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=Toyota&model=RAV4 Hybrid 2019-21">Toyota</a>||
+|Toyota|RAV4 Hybrid 2022|All|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=Toyota&model=RAV4 Hybrid 2022">Toyota</a>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 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=Toyota&model=Sienna 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon 2018-22|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=Arteon 2018-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 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=Arteon eHybrid 2020-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 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=Arteon R 2020-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 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=Atlas 2018-23">J533</a>||
+|Volkswagen|Atlas 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=Atlas Cross Sport 2021-22">J533</a>||
+|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 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=California 2021">J533</a>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 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=Caravelle 2020">J533</a>||
+|Volkswagen|CC 2018-22|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=CC 2018-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 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=Crafter 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 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=e-Crafter 2018-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 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=Volkswagen&model=e-Golf 2014-20">J533</a>||
+|Volkswagen|Golf 2015-20|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=Volkswagen&model=Golf 2015-20">J533</a>||
+|Volkswagen|Golf Alltrack 2015-19|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=Golf Alltrack 2015-19">J533</a>||
+|Volkswagen|Golf GTD 2015-20|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=Volkswagen&model=Golf GTD 2015-20">J533</a>||
+|Volkswagen|Golf GTE 2015-20|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=Volkswagen&model=Golf GTE 2015-20">J533</a>||
+|Volkswagen|Golf GTI 2015-21|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=Golf GTI 2015-21">J533</a>||
+|Volkswagen|Golf R 2015-19|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=Golf R 2015-19">J533</a>||
+|Volkswagen|Golf SportsVan 2015-20|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=Volkswagen&model=Golf SportsVan 2015-20">J533</a>||
+|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 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=Grand California 2019-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-22|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=Jetta 2018-22">J533</a>||
+|Volkswagen|Jetta GLI 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=Jetta GLI 2021-22">J533</a>||
+|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|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>||
+|Volkswagen|Teramont 2018-22|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 2018-22">J533</a>||
+|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|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>
 <sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.  <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a>, additional <a href="https://comma.ai/shop/harness-box" target="_blank">harness box</a>, additional <a href="https://comma.ai/shop/obd-c-cable" target="_blank">OBD-C cable</a>, USB-A to USB-A cable, and a USB-A to USB-C OTG dongle. <br />
+<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. All the hardware needed is sold in the <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD kit</a>. <br />
 <sup>6</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 <sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
 <sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />

docs/Makefile

@@ -41,7 +41,7 @@ clean:
 
 	@echo "Building rst files..."
 	sphinx-apidoc -o "$(DOCSBUILDDIR)" ../ \
-		../xx ../laika_repo ../rednose_repo ../pyextra ../notebooks ../panda_jungle \
+		../xx ../laika_repo ../rednose_repo ../notebooks ../panda_jungle \
 		../third_party \
 		../panda/examples \
 		../scripts \

docs/assets/icon-youtube.svg

@@ -0,0 +1,12 @@
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+    <clipPath id="clip0_1674_1768">
+      <rect width="20" height="20" fill="white"/>
+    </clipPath>
+  </defs>
+  <g clip-path="url(#clip0_1674_1768)" transform="matrix(1, 0, 0, 1, 500.971771, 175.81041)">
+    <path fill-rule="evenodd" clip-rule="evenodd" d="M19.582 5.2447C19.352 4.3611 18.6743 3.66531 17.8138 3.42916C16.2542 3 10 3 10 3C10 3 3.7458 3 2.18614 3.42916C1.32557 3.66531 0.647841 4.3611 0.417841 5.2447C0 6.84612 0 10.1875 0 10.1875C0 10.1875 0 13.5288 0.417841 15.1303C0.647841 16.0139 1.32557 16.7097 2.18614 16.946C3.7458 17.375 10 17.375 10 17.375C10 17.375 16.2542 17.375 17.8138 16.946C18.6743 16.7097 19.352 16.0139 19.582 15.1303C20 13.5288 20 10.1875 20 10.1875C20 10.1875 20 6.84612 19.582 5.2447ZM8.12509 13.6255V7.37549L13.1251 10.5006L8.12509 13.6255Z" fill="#FF0000"/>
+  </g>
+  <path d="M 425.503 122.113 L 428.63 127.117 L 422.376 127.117 L 425.503 122.113 Z" style="stroke: rgb(0, 0, 0); stroke-width: 0px; fill: rgb(255, 255, 255);" transform="matrix(0, 1, -1, 0, 636.212463, -239.192383)" bx:shape="triangle 422.376 122.113 6.254 5.004 0.5 0 1@278e08c4"/>
+</svg>

docs/docker/Dockerfile

@@ -11,7 +11,6 @@ WORKDIR ${OPENPILOT_PATH}
 
 COPY SConstruct ${OPENPILOT_PATH}
 
-COPY ./pyextra ${OPENPILOT_PATH}/pyextra
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
 COPY ./laika ${OPENPILOT_PATH}/laika

docs/overview.rst

@@ -77,3 +77,4 @@ tools
    Simulator <tools/sim/README.md>
    tools/ssh/README.md
    Webcam <tools/webcam/README.md>
+   tools/cabana/README.md

laika_repo

@@ -1 +1 @@
-Subproject commit e1049cde0a68f7d4a70b1ebd76befdc0e163ad55
+Subproject commit b740b71c82a748e3520b1599487d9a7aaf728670

launch_chffrplus.sh

@@ -74,7 +74,7 @@ function launch {
 
   # handle pythonpath
   ln -sfn $(pwd) /data/pythonpath
-  export PYTHONPATH="$PWD:$PWD/pyextra"
+  export PYTHONPATH="$PWD"
 
   # hardware specific init
   agnos_init

lgtm.yml

@@ -1,19 +0,0 @@
-path_classifiers:
-  library:
-    - external
-    - third_party
-    - pyextra
-    - tools/lib/mkvparse
-extraction:
-  cpp:
-    after_prepare:
-    - "pip3 install --upgrade --user pkgconfig cython setuptools wheel"
-    - "pip3 install --upgrade --user jinja2 pyyaml cython pycapnp numpy sympy tqdm\
-      \ cffi logentries zmq scons"
-    - "export PATH=/opt/work/.local/bin:$PATH"
-    index:
-      build_command: "scons"
-  javascript:
-    index:
-      filters:
-      - exclude: "*"

mypy.ini

@@ -2,7 +2,7 @@
 python_version = 3.8
 plugins = numpy.typing.mypy_plugin
 files = body, common, docs, scripts, selfdrive, site_scons, system, tools
-exclude = ^(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)
+exclude = ^(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)
 
 ; third-party packages
 ignore_missing_imports = True

opendbc

@@ -1 +1 @@
-Subproject commit 4a7ad636ff806146a93f7ae541e463a7dfa5696d
+Subproject commit 510bfc06954e31257f8d8de17adf92f9a68a1b71

panda

@@ -1 +1 @@
-Subproject commit 5bd4c1dfd91991777ba3a3bd7444165afed3f09b
+Subproject commit 78b76e5463f8bd6077f100d84c44ce6b6b047c27

poetry.lock

@@ -80,6 +80,14 @@ develop = ["imgaug (>=0.4.0)", "pytest"]
 imgaug = ["imgaug (>=0.4.0)"]
 tests = ["pytest"]
 
+[[package]]
+name = "antlr4-python3-runtime"
+version = "4.9.3"
+description = "ANTLR 4.9.3 runtime for Python 3.7"
+category = "dev"
+optional = false
+python-versions = "*"
+
 [[package]]
 name = "anyio"
 version = "3.6.2"
@@ -556,6 +564,34 @@ python-versions = ">=3.7"
 [package.dependencies]
 colorama = {version = "*", markers = "platform_system == \"Windows\""}
 
+[[package]]
+name = "click-plugins"
+version = "1.1.1"
+description = "An extension module for click to enable registering CLI commands via setuptools entry-points."
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+click = ">=4.0"
+
+[package.extras]
+dev = ["coveralls", "pytest (>=3.6)", "pytest-cov", "wheel"]
+
+[[package]]
+name = "cligj"
+version = "0.7.2"
+description = "Click params for commmand line interfaces to GeoJSON"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, <4"
+
+[package.dependencies]
+click = ">=4.0"
+
+[package.extras]
+test = ["pytest-cov"]
+
 [[package]]
 name = "cloudpickle"
 version = "2.2.0"
@@ -951,6 +987,29 @@ python-versions = ">=3.7"
 docs = ["furo (>=2022.6.21)", "sphinx (>=5.1.1)", "sphinx-autodoc-typehints (>=1.19.1)"]
 testing = ["covdefaults (>=2.2)", "coverage (>=6.4.2)", "pytest (>=7.1.2)", "pytest-cov (>=3)", "pytest-timeout (>=2.1)"]
 
+[[package]]
+name = "fiona"
+version = "1.9.1"
+description = "Fiona reads and writes spatial data files"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+attrs = ">=19.2.0"
+certifi = "*"
+click = ">=8.0,<9.0"
+click-plugins = ">=1.0"
+cligj = ">=0.5"
+munch = ">=2.3.2"
+setuptools = "*"
+
+[package.extras]
+all = ["Fiona[calc,s3,test]"]
+calc = ["shapely"]
+s3 = ["boto3 (>=1.3.1)"]
+test = ["Fiona[s3]", "pytest (>=7)", "pytest-cov", "pytz"]
+
 [[package]]
 name = "flake8"
 version = "4.0.1"
@@ -1084,6 +1143,21 @@ python-versions = ">=3.7"
 packaging = "*"
 SQLAlchemy = ">=1.4"
 
+[[package]]
+name = "geopandas"
+version = "0.12.2"
+description = "Geographic pandas extensions"
+category = "dev"
+optional = false
+python-versions = ">=3.8"
+
+[package.dependencies]
+fiona = ">=1.8"
+packaging = "*"
+pandas = ">=1.0.0"
+pyproj = ">=2.6.1.post1"
+shapely = ">=1.7"
+
 [[package]]
 name = "gevent"
 version = "22.10.1"
@@ -1352,6 +1426,14 @@ category = "dev"
 optional = false
 python-versions = "*"
 
+[[package]]
+name = "ioctl-opt"
+version = "1.2.2"
+description = "Functions to compute fnctl.ioctl's opt argument"
+category = "main"
+optional = false
+python-versions = "*"
+
 [[package]]
 name = "ipykernel"
 version = "6.16.1"
@@ -2309,27 +2391,18 @@ python-versions = ">=3.5"
 
 [[package]]
 name = "networkx"
-version = "2.3"
+version = "2.8.8"
 description = "Python package for creating and manipulating graphs and networks"
 category = "dev"
 optional = false
-python-versions = ">=3.5"
-
-[package.dependencies]
-decorator = ">=4.3.0"
+python-versions = ">=3.8"
 
 [package.extras]
-all = ["gdal", "lxml", "matplotlib", "nose", "numpy", "pandas", "pydot", "pygraphviz", "pyyaml", "scipy"]
-gdal = ["gdal"]
-lxml = ["lxml"]
-matplotlib = ["matplotlib"]
-nose = ["nose"]
-numpy = ["numpy"]
-pandas = ["pandas"]
-pydot = ["pydot"]
-pygraphviz = ["pygraphviz"]
-pyyaml = ["pyyaml"]
-scipy = ["scipy"]
+default = ["matplotlib (>=3.4)", "numpy (>=1.19)", "pandas (>=1.3)", "scipy (>=1.8)"]
+developer = ["mypy (>=0.982)", "pre-commit (>=2.20)"]
+doc = ["nb2plots (>=0.6)", "numpydoc (>=1.5)", "pillow (>=9.2)", "pydata-sphinx-theme (>=0.11)", "sphinx (>=5.2)", "sphinx-gallery (>=0.11)", "texext (>=0.6.6)"]
+extra = ["lxml (>=4.6)", "pydot (>=1.4.2)", "pygraphviz (>=1.9)", "sympy (>=1.10)"]
+test = ["codecov (>=2.1)", "pytest (>=7.2)", "pytest-cov (>=4.0)"]
 
 [[package]]
 name = "nodeenv"
@@ -2423,6 +2496,18 @@ rsa = ["cryptography (>=3.0.0)"]
 signals = ["blinker (>=1.4.0)"]
 signedtoken = ["cryptography (>=3.0.0)", "pyjwt (>=2.0.0,<3)"]
 
+[[package]]
+name = "omegaconf"
+version = "2.3.0"
+description = "A flexible configuration library"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+antlr4-python3-runtime = ">=4.9.0,<4.10.0"
+PyYAML = ">=5.1.0"
+
 [[package]]
 name = "onnx"
 version = "1.12.0"
@@ -2514,6 +2599,31 @@ python-versions = ">=3.6"
 [package.dependencies]
 requests = "*"
 
+[[package]]
+name = "osmnx"
+version = "1.2.2"
+description = "Retrieve, model, analyze, and visualize OpenStreetMap street networks and other spatial data"
+category = "dev"
+optional = false
+python-versions = ">=3.8"
+
+[package.dependencies]
+geopandas = ">=0.11"
+matplotlib = ">=3.5"
+networkx = ">=2.8"
+numpy = ">=1.22"
+pandas = ">=1.4"
+pyproj = ">=3.3"
+requests = ">=2.28"
+Rtree = ">=1.0"
+Shapely = ">=1.8,<2.0"
+
+[package.extras]
+entropy = ["scipy"]
+nearest-neighbor = ["scikit-learn", "scipy"]
+raster = ["gdal", "rasterio"]
+web-map = ["folium"]
+
 [[package]]
 name = "packaging"
 version = "21.3"
@@ -3458,6 +3568,14 @@ python-versions = "*"
 numpy = ">=1.11.0"
 scipy = ">=0.17.1"
 
+[[package]]
+name = "rtree"
+version = "1.0.1"
+description = "R-Tree spatial index for Python GIS"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
 [[package]]
 name = "s2sphere"
 version = "0.2.5"
@@ -3660,6 +3778,19 @@ typing-extensions = "*"
 test = ["pytest (>=6.2)", "virtualenv (>20)"]
 toml = ["setuptools (>=42)"]
 
+[[package]]
+name = "shapely"
+version = "1.8.5.post1"
+description = "Geometric objects, predicates, and operations"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.extras]
+all = ["numpy", "pytest", "pytest-cov"]
+test = ["pytest", "pytest-cov"]
+vectorized = ["numpy"]
+
 [[package]]
 name = "shellingham"
 version = "1.5.0"
@@ -3881,6 +4012,17 @@ category = "main"
 optional = false
 python-versions = "*"
 
+[[package]]
+name = "spidev2"
+version = "0.9.0"
+description = "Pure-python interface to Linux spidev."
+category = "main"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+ioctl-opt = "*"
+
 [[package]]
 name = "sqlalchemy"
 version = "1.4.42"
@@ -4425,7 +4567,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
 [metadata]
 lock-version = "1.1"
 python-versions = "~3.8"
-content-hash = "d894380c87f5558e032708cc1230aed172ad3e1db9aa112e2e105bebefff4e20"
+content-hash = "9e9495c896e6fd0855803aeaf46513c6c22424b86be820759a8baf27d44e73ee"
 
 [metadata.files]
 adal = [
@@ -4538,6 +4680,9 @@ albumentations = [
     {file = "albumentations-1.3.0-py3-none-any.whl", hash = "sha256:294165d87d03bc8323e484927f0a5c1a3c64b0e7b9c32a979582a6c93c363bdf"},
     {file = "albumentations-1.3.0.tar.gz", hash = "sha256:be1af36832c8893314f2a5550e8ac19801e04770734c1b70fa3c996b41f37bed"},
 ]
+antlr4-python3-runtime = [
+    {file = "antlr4-python3-runtime-4.9.3.tar.gz", hash = "sha256:f224469b4168294902bb1efa80a8bf7855f24c99aef99cbefc1bcd3cce77881b"},
+]
 anyio = [
     {file = "anyio-3.6.2-py3-none-any.whl", hash = "sha256:fbbe32bd270d2a2ef3ed1c5d45041250284e31fc0a4df4a5a6071842051a51e3"},
     {file = "anyio-3.6.2.tar.gz", hash = "sha256:25ea0d673ae30af41a0c442f81cf3b38c7e79fdc7b60335a4c14e05eb0947421"},
@@ -4875,6 +5020,14 @@ click = [
     {file = "click-8.1.3-py3-none-any.whl", hash = "sha256:bb4d8133cb15a609f44e8213d9b391b0809795062913b383c62be0ee95b1db48"},
     {file = "click-8.1.3.tar.gz", hash = "sha256:7682dc8afb30297001674575ea00d1814d808d6a36af415a82bd481d37ba7b8e"},
 ]
+click-plugins = [
+    {file = "click-plugins-1.1.1.tar.gz", hash = "sha256:46ab999744a9d831159c3411bb0c79346d94a444df9a3a3742e9ed63645f264b"},
+    {file = "click_plugins-1.1.1-py2.py3-none-any.whl", hash = "sha256:5d262006d3222f5057fd81e1623d4443e41dcda5dc815c06b442aa3c02889fc8"},
+]
+cligj = [
+    {file = "cligj-0.7.2-py3-none-any.whl", hash = "sha256:c1ca117dbce1fe20a5809dc96f01e1c2840f6dcc939b3ddbb1111bf330ba82df"},
+    {file = "cligj-0.7.2.tar.gz", hash = "sha256:a4bc13d623356b373c2c27c53dbd9c68cae5d526270bfa71f6c6fa69669c6b27"},
+]
 cloudpickle = [
     {file = "cloudpickle-2.2.0-py3-none-any.whl", hash = "sha256:7428798d5926d8fcbfd092d18d01a2a03daf8237d8fcdc8095d256b8490796f0"},
     {file = "cloudpickle-2.2.0.tar.gz", hash = "sha256:3f4219469c55453cfe4737e564b67c2a149109dabf7f242478948b895f61106f"},
@@ -5297,6 +5450,28 @@ filelock = [
     {file = "filelock-3.8.0-py3-none-any.whl", hash = "sha256:617eb4e5eedc82fc5f47b6d61e4d11cb837c56cb4544e39081099fa17ad109d4"},
     {file = "filelock-3.8.0.tar.gz", hash = "sha256:55447caa666f2198c5b6b13a26d2084d26fa5b115c00d065664b2124680c4edc"},
 ]
+fiona = [
+    {file = "Fiona-1.9.1-cp310-cp310-macosx_10_15_x86_64.whl", hash = "sha256:902b67b2d012c5797b5d7d3cb3b46dcf9a342cf90a7f7e53fb12c83738d19926"},
+    {file = "Fiona-1.9.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:e2f4535ae2c8446e6b328745a44567478d5a077ed63c888b8c212dddb1e11925"},
+    {file = "Fiona-1.9.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c3d7f3286fb59b93cefefb89014b6fa8413126e180e15c576db859ba936cf334"},
+    {file = "Fiona-1.9.1-cp310-cp310-win_amd64.whl", hash = "sha256:692fe64c0f3a39742d6f7a8e420a8387f6aec3b6818b727d2dfc98a0c40e992d"},
+    {file = "Fiona-1.9.1-cp311-cp311-macosx_10_15_x86_64.whl", hash = "sha256:a017a39650df0cc541c57cf7de450bb4cee6fd9760eb716323b594c1074634a2"},
+    {file = "Fiona-1.9.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:c3b52d49bc379fdcfd1250b38e7e00ab24ee14eb765376c793bbe251ffd09d6a"},
+    {file = "Fiona-1.9.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5dbb0ae851cd4417104c469335a01f938251a8639317f93d422c5c808150bd27"},
+    {file = "Fiona-1.9.1-cp311-cp311-win_amd64.whl", hash = "sha256:4a6d8fcbbdafa8af8ac1904628b0267382ed9f9921933d061d7bfc5d3f3daf99"},
+    {file = "Fiona-1.9.1-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:74f056a84dc52a0b21a2cf024601a69105596f06f28d40b45049948be17b4df2"},
+    {file = "Fiona-1.9.1-cp37-cp37m-manylinux2014_x86_64.whl", hash = "sha256:5b9f3f6c782bb4ae2c924eefd373cabdeaaa99f86477b9c7c71eb20c052ee7c5"},
+    {file = "Fiona-1.9.1-cp37-cp37m-win_amd64.whl", hash = "sha256:5d6183189a7e05e2498d38a1df3ab07e1353fa48e977cbc3a31203927bd06bca"},
+    {file = "Fiona-1.9.1-cp38-cp38-macosx_10_15_x86_64.whl", hash = "sha256:5f2c14beec98a330aee1fd81fa0447a6aa1d5e0a75d000c0052dbe1f23dd6cfd"},
+    {file = "Fiona-1.9.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:585a47ec21f2d198abc112158eaf12a6587a272beb7f001162d8c3b262676666"},
+    {file = "Fiona-1.9.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:dd4368b4054f21518a19dea54ce9ac445c40418c6331c0c99d1531c3ddff05da"},
+    {file = "Fiona-1.9.1-cp38-cp38-win_amd64.whl", hash = "sha256:839ed0db23198bb754f0d655d4eeaf5f9c141bef734557e77e95e4dc83e42e7f"},
+    {file = "Fiona-1.9.1-cp39-cp39-macosx_10_15_x86_64.whl", hash = "sha256:decca3956032ae2d2c19d2f7fa8a4553c43a6e66eb5abe9a05f6ddadcb1bfe5c"},
+    {file = "Fiona-1.9.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:cb827fa0030d03d8080723137c74b865ec18dbade87c02ed60215491a315c6be"},
+    {file = "Fiona-1.9.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d7e0f36484757baa8cd1c0602941e029ff992282776f9afae4c5b90f501ff005"},
+    {file = "Fiona-1.9.1-cp39-cp39-win_amd64.whl", hash = "sha256:f98933b552adf0506799097934a6950de412288e7a50466144d04874d6f63fbc"},
+    {file = "Fiona-1.9.1.tar.gz", hash = "sha256:3a3725e94840a387fef48726d60db6a6791563f366939d22378a4661f8941be7"},
+]
 flake8 = [
     {file = "flake8-4.0.1-py2.py3-none-any.whl", hash = "sha256:479b1304f72536a55948cb40a32dce8bb0ffe3501e26eaf292c7e60eb5e0428d"},
     {file = "flake8-4.0.1.tar.gz", hash = "sha256:806e034dda44114815e23c16ef92f95c91e4c71100ff52813adf7132a6ad870d"},
@@ -5421,6 +5596,10 @@ geoalchemy2 = [
     {file = "GeoAlchemy2-0.12.5-py2.py3-none-any.whl", hash = "sha256:3a59eb651df95b3dfee8e1d82f4d18c80b75f712860a0a3080defc6b0435070d"},
     {file = "GeoAlchemy2-0.12.5.tar.gz", hash = "sha256:31c2502dce317b57b335e4eb87562d501fa39e46c728be514d9b86091e08dd67"},
 ]
+geopandas = [
+    {file = "geopandas-0.12.2-py3-none-any.whl", hash = "sha256:0a470e4bf6f5367e6fd83ab6b40405e0b805c8174665bbcb7c4077ed90202912"},
+    {file = "geopandas-0.12.2.tar.gz", hash = "sha256:0acdacddefa176525e4da6d9aeeece225da26055c4becdc6e97cf40fa97c27f4"},
+]
 gevent = [
     {file = "gevent-22.10.1-cp27-cp27m-win32.whl", hash = "sha256:702a51b8f21bad1976b0893f90ade466e8c27039b846b611ad2beb8c6e6ac701"},
     {file = "gevent-22.10.1-cp27-cp27m-win_amd64.whl", hash = "sha256:af7baec79a5f8ad1cc132d3b14edd12661c628d8094e501b089b1fe2d3df7f6e"},
@@ -5624,6 +5803,9 @@ inputs = [
     {file = "inputs-0.5-py2.py3-none-any.whl", hash = "sha256:13f894564e52134cf1e3862b1811da034875eb1f2b62e6021e3776e9669a96ec"},
     {file = "inputs-0.5.tar.gz", hash = "sha256:a31d5b96a3525f1232f326be9e7ce8ccaf873c6b1fb84d9f3c9bc3d79b23eae4"},
 ]
+ioctl-opt = [
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+    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d7d17c8bd073cbf8d141993db45145a70b307385b69171d6b54bcf23e5d644de"},
+    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e932089c35a396dc31a5a1fc49889dd559548d14cb2237adae260382a090382e"},
+    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8e4f8f12258a8739c565292a551c3db62cca4ed4f6b6126664e2381acb4931bf"},
+    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:570d255fd99c7f14d8f91363c3ea96bd54f8742275796bca67e1414aeca7d8c3"},
+    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:a8e0881568c5e6beff91ef73c0ec8ac2a9d3ecc9edd6bd83c31ca34f770910c4"},
+    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:4bba3be4c1fabf170595b71f3af46c6d482fbe7d9e0563999b49999a31876f77"},
+    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:37ece938110cab2bb3957e3910af8152ca15f2b6efdf4f2612e3f6b7e5459b80"},
+    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:db684d6bbb735a80bcbc3737856385b55d53f8a44ce9b46e9a5682c5133a9bf7"},
+    {file = "setproctitle-1.3.2-cp311-cp311-win32.whl", hash = "sha256:ca58cd260ea02759238d994cfae844fc8b1e206c684beb8f38877dcab8451dfc"},
+    {file = "setproctitle-1.3.2-cp311-cp311-win_amd64.whl", hash = "sha256:88486e6cce2a18a033013d17b30a594f1c5cb42520c49c19e6ade40b864bb7ff"},
     {file = "setproctitle-1.3.2-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:92c626edc66169a1b09e9541b9c0c9f10488447d8a2b1d87c8f0672e771bc927"},
     {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:710e16fa3bade3b026907e4a5e841124983620046166f355bbb84be364bf2a02"},
     {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1f29b75e86260b0ab59adb12661ef9f113d2f93a59951373eb6d68a852b13e83"},
@@ -7474,6 +7728,50 @@ setuptools-scm = [
     {file = "setuptools_scm-7.0.5-py3-none-any.whl", hash = "sha256:7930f720905e03ccd1e1d821db521bff7ec2ac9cf0ceb6552dd73d24a45d3b02"},
     {file = "setuptools_scm-7.0.5.tar.gz", hash = "sha256:031e13af771d6f892b941adb6ea04545bbf91ebc5ce68c78aaf3fff6e1fb4844"},
 ]
+shapely = [
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+    {file = "Shapely-1.8.5.post1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:99ab0ddc05e44acabdbe657c599fdb9b2d82e86c5493bdae216c0c4018a82dee"},
+    {file = "Shapely-1.8.5.post1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:99a2f0da0109e81e0c101a2b4cd8412f73f5f299e7b5b2deaf64cd2a100ac118"},
+    {file = "Shapely-1.8.5.post1-cp310-cp310-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:6fe855e7d45685926b6ba00aaeb5eba5862611f7465775dacd527e081a8ced6d"},
+    {file = "Shapely-1.8.5.post1-cp310-cp310-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:ec14ceca36f67cb48b34d02d7f65a9acae15cd72b48e303531893ba4a960f3ea"},
+    {file = "Shapely-1.8.5.post1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d8a2b2a65fa7f97115c1cd989fe9d6f39281ca2a8a014f1d4904c1a6e34d7f25"},
+    {file = "Shapely-1.8.5.post1-cp310-cp310-win32.whl", hash = "sha256:21776184516a16bf82a0c3d6d6a312b3cd15a4cabafc61ee01cf2714a82e8396"},
+    {file = "Shapely-1.8.5.post1-cp310-cp310-win_amd64.whl", hash = "sha256:a354199219c8d836f280b88f2c5102c81bb044ccea45bd361dc38a79f3873714"},
+    {file = "Shapely-1.8.5.post1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:783bad5f48e2708a0e2f695a34ed382e4162c795cb2f0368b39528ac1d6db7ed"},
+    {file = "Shapely-1.8.5.post1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:a23ef3882d6aa203dd3623a3d55d698f59bfbd9f8a3bfed52c2da05a7f0f8640"},
+    {file = "Shapely-1.8.5.post1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:ab38f7b5196ace05725e407cb8cab9ff66edb8e6f7bb36a398e8f73f52a7aaa2"},
+    {file = "Shapely-1.8.5.post1-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8d086591f744be483b34628b391d741e46f2645fe37594319e0a673cc2c26bcf"},
+    {file = "Shapely-1.8.5.post1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4728666fff8cccc65a07448cae72c75a8773fea061c3f4f139c44adc429b18c3"},
+    {file = "Shapely-1.8.5.post1-cp311-cp311-win32.whl", hash = "sha256:84010db15eb364a52b74ea8804ef92a6a930dfc1981d17a369444b6ddec66efd"},
+    {file = "Shapely-1.8.5.post1-cp311-cp311-win_amd64.whl", hash = "sha256:48dcfffb9e225c0481120f4bdf622131c8c95f342b00b158cdbe220edbbe20b6"},
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+    {file = "Shapely-1.8.5.post1-cp36-cp36m-win_amd64.whl", hash = "sha256:be9423d5a3577ac2e92c7e758bd8a2b205f5e51a012177a590bc46fc51eb4834"},
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+    {file = "Shapely-1.8.5.post1-cp37-cp37m-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:adcf8a11b98af9375e32bff91de184f33a68dc48b9cb9becad4f132fa25cfa3c"},
+    {file = "Shapely-1.8.5.post1-cp37-cp37m-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:753ed0e21ab108bd4282405b9b659f2e985e8502b1a72b978eaa51d3496dee19"},
+    {file = "Shapely-1.8.5.post1-cp37-cp37m-win32.whl", hash = "sha256:65b21243d8f6bcd421210daf1fabb9de84de2c04353c5b026173b88d17c1a581"},
+    {file = "Shapely-1.8.5.post1-cp37-cp37m-win_amd64.whl", hash = "sha256:370b574c78dc5af3a198a6da5d9b3d7c04654bd2ef7e80e80a3a0992dfb2d9cd"},
+    {file = "Shapely-1.8.5.post1-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:532a55ee2a6c52d23d6f7d1567c8f0473635f3b270262c44e1b0c88096827e22"},
+    {file = "Shapely-1.8.5.post1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:3480657460e939f45a7d359ef0e172a081f249312557fe9aa78c4fd3a362d993"},
+    {file = "Shapely-1.8.5.post1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:b65f5d530ba91e49ffc7c589255e878d2506a8b96ffce69d3b7c4500a9a9eaf8"},
+    {file = "Shapely-1.8.5.post1-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:147066da0be41b147a61f8eb805dea3b13709dbc873a431ccd7306e24d712bc0"},
+    {file = "Shapely-1.8.5.post1-cp38-cp38-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:c2822111ddc5bcfb116e6c663e403579d0fe3f147d2a97426011a191c43a7458"},
+    {file = "Shapely-1.8.5.post1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4b47bb6f9369e8bf3e6dbd33e6a25a47ee02b2874792a529fe04a49bf8bc0df6"},
+    {file = "Shapely-1.8.5.post1-cp38-cp38-win32.whl", hash = "sha256:2e0a8c2e55f1be1312b51c92b06462ea89e6bb703fab4b114e7a846d941cfc40"},
+    {file = "Shapely-1.8.5.post1-cp38-cp38-win_amd64.whl", hash = "sha256:0d885cb0cf670c1c834df3f371de8726efdf711f18e2a75da5cfa82843a7ab65"},
+    {file = "Shapely-1.8.5.post1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:0b4ee3132ee90f07d63db3aea316c4c065ed7a26231458dda0874414a09d6ba3"},
+    {file = "Shapely-1.8.5.post1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:02dd5d7dc6e46515d88874134dc8fcdc65826bca93c3eecee59d1910c42c1b17"},
+    {file = "Shapely-1.8.5.post1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:c6a9a4a31cd6e86d0fbe8473ceed83d4fe760b19d949fb557ef668defafea0f6"},
+    {file = "Shapely-1.8.5.post1-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:38f0fbbcb8ca20c16451c966c1f527cc43968e121c8a048af19ed3e339a921cd"},
+    {file = "Shapely-1.8.5.post1-cp39-cp39-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:78fb9d929b8ee15cfd424b6c10879ce1907f24e05fb83310fc47d2cd27088e40"},
+    {file = "Shapely-1.8.5.post1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:89164e7a9776a19e29f01369a98529321994e2e4d852b92b7e01d4d9804c55bf"},
+    {file = "Shapely-1.8.5.post1-cp39-cp39-win32.whl", hash = "sha256:8e59817b0fe63d34baedaabba8c393c0090f061917d18fc0bcc2f621937a8f73"},
+    {file = "Shapely-1.8.5.post1-cp39-cp39-win_amd64.whl", hash = "sha256:e9c30b311de2513555ab02464ebb76115d242842b29c412f5a9aa0cac57be9f6"},
+    {file = "Shapely-1.8.5.post1.tar.gz", hash = "sha256:ef3be705c3eac282a28058e6c6e5503419b250f482320df2172abcbea642c831"},
+]
 shellingham = [
     {file = "shellingham-1.5.0-py2.py3-none-any.whl", hash = "sha256:a8f02ba61b69baaa13facdba62908ca8690a94b8119b69f5ec5873ea85f7391b"},
     {file = "shellingham-1.5.0.tar.gz", hash = "sha256:72fb7f5c63103ca2cb91b23dee0c71fe8ad6fbfd46418ef17dbe40db51592dad"},
@@ -7611,6 +7909,9 @@ spidev = [
     {file = "spidev-3.6-cp39-cp39-linux_armv7l.whl", hash = "sha256:280abc00a1ef7780ef62c3f294f52a2527b6c47d8c269fea98664970bcaf6da5"},
     {file = "spidev-3.6.tar.gz", hash = "sha256:14dbc37594a4aaef85403ab617985d3c3ef464d62bc9b769ef552db53701115b"},
 ]
+spidev2 = [
+    {file = "spidev2-0.9.0.tar.gz", hash = "sha256:152da2911a8660283ceac3a75dd869953379bcbcf079e5436af5aae736876086"},
+]
 sqlalchemy = [
     {file = "SQLAlchemy-1.4.42-cp27-cp27m-macosx_10_14_x86_64.whl", hash = "sha256:28e881266a172a4d3c5929182fde6bb6fba22ac93f137d5380cc78a11a9dd124"},
     {file = "SQLAlchemy-1.4.42-cp27-cp27m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:ca9389a00f639383c93ed00333ed763812f80b5ae9e772ea32f627043f8c9c88"},

pyproject.toml

@@ -51,6 +51,7 @@ six = "^1.16.0"
 smbus2 = "^0.4.2"
 sounddevice = "^0.4.5"
 spidev = { version = "^3.6", platform = "linux" }
+spidev2 = { version = "^0.9.0", platform = "linux" }
 sympy = "^1.10.1"
 timezonefinder = "^6.0.1"
 tqdm = "^4.64.0"
@@ -144,7 +145,7 @@ jupyterlab = "^3.4.4"
 jupyterlab-vim = "^0.15.1"
 Markdown = "^3.4.1"
 msgpack-python = "^0.5.6"
-networkx = "~2.3"
+networkx = "~2.8"
 nvidia-ml-py3 = "^7.352.0"
 onnx2torch = "^1.5.4"
 onnxoptimizer = "^0.3.1"
@@ -170,6 +171,8 @@ torchvision = { url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0
 triton = "^1.1.1"
 Werkzeug = "^2.1.2"
 zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }
+omegaconf = "^2.3.0"
+osmnx = "==1.2.2"
 
 
 [build-system]

release/build_release.sh

@@ -11,15 +11,19 @@ SOURCE_DIR="$(git rev-parse --show-toplevel)"
 
 if [ -f /TICI ]; then
   FILES_SRC="release/files_tici"
-  RELEASE_BRANCH=release3-staging
-  DASHCAM_BRANCH=dashcam3-staging
 else
-  exit 0
+  echo "no release files set"
+  exit 1
+fi
+
+if [ -z "$RELEASE_BRANCH" ]; then
+  echo "RELEASE_BRANCH is not set"
+  exit 1
 fi
 
+
 # set git identity
 source $DIR/identity.sh
-export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 
 echo "[-] Setting up repo T=$SECONDS"
 rm -rf $BUILD_DIR
@@ -27,7 +31,6 @@ mkdir -p $BUILD_DIR
 cd $BUILD_DIR
 git init
 git remote add origin git@github.com:commaai/openpilot.git
-git fetch origin $RELEASE_BRANCH
 git checkout --orphan $RELEASE_BRANCH
 
 # do the files copy
@@ -48,7 +51,6 @@ echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"
-git branch --set-upstream-to=origin/$RELEASE_BRANCH
 
 # Build panda firmware
 pushd panda/
@@ -105,10 +107,12 @@ RELEASE=1 selfdrive/test/test_onroad.py
 selfdrive/car/tests/test_car_interfaces.py
 rm -rf $TEST_FILES
 
-if [ ! -z "$PUSH" ]; then
-  echo "[-] pushing T=$SECONDS"
-  git push -f origin $RELEASE_BRANCH
+if [ ! -z "$RELEASE_BRANCH" ]; then
+  echo "[-] pushing release T=$SECONDS"
+  git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
+fi
 
+if [ ! -z "$DASHCAM_BRANCH" ]; then
   # Create dashcam
   git rm selfdrive/car/*/carcontroller.py
   git commit -m "create dashcam release from release"

release/check-submodules.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 while read hash submodule ref; do
-  git -C $submodule fetch --depth 100 origin master
+  git -C $submodule fetch --depth 1000 origin master
   git -C $submodule branch -r --contains $hash | grep "origin/master"
   if [ "$?" -eq 0 ]; then
     echo "$submodule ok"

release/files_common

@@ -195,8 +195,6 @@ selfdrive/controls/lib/pid.py
 selfdrive/controls/lib/radar_helpers.py
 selfdrive/controls/lib/vehicle_model.py
 
-selfdrive/controls/lib/cluster/*
-
 selfdrive/controls/lib/lateral_mpc_lib/.gitignore
 selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
 selfdrive/controls/lib/lateral_mpc_lib/*
@@ -230,13 +228,9 @@ selfdrive/locationd/SConscript
 selfdrive/locationd/ubloxd.cc
 selfdrive/locationd/ublox_msg.cc
 selfdrive/locationd/ublox_msg.h
-selfdrive/locationd/generated/ubx.cpp
-selfdrive/locationd/generated/ubx.h
-selfdrive/locationd/generated/gps.cpp
-selfdrive/locationd/generated/gps.h
+selfdrive/locationd/generated/*
 
 selfdrive/locationd/laikad.py
-selfdrive/locationd/laikad_helpers.py
 selfdrive/locationd/locationd.h
 selfdrive/locationd/locationd.cc
 selfdrive/locationd/paramsd.py
@@ -286,7 +280,6 @@ selfdrive/loggerd/deleter.py
 selfdrive/loggerd/xattr_cache.py
 
 selfdrive/sensord/SConscript
-selfdrive/sensord/libdiag.h
 selfdrive/sensord/sensors_qcom2.cc
 selfdrive/sensord/sensors/*.cc
 selfdrive/sensord/sensors/*.h
@@ -327,12 +320,17 @@ selfdrive/ui/qt/widgets/*.cc
 selfdrive/ui/qt/widgets/*.h
 selfdrive/ui/qt/maps/*.cc
 selfdrive/ui/qt/maps/*.h
+selfdrive/ui/qt/setup/*.cc
+selfdrive/ui/qt/setup/*.h
+
+selfdrive/ui/installer/*.cc
+selfdrive/ui/installer/*.h
+selfdrive/ui/installer/*.cc
 
 system/camerad/SConscript
 system/camerad/main.cc
 
 system/camerad/snapshot/*
-system/camerad/include/*
 system/camerad/cameras/camera_common.h
 system/camerad/cameras/camera_common.cc
 system/camerad/cameras/sensor2_i2c.h
@@ -388,7 +386,6 @@ selfdrive/modeld/thneed/thneed.h
 selfdrive/modeld/thneed/thneed_common.cc
 selfdrive/modeld/thneed/thneed_qcom2.cc
 selfdrive/modeld/thneed/serialize.cc
-selfdrive/modeld/thneed/include/*
 
 selfdrive/modeld/runners/snpemodel.cc
 selfdrive/modeld/runners/snpemodel.h
@@ -416,8 +413,11 @@ selfdrive/assets/offroad/*
 selfdrive/assets/sounds/*
 selfdrive/assets/training/*
 
+third_party/.gitignore
 third_party/SConscript
 
+third_party/cluster/*
+
 third_party/linux/**
 third_party/opencl/**
 
@@ -440,15 +440,14 @@ third_party/snpe/dsp**
 third_party/acados/x86_64/**
 third_party/acados/larch64/**
 third_party/acados/include/**
+third_party/acados/acados_template/**
 
+third_party/bootstrap/**
 third_party/qt5/larch64/bin/**
 
 scripts/update_now.sh
 scripts/stop_updater.sh
 
-pyextra/.gitignore
-pyextra/acados_template/**
-
 rednose/.gitignore
 rednose/**
 laika/**
@@ -581,17 +580,13 @@ opendbc/tesla_can.dbc
 opendbc/tesla_radar.dbc
 opendbc/tesla_powertrain.dbc
 
-tinygrad_repo/openpilot/compile.py
 tinygrad_repo/accel/opencl/*
+tinygrad_repo/tinygrad/llops/ops_opencl.py
+tinygrad_repo/openpilot/compile.py
 tinygrad_repo/extra/onnx.py
 tinygrad_repo/extra/thneed.py
 tinygrad_repo/extra/utils.py
 tinygrad_repo/tinygrad/llops/ops_gpu.py
-tinygrad_repo/tinygrad/llops/ops_opencl.py
-tinygrad_repo/tinygrad/helpers.py
-tinygrad_repo/tinygrad/mlops.py
-tinygrad_repo/tinygrad/ops.py
-tinygrad_repo/tinygrad/shapetracker.py
-tinygrad_repo/tinygrad/tensor.py
-tinygrad_repo/tinygrad/nn/__init__.py
-tinygrad_repo/tinygrad/nn/optim.py
+tinygrad_repo/tinygrad/shape/*
+tinygrad_repo/tinygrad/nn/*
+tinygrad_repo/tinygrad/*.py

scripts/cell.sh

@@ -1,5 +1,3 @@
 #!/usr/bin/bash
-
-nmcli connection modify --temporary lte ipv4.route-metric 1
-nmcli connection modify --temporary lte ipv6.route-metric 1
-nmcli con up lte
+nmcli connection modify --temporary lte ipv4.route-metric 1 ipv6.route-metric 1
+nmcli con up --wait --ask lte

selfdrive/assets/assets.qrc

@@ -1,5 +1,6 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource>
+  <file alias="bootstrap-icons.svg">../../third_party/bootstrap/bootstrap-icons.svg</file>
   <file>img_continue_triangle.svg</file>
   <file>img_circled_check.svg</file>
   <file>img_circled_slash.svg</file>

selfdrive/assets/navigation/default_marker.svg

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<svg fill="red" width="72" height="80" viewBox="0 0 15 15" xmlns="http://www.w3.org/2000/svg"  id="marker">
+  <path stroke="darkred" stroke-width="0.5" d="M7.5 1C5.42312 1 3 2.2883 3 5.56759C3 7.79276 6.46156 12.7117 7.5 14C8.42309 12.7117 12 7.90993 12 5.56759C12 2.2883 9.57688 1 7.5 1Z"/>
+  <circle cx="7.5" cy="5.5" r="2" fill="darkred"/>
+</svg>

selfdrive/boardd/boardd.cc

@@ -7,6 +7,7 @@
 #include <unistd.h>
 
 #include <algorithm>
+#include <array>
 #include <atomic>
 #include <bitset>
 #include <cassert>
@@ -48,8 +49,8 @@
 
 #define MAX_IR_POWER 0.5f
 #define MIN_IR_POWER 0.0f
-#define CUTOFF_IL 200
-#define SATURATE_IL 1600
+#define CUTOFF_IL 400
+#define SATURATE_IL 1000
 #define NIBBLE_TO_HEX(n) ((n) < 10 ? (n) + '0' : ((n) - 10) + 'a')
 using namespace std::chrono_literals;
 
@@ -105,6 +106,8 @@ void sync_time(Panda *panda, SyncTimeDir dir) {
 bool safety_setter_thread(std::vector<Panda *> pandas) {
   LOGD("Starting safety setter thread");
 
+  Params p;
+
   // there should be at least one panda connected
   if (pandas.size() == 0) {
     return false;
@@ -116,29 +119,26 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
     pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
   }
 
-  Params p = Params();
-
-  // wait for VIN to be read
+  // wait for FW query at OBD port to finish
   while (true) {
     if (do_exit || !check_all_connected(pandas) || !ignition) {
       return false;
     }
 
-    std::string value_vin = p.get("CarVin");
-    if (value_vin.size() > 0) {
-      // sanity check VIN format
-      assert(value_vin.size() == 17);
-      LOGW("got CarVin %s", value_vin.c_str());
+    if (p.getBool("FirmwareObdQueryDone")) {
+      LOGW("finished FW query at OBD port");
       break;
     }
     util::sleep_for(20);
   }
 
-  // set to ELM327 for ECU knockouts
+  // set to ELM327 to finish fingerprinting and for potential ECU knockouts
   for (Panda *panda : pandas) {
     panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
   }
 
+  p.putBool("ObdMultiplexingDisabled", true);
+
   std::string params;
   LOGW("waiting for params to set safety model");
   while (true) {
@@ -225,9 +225,9 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
     //Dont send if older than 1 second
     if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) {
       for (const auto& panda : pandas) {
-        LOGT("sending sendcan to panda: %s", (panda->hw_serial).c_str());
+        LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str());
         panda->can_send(event.getSendcan());
-        LOGT("sendcan sent to panda: %s", (panda->hw_serial).c_str());
+        LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str());
       }
     }
   }
@@ -540,9 +540,8 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
     if (sm.updated("driverCameraState")) {
       auto event = sm["driverCameraState"];
       int cur_integ_lines = event.getDriverCameraState().getIntegLines();
-      float cur_gain = event.getDriverCameraState().getGain();
 
-      cur_integ_lines = integ_lines_filter.update(cur_integ_lines * cur_gain);
+      cur_integ_lines = integ_lines_filter.update(cur_integ_lines);
       last_front_frame_t = event.getLogMonoTime();
 
       if (cur_integ_lines <= CUTOFF_IL) {

selfdrive/boardd/panda.cc

@@ -10,11 +10,13 @@
 #include "common/util.h"
 
 Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
-  // TODO: support SPI here one day...
-  if (serial.find("spi") != std::string::npos) {
-    handle = std::make_unique<PandaSpiHandle>(serial);
-  } else {
+  // try USB first, then SPI
+  try {
     handle = std::make_unique<PandaUsbHandle>(serial);
+  } catch (std::exception &e) {
+#ifndef __APPLE__
+    handle = std::make_unique<PandaSpiHandle>(serial);
+#endif
   }
 
   hw_type = get_hw_type();
@@ -26,6 +28,8 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
             (hw_type == cereal::PandaState::PandaType::DOS) ||
             (hw_type == cereal::PandaState::PandaType::TRES);
 
+  can_reset_communications();
+
   return;
 }
 
@@ -37,8 +41,22 @@ bool Panda::comms_healthy() {
   return handle->comms_healthy;
 }
 
+std::string Panda::hw_serial() {
+  return handle->hw_serial;
+}
+
 std::vector<std::string> Panda::list() {
-  return PandaUsbHandle::list();
+  std::vector<std::string> serials = PandaUsbHandle::list();
+
+#ifndef __APPLE__
+  for (auto s : PandaSpiHandle::list()) {
+    if (std::find(serials.begin(), serials.end(), s) == serials.end()) {
+      serials.push_back(s);
+    }
+  }
+#endif
+
+  return serials;
 }
 
 void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
@@ -174,10 +192,6 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
   int32_t pos = 0;
   uint8_t send_buf[2 * USB_TX_SOFT_LIMIT];
 
-  uint32_t magic = CAN_TRANSACTION_MAGIC;
-  memcpy(&send_buf[0], &magic, sizeof(uint32_t));
-  pos += sizeof(uint32_t);
-
   for (auto cmsg : can_data_list) {
     // check if the message is intended for this panda
     uint8_t bus = cmsg.getSrc();
@@ -194,20 +208,25 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
     header.extended = (cmsg.getAddress() >= 0x800) ? 1 : 0;
     header.data_len_code = data_len_code;
     header.bus = bus - bus_offset;
+    header.checksum = 0;
 
     memcpy(&send_buf[pos], (uint8_t *)&header, sizeof(can_header));
-    pos += sizeof(can_header);
-    memcpy(&send_buf[pos], (uint8_t *)can_data.begin(), can_data.size());
-    pos += can_data.size();
+    memcpy(&send_buf[pos + sizeof(can_header)], (uint8_t *)can_data.begin(), can_data.size());
+    uint32_t msg_size = sizeof(can_header) + can_data.size();
+
+    // set checksum
+    ((can_header *) &send_buf[pos])->checksum = calculate_checksum(&send_buf[pos], msg_size);
+
+    pos += msg_size;
 
     if (pos >= USB_TX_SOFT_LIMIT) {
       write_func(send_buf, pos);
-      pos = sizeof(uint32_t);
+      pos = 0;
     }
   }
 
   // send remaining packets
-  if (pos > sizeof(uint32_t)) write_func(send_buf, pos);
+  if (pos > 0) write_func(send_buf, pos);
 }
 
 void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list) {
@@ -217,36 +236,38 @@ void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list) {
 }
 
 bool Panda::can_receive(std::vector<can_frame>& out_vec) {
-  uint8_t data[RECV_SIZE];
-  int recv = handle->bulk_read(0x81, (uint8_t*)data, RECV_SIZE);
+  // Check if enough space left in buffer to store RECV_SIZE data
+  assert(receive_buffer_size + RECV_SIZE <= sizeof(receive_buffer));
+
+  int recv = handle->bulk_read(0x81, &receive_buffer[receive_buffer_size], RECV_SIZE);
   if (!comms_healthy()) {
     return false;
   }
   if (recv == RECV_SIZE) {
     LOGW("Panda receive buffer full");
   }
+  receive_buffer_size += recv;
 
-  return (recv <= 0) ? true : unpack_can_buffer(data, recv, out_vec);
+  return (recv <= 0) ? true : unpack_can_buffer(receive_buffer, receive_buffer_size, out_vec);
 }
 
-bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector<can_frame> &out_vec) {
-  if (size < sizeof(uint32_t)) {
-    return true;
-  }
+void Panda::can_reset_communications() {
+  handle->control_write(0xc0, 0, 0);
+}
 
-  uint32_t magic;
-  memcpy(&magic, &data[0], sizeof(uint32_t));
-  if (magic != CAN_TRANSACTION_MAGIC) {
-    LOGE("CAN recv: buffer didn't start with magic");
-    handle->comms_healthy = false;
-    return false;
-  }
+bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec) {
+  int pos = 0;
 
-  int pos = sizeof(uint32_t);
-  while (pos < size) {
+  while (pos <= size - sizeof(can_header)) {
     can_header header;
     memcpy(&header, &data[pos], sizeof(can_header));
 
+    const uint8_t data_len = dlc_to_len[header.data_len_code];
+    if (pos + sizeof(can_header) + data_len > size) {
+      // we don't have all the data for this message yet
+      break;
+    }
+
     can_frame &canData = out_vec.emplace_back();
     canData.busTime = 0;
     canData.address = header.addr;
@@ -258,10 +279,28 @@ bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector<can_frame> &o
       canData.src += CAN_RETURNED_BUS_OFFSET;
     }
 
-    const uint8_t data_len = dlc_to_len[header.data_len_code];
+    if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
+      LOGE("Panda CAN checksum failed");
+      size = 0;
+      return false;
+    }
+
     canData.dat.assign((char *)&data[pos + sizeof(can_header)], data_len);
 
     pos += sizeof(can_header) + data_len;
   }
+
+  // move the overflowing data to the beginning of the buffer for the next round
+  memmove(data, &data[pos], size - pos);
+  size -= pos;
+
   return true;
 }
+
+uint8_t Panda::calculate_checksum(uint8_t *data, uint32_t len) {
+  uint8_t checksum = 0U;
+  for (uint32_t i = 0U; i < len; i++) {
+    checksum ^= data[i];
+  }
+  return checksum;
+}

selfdrive/boardd/panda.h

@@ -30,6 +30,7 @@ struct __attribute__((packed)) can_header {
   uint8_t returned : 1;
   uint8_t extended : 1;
   uint32_t addr : 29;
+  uint8_t checksum : 8;
 };
 
 struct can_frame {
@@ -47,13 +48,13 @@ private:
 public:
   Panda(std::string serial="", uint32_t bus_offset=0);
 
-  std::string hw_serial;
   cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
   bool has_rtc = false;
   const uint32_t bus_offset;
 
   bool connected();
   bool comms_healthy();
+  std::string hw_serial();
 
   // Static functions
   static std::vector<std::string> list();
@@ -80,11 +81,16 @@ public:
   void set_canfd_non_iso(uint16_t bus, bool non_iso);
   void can_send(capnp::List<cereal::CanData>::Reader can_data_list);
   bool can_receive(std::vector<can_frame>& out_vec);
+  void can_reset_communications();
 
 protected:
   // for unit tests
+  uint8_t receive_buffer[RECV_SIZE + sizeof(can_header) + 64];
+  uint32_t receive_buffer_size = 0;
+
   Panda(uint32_t bus_offset) : bus_offset(bus_offset) {}
   void pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data_list,
                          std::function<void(uint8_t *, size_t)> write_func);
-  bool unpack_can_buffer(uint8_t *data, int size, std::vector<can_frame> &out_vec);
+  bool unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec);
+  uint8_t calculate_checksum(uint8_t *data, uint32_t len);
 };

selfdrive/boardd/panda_comms.cc

@@ -44,7 +44,7 @@ PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) {
       ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
       if (ret < 0) { goto fail; }
 
-      auto hw_serial = std::string((char *)desc_serial, ret);
+      hw_serial = std::string((char *)desc_serial, ret);
       if (serial.empty() || serial == hw_serial) {
         break;
       }

selfdrive/boardd/panda_comms.h

@@ -5,7 +5,9 @@
 #include <cstdint>
 #include <vector>
 
+#ifndef __APPLE__
 #include <linux/spi/spidev.h>
+#endif
 
 #include <libusb-1.0/libusb.h>
 
@@ -21,6 +23,7 @@ public:
   virtual ~PandaCommsHandle() {};
   virtual void cleanup() = 0;
 
+  std::string hw_serial;
   std::atomic<bool> connected = true;
   std::atomic<bool> comms_healthy = true;
   static std::vector<std::string> list();
@@ -30,9 +33,6 @@ public:
   virtual int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) = 0;
   virtual int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
   virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
-
-protected:
-  std::recursive_mutex hw_lock;
 };
 
 class PandaUsbHandle : public PandaCommsHandle {
@@ -50,9 +50,11 @@ public:
 private:
   libusb_context *ctx = NULL;
   libusb_device_handle *dev_handle = NULL;
+  std::recursive_mutex hw_lock;
   void handle_usb_issue(int err, const char func[]);
 };
 
+#ifndef __APPLE__
 class PandaSpiHandle : public PandaCommsHandle {
 public:
   PandaSpiHandle(std::string serial);
@@ -69,9 +71,11 @@ private:
   int spi_fd = -1;
   uint8_t tx_buf[SPI_BUF_SIZE];
   uint8_t rx_buf[SPI_BUF_SIZE];
+  inline static std::recursive_mutex hw_lock;
 
   int wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack);
   int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len);
   int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
   int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
 };
+#endif

selfdrive/boardd/pandad.py

@@ -7,7 +7,7 @@ import subprocess
 from typing import List, NoReturn
 from functools import cmp_to_key
 
-from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU
+from panda import Panda, PandaDFU
 from common.basedir import BASEDIR
 from common.params import Params
 from system.hardware import HARDWARE
@@ -15,10 +15,8 @@ from system.swaglog import cloudlog
 
 
 def get_expected_signature(panda: Panda) -> bytes:
-  fn = DEFAULT_H7_FW_FN if (panda.get_mcu_type() == MCU_TYPE_H7) else DEFAULT_FW_FN
-
   try:
-    return Panda.get_signature_from_firmware(fn)
+    return Panda.get_signature_from_firmware(panda.get_mcu_type().config.app_path)
   except Exception:
     cloudlog.exception("Error computing expected signature")
     return b""

selfdrive/boardd/spi.cc

@@ -1,9 +1,13 @@
+#ifndef __APPLE__
+#include <sys/file.h>
 #include <sys/ioctl.h>
 #include <linux/spi/spidev.h>
 
 #include <cassert>
 #include <cmath>
 #include <cstring>
+#include <iomanip>
+#include <sstream>
 
 #include "common/util.h"
 #include "common/timing.h"
@@ -27,41 +31,77 @@ struct __attribute__((packed)) spi_header {
 
 const int SPI_MAX_RETRIES = 5;
 const int SPI_ACK_TIMEOUT = 50; // milliseconds
+const std::string SPI_DEVICE = "/dev/spidev0.0";
+
+class LockEx {
+public:
+  LockEx(int fd, std::recursive_mutex &m) : fd(fd), m(m) {
+    m.lock();
+    flock(fd, LOCK_EX);
+  };
+
+  ~LockEx() {
+    m.unlock();
+    flock(fd, LOCK_UN);
+  }
+
+private:
+  int fd;
+  std::recursive_mutex &m;
+};
 
 
 PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
-  LOGD("opening SPI panda: %s", serial.c_str());
+  int ret;
+  const int uid_len = 12;
+  uint8_t uid[uid_len] = {0};
 
-  int err;
   uint32_t spi_mode = SPI_MODE_0;
   uint32_t spi_speed = 30000000;
   uint8_t spi_bits_per_word = 8;
 
-  spi_fd = open(serial.c_str(), O_RDWR);
+  spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
   if (spi_fd < 0) {
-    LOGE("failed opening SPI device %d", err);
+    LOGE("failed opening SPI device %d", spi_fd);
     goto fail;
   }
 
   // SPI settings
-  err = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode);
-  if (err < 0) {
-    LOGE("failed setting SPI mode %d", err);
+  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode);
+  if (ret < 0) {
+    LOGE("failed setting SPI mode %d", ret);
     goto fail;
   }
 
-  err = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
-  if (err < 0) {
+  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
+  if (ret < 0) {
     LOGE("failed setting SPI speed");
     goto fail;
   }
 
-  err = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word);
-  if (err < 0) {
+  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word);
+  if (ret < 0) {
     LOGE("failed setting SPI bits per word");
     goto fail;
   }
 
+  // get hw UID/serial
+  ret = control_read(0xc3, 0, 0, uid, uid_len);
+  if (ret == uid_len) {
+    std::stringstream stream;
+    for (int i = 0; i < uid_len; i++) {
+      stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]);
+    }
+    hw_serial = stream.str();
+  } else {
+    LOGD("failed to get serial %d", ret);
+    goto fail;
+  }
+
+  if (!serial.empty() && (serial != hw_serial)) {
+    goto fail;
+  }
+
   return;
 
 fail:
@@ -84,6 +124,7 @@ void PandaSpiHandle::cleanup() {
 
 
 int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout) {
+  LockEx lock(spi_fd, hw_lock);
   ControlPacket_t packet = {
     .request = request,
     .param1 = param1,
@@ -94,6 +135,7 @@ int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t par
 }
 
 int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout) {
+  LockEx lock(spi_fd, hw_lock);
   ControlPacket_t packet = {
     .request = request,
     .param1 = param1,
@@ -104,15 +146,15 @@ int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t para
 }
 
 int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
+  LockEx lock(spi_fd, hw_lock);
   return bulk_transfer(endpoint, data, length, NULL, 0);
 }
 int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
+  LockEx lock(spi_fd, hw_lock);
   return bulk_transfer(endpoint, NULL, 0, data, length);
 }
 
 int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len) {
-  std::lock_guard lk(hw_lock);
-
   const int xfer_size = 0x40 * 15;
 
   int ret = 0;
@@ -143,7 +185,12 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t
 }
 
 std::vector<std::string> PandaSpiHandle::list() {
-  // TODO: list all pandas available over SPI
+  try {
+    PandaSpiHandle sh("");
+    return {sh.hw_serial};
+  } catch (std::exception &e) {
+    // no panda on SPI
+  }
   return {};
 }
 
@@ -167,7 +214,6 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1
   int ret;
 
   int count = SPI_MAX_RETRIES;
-  std::lock_guard lk(hw_lock);
   do {
     // TODO: handle error
     ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len);
@@ -195,7 +241,7 @@ int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
 
     // handle timeout
     if (millis_since_boot() - start_millis > SPI_ACK_TIMEOUT) {
-      LOGE("SPI: timed out waiting for ACK");
+      LOGD("SPI: timed out waiting for ACK");
       return -1;
     }
   }
@@ -270,7 +316,10 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
     goto transfer_fail;
   }
   rx_data_len = *(uint16_t *)(rx_buf+1);
-  assert(rx_data_len < SPI_BUF_SIZE);
+  if (rx_data_len >= SPI_BUF_SIZE) {
+    LOGE("SPI: RX data len larger than buf size %d", rx_data_len);
+    goto transfer_fail;
+  }
 
   // Read data
   transfer.len = rx_data_len + 1;
@@ -294,3 +343,4 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
 transfer_fail:
   return ret;
 }
+#endif

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -51,7 +51,7 @@ class TestBoardd(unittest.TestCase):
     cp.safetyConfigs = [safety_config]*num_pandas
 
     params = Params()
-    params.put("CarVin", b"0"*17)
+    params.put_bool("FirmwareObdQueryDone", True)
     params.put_bool("ControlsReady", True)
     params.put("CarParams", cp.to_bytes())
 

selfdrive/boardd/tests/test_boardd_usbprotocol.cc

@@ -16,7 +16,8 @@ int random_int(int min, int max) {
 struct PandaTest : public Panda {
   PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type);
   void test_can_send();
-  void test_can_recv();
+  void test_can_recv(uint32_t chunk_size = 0);
+  void test_chunked_can_recv();
 
   std::map<int, std::string> test_data;
   int can_list_size = 0;
@@ -58,11 +59,7 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
 void PandaTest::test_can_send() {
   std::vector<uint8_t> unpacked_data;
   this->pack_can_buffer(can_data_list, [&](uint8_t *chunk, size_t size) {
-    uint32_t magic;
-    memcpy(&magic, &chunk[0], sizeof(uint32_t));
-
-    REQUIRE(magic == CAN_TRANSACTION_MAGIC);
-    unpacked_data.insert(unpacked_data.end(), &chunk[sizeof(uint32_t)], &chunk[size]);
+    unpacked_data.insert(unpacked_data.end(), chunk, &chunk[size]);
   });
   REQUIRE(unpacked_data.size() == total_pakets_size);
 
@@ -77,16 +74,30 @@ void PandaTest::test_can_send() {
     REQUIRE(header.addr == cnt);
     REQUIRE(test_data.find(data_len) != test_data.end());
     const std::string &dat = test_data[data_len];
-    REQUIRE(memcmp(dat.data(), &unpacked_data[pos + 5], dat.size()) == 0);
+    REQUIRE(memcmp(dat.data(), &unpacked_data[pos + sizeof(can_header)], dat.size()) == 0);
     ++cnt;
   }
   REQUIRE(cnt == can_list_size);
 }
 
-void PandaTest::test_can_recv() {
+void PandaTest::test_can_recv(uint32_t rx_chunk_size) {
   std::vector<can_frame> frames;
-  this->pack_can_buffer(can_data_list, [&](uint8_t *data, size_t size) {
-    this->unpack_can_buffer(data, size, frames);
+  this->pack_can_buffer(can_data_list, [&](uint8_t *data, uint32_t size) {
+    if (rx_chunk_size == 0) {
+      REQUIRE(this->unpack_can_buffer(data, size, frames));
+    } else {
+      this->receive_buffer_size = 0;
+      uint32_t pos = 0;
+
+      while(pos < size) {
+        uint32_t chunk_size = std::min(rx_chunk_size, size - pos);
+        memcpy(&this->receive_buffer[this->receive_buffer_size], &data[pos], chunk_size);
+        this->receive_buffer_size += chunk_size;
+        pos += chunk_size;
+
+        REQUIRE(this->unpack_can_buffer(this->receive_buffer, this->receive_buffer_size, frames));
+      }
+    }
   });
 
   REQUIRE(frames.size() == can_list_size);
@@ -109,6 +120,9 @@ TEST_CASE("send/recv CAN 2.0 packets") {
   SECTION("can_receive") {
     test.test_can_recv();
   }
+  SECTION("chunked_can_receive") {
+    test.test_can_recv(0x40);
+  }
 }
 
 TEST_CASE("send/recv CAN FD packets") {
@@ -122,4 +136,7 @@ TEST_CASE("send/recv CAN FD packets") {
   SECTION("can_receive") {
     test.test_can_recv();
   }
+  SECTION("chunked_can_receive") {
+    test.test_can_recv(0x40);
+  }
 }

selfdrive/car/CARS_template.md

@@ -1,5 +1,6 @@
 {% set footnote_tag = '[<sup>{}</sup>](#footnotes)' -%}
 {% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' -%}
+{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' -%}
 
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
@@ -12,7 +13,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |{{Column | map(attribute='value') | join('|')}}|
 |---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
 {% for car_info in all_car_info %}
-|{% for column in Column %}{{car_info.get_column(column, star_icon, footnote_tag)}}|{% endfor %}
+|{% for column in Column %}{{car_info.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
 
 {% endfor %}
 

selfdrive/car/__init__.py

@@ -73,7 +73,7 @@ def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> Dict[str, st
   return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
 
 
-def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
+def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
 
   # limits due to driver torque
   driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
@@ -93,29 +93,37 @@ def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque
   return int(round(float(apply_torque)))
 
 
-def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
-  # limits due to comparison of commanded torque VS motor reported torque
-  max_lim = min(max(motor_torque + LIMITS.STEER_ERROR_MAX, LIMITS.STEER_ERROR_MAX), LIMITS.STEER_MAX)
-  min_lim = max(min(motor_torque - LIMITS.STEER_ERROR_MAX, -LIMITS.STEER_ERROR_MAX), -LIMITS.STEER_MAX)
+def apply_dist_to_meas_limits(val, val_last, val_meas,
+                              STEER_DELTA_UP, STEER_DELTA_DOWN,
+                              STEER_ERROR_MAX, STEER_MAX):
+  # limits due to comparison of commanded val VS measured val (torque/angle/curvature)
+  max_lim = min(max(val_meas + STEER_ERROR_MAX, STEER_ERROR_MAX), STEER_MAX)
+  min_lim = max(min(val_meas - STEER_ERROR_MAX, -STEER_ERROR_MAX), -STEER_MAX)
 
-  apply_torque = clip(apply_torque, min_lim, max_lim)
+  val = clip(val, min_lim, max_lim)
 
-  # slow rate if steer torque increases in magnitude
-  if apply_torque_last > 0:
-    apply_torque = clip(apply_torque,
-                        max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
-                        apply_torque_last + LIMITS.STEER_DELTA_UP)
+  # slow rate if val increases in magnitude
+  if val_last > 0:
+    val = clip(val,
+               max(val_last - STEER_DELTA_DOWN, -STEER_DELTA_UP),
+               val_last + STEER_DELTA_UP)
   else:
-    apply_torque = clip(apply_torque,
-                        apply_torque_last - LIMITS.STEER_DELTA_UP,
-                        min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
+    val = clip(val,
+               val_last - STEER_DELTA_UP,
+               min(val_last + STEER_DELTA_DOWN, STEER_DELTA_UP))
 
-  return int(round(float(apply_torque)))
+  return float(val)
+
+
+def apply_meas_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
+  return int(round(apply_dist_to_meas_limits(apply_torque, apply_torque_last, motor_torque,
+                                             LIMITS.STEER_DELTA_UP, LIMITS.STEER_DELTA_DOWN,
+                                             LIMITS.STEER_ERROR_MAX, LIMITS.STEER_MAX)))
 
 
 def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
   # pick angle rate limits based on wind up/down
-  steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last)
+  steer_up = apply_angle_last * apply_angle >= 0. and abs(apply_angle) > abs(apply_angle_last)
   rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN
 
   angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v)

selfdrive/car/body/carcontroller.py

@@ -35,7 +35,7 @@ class CarController:
       torque -= deadband
     return torque
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
 
     torque_l = 0
     torque_r = 0

selfdrive/car/body/interface.py

@@ -24,7 +24,7 @@ class CarInterface(CarInterfaceBase):
     ret.wheelSpeedFactor = SPEED_FROM_RPM
     ret.centerToFront = ret.wheelbase * 0.44
 
-    ret.radarOffCan = True
+    ret.radarUnavailable = True
     ret.openpilotLongitudinalControl = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
 
@@ -43,5 +43,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)

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 get_fw_versions_ordered, match_fw_to_car, get_present_ecus
+from selfdrive.car.fw_versions import disable_obd_multiplexing, get_fw_versions_ordered, match_fw_to_car, get_present_ecus
 from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
@@ -99,7 +99,7 @@ def fingerprint(logcan, sendcan, num_pandas):
     else:
       cloudlog.warning("Getting VIN & FW versions")
       vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
-      ecu_rx_addrs = get_present_ecus(logcan, sendcan)
+      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)
       cached = False
 
@@ -113,7 +113,10 @@ def fingerprint(logcan, sendcan, num_pandas):
     cloudlog.event("Malformed VIN", vin=vin, error=True)
     vin = VIN_UNKNOWN
   cloudlog.warning("VIN %s", vin)
-  Params().put("CarVin", vin)
+
+  params = Params()
+  params.put("CarVin", vin)
+  disable_obd_multiplexing(params)
 
   finger = gen_empty_fingerprint()
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
@@ -173,17 +176,15 @@ def fingerprint(logcan, sendcan, num_pandas):
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
-def get_car(logcan, sendcan, num_pandas=1):
+def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
   candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
 
   if candidate is None:
     cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
     candidate = "mock"
 
-  experimental_long = Params().get_bool("ExperimentalLongitudinalEnabled")
-
   CarInterface, CarController, CarState = interfaces[candidate]
-  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long)
+  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed)
   CP.carVin = vin
   CP.carFw = car_fw
   CP.fingerprintSource = source

selfdrive/car/chrysler/carcontroller.py

@@ -1,6 +1,6 @@
 from opendbc.can.packer import CANPacker
 from common.realtime import DT_CTRL
-from selfdrive.car import apply_toyota_steer_torque_limits
+from selfdrive.car import apply_meas_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
 from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
 
@@ -19,7 +19,7 @@ class CarController:
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     can_sends = []
 
     lkas_active = CC.latActive and self.lkas_control_bit_prev
@@ -67,7 +67,7 @@ class CarController:
 
       # steer torque
       new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
-      apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
+      apply_steer = apply_meas_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
       if not lkas_active or not lkas_control_bit:
         apply_steer = 0
       self.apply_steer_last = apply_steer

selfdrive/car/chrysler/carstate.py

@@ -81,8 +81,9 @@ class CarState(CarStateBase):
 
     if self.CP.carFingerprint in RAM_CARS:
       self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']  # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
-      ret.steerFaultTemporary  = cp.vl["EPS_3"]["DASM_FAULT"] == 1
+      ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1
     else:
+      ret.steerFaultTemporary = cp.vl["EPS_2"]["LKAS_TEMPORARY_FAULT"] == 1
       ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4
 
     # blindspot sensors
@@ -135,6 +136,7 @@ class CarState(CarStateBase):
       ("COUNTER", "EPS_2",),
       ("COLUMN_TORQUE", "EPS_2"),
       ("EPS_TORQUE_MOTOR", "EPS_2"),
+      ("LKAS_TEMPORARY_FAULT", "EPS_2"),
       ("LKAS_STATE", "EPS_2"),
       ("COUNTER", "CRUISE_BUTTONS"),
     ]

selfdrive/car/chrysler/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from selfdrive.car import STD_CARGO_KG, get_safety_config
-from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
+from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -12,7 +12,8 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "chrysler"
     ret.dashcamOnly = candidate in RAM_HD
 
-    ret.radarOffCan = DBC[candidate]['radar'] is None
+    # radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
+    ret.radarUnavailable = True # DBC[candidate]['radar'] is None
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.4
 
@@ -24,6 +25,7 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
 
     ret.minSteerSpeed = 3.8  # m/s
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     if candidate not in RAM_CARS:
       # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
       new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019)
@@ -36,6 +38,8 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2242. + STD_CARGO_KG
       ret.wheelbase = 3.089
       ret.steerRatio = 16.2  # Pacifica Hybrid 2017
+
+      ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
       ret.lateralTuning.pid.kf = 0.00006
@@ -46,6 +50,8 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.71
       ret.steerRatio = 16.7
       ret.steerActuatorDelay = 0.2
+
+      ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
       ret.lateralTuning.pid.kf = 0.00006
@@ -56,11 +62,10 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 3.88
       ret.steerRatio = 16.3
       ret.mass = 2493. + STD_CARGO_KG
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
       ret.minSteerSpeed = 14.5
-      for fw in car_fw:
-        if fw.ecu == 'eps' and fw.fwVersion.startswith((b"68312176", b"68273275")):
-          ret.minSteerSpeed = 0.
+      # Older EPS FW allow steer to zero
+      if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw):
+        ret.minSteerSpeed = 0.
 
     elif candidate == CAR.RAM_HD:
       ret.steerActuatorDelay = 0.2
@@ -100,5 +105,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/chrysler/radar_interface.py

@@ -45,12 +45,13 @@ def _address_to_track(address):
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
+    self.CP = CP
     self.rcp = _create_radar_can_parser(CP.carFingerprint)
     self.updated_messages = set()
     self.trigger_msg = LAST_MSG
 
   def update(self, can_strings):
-    if self.rcp is None:
+    if self.rcp is None or self.CP.radarUnavailable:
       return super().update(None)
 
     vls = self.rcp.update_strings(can_strings)

selfdrive/car/chrysler/values.py

@@ -56,6 +56,7 @@ RAM_DT = {CAR.RAM_1500, }
 RAM_HD = {CAR.RAM_HD, }
 RAM_CARS = RAM_DT | RAM_HD
 
+
 @dataclass
 class ChryslerCarInfo(CarInfo):
   package: str = "Adaptive Cruise Control (ACC)"
@@ -92,7 +93,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
 
 FINGERPRINTS = {
   CAR.PACIFICA_2017_HYBRID: [{
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788:3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8
+    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 840: 8, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8
   }],
   CAR.PACIFICA_2018: [{
     55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
@@ -134,7 +135,7 @@ FINGERPRINTS = {
   }],
   CAR.JEEP_CHEROKEE_2019: [{
     # Jeep Grand Cherokee 2019, including most 2020 models
-    55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+    55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   }],
 }
 

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")])
+    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False)
 
     if CP.dashcamOnly or car_info is None:
       continue

selfdrive/car/docs_definitions.py

@@ -21,6 +21,7 @@ class Column(Enum):
   STEERING_TORQUE = "Steering Torque"
   AUTO_RESUME = "Resume from stop"
   HARNESS = "Harness"
+  VIDEO = "Video"
 
 
 class Star(Enum):
@@ -125,20 +126,11 @@ class CarInfo:
   harness: Enum = Harness.none
 
   def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
-    # TODO: set all the min steer speeds in carParams and remove this
-    if self.min_steer_speed is not None:
-      assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarInfo and CarParams"
-    else:
-      self.min_steer_speed = CP.minSteerSpeed
-
-    # TODO: set all the min enable speeds in carParams correctly and remove this
-    if self.min_enable_speed is None:
-      self.min_enable_speed = CP.minEnableSpeed
-
     self.car_name = CP.carName
     self.car_fingerprint = CP.carFingerprint
     self.make, self.model, self.years = split_name(self.name)
 
+    # longitudinal column
     op_long = "Stock"
     if CP.openpilotLongitudinalControl and not CP.enableDsu:
       op_long = "openpilot"
@@ -149,6 +141,23 @@ class CarInfo:
       else:
         self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
 
+    # min steer & enable speed columns
+    # TODO: set all the min steer speeds in carParams and remove this
+    if self.min_steer_speed is not None:
+      assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarInfo and CarParams"
+    else:
+      self.min_steer_speed = CP.minSteerSpeed
+
+    # TODO: set all the min enable speeds in carParams correctly and remove this
+    if self.min_enable_speed is None:
+      self.min_enable_speed = CP.minEnableSpeed
+
+    # harness column
+    harness_col = self.harness.value
+    if self.harness is not Harness.none:
+      model_years = self.model + (' ' + self.years if self.years else '')
+      harness_col = f'<a href="https://comma.ai/shop/comma-three.html?make={self.make}&model={model_years}">{harness_col}</a>'
+
     self.row = {
       Column.MAKE: self.make,
       Column.MODEL: self.model,
@@ -158,7 +167,8 @@ class CarInfo:
       Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
       Column.STEERING_TORQUE: Star.EMPTY,
       Column.AUTO_RESUME: Star.FULL if CP.autoResumeSng else Star.EMPTY,
-      Column.HARNESS: self.harness.value,
+      Column.HARNESS: harness_col,
+      Column.VIDEO: self.video_link if self.video_link is not None else "",  # replaced with an image and link from template in get_column
     }
 
     # Set steering torque star from max lateral acceleration
@@ -194,6 +204,13 @@ class CarInfo:
       if self.row[Column.STEERING_TORQUE] != Star.FULL:
         sentence_builder += " This car may not be able to take tight turns on its own."
 
+      # experimental mode
+      exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>"
+      if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable:
+        sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}."
+      else:
+        sentence_builder += f" {exp_link}, with traffic light and stop sign handling, is not currently available for this car, but may be added in a future software update."
+
       return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
 
     else:
@@ -202,12 +219,14 @@ class CarInfo:
       else:
         raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
 
-  def get_column(self, column: Column, star_icon: str, footnote_tag: str) -> str:
+  def get_column(self, column: Column, star_icon: str, video_icon: str, footnote_tag: str) -> str:
     item: Union[str, Star] = self.row[column]
     if isinstance(item, Star):
       item = star_icon.format(item.value)
     elif column == Column.MODEL and len(self.years):
       item += f" {self.years}"
+    elif column == Column.VIDEO and len(item) > 0:
+      item = video_icon.format(item)
 
     footnotes = get_footnotes(self.footnotes, column)
     if len(footnotes):

selfdrive/car/ecu_addrs.py

@@ -87,5 +87,5 @@ if __name__ == "__main__":
   for addr, subaddr, bus in ecu_addrs:
     msg = f"  0x{hex(addr)}"
     if subaddr is not None:
-      msg += f" (sub-address: 0x{hex(subaddr)})"
+      msg += f" (sub-address: {hex(subaddr)})"
     print(msg)

selfdrive/car/ford/carcontroller.py

@@ -1,28 +1,14 @@
-import math
 from cereal import car
-from common.numpy_fast import clip, interp
+from common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
-from selfdrive.car.ford import fordcan
-from selfdrive.car.ford.values import CANBUS, CarControllerParams
+from selfdrive.car import apply_std_steer_angle_limits
+from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
+  create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
+from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
-def apply_ford_steer_angle_limits(apply_angle, apply_angle_last, vEgo):
-  # rate limit
-  steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last)
-  rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN
-  max_angle_diff = interp(vEgo, rate_limit.speed_points, rate_limit.max_angle_diff_points)
-  apply_angle = clip(apply_angle, (apply_angle_last - max_angle_diff), (apply_angle_last + max_angle_diff))
-
-  # absolute limit (LatCtlPath_An_Actl)
-  apply_path_angle = math.radians(apply_angle) / CarControllerParams.LKAS_STEER_RATIO
-  apply_path_angle = clip(apply_path_angle, -0.5, 0.5235)
-  apply_angle = math.degrees(apply_path_angle) * CarControllerParams.LKAS_STEER_RATIO
-
-  return apply_angle
-
-
 class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
@@ -30,12 +16,12 @@ class CarController:
     self.packer = CANPacker(dbc_name)
     self.frame = 0
 
-    self.apply_angle_last = 0
+    self.apply_curvature_last = 0
     self.main_on_last = False
     self.lkas_enabled_last = False
     self.steer_alert_last = False
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     can_sends = []
 
     actuators = CC.actuators
@@ -46,66 +32,69 @@ class CarController:
 
     ### acc buttons ###
     if CC.cruiseControl.cancel:
-      can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, cancel=True))
-      can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main))
+      can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True))
+      can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main))
     elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
-      can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, resume=True))
-      can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main))
+      can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True))
+      can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main))
     # if stock lane centering isn't off, send a button press to toggle it off
     # the stock system checks for steering pressed, and eventually disengages cruise control
     elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
-      can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, tja_toggle=True))
-
+      can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True))
 
     ### lateral control ###
-    if CC.latActive:
-      lca_rq = 1
-      apply_angle = apply_ford_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo)
-    else:
-      lca_rq = 0
-      apply_angle = 0.
-
     # send steering commands at 20Hz
     if (self.frame % CarControllerParams.STEER_STEP) == 0:
-      # use LatCtlPath_An_Actl to actuate steering
-      path_angle = math.radians(apply_angle) / CarControllerParams.LKAS_STEER_RATIO
-
-      # set slower ramp type when small steering angle change
-      # 0=Slow, 1=Medium, 2=Fast, 3=Immediately
-      steer_change = abs(CS.out.steeringAngleDeg - actuators.steeringAngleDeg)
-      if steer_change < 2.0:
-        ramp_type = 0
-      elif steer_change < 4.0:
-        ramp_type = 1
-      elif steer_change < 6.0:
-        ramp_type = 2
+      if CC.latActive:
+        # apply limits to curvature and clip to signal range
+        apply_curvature = apply_std_steer_angle_limits(actuators.curvature, self.apply_curvature_last, CS.out.vEgo, CarControllerParams)
+        apply_curvature = clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
       else:
-        ramp_type = 3
-      precision = 1  # 0=Comfortable, 1=Precise (the stock system always uses comfortable)
+        apply_curvature = 0.
 
-      self.apply_angle_last = apply_angle
-      can_sends.append(fordcan.create_lka_command(self.packer, 0, 0))
-      can_sends.append(fordcan.create_tja_command(self.packer, lca_rq, ramp_type, precision,
-                                                  0, path_angle, 0, 0))
+      self.apply_curvature_last = apply_curvature
+      can_sends.append(create_lka_msg(self.packer))
+
+      if self.CP.carFingerprint in CANFD_CARS:
+        # TODO: extended mode
+        mode = 1 if CC.latActive else 0
+        counter = self.frame // CarControllerParams.STEER_STEP
+        can_sends.append(create_lat_ctl2_msg(self.packer, mode, 0., 0., -apply_curvature, 0., counter))
+      else:
+        can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.))
+
+    ### longitudinal control ###
+    # send acc command at 50Hz
+    if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
+      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+
+      precharge_brake = accel < -0.1
+      if accel > -0.5:
+        gas = accel
+        decel = False
+      else:
+        gas = -5.0
+        decel = True
 
+      can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel))
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
 
     # send lkas ui command at 1Hz or if ui state changes
     if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
-      can_sends.append(fordcan.create_lkas_ui_command(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
+      can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
 
     # send acc ui command at 20Hz or if ui state changes
     if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
-      can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values))
+      can_sends.append(create_acc_ui_msg(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on
     self.lkas_enabled_last = CC.latActive
     self.steer_alert_last = steer_alert
 
     new_actuators = actuators.copy()
-    new_actuators.steeringAngleDeg = self.apply_angle_last
+    new_actuators.curvature = self.apply_curvature_last
 
     self.frame += 1
     return new_actuators, can_sends

selfdrive/car/ford/carstate.py

@@ -14,7 +14,7 @@ class CarState(CarStateBase):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     if CP.transmissionType == TransmissionType.automatic:
-      self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"]
+      self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
 
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
@@ -37,7 +37,7 @@ class CarState(CarStateBase):
     # steering wheel
     ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"]
     ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"]
-    ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
     ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1
     ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
     # ret.espDisabled = False  # TODO: find traction control signal
@@ -51,7 +51,7 @@ class CarState(CarStateBase):
 
     # gear
     if self.CP.transmissionType == TransmissionType.automatic:
-      gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"], None)
+      gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"])
       ret.gearShifter = self.parse_gear_shifter(gear)
     elif self.CP.transmissionType == TransmissionType.manual:
       ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
@@ -118,7 +118,7 @@ class CarState(CarStateBase):
       ("DrStatRl_B_Actl", "BodyInfo_3_FD1"),                 # BCM Door open, rear left
       ("DrStatRr_B_Actl", "BodyInfo_3_FD1"),                 # BCM Door open, rear right
       ("FirstRowBuckleDriver", "RCMStatusMessage2_FD1"),     # RCM Seatbelt status, driver
-      ("HeadLghtHiFlash_D_Stat", "Steering_Data_FD1"),       # SCCM Passthru the remaining buttons
+      ("HeadLghtHiFlash_D_Stat", "Steering_Data_FD1"),       # SCCM Passthrough the remaining buttons
       ("WiprFront_D_Stat", "Steering_Data_FD1"),
       ("LghtAmb_D_Sns", "Steering_Data_FD1"),
       ("AccButtnGapDecPress", "Steering_Data_FD1"),
@@ -171,7 +171,7 @@ class CarState(CarStateBase):
 
     if CP.transmissionType == TransmissionType.automatic:
       signals += [
-        ("TrnGear_D_RqDrv", "Gear_Shift_by_Wire_FD1"),       # GWM transmission gear position
+        ("TrnRng_D_RqGsm", "Gear_Shift_by_Wire_FD1"),        # GWM transmission gear position
       ]
       checks += [
         ("Gear_Shift_by_Wire_FD1", 10),

selfdrive/car/ford/fordcan.py

@@ -4,64 +4,120 @@ from selfdrive.car.ford.values import CANBUS
 HUDControl = car.CarControl.HUDControl
 
 
-def create_lka_command(packer, angle_deg: float, curvature: float):
+def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray):
+  checksum = mode + counter
+  checksum += dat[2] + ((dat[3] & 0xE0) >> 5)           # curvature
+  checksum += dat[6] + ((dat[7] & 0xE0) >> 5)           # curvature rate
+  checksum += (dat[3] & 0x1F) + ((dat[4] & 0xFC) >> 2)  # path angle
+  checksum += (dat[4] & 0x3) + dat[5]                   # path offset
+  return 0xFF - (checksum & 0xFF)
+
+
+def create_lka_msg(packer):
   """
-  Creates a CAN message for the Ford LKAS Command.
+  Creates an empty CAN message for the Ford LKA Command.
 
   This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the PSCM lockout.
 
   Frequency is 20Hz.
   """
 
-  values = {
-    "LkaDrvOvrrd_D_Rq": 0,              # driver override level? [0|3]
-    "LkaActvStats_D2_Req": 0,           # action [0|7]
-    "LaRefAng_No_Req": angle_deg,       # angle [-102.4|102.3] degrees
-    "LaRampType_B_Req": 0,              # Ramp speed: 0=Smooth, 1=Quick
-    "LaCurvature_No_Calc": curvature,   # curvature [-0.01024|0.01023] 1/meter
-    "LdwActvStats_D_Req": 0,            # LDW status [0|7]
-    "LdwActvIntns_D_Req": 0,            # LDW intensity [0|3], shake alert strength
-  }
-  return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, values)
+  return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {})
 
 
-def create_tja_command(packer, lca_rq: int, ramp_type: int, precision: int, path_offset: float, path_angle: float, curvature_rate: float, curvature: float):
+def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: float, curvature: float,
+                       curvature_rate: float):
   """
   Creates a CAN message for the Ford TJA/LCA Command.
 
-  This command can apply "Lane Centering" manoeuvres: continuous lane centering for traffic jam
-  assist and highway driving. It is not subject to the PSCM lockout.
+  This command can apply "Lane Centering" manoeuvres: continuous lane centering for traffic jam assist and highway
+  driving. It is not subject to the PSCM lockout.
 
-  Ford lane centering command uses a third order polynomial to describe the road centerline. The
-  polynomial is defined by the following coefficients:
-    c0: lateral offset between the vehicle and the centerline
-    c1: heading angle between the vehicle and the centerline
-    c2: curvature of the centerline
+  Ford lane centering command uses a third order polynomial to describe the road centerline. The polynomial is defined
+  by the following coefficients:
+    c0: lateral offset between the vehicle and the centerline (positive is right)
+    c1: heading angle between the vehicle and the centerline (positive is right)
+    c2: curvature of the centerline (positive is left)
     c3: rate of change of curvature of the centerline
-  As the PSCM combines this information with other sensor data, such as the vehicle's yaw rate and
-  speed, the steering angle cannot be easily controlled.
+  As the PSCM combines this information with other sensor data, such as the vehicle's yaw rate and speed, the steering
+  angle cannot be easily controlled.
 
-  The PSCM should be configured to accept TJA/LCA commands before these commands will be processed.
-  This can be done using tools such as Forscan.
+  The PSCM should be configured to accept TJA/LCA commands before these commands will be processed. This can be done
+  using tools such as Forscan.
 
   Frequency is 20Hz.
   """
 
   values = {
-    "LatCtlRng_L_Max": 0,                                   # Unknown [0|126] meter
-    "HandsOffCnfm_B_Rq": 0,                                 # Unknown: 0=Inactive, 1=Active [0|1]
-    "LatCtl_D_Rq": lca_rq,                                  # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, 3=InterventionRight, 4-7=NotUsed [0|7]
-    "LatCtlRampType_D_Rq": ramp_type,                       # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
-    "LatCtlPrecision_D_Rq": precision,                      # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
-    "LatCtlPathOffst_L_Actl": path_offset,                  # Path offset [-5.12|5.11] meter
-    "LatCtlPath_An_Actl": path_angle,                       # Path angle [-0.5|0.5235] radians
-    "LatCtlCurv_NoRate_Actl": curvature_rate,               # Curvature rate [-0.001024|0.00102375] 1/meter^2
-    "LatCtlCurv_No_Actl": curvature,                        # Curvature [-0.02|0.02094] 1/meter
+    "LatCtlRng_L_Max": 0,                       # Unknown [0|126] meter
+    "HandsOffCnfm_B_Rq": 0,                     # Unknown: 0=Inactive, 1=Active [0|1]
+    "LatCtl_D_Rq": 1 if lat_active else 0,      # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft,
+                                                #       3=InterventionRight, 4-7=NotUsed [0|7]
+    "LatCtlRampType_D_Rq": 0,                   # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
+                                                #             Makes no difference with curvature control
+    "LatCtlPrecision_D_Rq": 1,                  # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
+                                                #            The stock system always uses comfortable
+    "LatCtlPathOffst_L_Actl": path_offset,      # Path offset [-5.12|5.11] meter
+    "LatCtlPath_An_Actl": path_angle,           # Path angle [-0.5|0.5235] radians
+    "LatCtlCurv_NoRate_Actl": curvature_rate,   # Curvature rate [-0.001024|0.00102375] 1/meter^2
+    "LatCtlCurv_No_Actl": curvature,            # Curvature [-0.02|0.02094] 1/meter
   }
   return packer.make_can_msg("LateralMotionControl", CANBUS.main, values)
 
 
-def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict):
+def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float, curvature: float,
+                        curvature_rate: float, counter: int):
+  """
+  Create a CAN message for the new Ford Lane Centering command.
+
+  This message is used on the CAN FD platform and replaces the old LateralMotionControl message. It is similar but has
+  additional signals for a counter and checksum.
+
+  Frequency is 20Hz.
+  """
+
+  values = {
+    "LatCtl_D2_Rq": mode,                       # Mode: 0=None, 1=PathFollowingLimitedMode, 2=PathFollowingExtendedMode,
+                                                #       3=SafeRampOut, 4-7=NotUsed [0|7]
+    "LatCtlRampType_D_Rq": 0,                   # 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
+    "LatCtlPrecision_D_Rq": 1,                  # 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
+    "LatCtlPathOffst_L_Actl": path_offset,      # [-5.12|5.11] meter
+    "LatCtlPath_An_Actl": path_angle,           # [-0.5|0.5235] radians
+    "LatCtlCurv_No_Actl": curvature,            # [-0.02|0.02094] 1/meter
+    "LatCtlCrv_NoRate2_Actl": curvature_rate,   # [-0.001024|0.001023] 1/meter^2
+    "HandsOffCnfm_B_Rq": 0,                     # 0=Inactive, 1=Active [0|1]
+    "LatCtlPath_No_Cnt": counter,               # [0|15]
+    "LatCtlPath_No_Cs": 0,                      # [0|255]
+  }
+
+  # calculate checksum
+  dat = packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)[2]
+  values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)
+
+  return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)
+
+
+def create_acc_command(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool):
+  """
+  Creates a CAN message for the Ford ACC Command.
+
+  This command can be used to enable ACC, to set the ACC gas/brake/decel values
+  and to disable ACC.
+
+  Frequency is 50Hz.
+  """
+
+  values = {
+    "AccBrkTot_A_Rq": accel,                          # Brake total accel request: [-20|11.9449] m/s^2
+    "Cmbb_B_Enbl": 1 if long_active else 0,           # Enabled: 0=No, 1=Yes
+    "AccPrpl_A_Rq": gas,                              # Acceleration request: [-5|5.23] m/s^2
+    "AccBrkPrchg_B_Rq": 1 if precharge_brake else 0,  # Pre-charge brake request: 0=No, 1=Yes
+    "AccBrkDecel_B_Rq": 1 if decel else 0,            # Deceleration request: 0=Inactive, 1=Active
+  }
+  return packer.make_can_msg("ACCDATA", CANBUS.main, values)
+
+
+def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict):
   """
   Creates a CAN message for the Ford IPC IPMA/LKAS status.
 
@@ -107,16 +163,15 @@ def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bo
 
   values = {
     **stock_values,
-    "LaActvStats_D_Dsply": lines,                           # LKAS status (lines) [0|31]
-    "LaHandsOff_D_Dsply": hands_on_wheel_dsply,             # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
+    "LaActvStats_D_Dsply": lines,                 # LKAS status (lines) [0|31]
+    "LaHandsOff_D_Dsply": hands_on_wheel_dsply,   # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
   }
   return packer.make_can_msg("IPMA_Data", CANBUS.main, values)
 
 
-def create_acc_ui_command(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict):
+def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict):
   """
-  Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
-  assist status.
+  Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status.
 
   Stock functionality is maintained by passing through unmodified signals.
 
@@ -148,7 +203,8 @@ def create_acc_ui_command(packer, main_on: bool, enabled: bool, hud_control, sto
   return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
 
 
-def create_button_command(packer, stock_values: dict, cancel = False, resume = False, tja_toggle = False, bus: int = CANBUS.camera):
+def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False,
+                      bus: int = CANBUS.camera):
   """
   Creates a CAN message for the Ford SCCM buttons/switches.
 

selfdrive/car/ford/interface.py

@@ -2,39 +2,52 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car import STD_CARGO_KG, get_safety_config
-from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter
+from selfdrive.car.ford.values import CAR, Ecu
 from selfdrive.car.interfaces import CarInterfaceBase
 
-CarParams = car.CarParams
+TransmissionType = car.CarParams.TransmissionType
+GearShifter = car.CarState.GearShifter
 
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
     ret.carName = "ford"
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
+
+    # These cars are dashcam only until the port is finished
     ret.dashcamOnly = True
-    ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.ford)]
 
-    # Angle-based steering
-    ret.steerControlType = CarParams.SteerControlType.angle
-    ret.steerActuatorDelay = 0.4
+    ret.radarUnavailable = True
+    ret.steerControlType = car.CarParams.SteerControlType.angle
+    ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
-    if candidate == CAR.ESCAPE_MK4:
+    if candidate == CAR.BRONCO_SPORT_MK1:
+      ret.wheelbase = 2.67
+      ret.steerRatio = 17.7
+      ret.mass = 1625 + STD_CARGO_KG
+
+    elif candidate == CAR.ESCAPE_MK4:
       ret.wheelbase = 2.71
-      ret.steerRatio = 14.3  # Copied from Focus
+      ret.steerRatio = 16.7
       ret.mass = 1750 + STD_CARGO_KG
 
     elif candidate == CAR.EXPLORER_MK6:
       ret.wheelbase = 3.025
-      ret.steerRatio = 16.8  # learned
+      ret.steerRatio = 16.8
       ret.mass = 2050 + STD_CARGO_KG
 
     elif candidate == CAR.FOCUS_MK4:
       ret.wheelbase = 2.7
-      ret.steerRatio = 13.8  # learned
+      ret.steerRatio = 15.0
       ret.mass = 1350 + STD_CARGO_KG
 
+    elif candidate == CAR.MAVERICK_MK1:
+      ret.wheelbase = 3.076
+      ret.steerRatio = 17.0
+      ret.mass = 1650 + STD_CARGO_KG
+
     else:
       raise ValueError(f"Unsupported car: {candidate}")
 
@@ -65,5 +78,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/ford/radar_interface.py

@@ -47,7 +47,7 @@ class RadarInterface(RadarInterfaceBase):
     self.updated_messages = set()
     self.track_id = 0
     self.radar = DBC[CP.carFingerprint]['radar']
-    if self.radar is None:
+    if self.radar is None or CP.radarUnavailable:
       self.rcp = None
     elif self.radar == RADAR.DELPHI_ESR:
       self.rcp = _create_delphi_esr_radar_can_parser()

selfdrive/car/ford/values.py

@@ -1,23 +1,21 @@
-from collections import defaultdict, namedtuple
+from collections import defaultdict
 from dataclasses import dataclass
 from enum import Enum
-from typing import Dict, List, Union
+from typing import Dict, List, Set, Union
 
 from cereal import car
-from selfdrive.car import dbc_dict
+from selfdrive.car import AngleRateLimit, dbc_dict
 from selfdrive.car.docs_definitions import CarInfo, Harness
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
-TransmissionType = car.CarParams.TransmissionType
-GearShifter = car.CarState.GearShifter
-
-AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
 
 
 class CarControllerParams:
   # Messages: Lane_Assist_Data1, LateralMotionControl
   STEER_STEP = 5
+  # Message: ACCDATA
+  ACC_CONTROL_STEP = 2
   # Message: IPMA_Data
   LKAS_UI_STEP = 100
   # Message: ACCDATA_3
@@ -25,12 +23,17 @@ class CarControllerParams:
   # Message: Steering_Data_FD1, but send twice as fast
   BUTTONS_STEP = 10 / 2
 
-  LKAS_STEER_RATIO = 2.75       # Approximate ratio between LatCtlPath_An_Actl and steering angle in radians
-                                # TODO: remove this once we understand how the EPS calculates the steering angle better
-  STEER_DRIVER_ALLOWANCE = 0.8  # Driver intervention threshold in Nm
+  CURVATURE_MAX = 0.02  # Max curvature for steering command, m^-1
+  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])
 
-  RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
-  RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
+  ACCEL_MAX = 2.0               # m/s^s max acceleration
+  ACCEL_MIN = -3.5              # m/s^s max deceleration
 
   def __init__(self, CP):
     pass
@@ -43,9 +46,14 @@ class CANBUS:
 
 
 class CAR:
+  BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
   ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
   EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
   FOCUS_MK4 = "FORD FOCUS 4TH GEN"
+  MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
+
+
+CANFD_CARS: Set[str] = set()
 
 
 class RADAR:
@@ -63,12 +71,20 @@ class FordCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
+  CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
   CAR.ESCAPE_MK4: [
-    FordCarInfo("Ford Escape 2020-21"),
+    FordCarInfo("Ford Escape 2020-22"),
+    FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
     FordCarInfo("Ford Kuga 2020-21", "Driver Assistance Pack"),
+    FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Driver Assistance Pack"),
+  ],
+  CAR.EXPLORER_MK6: [
+    FordCarInfo("Ford Explorer 2020-22"),
+    FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"),
+    FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"),
   ],
-  CAR.EXPLORER_MK6: FordCarInfo("Ford Explorer 2020-22"),
   CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"),
+  CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022", "Co-Pilot360 Assist"),
 }
 
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -88,10 +104,35 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )
 
 FW_VERSIONS = {
+  CAR.BRONCO_SPORT_MK1: {
+    (Ecu.eps, 0x730, None): [
+      b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x732, None): [
+      b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ1P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.ESCAPE_MK4: {
     (Ecu.eps, 0x730, None): [
       b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
       b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -109,10 +150,12 @@ 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'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.shiftByWire, 0x732, None): [
       b'LX6P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ1P-14G395-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.EXPLORER_MK6: {
@@ -132,13 +175,16 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x706, None): [
       b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7E0, None): [
       b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.shiftByWire, 0x732, None): [
+      b'L1MP-14C561-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MP-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MP-14G395-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MP-14G395-JB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -163,4 +209,26 @@ FW_VERSIONS = {
     (Ecu.shiftByWire, 0x732, None): [
     ],
   },
+  CAR.MAVERICK_MK1: {
+    (Ecu.eps, 0x730, None): [
+      b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'NZ6C-2D053-AG\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',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      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',
+    ],
+    (Ecu.shiftByWire, 0x732, None): [
+      b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
 }

selfdrive/car/fw_query_definitions.py

@@ -57,11 +57,16 @@ class Request:
   whitelist_ecus: List[int] = field(default_factory=list)
   rx_offset: int = 0x8
   bus: int = 1
+  # 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
 
 
 @dataclass
 class FwQueryConfig:
   requests: List[Request]
+  # TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
   # Overrides and removes from essential ecus for specific models and ecus (exact matching)
   non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
   # Ecus added for data collection, not to be fingerprinted on

selfdrive/car/fw_versions.py

@@ -5,6 +5,7 @@ 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.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import FW_VERSIONS
@@ -29,10 +30,9 @@ def chunks(l, n=128):
 def build_fw_dict(fw_versions, filter_brand=None):
   fw_versions_dict = defaultdict(set)
   for fw in fw_versions:
-    if filter_brand is None or fw.brand == filter_brand:
-      addr = fw.address
+    if (filter_brand is None or fw.brand == filter_brand) and not fw.logging:
       sub_addr = fw.subAddress if fw.subAddress != 0 else None
-      fw_versions_dict[(addr, sub_addr)].add(fw.fwVersion)
+      fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion)
   return dict(fw_versions_dict)
 
 
@@ -90,7 +90,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
     return set()
 
 
-def match_fw_to_car_exact(fw_versions_dict):
+def match_fw_to_car_exact(fw_versions_dict) -> Set[str]:
   """Do an exact FW match. Returns all cars that match the given
   FW versions for a list of "essential" ECUs. If an ECU is not considered
   essential the FW version can be missing to get a fingerprint, but if it's present it
@@ -146,12 +146,16 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
   return True, set()
 
 
-def get_present_ecus(logcan, sendcan):
+def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[int], int]]:
   queries = list()
   parallel_queries = list()
   responses = set()
 
   for brand, 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:
         # Only query ecus in whitelist if whitelist is not empty
@@ -171,7 +175,7 @@ def get_present_ecus(logcan, sendcan):
 
   queries.insert(0, parallel_queries)
 
-  ecu_responses: Set[Tuple[int, Optional[int], int]] = set()
+  ecu_responses = set()
   for query in queries:
     ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
   return ecu_responses
@@ -194,11 +198,21 @@ 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 get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False):
   """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
 
   all_car_fw = []
   brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
+  matched_brand: Optional[str] = None
 
   for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
     car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
@@ -206,12 +220,20 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
     # 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, debug=False, progress=False):
+def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, obd_multiplexed=True, debug=False, progress=False):
   versions = VERSIONS.copy()
 
   # Each brand can define extra ECUs to query for data collection
@@ -228,15 +250,19 @@ 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 c in brand_versions.values():
-      for ecu_type, addr, sub_addr in c.keys():
+    for candidate, ecu in brand_versions.items():
+      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)
@@ -255,6 +281,9 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
         # 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
 
         try:
           addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
@@ -265,13 +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()
 
-              f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown)
+              ecu_key = (brand, tx_addr, sub_addr)
+              f.ecu = ecu_types.get(ecu_key, 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
 
               if sub_addr is not None:
                 f.subAddress = sub_addr

selfdrive/car/gm/carcontroller.py

@@ -3,7 +3,7 @@ from common.conversions import Conversions as CV
 from common.numpy_fast import interp
 from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_std_steer_torque_limits
+from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.gm import gmcan
 from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 
@@ -13,6 +13,8 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
 
 # Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
 CAMERA_CANCEL_DELAY_FRAMES = 10
+# Enforce a minimum interval between steering messages to avoid a fault
+MIN_STEER_MSG_INTERVAL_MS = 15
 
 
 class CarController:
@@ -28,7 +30,6 @@ class CarController:
     self.cancel_counter = 0
 
     self.lka_steering_cmd_counter = 0
-    self.sent_lka_steering_cmd = False
     self.lka_icon_status_last = (False, False)
 
     self.params = CarControllerParams(self.CP)
@@ -37,7 +38,7 @@ class CarController:
     self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
     self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
     hud_alert = hud_control.visualAlert
@@ -49,25 +50,30 @@ class CarController:
     can_sends = []
 
     # Steering (Active: 50Hz, inactive: 10Hz)
-    # Attempt to sync with camera on startup at 50Hz, first few msgs are blocked
-    init_lka_counter = not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera
-    steer_step = self.params.INACTIVE_STEER_STEP
-    if CC.latActive or init_lka_counter:
-      steer_step = self.params.STEER_STEP
-
-    # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the
-    # next Panda loopback confirmation in the current CS frame.
-    if CS.loopback_lka_steering_cmd_updated:
-      self.lka_steering_cmd_counter += 1
-      self.sent_lka_steering_cmd = True
-    elif (self.frame - self.last_steer_frame) >= steer_step:
+    steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
+
+    if self.CP.networkLocation == NetworkLocation.fwdCamera:
+      # Also send at 50Hz:
+      # - on startup, first few msgs are blocked
+      # - until we're in sync with camera so counters align when relay closes, preventing a fault.
+      #   openpilot can subtly drift, so this is activated throughout a drive to stay synced
+      out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
+      if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync:
+        steer_step = self.params.STEER_STEP
+
+    self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0
+
+    # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we
+    # received the ASCMLKASteeringCmd loopback confirmation too recently
+    last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6
+    if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS:
       # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
-      if init_lka_counter:
-        self.lka_steering_cmd_counter = CS.camera_lka_steering_cmd_counter + 1
+      if CS.loopback_lka_steering_cmd_ts_nanos == 0:
+        self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1
 
       if CC.latActive:
         new_steer = int(round(actuators.steer * self.params.STEER_MAX))
-        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
+        apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
       else:
         apply_steer = 0
 
@@ -109,7 +115,7 @@ class CarController:
 
       # Radar needs to know current speed and yaw rate (50hz),
       # and that ADAS is alive (10hz)
-      if not self.CP.radarOffCan:
+      if not self.CP.radarUnavailable:
         tt = self.frame * DT_CTRL
         time_and_headlights_step = 10
         if self.frame % time_and_headlights_step == 0:

selfdrive/car/gm/carstate.py

@@ -17,8 +17,13 @@ class CarState(CarStateBase):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
+    self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2.
+    self.cluster_min_speed = CV.KPH_TO_MS / 2.
+
     self.loopback_lka_steering_cmd_updated = False
-    self.camera_lka_steering_cmd_counter = 0
+    self.loopback_lka_steering_cmd_ts_nanos = 0
+    self.pt_lka_steering_cmd_counter = 0
+    self.cam_lka_steering_cmd_counter = 0
     self.buttons_counter = 0
 
   def update(self, pt_cp, cam_cp, loopback_cp):
@@ -32,8 +37,11 @@ class CarState(CarStateBase):
 
     # Variables used for avoiding LKAS faults
     self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
+    if self.loopback_lka_steering_cmd_updated:
+      self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
-      self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
+      self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
+      self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
 
     ret.wheelSpeeds = self.get_wheel_speeds(
       pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
@@ -93,7 +101,8 @@ class CarState(CarStateBase):
     ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
-    ret.accFaulted = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED
+    ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
+                      pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1)
 
     ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
@@ -148,6 +157,7 @@ class CarState(CarStateBase):
       ("RLWheelSpd", "EBCMWheelSpdRear"),
       ("RRWheelSpd", "EBCMWheelSpdRear"),
       ("MovingBackward", "EBCMWheelSpdRear"),
+      ("FrictionBrakeUnavailable", "EBCMFrictionBrakeStatus"),
       ("PRNDL2", "ECMPRDNL2"),
       ("ManualMode", "ECMPRDNL2"),
       ("LKADriverAppldTrq", "PSCMStatus"),
@@ -173,6 +183,7 @@ class CarState(CarStateBase):
       ("VehicleIgnitionAlt", 10),
       ("EBCMWheelSpdFront", 20),
       ("EBCMWheelSpdRear", 20),
+      ("EBCMFrictionBrakeStatus", 20),
       ("AcceleratorPedal2", 33),
       ("ASCMSteeringButton", 33),
       ("ECMEngineStatus", 100),
@@ -180,6 +191,15 @@ class CarState(CarStateBase):
       ("ECMAcceleratorPos", 80),
     ]
 
+    # Used to read back last counter sent to PT by camera
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      signals += [
+        ("RollingCounter", "ASCMLKASteeringCmd"),
+      ]
+      checks += [
+        ("ASCMLKASteeringCmd", 0),
+      ]
+
     if CP.transmissionType == TransmissionType.direct:
       signals.append(("RegenPaddle", "EBCMRegenPaddle"))
       checks.append(("EBCMRegenPaddle", 50))

selfdrive/car/gm/interface.py

@@ -5,7 +5,8 @@ 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.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
+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
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -48,6 +49,7 @@ class CarInterface(CarInterfaceBase):
     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
@@ -63,32 +65,34 @@ class CarInterface(CarInterfaceBase):
     if candidate in CAMERA_ACC_CAR:
       ret.experimentalLongitudinalAvailable = True
       ret.networkLocation = NetworkLocation.fwdCamera
-      ret.radarOffCan = True  # no radar
+      ret.radarUnavailable = True  # no radar
       ret.pcmCruise = True
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
       ret.minEnableSpeed = 5 * CV.KPH_TO_MS
+      ret.minSteerSpeed = 10 * CV.KPH_TO_MS
+
+      # 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
         ret.openpilotLongitudinalControl = True
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
 
-        # Tuning
-        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
-
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = True
       ret.networkLocation = NetworkLocation.gateway
-      ret.radarOffCan = False
+      ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not use_off_car_defaults
       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
+      ret.minSteerSpeed = 7 * CV.MPH_TO_MS
 
       # Tuning
       ret.longitudinalTuning.kpV = [2.4, 1.5]
@@ -97,11 +101,10 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX}
+    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX} or \
+                      (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
 
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
-    # Some GMs need some tolerance above 10 kph to avoid a fault
-    ret.minSteerSpeed = 10.1 * CV.KPH_TO_MS
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
     ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
     ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
@@ -159,6 +162,15 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.3
       ret.centerToFront = ret.wheelbase * 0.5
 
+    elif candidate == CAR.ESCALADE:
+      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
+      ret.mass = 5653. * CV.LB_TO_KG + STD_CARGO_KG  # (5552+5815)/2
+      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:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       ret.mass = 2739. + STD_CARGO_KG
@@ -174,7 +186,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1669. + STD_CARGO_KG
       ret.wheelbase = 2.63779
       ret.steerRatio = 16.8
-      ret.centerToFront = 2.15  # measured
+      ret.centerToFront = ret.wheelbase * 0.4
       tire_stiffness_factor = 1.0
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@@ -236,5 +248,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/gm/radar_interface.py

@@ -3,7 +3,7 @@ import math
 from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
-from selfdrive.car.gm.values import DBC, CAR, CanBus
+from selfdrive.car.gm.values import DBC, CanBus
 from selfdrive.car.interfaces import RadarInterfaceBase
 
 RADAR_HEADER_MSG = 1120
@@ -16,9 +16,6 @@ LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
 
 
 def create_radar_can_parser(car_fingerprint):
-  if car_fingerprint not in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS, CAR.ESCALADE_ESV):
-    return None
-
   # C1A-ARS3-A by Continental
   radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
   signals = list(zip(['FLRRNumValidTargets',
@@ -34,11 +31,12 @@ def create_radar_can_parser(car_fingerprint):
 
   return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CanBus.OBSTACLE)
 
+
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
 
-    self.rcp = create_radar_can_parser(CP.carFingerprint)
+    self.rcp = None if CP.radarUnavailable else create_radar_can_parser(CP.carFingerprint)
 
     self.trigger_msg = LAST_RADAR_MSG
     self.updated_messages = set()

selfdrive/car/gm/values.py

@@ -11,10 +11,10 @@ Ecu = car.CarParams.Ecu
 
 class CarControllerParams:
   STEER_MAX = 300  # GM limit is 3Nm. Used by carcontroller to generate LKA output
-  STEER_STEP = 2  # Active control frames per command (50hz)
+  STEER_STEP = 3  # Active control frames per command (~33hz)
   INACTIVE_STEER_STEP = 10  # Inactive control frames per command (10hz)
-  STEER_DELTA_UP = 7  # Delta rates require review due to observed EPS weakness
-  STEER_DELTA_DOWN = 17
+  STEER_DELTA_UP = 10  # Delta rates require review due to observed EPS weakness
+  STEER_DELTA_DOWN = 25
   STEER_DRIVER_ALLOWANCE = 50
   STEER_DRIVER_MULTIPLIER = 4
   STEER_DRIVER_FACTOR = 100
@@ -67,6 +67,7 @@ class CAR:
   MALIBU = "CHEVROLET MALIBU PREMIER 2017"
   ACADIA = "GMC ACADIA DENALI 2018"
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
+  ESCALADE = "CADILLAC ESCALADE 2017"
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
   BOLT_EUV = "CHEVROLET BOLT EUV 2022"
   SILVERADO = "CHEVROLET SILVERADO 1500 2020"
@@ -75,7 +76,7 @@ class CAR:
 
 class Footnote(Enum):
   OBD_II = CarFootnote(
-    'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. ' +
+    'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. ' +
     '<b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b>',
     Column.MODEL)
 
@@ -99,6 +100,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
   CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
   CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
   CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
+  CAR.ESCALADE: 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"),
@@ -149,6 +151,10 @@ FINGERPRINTS = {
   # Volt Premier w/ ACC 2018
   {
     170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8
+  },
+  # Volt Premier 2018 w/ flashed firmware, no radar
+  {
+    170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7
   }],
   CAR.BUICK_REGAL : [
   # Regal TourX Essence w/ ACC 2018
@@ -174,6 +180,10 @@ FINGERPRINTS = {
   {
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
   }],
+  CAR.ESCALADE: [
+  {
+    170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 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, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
+  }],
   CAR.ESCALADE_ESV: [
   {
     309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8

selfdrive/car/honda/carcontroller.py

@@ -124,7 +124,7 @@ class CarController:
     self.brake = 0.0
     self.last_steer = 0.0
 
-  def update(self, CC, CS):
+  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

selfdrive/car/honda/carstate.py

@@ -274,7 +274,7 @@ class CarState(CarStateBase):
     ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
 
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
-    if self.CP.carFingerprint in (CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE):
+    if self.CP.carFingerprint in (CAR.PILOT, CAR.RIDGELINE):
       if ret.brake > 0.1:
         ret.brakePressed = True
 

selfdrive/car/honda/interface.py

@@ -21,6 +21,8 @@ class CarInterface(CarInterfaceBase):
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     if CP.carFingerprint in HONDA_BOSCH:
       return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
+    elif CP.enableGasInterceptor:
+      return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
     else:
       # NIDECs don't allow acceleration near cruise_speed,
       # so limit limits of pid to prevent windup
@@ -34,7 +36,7 @@ class CarInterface(CarInterfaceBase):
 
     if candidate in HONDA_BOSCH:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
-      ret.radarOffCan = True
+      ret.radarUnavailable = True
 
       if candidate not in HONDA_BOSCH_RADARLESS:
         # Disable the radar and let openpilot control longitudinal
@@ -231,11 +233,11 @@ class CarInterface(CarInterfaceBase):
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
 
-    elif candidate in (CAR.PILOT, CAR.PASSPORT):
-      ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG  # average weight
-      ret.wheelbase = 2.82
+    elif candidate == CAR.PILOT:
+      ret.mass = 4278. * CV.LB_TO_KG + STD_CARGO_KG  # average weight
+      ret.wheelbase = 2.86
       ret.centerToFront = ret.wheelbase * 0.428
-      ret.steerRatio = 17.25  # as spec
+      ret.steerRatio = 16.0  # as spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
@@ -348,5 +350,5 @@ class CarInterface(CarInterfaceBase):
 
   # pass in a car.CarControl
   # to be called @ 100hz
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/honda/radar_interface.py

@@ -21,7 +21,7 @@ class RadarInterface(RadarInterfaceBase):
     self.track_id = 0
     self.radar_fault = False
     self.radar_wrong_config = False
-    self.radar_off_can = CP.radarOffCan
+    self.radar_off_can = CP.radarUnavailable
     self.radar_ts = CP.radarTimeStep
 
     self.delay = int(round(0.1 / CP.radarTimeStep))   # 0.1s delay of radar

selfdrive/car/honda/tests/test_honda.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+import re
+import unittest
+
+from selfdrive.car.honda.values import FW_VERSIONS
+
+HONDA_FW_VERSION_RE = br"\d{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
+
+
+class TestHondaFingerprint(unittest.TestCase):
+  def test_fw_version_format(self):
+    # Asserts all FW versions follow an expected format
+    for fw_by_ecu in FW_VERSIONS.values():
+      for fws in fw_by_ecu.values():
+        for fw in fws:
+          self.assertTrue(re.match(HONDA_FW_VERSION_RE, fw) is not None, fw)
+
+
+if __name__ == "__main__":
+  unittest.main()

selfdrive/car/honda/values.py

@@ -4,9 +4,10 @@ from typing import Dict, List, Optional, Union
 
 from cereal import car
 from common.conversions import Conversions as CV
+from panda.python import uds
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
 Ecu = car.CarParams.Ecu
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -91,7 +92,6 @@ class CAR:
   ACURA_RDX = "ACURA RDX 2018"
   ACURA_RDX_3G = "ACURA RDX 2020"
   PILOT = "HONDA PILOT 2017"
-  PASSPORT = "HONDA PASSPORT 2021"
   RIDGELINE = "HONDA RIDGELINE 2017"
   INSIGHT = "HONDA INSIGHT 2019"
   HONDA_E = "HONDA E 2020"
@@ -142,19 +142,56 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   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),
   CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.PILOT: [
+    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.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),
 }
 
+HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xF112)
+HONDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(0xF112)
+
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
+    # Currently used to fingerprint
+    Request(
+      [StdQueries.UDS_VERSION_REQUEST],
+      [StdQueries.UDS_VERSION_RESPONSE],
+      bus=1,
+    ),
+
+    # Data collection requests:
+    # Log extra identifiers for current ECUs
+    Request(
+      [HONDA_VERSION_REQUEST],
+      [HONDA_VERSION_RESPONSE],
+      bus=1,
+      logging=True,
+    ),
+    # Nidec PT bus
     Request(
       [StdQueries.UDS_VERSION_REQUEST],
       [StdQueries.UDS_VERSION_RESPONSE],
+      bus=0,
+      logging=True,
     ),
+    # Bosch PT bus
+    Request(
+      [StdQueries.UDS_VERSION_REQUEST],
+      [StdQueries.UDS_VERSION_RESPONSE],
+      bus=1,
+      logging=True,
+      non_obd=True,
+    ),
+  ],
+  extra_ecus=[
+    # The only other ECU on PT bus accessible by camera on radarless Civic
+    (Ecu.unknown, 0x18DAB3F1, None),
   ],
 )
 
@@ -1067,6 +1104,8 @@ FW_VERSIONS = {
       b'28101-5EZ-A060\x00\x00',
       b'28101-5EZ-A100\x00\x00',
       b'28101-5EZ-A210\x00\x00',
+      b'28101-5EZ-A600\x00\x00',
+      b'28101-5EZ-A430\x00\x00',
     ],
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-RLV-4060\x00\x00',
@@ -1078,6 +1117,9 @@ FW_VERSIONS = {
       b'37805-RLV-C520\x00\x00',
       b'37805-RLV-C530\x00\x00',
       b'37805-RLV-C910\x00\x00',
+      b'37805-RLV-B220\x00\x00',
+      b'37805-RLV-B210\x00\x00',
+      b'37805-RLV-L160\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TG7-A030\x00\x00',
@@ -1110,6 +1152,7 @@ FW_VERSIONS = {
       b'36161-TGS-A130\x00\x00',
       b'36161-TGT-A030\x00\x00',
       b'36161-TGT-A130\x00\x00',
+      b'36161-TGS-A030\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TG7-A020\x00\x00',
@@ -1147,6 +1190,9 @@ FW_VERSIONS = {
       b'78109-TGS-AP20\x00\x00',
       b'78109-TGT-AJ20\x00\x00',
       b'78109-TGT-AK30\x00\x00',
+      b'78109-TGS-AT20\x00\x00',
+      b'78109-TGS-AX20\x00\x00',
+      b'78109-TGS-AJ20\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TG7-A130\x00\x00',
@@ -1163,38 +1209,6 @@ FW_VERSIONS = {
       b'57114-TGT-A530\x00\x00',
     ],
   },
-  CAR.PASSPORT: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-RLV-B220\x00\x00',
-      b'37805-RLV-B210\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TGS-A230\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-TGS-A030\x00\x00',
-      b'36161-TGS-A130\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TG7-A040\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TGS-A010\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TG7-A530\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-5EZ-A600\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TGS-AT20\x00\x00',
-      b'78109-TGS-AX20\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TGS-A530\x00\x00',
-    ],
-  },
   CAR.ACURA_RDX: {
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TX5-A220\x00\x00',
@@ -1436,6 +1450,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x18DA30F1, None): [
       b'39990-T39-A130\x00\x00',
       b'39990-T43-J020\x00\x00',
+      b'39990-T24-T120\x00\x00',
     ],
     (Ecu.gateway, 0x18DAEFF1, None): [
       b'38897-T20-A020\x00\x00',
@@ -1443,11 +1458,13 @@ FW_VERSIONS = {
       b'38897-T21-A010\x00\x00',
       b'38897-T20-A210\x00\x00',
       b'38897-T20-A310\x00\x00',
+      b'38897-T24-Z120\x00\x00',
     ],
     (Ecu.srs, 0x18DA53F1, None): [
       b'77959-T20-A970\x00\x00',
       b'77959-T47-A940\x00\x00',
       b'77959-T47-A950\x00\x00',
+      b'77959-T20-M820\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18DA60F1, None): [
       b'78108-T21-A220\x00\x00',
@@ -1455,16 +1472,26 @@ FW_VERSIONS = {
       b'78108-T23-A110\x00\x00',
       b'78108-T21-A230\x00\x00',
       b'78108-T22-A020\x00\x00',
+      b'78108-T21-MB10\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-T20-A070\x00\x00',
+      b'36161-T20-A080\x00\x00',
+      b'36161-T20-A060\x00\x00',
+      b'36161-T47-A070\x00\x00',
+      b'36161-T24-T070\x00\x00',
     ],
     (Ecu.vsa, 0x18DA28F1, None): [
       b'57114-T20-AB40\x00\x00',
       b'57114-T43-JB30\x00\x00',
+      b'57114-T24-TB30\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-65D-A020\x00\x00',
       b'28101-65D-A120\x00\x00',
       b'28101-65H-A020\x00\x00',
       b'28101-65H-A120\x00\x00',
+      b'28101-65J-N010\x00\x00',
     ],
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-64L-A540\x00\x00',
@@ -1472,6 +1499,7 @@ FW_VERSIONS = {
       b'37805-64S-A720\x00\x00',
       b'37805-64A-A540\x00\x00',
       b'37805-64A-A620\x00\x00',
+      b'37805-64D-P510\x00\x00',
     ],
   },
 }
@@ -1495,7 +1523,6 @@ DBC = {
   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'),
-  CAR.PASSPORT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
   CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None),
@@ -1510,7 +1537,7 @@ STEER_THRESHOLD = {
 
 HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
 HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
-                                CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE}
+                                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}

selfdrive/car/hyundai/carcontroller.py

@@ -3,7 +3,7 @@ from common.conversions import Conversions as CV
 from common.numpy_fast import clip
 from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_std_steer_torque_limits
+from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 
@@ -54,13 +54,13 @@ class CarController:
     self.car_fingerprint = CP.carFingerprint
     self.last_button_frame = 0
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
 
     # steering torque
     new_steer = int(round(actuators.steer * self.params.STEER_MAX))
-    apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
+    apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
 
     if not CC.latActive:
       apply_steer = 0
@@ -169,7 +169,8 @@ class CarController:
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
             # send 25 messages at a time to increases the likelihood of resume being accepted
             can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
-            self.last_button_frame = self.frame
+            if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
+              self.last_button_frame = self.frame
 
       if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
         # TODO: unclear if this is needed
@@ -178,10 +179,7 @@ class CarController:
                                                         hud_control.leadVisible, set_speed_in_units, stopping, CC.cruiseControl.override))
 
       # 20 Hz LFA MFA message
-      if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
-                                                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.KONA_EV_2022,
-                                                          CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
-                                                          CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022):
+      if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
         can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
 
       # 5 Hz ACC options

selfdrive/car/hyundai/carstate.py

@@ -6,6 +6,7 @@ from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
+from selfdrive.car.hyundai.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.interfaces import CarStateBase
 
@@ -21,7 +22,9 @@ class CarState(CarStateBase):
     self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
     self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
 
-    self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else "GEAR_SHIFTER"
+    self.gear_msg_canfd = "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
+                          "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
+                          "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"]:
@@ -86,7 +89,7 @@ class CarState(CarStateBase):
       50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"])
     ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"]
     ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"]
-    ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
     ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
 
     # cruise state
@@ -132,8 +135,8 @@ class CarState(CarStateBase):
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
 
     if not self.CP.openpilotLongitudinalControl:
-      aeb_src = "FCA11" if self.CP.carFingerprint in FEATURES["use_fca"] else "SCC12"
-      aeb_sig = "FCA_CmdAct" if self.CP.carFingerprint in FEATURES["use_fca"] else "AEB_CmdAct"
+      aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
+      aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
       aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
       aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
       ret.stockFcw = aeb_warning and not aeb_braking
@@ -156,6 +159,9 @@ class CarState(CarStateBase):
   def update_canfd(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
+    self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
+    speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+
     if self.CP.carFingerprint in (EV_CAR | HYBRID_CAR):
       if self.CP.carFingerprint in EV_CAR:
         ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
@@ -197,14 +203,18 @@ class CarState(CarStateBase):
       ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
       ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
 
-    ret.cruiseState.available = True
-    self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
-    if not self.CP.openpilotLongitudinalControl:
-      speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+    # cruise state
+    # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
+    ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0
+    if self.CP.openpilotLongitudinalControl:
+      # These are not used for engage/disengage since openpilot keeps track of state using the buttons
+      ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
+      ret.cruiseState.standstill = False
+    else:
       cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
-      ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
-      ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
       ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
+      ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
+      ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
       self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
 
     cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
@@ -307,7 +317,7 @@ class CarState(CarStateBase):
         ("SCC12", 50),
       ]
 
-      if CP.carFingerprint in FEATURES["use_fca"]:
+      if CP.flags & HyundaiFlags.USE_FCA.value:
         signals += [
           ("FCA_CmdAct", "FCA11"),
           ("CF_VSM_Warn", "FCA11"),
@@ -398,7 +408,7 @@ class CarState(CarStateBase):
         ("SCC12", 50),
       ]
 
-      if CP.carFingerprint in FEATURES["use_fca"]:
+      if CP.flags & HyundaiFlags.USE_FCA.value:
         signals += [
           ("FCA_CmdAct", "FCA11"),
           ("CF_VSM_Warn", "FCA11"),
@@ -418,7 +428,9 @@ class CarState(CarStateBase):
   def get_can_parser_canfd(CP):
 
     cruise_btn_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
-    gear_msg = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else "GEAR_SHIFTER"
+    gear_msg = "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
+               "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
+               "GEAR_SHIFTER"
     signals = [
       ("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
       ("WHEEL_SPEED_2", "WHEEL_SPEEDS"),
@@ -435,6 +447,7 @@ class CarState(CarStateBase):
 
       ("DriverBraking", "TCS"),
       ("ACCEnable", "TCS"),
+      ("ACC_REQ", "TCS"),
 
       ("COUNTER", cruise_btn_msg),
       ("CRUISE_BUTTONS", cruise_btn_msg),
@@ -503,8 +516,7 @@ class CarState(CarStateBase):
         ("ACCELERATOR_BRAKE_ALT", 100),
       ]
 
-    bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_e_can_bus(CP))
 
   @staticmethod
   def get_cam_can_parser_canfd(CP):

selfdrive/car/hyundai/hyundaican.py

@@ -21,7 +21,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
                          CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
                          CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
-                         CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022):
+                         CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 

selfdrive/car/hyundai/hyundaicanfd.py

@@ -72,8 +72,6 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
   else:
     a_raw = accel
     a_val = clip(accel, accel_last - jn, accel_last + jn)
-    if stopping:
-      a_raw = 0
 
   values = {
     "ACCMode": 0 if not enabled else (2 if gas_override else 1),
@@ -83,6 +81,7 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
     "aReqRaw": a_raw,
     "VSetDis": set_speed,
     "JerkLowerLimit": jerk if enabled else 1,
+    "JerkUpperLimit": 3.0,
 
     "ACC_ObjDist": 1,
     "ObjValid": 0,
@@ -90,7 +89,6 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
     "SET_ME_2": 0x4,
     "SET_ME_3": 0x3,
     "SET_ME_TMP_64": 0x64,
-    "NEW_SIGNAL_10": 4,
     "DISTANCE_SETTING": 4,
   }
 

selfdrive/car/hyundai/interface.py

@@ -2,6 +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.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
@@ -20,7 +21,7 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
     ret.carName = "hyundai"
-    ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
+    ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
@@ -35,11 +36,22 @@ class CarInterface(CarInterfaceBase):
         # non-HDA2
         if 0x1cf not in fingerprint[4]:
           ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
-        # ICE cars do not have 0x130; GEARS message on 0x40 instead
+        # ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
         if 0x130 not in fingerprint[4]:
-          ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
+          if 0x40 not in fingerprint[4]:
+            ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value
+          else:
+            ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
         if candidate not in CANFD_RADAR_SCC_CAR:
           ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
+    else:
+      # Send LFA message on cars with HDA
+      if 0x485 in fingerprint[2]:
+        ret.flags |= HyundaiFlags.SEND_LFA.value
+
+      # These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
+      if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]:
+        ret.flags |= HyundaiFlags.USE_FCA.value
 
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerLimitTimer = 0.4
@@ -92,18 +104,13 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.6
       ret.steerRatio = 13.42  # Spec
       tire_stiffness_factor = 0.385
-    elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
+    elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019, CAR.IONIQ_HEV_2022, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV):
       ret.mass = 1490. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
       ret.wheelbase = 2.7
       ret.steerRatio = 13.73  # Spec
       tire_stiffness_factor = 0.385
-      if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
+      if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019):
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
-    elif candidate == CAR.IONIQ_PHEV_2019:
-      ret.mass = 1550. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/us/en/vehicles/2019-ioniq-plug-in-hybrid/compare-specs
-      ret.wheelbase = 2.7
-      ret.steerRatio = 13.73
-      ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate == CAR.VELOSTER:
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
@@ -129,8 +136,8 @@ 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):
-      ret.mass = 1737. + STD_CARGO_KG
+    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
       ret.wheelbase = 2.7
       ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73  # Spec
       tire_stiffness_factor = 0.385
@@ -166,7 +173,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.65
       ret.steerRatio = 13.75
       tire_stiffness_factor = 0.5
-    elif candidate == CAR.KIA_K5_2021:
+    elif candidate in (CAR.KIA_K5_2021, CAR.KIA_K5_HEV_2020):
       ret.mass = 3228. * CV.LB_TO_KG
       ret.wheelbase = 2.85
       ret.steerRatio = 13.27  # 2021 Kia K5 Steering Ratio (all trims)
@@ -185,10 +192,13 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1767. + STD_CARGO_KG  # SX Prestige trim support only
       ret.wheelbase = 2.756
       ret.steerRatio = 13.6
-    elif candidate == CAR.KIA_SORENTO_PHEV_4TH_GEN:
-      ret.mass = 4095.8 * CV.LB_TO_KG + STD_CARGO_KG # weight from EX and above trims, average of FWD and AWD versions (EX, X-Line EX AWD, SX, SX Pestige, X-Line SX Prestige AWD)
+    elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN):
       ret.wheelbase = 2.81
-      ret.steerRatio = 13.27 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sorento-phev/2022/specifications
+      ret.steerRatio = 13.5  # average of the platforms
+      if candidate == CAR.KIA_SORENTO_4TH_GEN:
+        ret.mass = 3957 * CV.LB_TO_KG + STD_CARGO_KG
+      else:
+        ret.mass = 4537 * CV.LB_TO_KG + STD_CARGO_KG
 
     # Genesis
     elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
@@ -238,8 +248,7 @@ class CarInterface(CarInterfaceBase):
 
     # *** feature detection ***
     if candidate in CANFD_CAR:
-      bus = 5 if ret.flags & HyundaiFlags.CANFD_HDA2 else 4
-      ret.enableBsm = 0x1e5 in fingerprint[bus]
+      ret.enableBsm = 0x1e5 in fingerprint[get_e_can_bus(ret)]
     else:
       ret.enableBsm = 0x58b in fingerprint[0]
 
@@ -324,5 +333,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/hyundai/radar_interface.py

@@ -37,7 +37,7 @@ class RadarInterface(RadarInterfaceBase):
     self.trigger_msg = RADAR_START_ADDR + RADAR_MSG_COUNT - 1
     self.track_id = 0
 
-    self.radar_off_can = CP.radarOffCan
+    self.radar_off_can = CP.radarUnavailable
     self.rcp = get_radar_can_parser(CP)
 
   def update(self, can_strings):

selfdrive/car/hyundai/tests/test_hyundai.py

@@ -2,24 +2,19 @@
 import unittest
 
 from cereal import car
-from selfdrive.car.car_helpers import get_interface_attr
-from selfdrive.car.fw_versions import FW_QUERY_CONFIGS
-from selfdrive.car.hyundai.values import CANFD_CAR
+from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS
 
 Ecu = car.CarParams.Ecu
-
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
-VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True)
 
 
 class TestHyundaiFingerprint(unittest.TestCase):
   def test_auxiliary_request_ecu_whitelist(self):
     # Asserts only auxiliary Ecus can exist in database for CAN-FD cars
-    config = FW_QUERY_CONFIGS['hyundai']
-    whitelisted_ecus = {ecu for r in 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.bus > 3}
 
     for car_model in CANFD_CAR:
-      ecus = {fw[0] for fw in VERSIONS['hyundai'][car_model].keys()}
+      ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
       ecus_not_in_whitelist = ecus - whitelisted_ecus
       ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_in_whitelist])
       self.assertEqual(len(ecus_not_in_whitelist), 0, f'{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}')

selfdrive/car/hyundai/values.py

@@ -35,7 +35,7 @@ class CarControllerParams:
 
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
-    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.IONIQ,
+    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.IONIQ,
                                CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
                                CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO):
       self.STEER_MAX = 255
@@ -58,8 +58,10 @@ class HyundaiFlags(IntFlag):
   CANFD_CAMERA_SCC = 8
 
   ALT_LIMITS = 16
-
   ENABLE_BLINKERS = 32
+  CANFD_ALT_GEARS_2 = 64
+  SEND_LFA = 128
+  USE_FCA = 256
 
 
 class CAR:
@@ -96,15 +98,18 @@ class CAR:
   # Kia
   KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
   KIA_K5_2021 = "KIA K5 2021"
+  KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
   KIA_NIRO_EV = "KIA NIRO EV 2020"
   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"
   KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN"
   KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT"
   KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
   KIA_SELTOS = "KIA SELTOS 2021"
   KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
   KIA_SORENTO = "KIA SORENTO GT LINE 2018"
+  KIA_SORENTO_4TH_GEN = "KIA SORENTO 4TH GEN"
   KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN"
   KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
   KIA_STINGER = "KIA STINGER GT2 2018"
@@ -122,9 +127,10 @@ class CAR:
 
 
 class Footnote(Enum):
+  # footnotes which mention "red panda" will be replaced with the CAN FD panda kit on the shop page
   CANFD = CarFootnote(
-    "Requires a <a href=\"https://comma.ai/shop/panda\" target=\"_blank\">red panda</a>, additional <a href=\"https://comma.ai/shop/harness-box\" target=\"_blank\">harness box</a>, " +
-    "additional <a href=\"https://comma.ai/shop/obd-c-cable\" target=\"_blank\">OBD-C cable</a>, USB-A to USB-A cable, and a USB-A to USB-C OTG dongle.",
+    "Requires a <a href=\"https://comma.ai/shop/panda\" target=\"_blank\">red panda</a> for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>. " +
+    "All the hardware needed is sold in the <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD kit</a>.",
     Column.MODEL, shop_footnote=True)
 
 
@@ -143,9 +149,12 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e),
     HyundaiCarInfo("Hyundai i30 2017-19", harness=Harness.hyundai_e),
   ],
-  CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
+  CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
   CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
-  CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j),  # TODO: check 2015 packages
+  CAR.HYUNDAI_GENESIS: [
+    HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j),  # TODO: check 2015 packages
+    HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j),
+  ],
   CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c),
   CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h),  # TODO: confirm 2020-21 harness
   CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c),
@@ -160,7 +169,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", "https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l),
   CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l),
   CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l),
-  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", "https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
+  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", "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),
@@ -182,22 +191,27 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Hyundai Tucson 2023", "All", harness=Harness.hyundai_n),
   ],
   CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n),
-  CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2021-22", harness=Harness.hyundai_n),
+  CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", harness=Harness.hyundai_n),
 
   # Kia
   CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
   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),
   ],
-  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),
+  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),
   ],
+  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
   CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", harness=Harness.hyundai_g),
   CAR.KIA_OPTIMA_H: [
@@ -210,7 +224,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "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_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
+  CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2022-23", harness=Harness.hyundai_k),
+  CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", harness=Harness.hyundai_a),
   CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n),
   CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
   CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", harness=Harness.hyundai_k),
@@ -222,11 +237,14 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
 
   # Genesis
-  CAR.GENESIS_GV60_EV_1ST_GEN: HyundaiCarInfo("Genesis GV60 2023", "All", harness=Harness.hyundai_k),
+  CAR.GENESIS_GV60_EV_1ST_GEN: [
+    HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", harness=Harness.hyundai_a),
+    HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", harness=Harness.hyundai_k),
+  ],
   CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
   CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f),
   CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l),
-  CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2017-19", "All", harness=Harness.hyundai_h),
+  CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", harness=Harness.hyundai_h),
   CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c),
 }
 
@@ -358,6 +376,13 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )
 
 FW_VERSIONS = {
+  CAR.HYUNDAI_GENESIS: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DH LKAS 1.1 -150210',
+      b'\xf1\x00DH LKAS 1.4 -140110',
+      b'\xf1\x00DH LKAS 1.5 -140425',
+    ],
+  },
   CAR.IONIQ: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         ',
@@ -395,29 +420,32 @@ FW_VERSIONS = {
   },
   CAR.IONIQ_PHEV: {
     (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\000AEhe SCC FHCUP      1.00 1.02 99110-G2100         ',
+      b'\xf1\x00AEhe SCC FHCUP      1.00 1.02 99110-G2100         ',
       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         ',
     ],
     (Ecu.eps, 0x7d4, None): [
-      b'\xf1\000AE  MDPS C 1.00 1.01 56310/G2510 4APHC101',
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2510 4APHC101',
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2560 4APHC101',
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\000AEP MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
+      b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEP MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x816U3J9051\000\000\xf1\0006U3H1_C2\000\0006U3J9051\000\000PAE0G16NL0\x82zT\xd2',
       b'\xf1\x816U3J8051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00',
-      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt',
       b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00',
+      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00',
+      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt',
     ],
   },
   CAR.IONIQ_EV_2020: {
@@ -445,16 +473,19 @@ FW_VERSIONS = {
       b'\xf1\x00AE  MDPS C 1.00 1.04 56310/G7501 4AEEC104',
       b'\xf1\x00AE  MDPS C 1.00 1.03 56310/G7300 4AEEC103',
       b'\xf1\x00AE  MDPS C 1.00 1.03 56310G7300\x00 4AEEC103',
+      b'\xf1\x00AE  MDPS C 1.00 1.04 56310/G7301 4AEEC104',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G7200 160418',
       b'\xf1\x00AEE MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
       b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2300 170703',
+      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2400 180222',
     ],
   },
   CAR.IONIQ_HEV_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
+      b'\xf1\x00AEhe SCC FHCUP      1.00 1.00 99110-G2600         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
@@ -467,6 +498,7 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00',
+      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x96\xda\xd4\xee',
     ],
   },
   CAR.SONATA: {
@@ -512,6 +544,8 @@ FW_VERSIONS = {
       b'HM6M1_0a0_G20',
       b'HM6M2_0a0_BD0',
       b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B',
+      b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00',
+      b'\xf1\x81HM6M1_0a0_G20',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',  # modified firmware
@@ -529,6 +563,7 @@ FW_VERSIONS = {
       b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101',
       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',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.02 99211-L1000 190422',
@@ -538,6 +573,7 @@ FW_VERSIONS = {
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.03 99211-L0000 210603',
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.05 99211-L1000 201109',
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.06 99211-L1000 210325',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
@@ -548,6 +584,7 @@ FW_VERSIONS = {
       b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92',
       b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:',
+      b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[',
       b'\xf1\x00T02601BL  T02730A1  VDN8T25XXX730NS5\xf7_\x92\xf5',
       b'\xf1\x00T02601BL  T02832A1  VDN8T25XXX832NS8G\x0e\xfeE',
       b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VDN8T25XXX730NS5\xf7_\x92\xf5',
@@ -599,6 +636,7 @@ FW_VERSIONS = {
       b'\xf1\x87SALFBA7460044GJ2gx\x87\x88Vf\x86hx\x88\x87\x88wwwwgw\x86wd?\xfa\xff\x86U_\xff\xaf\x1f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
       b'\xf1\x87SAMFBA8105254GJ2wx\x87\x88Vf\x86hx\x88\x87\x88wwwwwwww\x86O\xfa\xff\x99\x88\x7f\xffZG\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
       b'\xf1\x87SANFB45889451GC7wx\x87\x88gw\x87x\x88\x88x\x88\x87wxw\x87wxw\x87\x8f\xfc\xffeU\x8f\xff+Q\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x00T02601BL  T02900A1  VDN8T25XXX900NSA\xb9\x13\xf9p',
     ],
   },
   CAR.SONATA_LF: {
@@ -648,14 +686,16 @@ FW_VERSIONS = {
   },
   CAR.SANTA_FE: {
     (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1210         ',
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.01 99110-S2000         ',
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.02 99110-S2000         ',
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.03 99110-S2000         ',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650',
+      b'\xf1\x00TM ESC \r 105\x19\x05# 58910-S1500',
       b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650',
-      b'\xf1\x00TM ESC \r 104\x19\a\b 58910-S2650',
+      b'\xf1\x00TM ESC \r 104\x19\x07\x08 58910-S2650',
       b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600',
       b'\xf1\x00TM ESC \x02 102\x18\x07\x01 58910-S2600',
       b'\xf1\x00TM ESC \x02 103\x18\x11\x07 58910-S2600',
@@ -672,11 +712,15 @@ FW_VERSIONS = {
       b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409',
       b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8A12',
       b'\xf1\x00TM  MDPS C 1.00 1.01 56340-S2000 9129',
+      b'\xf1\x00TM  MDPS R 1.00 1.02 57700-S1100 4TMDP102'
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.01 99211-S1010 181207',
       b'\xf1\x00TM  MFC  AT USA LHD 1.00 1.00 99211-S2000 180409',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U833\x00\x00\x00\x00\x00\x00TTM4V22US3_<]\xf1',
+      b'\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00',
       b'\xf1\x87LBJSGA7082574HG0\x87www\x98\x88\x88\x88\x99\xaa\xb9\x9afw\x86gx\x99\xa7\x89co\xf8\xffvU_\xffR\xaf\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\xa6\xe0\x91',
       b'\xf1\x87LBKSGA0458404HG0vfvg\x87www\x89\x99\xa8\x99y\xaa\xa7\x9ax\x88\xa7\x88t_\xf9\xff\x86w\x8f\xff\x15x\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\x00\x00\x00',
       b'\xf1\x87LDJUEA6010814HG1\x87w\x87x\x86gvw\x88\x88\x98\x88gw\x86wx\x88\x97\x88\x85o\xf8\xff\x86f_\xff\xd37\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g',
@@ -707,7 +751,6 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
       b'\xf1\x8799110S1500\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
-      b'\xf1\x8799110S1500\xf1\x00TM__ SCC FHCUP      1.00 1.00 99110-S1500         ',
       b'\xf1\x00TM__ SCC FHCUP      1.00 1.00 99110-S1500         ',
     ],
     (Ecu.abs, 0x7d1, None): [
@@ -741,6 +784,7 @@ FW_VERSIONS = {
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.01 99211-S2500 210205',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00T02601BL  T02900A1  VTMPT25XXX900NSA\xf3\xf4Uj',
       b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',
       b'\xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6\x06\x88\xf7',
       b'\xf1\x87SDMXCA8653204GN1EVugEUuWwwwwww\x87wwwwwv/\xfb\xff\xa8\x88\x9f\xff\xa5\x9c\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',
@@ -755,19 +799,23 @@ FW_VERSIONS = {
   },
   CAR.SANTA_FE_HEV_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
+      b'\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
+      b'\xf1\x00TM  MDPS R 1.00 1.05 57700-CL000 4TSHP105',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TMH MFC  AT EUR LHD 1.00 1.06 99211-S1500 220727',
       b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f',
       b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x87391312MTC1',
+      b'\xf1\x87391312MTE0',
     ],
   },
   CAR.SANTA_FE_PHEV_2022: {
@@ -794,6 +842,7 @@ FW_VERSIONS = {
       b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5100         ',
       b'\xf1\x00CK__ SCC F_CUP      1.00 1.03 96400-J5100         ',
       b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5000         ',
+      b'\xf1\x00CK__ SCC F_CUP      1.00 1.02 96400-J5100         ',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -801,6 +850,7 @@ FW_VERSIONS = {
       b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00',
       b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00',
       b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00',
+      b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5200 4C2CL104',
@@ -808,6 +858,7 @@ FW_VERSIONS = {
       b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5420 4C4VL104',
       b'\xf1\x00CK  MDPS R 1.00 1.06 57700-J5420 4C4VL106',
       b'\xf1\x00CK  MDPS R 1.00 1.07 57700-J5220 4C2VL107',
+      b'\xf1\x00CK  MDPS R 1.00 1.06 57700-J5220 4C2VL106',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.03 95740-J5000 170822',
@@ -815,6 +866,7 @@ FW_VERSIONS = {
       b'\xf1\x00CK  MFC  AT EUR LHD 1.00 1.03 95740-J5000 170822',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SCK0T33NB2\xb3\xee\xba\xdc',
       b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
       b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
       b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x89E21\x00\x00\x00\x00\x00\x00\x00\xf1\x82SCK0T33NB0',
@@ -1006,6 +1058,25 @@ FW_VERSIONS = {
       b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
+  CAR.GENESIS_G80: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DH__ SCC F-CUP      1.00 1.01 96400-B1120         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.03 95895-B1500 180713',
+      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.02 95895-B1500 170810',
+      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.01 95895-B1500 161014',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SDH0T33NH4\xd7O\x9e\xc9',
+      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00TDH0G38NH3:-\xa9n',
+      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH2j\x9dA\x1c',
+      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0T33NH3\x97\xe6\xbc\xb8',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.GENESIS_G90: {
     (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7'],
     (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00HI__ SCC F-CUP      1.00 1.01 96400-D2100         '],
@@ -1094,6 +1165,23 @@ FW_VERSIONS = {
       b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
     ],
   },
+  CAR.KIA_K5_HEV_2020: {
+    (Ecu.fwdRadar, 0x7D0, None): [
+      b'\xf1\x00DLhe SCC FHCUP      1.00 1.02 99110-L7000         ',
+    ],
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.02 99210-L2000 200309',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'\xf1\x87391162JLA0',
+    ],
+    (Ecu.transmission, 0x7E1, None): [
+      b'\xf1\x00PSBG2323  E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz',
+    ],
+  },
   CAR.KONA_EV: {
     (Ecu.abs, 0x7D1, None): [
       b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000',
@@ -1180,22 +1268,27 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91",
       b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00',
       b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00',
       b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92',
+      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL2&[\xc3\x01',
     ],
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x00DE  MDPS C 1.00 1.09 56310G5301\x00 4DEHC109',
+      b'\xf1\x00DE  MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.01 95740-G5010 170424',
       b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.00 95740-G5010 170117',
+      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.05 99211-G5000 190826',
     ],
     (Ecu.fwdRadar, 0x7D0, None): [
       b'\xf1\x00DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
+      b'\xf1\x00DEhe SCC F-CUP      1.00 1.02 99110-G5100         ',
     ],
   },
   CAR.KIA_NIRO_HEV_2021: {
@@ -1307,25 +1400,26 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CN7_ SCC F-CUP      1.00 1.01 99110-AA000         ',
       b'\xf1\x00CN7_ SCC FHCUP      1.00 1.01 99110-AA000         ',
+      b'\xf1\x00CN7_ SCC FNCUP      1.00 1.01 99110-AA000         ',
       b'\xf1\x8799110AA000\xf1\x00CN7_ SCC FHCUP      1.00 1.01 99110-AA000         ',
       b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP      1.00 1.01 99110-AA000         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00CN7 MDPS C 1.00 1.06 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4CNDC106',
       b'\xf1\x8756310/AA070\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
-      b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
       b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106\xf1\xa01.06',
+      b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.00 99210-AB000 200819',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.01 99210-AB000 210205',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.06 99210-AA000 220111',
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AB000 220426',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
       b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800',
-      b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
       b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800',
       b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01',
     ],
@@ -1343,6 +1437,7 @@ FW_VERSIONS = {
       b'\xf1\x81HM6M2_0a0_FF0',
       b'\xf1\x82CNCVD0AMFCXCSFFB',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80',
+      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0',
     ],
   },
   CAR.ELANTRA_HEV_2021: {
@@ -1457,6 +1552,7 @@ FW_VERSIONS = {
       b'\xf1\x00CV1 MFC  AT EUR LHD 1.00 1.05 99210-CV000 211027',
       b'\xf1\x00CV1 MFC  AT EUR LHD 1.00 1.06 99210-CV000 220328',
       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',
     ],
   },
   CAR.IONIQ_5: {
@@ -1468,6 +1564,8 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
+      b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.02 99211-GI010 211206',
     ],
   },
   CAR.TUCSON_4TH_GEN: {
@@ -1499,9 +1597,11 @@ FW_VERSIONS = {
   CAR.SANTA_CRUZ_1ST_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
+      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-K5000         ',
+      b'\xf1\x00NX4__               1.01 1.00 99110-K5000         ',
     ],
   },
   CAR.KIA_SPORTAGE_5TH_GEN: {
@@ -1517,23 +1617,42 @@ FW_VERSIONS = {
   CAR.GENESIS_GV70_1ST_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.04 99211-AR000 210204',
+      b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.01 99211-AR200 220125',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00JK1_ SCC FHCUP      1.00 1.02 99110-AR000         ',
+      b'\xf1\x00JK1_ SCC FHCUP      1.00 1.00 99110-AR200         ',
     ],
   },
   CAR.GENESIS_GV60_EV_1ST_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.02 99211-CU100 211215',
+      b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.02 99211-CU000 211215',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00JW1_ RDR -----      1.00 1.00 99110-CU000         ',
     ],
   },
+  CAR.KIA_SORENTO_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.05 99210-R5000 210623',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.06 99110-P2000         ',
+    ],
+  },
+  CAR.KIA_NIRO_HEV_2ND_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SG2HMFC  AT USA LHD 1.01 1.08 99211-AT000 220531',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SG2_ RDR -----      1.00 1.01 99110-AT000         ',
+    ],
+  },
 }
 
 CHECKSUM = {
-  "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022],
+  "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.KIA_K5_HEV_2020],
   "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
 }
 
@@ -1541,25 +1660,23 @@ FEATURES = {
   # 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},
-
-  # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022},
+  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, 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}
+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}
 
 # 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}
+CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN}
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 
-HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_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}  # these cars use a different gas signal
+HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, 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}
 
 # 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, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
+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,
+                          CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
 
 # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
 # If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py
@@ -1580,6 +1697,7 @@ DBC = {
   CAR.IONIQ_HEV_2022: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_K5_HEV_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
   CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
   CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
   CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
@@ -1615,4 +1733,6 @@ DBC = {
   CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
   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),
 }

selfdrive/car/interfaces.py

@@ -88,13 +88,14 @@ class CarInterfaceBase(ABC):
     return ACCEL_MIN, ACCEL_MAX
 
   @classmethod
-  def get_params(cls, candidate: str, fingerprint: Optional[Dict[int, Dict[int, int]]] = None, car_fw: Optional[List[car.CarParams.CarFw]] = None, experimental_long: bool = False):
-    if fingerprint is None:
-      fingerprint = gen_empty_fingerprint()
-
-    if car_fw is None:
-      car_fw = list()
+  def get_non_essential_params(cls, candidate: str):
+    """
+    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)
 
+  @classmethod
+  def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool):
     ret = CarInterfaceBase.get_std_params(candidate)
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long)
 
@@ -232,7 +233,7 @@ class CarInterfaceBase(ABC):
     return reader
 
   @abstractmethod
-  def apply(self, c: car.CarControl) -> Tuple[car.CarControl.Actuators, List[bytes]]:
+  def apply(self, c: car.CarControl, now_nanos: int) -> Tuple[car.CarControl.Actuators, List[bytes]]:
     pass
 
   def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True,
@@ -400,15 +401,15 @@ class CarStateBase(ABC):
       return GearShifter.unknown
 
     d: Dict[str, car.CarState.GearShifter] = {
-        'P': GearShifter.park, 'PARK': GearShifter.park,
-        'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
-        'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
-        'E': GearShifter.eco, 'ECO': GearShifter.eco,
-        'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic,
-        'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
-        'S': GearShifter.sport, 'SPORT': GearShifter.sport,
-        'L': GearShifter.low, 'LOW': GearShifter.low,
-        'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
+      'P': GearShifter.park, 'PARK': GearShifter.park,
+      'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
+      'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
+      'E': GearShifter.eco, 'ECO': GearShifter.eco,
+      'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic,
+      'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
+      'S': GearShifter.sport, 'SPORT': GearShifter.sport,
+      'L': GearShifter.low, 'LOW': GearShifter.low,
+      'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
     }
     return d.get(gear.upper(), GearShifter.unknown)
 

selfdrive/car/mazda/carcontroller.py

@@ -1,6 +1,6 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_std_steer_torque_limits
+from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.mazda import mazdacan
 from selfdrive.car.mazda.values import CarControllerParams, Buttons
 
@@ -15,7 +15,7 @@ class CarController:
     self.brake_counter = 0
     self.frame = 0
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     can_sends = []
 
     apply_steer = 0
@@ -23,8 +23,8 @@ class CarController:
     if CC.latActive:
       # calculate steer and also set limits due to driver torque
       new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
-      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
-                                                  CS.out.steeringTorque, CarControllerParams)
+      apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last,
+                                                     CS.out.steeringTorque, CarControllerParams)
 
     if CC.cruiseControl.cancel:
       # If brake is pressed, let us wait >70ms before trying to disable crz to avoid

selfdrive/car/mazda/interface.py

@@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
     ret.carName = "mazda"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
-    ret.radarOffCan = True
+    ret.radarUnavailable = True
 
     ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021)
 
@@ -69,5 +69,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/mock/interface.py

@@ -57,7 +57,7 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
+  def apply(self, c, now_nanos):
     # in mock no carcontrols
     actuators = car.CarControl.Actuators.new_message()
     return actuators, []

selfdrive/car/nissan/carcontroller.py

@@ -18,7 +18,7 @@ class CarController:
 
     self.packer = CANPacker(dbc_name)
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel

selfdrive/car/nissan/interface.py

@@ -19,7 +19,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerRatio = 17
 
     ret.steerControlType = car.CarParams.SteerControlType.angle
-    ret.radarOffCan = True
+    ret.radarUnavailable = True
 
     if candidate in (CAR.ROGUE, CAR.XTRAIL):
       ret.mass = 1610 + STD_CARGO_KG
@@ -56,5 +56,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)

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"),
+  CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-22", 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),

selfdrive/car/subaru/carcontroller.py

@@ -1,5 +1,5 @@
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_std_steer_torque_limits
+from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.subaru import subarucan
 from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams
 
@@ -19,7 +19,7 @@ class CarController:
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel
@@ -34,7 +34,7 @@ class CarController:
       # limits due to driver torque
 
       new_steer = int(round(apply_steer))
-      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
+      apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
 
       if not CC.latActive:
         apply_steer = 0

selfdrive/car/subaru/interface.py

@@ -11,7 +11,7 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
     ret.carName = "subaru"
-    ret.radarOffCan = True
+    ret.radarUnavailable = True
     ret.dashcamOnly = candidate in PREGLOBAL_CARS
     ret.autoResumeSng = False
 
@@ -112,5 +112,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/subaru/values.py

@@ -253,6 +253,7 @@ FW_VERSIONS = {
       b'\xca!f@\x07',
       b'\xca!fp\x07',
       b'\xf3"f@\x07',
+      b'\xe6!fp\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe6\xf5\004\000\000',
@@ -262,6 +263,7 @@ FW_VERSIONS = {
       b'\xf1\x00\xd7\x10@',
       b'\xe6\xf5D0\x00',
       b'\xe9\xf6F0\x00',
+      b'\xe9\xf5B0\x00',
     ],
   },
   CAR.FORESTER: {

selfdrive/car/tesla/carcontroller.py

@@ -14,7 +14,7 @@ class CarController:
     self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
     self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     pcm_cancel_cmd = CC.cruiseControl.cancel
 

selfdrive/car/tesla/interface.py

@@ -23,7 +23,6 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalTuning.kpV = [0]
     ret.longitudinalTuning.kiBP = [0]
     ret.longitudinalTuning.kiV = [0]
-    ret.stopAccel = 0.0
     ret.longitudinalActuatorDelayUpperBound = 0.5 # s
     ret.radarTimeStep = (1.0 / 8) # 8Hz
 
@@ -59,5 +58,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/tests/routes.py

@@ -18,6 +18,7 @@ from selfdrive.car.body.values import CAR as COMMA
 non_tested_cars = [
   FORD.ESCAPE_MK4,
   FORD.FOCUS_MK4,
+  FORD.MAVERICK_MK1,
   GM.CADILLAC_ATS,
   GM.HOLDEN_ASTRA,
   GM.MALIBU,
@@ -25,6 +26,7 @@ non_tested_cars = [
   HYUNDAI.GENESIS_G90,
   HYUNDAI.KIA_OPTIMA_H,
   HONDA.ODYSSEY_CHN,
+  VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
 ]
 
 CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,))
@@ -42,11 +44,13 @@ routes = [
   CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
   CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),
 
+  CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1),
   CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6),
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
   CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),
   CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
+  CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.ESCALADE),
   CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
   CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
   CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1),
@@ -72,7 +76,7 @@ routes = [
   CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL),
   CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.INSIGHT),
   CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.PILOT),
-  CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.PASSPORT),
+  CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.PILOT),  # Passport
   CarTestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.CIVIC_BOSCH),
   CarTestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX),
   CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE),
@@ -100,6 +104,7 @@ routes = [
   CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.TUCSON_4TH_GEN),  # 2023
   CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN),
   CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
+  CarTestRoute("1d0d000db3370fd0|2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
   CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_PHEV_4TH_GEN),
   CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
   CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5),  # HDA2
@@ -119,9 +124,11 @@ routes = [
   CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6),  # HDA2
   CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6),  # HDA1
   CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
+  CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
   CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
   CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV),
   CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021),
+  CarTestRoute("db04d2c63990e3ba|2023-02-08--16-52-39", HYUNDAI.KIA_NIRO_HEV_2ND_GEN),
   CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
   CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN),
   CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
@@ -174,7 +181,9 @@ routes = [
   CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.PRIUS_TSS2),
   CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI),
   CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR),
+  CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2),
   CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH),
+  CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2),
   CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
 
   CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),