rebAse

.devcontainer/Dockerfile

@@ -1,6 +1,6 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb
 RUN pip install ipython jupyter jupyterlab
 
 RUN cd /tmp && \

.devcontainer/devcontainer.json

@@ -18,7 +18,6 @@
     "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
     "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
     "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
-    "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache",
     "--shm-size=1G",
     "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
     "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
@@ -43,5 +42,8 @@
         "lharri73.dbc"
       ]
     }
-  }
+  },
+  "mounts": [
+    "type=volume,source=scons_cache,target=/tmp/scons_cache"
+  ]
 }

.github/workflows/auto_pr_review.yaml

@@ -34,6 +34,26 @@ jobs:
         already-exists-action: close_this
         already-exists-comment: "Your PR should be made against the `master` branch"
 
+  comment:
+    runs-on: ubuntu-latest
+    steps:
+      - name: comment
+        uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
+        if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+        with:
+          message: |
+              <!-- _(run_id **${{ github.run_id }}**)_ -->
+              Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
+              * Convert your PR to a draft unless it's ready to review
+              * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
+              * Before marking as "ready for review", ensure:
+                * the goal is clearly stated in the description
+                * all the tests are passing
+                * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+                * include a route or your device' dongle ID if relevant
+          comment_tag: run_id
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
   check-pr-template:
     runs-on: ubuntu-latest
     permissions:
@@ -41,7 +61,7 @@ jobs:
       issues: write
       pull-requests: write
       actions: read
-    if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+    if: false && github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
     steps:
       - uses: actions/github-script@v7
         with:
@@ -91,7 +111,7 @@ jobs:
 
             // Utility function to check if a list of checkboxes is a subset of another list of checkboxes
             isCheckboxSubset = (templateCheckBoxTexts, prTextCheckBoxTexts) => {
-              // Check if each template checkbox text is a substring of at least one PR checkbox text 
+              // Check if each template checkbox text is a substring of at least one PR checkbox text
               // (user should be allowed to add additional text)
               return templateCheckBoxTexts.every((item) => prTextCheckBoxTexts.some((element) => element.includes(item)))
             }

.github/workflows/tools_tests.yaml

@@ -86,7 +86,7 @@ jobs:
   notebooks:
     name: notebooks
     runs-on: ubuntu-20.04
-    if: github.repository == 'commaai/openpilot'
+    if: false && github.repository == 'commaai/openpilot'
     timeout-minutes: 45
     steps:
     - uses: actions/checkout@v4

.gitignore

@@ -10,7 +10,6 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
-.vscode*
 model2.png
 a.out
 .hypothesis

.pre-commit-config.yaml

@@ -10,7 +10,7 @@ repos:
     -   id: check-ast
         exclude: '^(third_party)/'
     -   id: check-json
-        exclude: '.devcontainer/devcontainer.json' # this supports JSON with comments
+        exclude: '.devcontainer/devcontainer.json|.vscode/'  # these support JSON with comments
     -   id: check-toml
     -   id: check-xml
     -   id: check-yaml
@@ -91,7 +91,7 @@ repos:
         pass_filenames: false
         files: 'selfdrive/ui/translations/*'
 -   repo: https://github.com/python-poetry/poetry
-    rev: '1.7.0'
+    rev: '1.8.0'
     hooks:
     -   id: poetry-check
         name: validate poetry lock

.vscode/extensions.json

@@ -0,0 +1,8 @@
+{
+  "recommendations": [
+    "ms-python.python",
+    "ms-vscode.cpptools",
+    "elagil.pre-commit-helper",
+    "charliermarsh.ruff",
+  ]
+}

.vscode/launch.json

@@ -0,0 +1,47 @@
+{
+  "version": "0.2.0",
+  "inputs": [
+    {
+      "id": "python_process",
+      "type": "pickString",
+      "description": "Select the process to debug",
+      "options": [
+        "selfdrive/controls/controlsd.py",
+        "selfdrive/navd/navd.py",
+        "system/timed/timed.py",
+        "tools/sim/run_bridge.py"
+      ]
+    },
+    {
+      "id": "cpp_process",
+      "type": "pickString",
+      "description": "Select the process to debug",
+      "options": [
+        "selfdrive/ui/ui"
+      ]
+    },
+    {
+      "id": "args",
+      "description": "Arguments to pass to the process",
+      "type": "promptString"
+    }
+  ],
+  "configurations": [
+    {
+      "name": "Python: openpilot Process",
+      "type": "debugpy",
+      "request": "launch",
+      "program": "${input:python_process}",
+      "console": "integratedTerminal",
+      "justMyCode": true,
+      "args": "${input:args}"
+    },
+    {
+      "name": "C++: openpilot Process",
+      "type": "cppdbg",
+      "request": "launch",
+      "program": "${workspaceFolder}/${input:cpp_process}",
+      "cwd": "${workspaceFolder}",
+    }
+  ]
+}

.vscode/settings.json

@@ -0,0 +1,26 @@
+{
+  "editor.tabSize": 2,
+  "editor.insertSpaces": true,
+  "editor.renderWhitespace": "trailing",
+  "files.trimTrailingWhitespace": true,
+  "search.exclude": {
+    "**/.git": true,
+    "**/.venv": true,
+    "**/__pycache__": true
+  },
+  "files.exclude": {
+    "**/.git": true,
+    "**/.venv": true,
+    "**/__pycache__": true
+  },
+  "python.analysis.exclude": [
+    "**/.git",
+    "**/.venv",
+    "**/__pycache__",
+    // exclude directories that should be using the symlinked version
+    "common/**",
+    "selfdrive/**",
+    "system/**",
+    "tools/**",
+  ]
+}

RELEASES.md

@@ -1,7 +1,7 @@
 Version 0.9.7 (2024-XX-XX)
 ========================
 * New driving model
-* Support for many hybrid Ford models
+* Support for hybrid variants of supported Ford models
 
 Version 0.9.6 (2024-02-27)
 ========================
@@ -11,6 +11,9 @@ Version 0.9.6 (2024-02-27)
   * Directly outputs curvature for lateral control
 * New driver monitoring model
   * Trained on larger dataset
+* Model path UI
+  * Shows where driving model wants to be
+  * Shows what model is seeing more clearly, but more jittery
 * AGNOS 9
 * comma body streaming and controls over WebRTC
 * Improved fuzzy fingerprinting for many makes and models

SConstruct

@@ -96,8 +96,6 @@ lenv = {
 rpath = lenv["LD_LIBRARY_PATH"].copy()
 
 if arch == "larch64":
-  lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
-
   cpppath = [
     "#third_party/opencl/include",
   ]
@@ -360,13 +358,6 @@ Export('common', 'gpucommon')
 # Build cereal and messaging
 SConscript(['cereal/SConscript'])
 
-cereal = [File('#cereal/libcereal.a')]
-messaging = [File('#cereal/libmessaging.a')]
-visionipc = [File('#cereal/libvisionipc.a')]
-messaging_python = [File('#cereal/messaging/messaging_pyx.so')]
-
-Export('cereal', 'messaging', 'messaging_python', 'visionipc')
-
 # Build other submodules
 SConscript([
   'body/board/SConscript',
@@ -393,17 +384,12 @@ if arch != "Darwin":
 # Build openpilot
 SConscript(['third_party/SConscript'])
 
-SConscript(['selfdrive/boardd/SConscript'])
-SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
-SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
-SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/navd/SConscript'])
-SConscript(['selfdrive/modeld/SConscript'])
-SConscript(['selfdrive/ui/SConscript'])
+SConscript(['selfdrive/SConscript'])
 
-if arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists() and GetOption('extras'):
+if Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
-  SConscript(['tools/cabana/SConscript'])
+  if arch != "larch64":
+    SConscript(['tools/cabana/SConscript'])
 
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:

cereal

@@ -1 +1 @@
-Subproject commit 2fba1381f40df2654f42a2e4bed869f2b7d01a52
+Subproject commit cf7bb3e74974879abef94286fab4d39398fe402b

common/file_helpers.py

@@ -23,7 +23,7 @@ class CallbackReader:
 
 
 @contextlib.contextmanager
-def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
+def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None,
                         overwrite: bool = False):
   """Write to a file atomically using a temporary file in the same directory as the destination file."""
   dir_name = os.path.dirname(path)

common/params.cc

@@ -188,6 +188,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
     {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"RouteCount", PERSISTENT},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
     {"TermsVersion", PERSISTENT},
@@ -207,7 +208,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
     {"VisionRadarToggle", PERSISTENT},
-    {"WheeledBody", PERSISTENT},
 };
 
 } // namespace

common/prefix.py

@@ -8,7 +8,7 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
-  def __init__(self, prefix: str | None = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
     self.msgq_path = os.path.join('/dev/shm', self.prefix)
     self.clean_dirs_on_exit = clean_dirs_on_exit

common/utils.py

@@ -0,0 +1,11 @@
+class Freezable:
+  _frozen: bool = False
+
+  def freeze(self):
+    if not self._frozen:
+      self._frozen = True
+
+  def __setattr__(self, *args, **kwargs):
+    if self._frozen:
+      raise Exception("cannot modify frozen object")
+    super().__setattr__(*args, **kwargs)

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 288 Supported Cars
+# 289 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -143,6 +143,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2023[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||
 |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
 |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2023[<sup>6</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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
@@ -239,9 +240,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<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)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
 |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)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|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)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<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)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
-|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)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
 |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
 |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
 |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)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -352,6 +353,7 @@ openpilot does not yet support these Toyota models due to a new message authenti
 * Toyota Venza 2021+
 * Toyota Sequoia 2023+
 * Toyota Tundra 2022+
+* Toyota Highlander 2024+
 * Toyota Corolla Cross 2022+ (only US model)
 * Lexus NX 2022+
 * Toyota bZ4x 2023+

docs/CONTRIBUTING.md

@@ -62,4 +62,4 @@ A good pull request has all of the following:
 * Consider opting into driver camera uploads to improve the driver monitoring model.
 * Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
 * Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
-* Annotate images in the [comma10k dateset](https://github.com/commaai/comma10k).
+* Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k).

opendbc

@@ -1 +1 @@
-Subproject commit 951ab07fdcbce023a5c927f56bbf94e0f2322366
+Subproject commit ff1f1ff335261c469635c57c81817afd04663eab

panda

@@ -1 +1 @@
-Subproject commit 6aa4b550336136bc20a6abb307cf310e876eba28
+Subproject commit 41e9610ff841e4cf62051c6df09c1870f5d12477

poetry.lock

@@ -751,63 +751,63 @@ test = ["pytest", "pytest-timeout"]
 
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 ]
 
 [package.dependencies]
@@ -2281,22 +2281,22 @@ tests = ["pytest (>=4.6)"]
 
 [[package]]
 name = "msal"
-version = "1.26.0"
+version = "1.27.0"
 description = "The Microsoft Authentication Library (MSAL) for Python library enables your app to access the Microsoft Cloud by supporting authentication of users with Microsoft Azure Active Directory accounts (AAD) and Microsoft Accounts (MSA) using industry standard OAuth2 and OpenID Connect."
 optional = false
 python-versions = ">=2.7"
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 ]
 
 [package.dependencies]
-cryptography = ">=0.6,<44"
+cryptography = ">=0.6,<45"
 PyJWT = {version = ">=1.0.0,<3", extras = ["crypto"]}
 requests = ">=2.0.0,<3"
 
 [package.extras]
-broker = ["pymsalruntime (>=0.13.2,<0.14)"]
+broker = ["pymsalruntime (>=0.13.2,<0.15)"]
 
 [[package]]
 name = "msal-extensions"
@@ -2608,36 +2608,36 @@ reference = ["Pillow", "google-re2"]
 
 [[package]]
 name = "onnxruntime"
-version = "1.17.0"
+version = "1.17.1"
 description = "ONNX Runtime is a runtime accelerator for Machine Learning models"
 optional = false
 python-versions = "*"
 files = [
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+    {file = "pandas-2.2.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:df0c37ebd19e11d089ceba66eba59a168242fc6b7155cba4ffffa6eccdfb8f16"},
+    {file = "pandas-2.2.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:739cc70eaf17d57608639e74d63387b0d8594ce02f69e7a0b046f117974b3019"},
+    {file = "pandas-2.2.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f9d3558d263073ed95e46f4650becff0c5e1ffe0fc3a015de3c79283dfbdb3df"},
+    {file = "pandas-2.2.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:4aa1d8707812a658debf03824016bf5ea0d516afdea29b7dc14cf687bc4d4ec6"},
+    {file = "pandas-2.2.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:76f27a809cda87e07f192f001d11adc2b930e93a2b0c4a236fde5429527423be"},
+    {file = "pandas-2.2.1-cp39-cp39-win_amd64.whl", hash = "sha256:1ba21b1d5c0e43416218db63037dbe1a01fc101dc6e6024bcad08123e48004ab"},
+    {file = "pandas-2.2.1.tar.gz", hash = "sha256:0ab90f87093c13f3e8fa45b48ba9f39181046e8f3317d3aadb2fffbb1b978572"},
 ]
 
 [package.dependencies]
@@ -2905,6 +2905,7 @@ parquet = ["pyarrow (>=10.0.1)"]
 performance = ["bottleneck (>=1.3.6)", "numba (>=0.56.4)", "numexpr (>=2.8.4)"]
 plot = ["matplotlib (>=3.6.3)"]
 postgresql = ["SQLAlchemy (>=2.0.0)", "adbc-driver-postgresql (>=0.8.0)", "psycopg2 (>=2.9.6)"]
+pyarrow = ["pyarrow (>=10.0.1)"]
 spss = ["pyreadstat (>=1.2.0)"]
 sql-other = ["SQLAlchemy (>=2.0.0)", "adbc-driver-postgresql (>=0.8.0)", "adbc-driver-sqlite (>=0.8.0)"]
 test = ["hypothesis (>=6.46.1)", "pytest (>=7.3.2)", "pytest-xdist (>=2.2.0)"]
@@ -6468,13 +6469,13 @@ cp2110 = ["hidapi"]
 
 [[package]]
 name = "pytest"
-version = "8.0.1"
+version = "8.0.2"
 description = "pytest: simple powerful testing with Python"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "pytest-8.0.1-py3-none-any.whl", hash = "sha256:3e4f16fe1c0a9dc9d9389161c127c3edc5d810c38d6793042fb81d9f48a59fca"},
-    {file = "pytest-8.0.1.tar.gz", hash = "sha256:267f6563751877d772019b13aacbe4e860d73fe8f651f28112e9ac37de7513ae"},
+    {file = "pytest-8.0.2-py3-none-any.whl", hash = "sha256:edfaaef32ce5172d5466b5127b42e0d6d35ebbe4453f0e3505d96afd93f6b096"},
+    {file = "pytest-8.0.2.tar.gz", hash = "sha256:d4051d623a2e0b7e51960ba963193b09ce6daeb9759a451844a21e4ddedfc1bd"},
 ]
 
 [package.dependencies]
@@ -6639,12 +6640,12 @@ numpy = ["numpy (>=1.6.0)"]
 
 [[package]]
 name = "pytweening"
-version = "1.1.0"
-description = "A collection of tweening / easing functions."
+version = "1.2.0"
+description = "A collection of tweening (aka easing) functions."
 optional = false
 python-versions = "*"
 files = [
-    {file = "pytweening-1.1.0.tar.gz", hash = "sha256:0d8e14af529dd816ad4aa4a86757dfb5fe2fc2897e06f5db60183706a9370828"},
+    {file = "pytweening-1.2.0.tar.gz", hash = "sha256:243318b7736698066c5f362ec5c2b6434ecf4297c3c8e7caa8abfe6af4cac71b"},
 ]
 
 [[package]]
@@ -7172,19 +7173,19 @@ test = ["pytest"]
 
 [[package]]
 name = "setuptools"
-version = "69.1.0"
+version = "69.1.1"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "setuptools-69.1.0-py3-none-any.whl", hash = "sha256:c054629b81b946d63a9c6e732bc8b2513a7c3ea645f11d0139a2191d735c60c6"},
-    {file = "setuptools-69.1.0.tar.gz", hash = "sha256:850894c4195f09c4ed30dba56213bf7c3f21d86ed6bdaafb5df5972593bfc401"},
+    {file = "setuptools-69.1.1-py3-none-any.whl", hash = "sha256:02fa291a0471b3a18b2b2481ed902af520c69e8ae0919c13da936542754b4c56"},
+    {file = "setuptools-69.1.1.tar.gz", hash = "sha256:5c0806c7d9af348e6dd3777b4f4dbb42c7ad85b190104837488eab9a7c945cf8"},
 ]
 
 [package.extras]
 docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
-testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff (>=0.2.1)", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
-testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging (>=23.1)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
+testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging (>=23.2)", "pip (>=19.1)", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff (>=0.2.1)", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
+testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging (>=23.2)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
 
 [[package]]
 name = "shapely"
@@ -7619,13 +7620,13 @@ files = [
 
 [[package]]
 name = "typing-extensions"
-version = "4.9.0"
+version = "4.10.0"
 description = "Backported and Experimental Type Hints for Python 3.8+"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "typing_extensions-4.9.0-py3-none-any.whl", hash = "sha256:af72aea155e91adfc61c3ae9e0e342dbc0cba726d6cba4b6c72c1f34e47291cd"},
-    {file = "typing_extensions-4.9.0.tar.gz", hash = "sha256:23478f88c37f27d76ac8aee6c905017a143b0b1b886c3c9f66bc2fd94f9f5783"},
+    {file = "typing_extensions-4.10.0-py3-none-any.whl", hash = "sha256:69b1a937c3a517342112fb4c6df7e72fc39a38e7891a5730ed4985b5214b5475"},
+    {file = "typing_extensions-4.10.0.tar.gz", hash = "sha256:b0abd7c89e8fb96f98db18d86106ff1d90ab692004eb746cf6eda2682f91b3cb"},
 ]
 
 [[package]]
@@ -7658,13 +7659,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.25.0"
+version = "20.25.1"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.25.0-py3-none-any.whl", hash = "sha256:4238949c5ffe6876362d9c0180fc6c3a824a7b12b80604eeb8085f2ed7460de3"},
-    {file = "virtualenv-20.25.0.tar.gz", hash = "sha256:bf51c0d9c7dd63ea8e44086fa1e4fb1093a31e963b86959257378aef020e1f1b"},
+    {file = "virtualenv-20.25.1-py3-none-any.whl", hash = "sha256:961c026ac520bac5f69acb8ea063e8a4f071bcc9457b9c1f28f6b085c511583a"},
+    {file = "virtualenv-20.25.1.tar.gz", hash = "sha256:e08e13ecdca7a0bd53798f356d5831434afa5b07b93f0abdf0797b7a06ffe197"},
 ]
 
 [package.dependencies]

pyproject.toml

@@ -21,6 +21,7 @@ testpaths = [
   "selfdrive/thermald",
   "selfdrive/test/longitudinal_maneuvers",
   "selfdrive/test/process_replay/test_fuzzy.py",
+  "selfdrive/updated",
   "system/camerad",
   "system/hardware/tici",
   "system/loggerd",
@@ -63,6 +64,9 @@ warn_unused_ignores=true
 # restrict dynamic typing
 warn_return_any=true
 
+# allow implicit optionals for default args
+implicit_optional = true
+
 
 [tool.poetry]
 name = "openpilot"
@@ -167,11 +171,14 @@ build-backend = "poetry.core.masonry.api"
 
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
+indent-width = 2
 lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
 lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
 exclude = [
+  "body",
+  "cereal",
   "panda",
   "opendbc",
   "rednose_repo",
@@ -187,6 +194,9 @@ lint.flake8-implicit-str-concat.allow-multiline=false
 "system".msg = "Use openpilot.system"
 "third_party".msg = "Use openpilot.third_party"
 "tools".msg = "Use openpilot.tools"
+"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
 
 [tool.coverage.run]
 concurrency = ["multiprocessing", "thread"]
+[tool.ruff.format]
+quote-style = "preserve"

rednose_repo

@@ -1 +1 @@
-Subproject commit 18b91458fd396530d43e1a2fe9a3ac9055fa9109
+Subproject commit 1dc61a60e684b4bc8c591a8bce7e24e02aa8f400

release/check-submodules.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 while read hash submodule ref; do
-  git -C $submodule fetch --depth 1000 origin master
+  git -C $submodule fetch --depth 2000 origin master
   git -C $submodule branch -r --contains $hash | grep "origin/master"
   if [ "$?" -eq 0 ]; then
     echo "$submodule ok"

release/files_common

@@ -23,6 +23,7 @@ common/.gitignore
 common/__init__.py
 common/*.py
 common/*.pyx
+common/mock/*
 
 common/transformations/__init__.py
 common/transformations/camera.py
@@ -52,13 +53,16 @@ tools/replay/*.h
 selfdrive/__init__.py
 selfdrive/sentry.py
 selfdrive/tombstoned.py
-selfdrive/updated.py
 selfdrive/statsd.py
 
+selfdrive/updated/*
+
 system/logmessaged.py
 system/micd.py
 system/version.py
 
+selfdrive/SConscript
+
 selfdrive/athena/__init__.py
 selfdrive/athena/athenad.py
 selfdrive/athena/manage_athenad.py
@@ -83,10 +87,12 @@ selfdrive/boardd/pandad.py
 selfdrive/boardd/tests/test_boardd_loopback.py
 
 selfdrive/car/__init__.py
+selfdrive/car/card.py
 selfdrive/car/docs_definitions.py
 selfdrive/car/car_helpers.py
 selfdrive/car/fingerprints.py
 selfdrive/car/interfaces.py
+selfdrive/car/values.py
 selfdrive/car/vin.py
 selfdrive/car/disable_ecu.py
 selfdrive/car/fw_versions.py
@@ -536,7 +542,8 @@ opendbc/vw_golf_mk4.dbc
 opendbc/vw_mqb_2010.dbc
 
 opendbc/tesla_can.dbc
-opendbc/tesla_radar.dbc
+opendbc/tesla_radar_bosch_generated.dbc
+opendbc/tesla_radar_continental_generated.dbc
 opendbc/tesla_powertrain.dbc
 
 tinygrad_repo/openpilot/compile2.py

scripts/cell.sh

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

scripts/pyupgrade.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+
+set -e
+
+pip install --upgrade pyupgrade
+
+git ls-files '*.py' | grep -v 'third_party/' | xargs pyupgrade --py311-plus

scripts/stop_updater.sh

@@ -1,7 +1,7 @@
 #!/usr/bin/env sh
 
 # Stop updater
-pkill -2 -f selfdrive.updated
+pkill -2 -f selfdrive.updated.updated
 
 # Remove pending update
 rm -f /data/safe_staging/finalized/.overlay_consistent

selfdrive/SConscript

@@ -0,0 +1,7 @@
+SConscript(['boardd/SConscript'])
+SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
+SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
+SConscript(['locationd/SConscript'])
+SConscript(['navd/SConscript'])
+SConscript(['modeld/SConscript'])
+SConscript(['ui/SConscript'])

selfdrive/athena/athenad.py

@@ -279,7 +279,7 @@ def upload_handler(end_event: threading.Event) -> None:
       cloudlog.exception("athena.upload_handler.exception")
 
 
-def _do_upload(upload_item: UploadItem, callback: Callable | None = None) -> requests.Response:
+def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.Response:
   path = upload_item.path
   compress = False
 
@@ -328,7 +328,7 @@ def getVersion() -> dict[str, str]:
 
 
 @dispatcher.add_method
-def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str | None = None, place_details: str | None = None) -> dict[str, int]:
+def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = None, place_details: str = None) -> dict[str, int]:
   destination = {
     "latitude": latitude,
     "longitude": longitude,
@@ -767,7 +767,7 @@ def backoff(retries: int) -> int:
   return random.randrange(0, min(128, int(2 ** retries)))
 
 
-def main(exit_event: threading.Event | None = None):
+def main(exit_event: threading.Event = None):
   try:
     set_core_affinity([0, 1, 2, 3])
   except Exception:

selfdrive/athena/tests/helpers.py

@@ -1,7 +1,5 @@
 import http.server
-import threading
 import socket
-from functools import wraps
 
 
 class MockResponse:
@@ -65,25 +63,3 @@ class HTTPRequestHandler(http.server.SimpleHTTPRequestHandler):
     self.rfile.read(length)
     self.send_response(201, "Created")
     self.end_headers()
-
-
-def with_http_server(func, handler=http.server.BaseHTTPRequestHandler, setup=None):
-  @wraps(func)
-  def inner(*args, **kwargs):
-    host = '127.0.0.1'
-    server = http.server.HTTPServer((host, 0), handler)
-    port = server.server_port
-    t = threading.Thread(target=server.serve_forever)
-    t.start()
-
-    if setup is not None:
-      setup(host, port)
-
-    try:
-      return func(*args, f'http://{host}:{port}', **kwargs)
-    finally:
-      server.shutdown()
-      server.server_close()
-      t.join()
-
-  return inner

selfdrive/athena/tests/test_athenad.py

@@ -23,9 +23,9 @@ from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.athena import athenad
 from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
-from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockApi, EchoSocket, with_http_server
+from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket
+from openpilot.selfdrive.test.helpers import with_http_server
 from openpilot.system.hardware.hw import Paths
-from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler
 
 
 def seed_athena_server(host, port):
@@ -96,7 +96,7 @@ class TestAthenadMethods(unittest.TestCase):
         break
 
   @staticmethod
-  def _create_file(file: str, parent: str | None = None, data: bytes = b'') -> str:
+  def _create_file(file: str, parent: str = None, data: bytes = b'') -> str:
     fn = os.path.join(Paths.log_root() if parent is None else parent, file)
     os.makedirs(os.path.dirname(fn), exist_ok=True)
     with open(fn, 'wb') as f:

selfdrive/boardd/panda.cc

@@ -284,6 +284,13 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
       break;
     }
 
+    if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
+      // TODO: also reset CAN comms?
+      LOGE("Panda CAN checksum failed");
+      size = 0;
+      return false;
+    }
+
     can_frame &canData = out_vec.emplace_back();
     canData.busTime = 0;
     canData.address = header.addr;
@@ -295,12 +302,6 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
       canData.src += CAN_RETURNED_BUS_OFFSET;
     }
 
-    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;

selfdrive/car/CARS_template.md

@@ -65,6 +65,7 @@ openpilot does not yet support these Toyota models due to a new message authenti
 * Toyota Venza 2021+
 * Toyota Sequoia 2023+
 * Toyota Tundra 2022+
+* Toyota Highlander 2024+
 * Toyota Corolla Cross 2022+ (only US model)
 * Lexus NX 2022+
 * Toyota bZ4x 2023+

selfdrive/car/__init__.py

@@ -1,12 +1,14 @@
 # functions common among cars
-from collections import namedtuple
+from collections import defaultdict, namedtuple
 from dataclasses import dataclass
-from enum import ReprEnum
+from enum import IntFlag, ReprEnum
+from dataclasses import replace
 
 import capnp
 
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarInfo
 
 
@@ -243,27 +245,46 @@ class CanSignalRateCalculator:
     return self.rate
 
 
-CarInfos = CarInfo | list[CarInfo]
+CarInfos = CarInfo | list[CarInfo] | None
 
 
-@dataclass
+@dataclass(frozen=True, kw_only=True)
 class CarSpecs:
-  mass: float
-  wheelbase: float
+  mass: float  # kg, curb weight
+  wheelbase: float  # meters
   steerRatio: float
+  centerToFrontRatio: float = 0.5
+  minSteerSpeed: float = 0.0  # m/s
+  minEnableSpeed: float = -1.0  # m/s
+  tireStiffnessFactor: float = 1.0
+
+  def override(self, **kwargs):
+    return replace(self, **kwargs)
 
 
 @dataclass(order=True)
-class PlatformConfig:
+class PlatformConfig(Freezable):
   platform_str: str
   car_info: CarInfos
+  specs: CarSpecs
+
   dbc_dict: DbcDict
 
-  specs: CarSpecs | None = None
+  flags: int = 0
 
   def __hash__(self) -> int:
     return hash(self.platform_str)
 
+  def override(self, **kwargs):
+    return replace(self, **kwargs)
+
+  def init(self):
+    pass
+
+  def __post_init__(self):
+    self.init()
+    self.freeze()
+
 
 class Platforms(str, ReprEnum):
   config: PlatformConfig
@@ -279,5 +300,21 @@ class Platforms(str, ReprEnum):
     return {p: p.config.dbc_dict for p in cls}
 
   @classmethod
-  def create_carinfo_map(cls) -> dict[str, CarInfos]:
-    return {p: p.config.car_info for p in cls}
+  def with_flags(cls, flags: IntFlag) -> set['Platforms']:
+    return {p for p in cls if p.config.flags & flags}
+
+  @classmethod
+  def without_flags(cls, flags: IntFlag) -> set['Platforms']:
+    return {p for p in cls if not (p.config.flags & flags)}
+
+  @classmethod
+  def print_debug(cls, flags):
+    platforms_with_flag = defaultdict(list)
+    for flag in flags:
+      for platform in cls:
+        if platform.config.flags & flag:
+          assert flag.name is not None
+          platforms_with_flag[flag.name].append(platform)
+
+    for flag, platforms in platforms_with_flag.items():
+      print(f"{flag:32s}: {', '.join(p.name for p in platforms)}")

selfdrive/car/body/carcontroller.py

@@ -1,10 +1,10 @@
 import numpy as np
 
-from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car.body import bodycan
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
+from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.controls.lib.pid import PIDController
 
 
@@ -15,23 +15,18 @@ MAX_POS_INTEGRATOR = 0.2   # meters
 MAX_TURN_INTEGRATOR = 0.1  # meters
 
 
-class CarController:
+class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.frame = 0
     self.packer = CANPacker(dbc_name)
 
-    # Speed, balance and turn PIDs
-    self.speed_pid = PIDController(0.115, k_i=0.23, rate=1/DT_CTRL)
-    self.balance_pid = PIDController(1300, k_i=0, k_d=280, rate=1/DT_CTRL)
+    # PIDs
     self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
     self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
 
     self.torque_r_filtered = 0.
     self.torque_l_filtered = 0.
 
-    params = Params()
-    self.wheeled_body = params.get("WheeledBody")
-
   @staticmethod
   def deadband_filter(torque, deadband):
     if torque > 0:
@@ -55,17 +50,7 @@ class CarController:
       speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2.
       speed_error = speed_desired - speed_measured
 
-      if self.wheeled_body is None:
-        freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or
-                             (speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR))
-        angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator)
-
-        # Clip angle error, this is enough to get up from stands
-        angle_error = np.clip((-CC.orientationNED[1]) - angle_setpoint, -MAX_ANGLE_ERROR, MAX_ANGLE_ERROR)
-        angle_error_rate = np.clip(-CC.angularVelocity[1], -1., 1.)
-        torque = self.balance_pid.update(angle_error, error_rate=angle_error_rate)
-      else:
-        torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False)
+      torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False)
 
       speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
       turn_error = speed_diff_measured - speed_diff_desired

selfdrive/car/body/interface.py

@@ -14,14 +14,10 @@ class CarInterface(CarInterfaceBase):
 
     ret.minSteerSpeed = -math.inf
     ret.maxLateralAccel = math.inf  # TODO: set to a reasonable value
-    ret.steerRatio = 0.5
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.
 
-    ret.mass = 9
-    ret.wheelbase = 0.406
     ret.wheelSpeedFactor = SPEED_FROM_RPM
-    ret.centerToFront = ret.wheelbase * 0.44
 
     ret.radarUnavailable = True
     ret.openpilotLongitudinalControl = True

selfdrive/car/body/values.py

@@ -1,5 +1,5 @@
 from cereal import car
-from openpilot.selfdrive.car import PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarInfo
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -23,6 +23,7 @@ class CAR(Platforms):
   BODY = PlatformConfig(
     "COMMA BODY",
     CarInfo("comma body", package="All"),
+    CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
     dbc_dict('comma_body', None),
   )
 
@@ -37,5 +38,4 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
 )
 
-CAR_INFO = CAR.create_carinfo_map()
 DBC = CAR.create_dbc_map()

selfdrive/car/car_helpers.py

@@ -5,11 +5,13 @@ from collections.abc import Callable
 from cereal import car
 from openpilot.common.params import Params
 from openpilot.common.basedir import BASEDIR
+from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.system.version import is_comma_remote, is_tested_branch
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
 from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
+from openpilot.selfdrive.car.mock.values import CAR as MOCK
 from openpilot.common.swaglog import cloudlog
 import cereal.messaging as messaging
 from openpilot.selfdrive.car import gen_empty_fingerprint
@@ -189,7 +191,15 @@ def fingerprint(logcan, sendcan, num_pandas):
   cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached,
                  fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
                  fingerprints=repr(finger), fw_query_time=fw_query_time, error=True)
-  return car_fingerprint, finger, vin, car_fw, source, exact_match
+
+  car_platform = PLATFORMS.get(car_fingerprint, MOCK.MOCK)
+
+  return car_platform, finger, vin, car_fw, source, exact_match
+
+
+def get_car_interface(CP):
+  CarInterface, CarController, CarState = interfaces[CP.carFingerprint]
+  return CarInterface(CP, CarController, CarState)
 
 
 def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
@@ -199,23 +209,23 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
     cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True)
     candidate = "mock"
 
-  CarInterface, CarController, CarState = interfaces[candidate]
+  CarInterface, _, _ = interfaces[candidate]
   CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
   CP.carVin = vin
   CP.carFw = car_fw
   CP.fingerprintSource = source
   CP.fuzzyFingerprint = not exact_match
 
-  return CarInterface(CP, CarController, CarState), CP
+  return get_car_interface(CP), CP
 
-def write_car_param(fingerprint="mock"):
+def write_car_param(platform=MOCK.MOCK):
   params = Params()
-  CarInterface, _, _ = interfaces[fingerprint]
-  CP = CarInterface.get_non_essential_params(fingerprint)
+  CarInterface, _, _ = interfaces[platform]
+  CP = CarInterface.get_non_essential_params(platform)
   params.put("CarParams", CP.to_bytes())
 
 def get_demo_car_params():
-  fingerprint="mock"
-  CarInterface, _, _ = interfaces[fingerprint]
-  CP = CarInterface.get_non_essential_params(fingerprint)
+  platform = MOCK.MOCK
+  CarInterface, _, _ = interfaces[platform]
+  CP = CarInterface.get_non_essential_params(platform)
   return CP

selfdrive/car/card.py

@@ -0,0 +1,142 @@
+#!/usr/bin/env python3
+import os
+import time
+
+import cereal.messaging as messaging
+
+from cereal import car
+
+from panda import ALTERNATIVE_EXPERIENCE
+
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_CTRL
+
+from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+
+
+REPLAY = "REPLAY" in os.environ
+
+
+class CarD:
+  CI: CarInterfaceBase
+  CS: car.CarState
+
+  def __init__(self, CI=None):
+    self.can_sock = messaging.sub_sock('can', timeout=20)
+    self.sm = messaging.SubMaster(['pandaStates'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
+
+    self.can_rcv_timeout_counter = 0      # conseuctive timeout count
+    self.can_rcv_cum_timeout_counter = 0  # cumulative timeout count
+
+    self.CC_prev = car.CarControl.new_message()
+
+    self.last_actuators = None
+
+    self.params = Params()
+
+    if CI is None:
+      # wait for one pandaState and one CAN packet
+      print("Waiting for CAN messages...")
+      get_one_can(self.can_sock)
+
+      num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
+      experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
+      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas)
+    else:
+      self.CI, self.CP = CI, CI.CP
+
+    # set alternative experiences from parameters
+    disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    self.CP.alternativeExperience = 0
+    if not disengage_on_accelerator:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
+
+    car_recognized = self.CP.carName != 'mock'
+    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
+
+    controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
+
+    self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly
+    if self.CP.passive:
+      safety_config = car.CarParams.SafetyConfig.new_message()
+      safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
+      self.CP.safetyConfigs = [safety_config]
+
+    # Write previous route's CarParams
+    prev_cp = self.params.get("CarParamsPersistent")
+    if prev_cp is not None:
+      self.params.put("CarParamsPrevRoute", prev_cp)
+
+    # Write CarParams for controls and radard
+    cp_bytes = self.CP.to_bytes()
+    self.params.put("CarParams", cp_bytes)
+    self.params.put_nonblocking("CarParamsCache", cp_bytes)
+    self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
+
+  def initialize(self):
+    """Initialize CarInterface, once controls are ready"""
+    self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
+
+  def state_update(self):
+    """carState update loop, driven by can"""
+
+    # Update carState from CAN
+    can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
+    self.CS = self.CI.update(self.CC_prev, can_strs)
+
+    self.sm.update(0)
+
+    can_rcv_valid = len(can_strs) > 0
+
+    # Check for CAN timeout
+    if not can_rcv_valid:
+      self.can_rcv_timeout_counter += 1
+      self.can_rcv_cum_timeout_counter += 1
+    else:
+      self.can_rcv_timeout_counter = 0
+
+    self.can_rcv_timeout = self.can_rcv_timeout_counter >= 5
+
+    if can_rcv_valid and REPLAY:
+      self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
+
+    self.state_publish()
+
+    return self.CS
+
+  def state_publish(self):
+    """carState and carParams publish loop"""
+
+    # carState
+    cs_send = messaging.new_message('carState')
+    cs_send.valid = self.CS.canValid
+    cs_send.carState = self.CS
+    self.pm.send('carState', cs_send)
+
+    # carParams - logged every 50 seconds (> 1 per segment)
+    if (self.sm.frame % int(50. / DT_CTRL) == 0):
+      cp_send = messaging.new_message('carParams')
+      cp_send.valid = True
+      cp_send.carParams = self.CP
+      self.pm.send('carParams', cp_send)
+
+    # publish new carOutput
+    co_send = messaging.new_message('carOutput')
+    co_send.valid = True
+    if self.last_actuators is not None:
+      co_send.carOutput.actuatorsOutput = self.last_actuators
+    self.pm.send('carOutput', co_send)
+
+  def controls_update(self, CC: car.CarControl):
+    """control update loop, driven by carControl"""
+
+    # send car controls over can
+    now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
+    self.last_actuators, can_sends = self.CI.apply(CC, now_nanos)
+    self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid))
+
+    self.CC_prev = CC
+

selfdrive/car/chrysler/carcontroller.py

@@ -3,9 +3,10 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
+from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 
-class CarController:
+class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.apply_steer_last = 0

selfdrive/car/chrysler/fingerprints.py

@@ -38,6 +38,7 @@ FW_VERSIONS = {
       b'68227902AF',
       b'68227902AG',
       b'68227902AH',
+      b'68227905AG',
       b'68360252AC',
     ],
     (Ecu.srs, 0x744, None): [
@@ -71,6 +72,7 @@ FW_VERSIONS = {
       b'68340762AD ',
       b'68340764AD ',
       b'68352652AE ',
+      b'68352654AE ',
       b'68366851AH ',
       b'68366853AE ',
       b'68372861AF ',
@@ -304,6 +306,7 @@ FW_VERSIONS = {
       b'68402708AB',
       b'68402971AD',
       b'68454144AD',
+      b'68454145AB',
       b'68454152AB',
       b'68454156AB',
       b'68516650AB',

selfdrive/car/chrysler/interface.py

@@ -24,7 +24,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate in RAM_DT:
       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.
@@ -35,10 +34,6 @@ class CarInterface(CarInterfaceBase):
 
     # Chrysler
     if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.DODGE_DURANGO):
-      ret.mass = 2242.
-      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]]
@@ -46,9 +41,6 @@ class CarInterface(CarInterfaceBase):
 
     # Jeep
     elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019):
-      ret.mass = 1778
-      ret.wheelbase = 2.71
-      ret.steerRatio = 16.7
       ret.steerActuatorDelay = 0.2
 
       ret.lateralTuning.init('pid')
@@ -60,19 +52,12 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.RAM_1500:
       ret.steerActuatorDelay = 0.2
       ret.wheelbase = 3.88
-      ret.steerRatio = 16.3
-      ret.mass = 2493.
-      ret.minSteerSpeed = 14.5
       # Older EPS FW allow steer to zero
       if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
         ret.minSteerSpeed = 0.
 
     elif candidate == CAR.RAM_HD:
       ret.steerActuatorDelay = 0.2
-      ret.wheelbase = 3.785
-      ret.steerRatio = 15.61
-      ret.mass = 3405.
-      ret.minSteerSpeed = 16
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
 
     else:

selfdrive/car/chrysler/values.py

@@ -1,9 +1,9 @@
-from enum import IntFlag, StrEnum
+from enum import IntFlag
 from dataclasses import dataclass, field
 
 from cereal import car
 from panda.python import uds
-from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
@@ -11,27 +11,92 @@ Ecu = car.CarParams.Ecu
 
 
 class ChryslerFlags(IntFlag):
+  # Detected flags
   HIGHER_MIN_STEERING_SPEED = 1
 
+@dataclass
+class ChryslerCarInfo(CarInfo):
+  package: str = "Adaptive Cruise Control (ACC)"
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
+
 
-class CAR(StrEnum):
+@dataclass
+class ChryslerPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'))
+
+
+@dataclass(frozen=True)
+class ChryslerCarSpecs(CarSpecs):
+  minSteerSpeed: float = 3.8  # m/s
+
+
+class CAR(Platforms):
   # Chrysler
-  PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
-  PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
-  PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
-  PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
-  PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
+  PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA HYBRID 2017",
+    ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
+    ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
+  )
+  PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA HYBRID 2018",
+    ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
+    PACIFICA_2017_HYBRID.specs,
+  )
+  PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA HYBRID 2019",
+    ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
+    PACIFICA_2017_HYBRID.specs,
+  )
+  PACIFICA_2018 = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA 2018",
+    ChryslerCarInfo("Chrysler Pacifica 2017-18"),
+    PACIFICA_2017_HYBRID.specs,
+  )
+  PACIFICA_2020 = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA 2020",
+    [
+      ChryslerCarInfo("Chrysler Pacifica 2019-20"),
+      ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
+    ],
+    PACIFICA_2017_HYBRID.specs,
+  )
 
   # Dodge
-  DODGE_DURANGO = "DODGE DURANGO 2021"
+  DODGE_DURANGO = ChryslerPlatformConfig(
+    "DODGE DURANGO 2021",
+    ChryslerCarInfo("Dodge Durango 2020-21"),
+    PACIFICA_2017_HYBRID.specs,
+  )
 
   # Jeep
-  JEEP_GRAND_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # includes 2017 Trailhawk
-  JEEP_GRAND_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"  # includes 2020 Trailhawk
+  JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig(  # includes 2017 Trailhawk
+    "JEEP GRAND CHEROKEE V6 2018",
+    ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
+    ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
+  )
+
+  JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig(  # includes 2020 Trailhawk
+    "JEEP GRAND CHEROKEE 2019",
+    ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
+    JEEP_GRAND_CHEROKEE.specs,
+  )
 
   # Ram
-  RAM_1500 = "RAM 1500 5TH GEN"
-  RAM_HD = "RAM HD 5TH GEN"
+  RAM_1500 = ChryslerPlatformConfig(
+    "RAM 1500 5TH GEN",
+    ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
+    ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
+    dbc_dict('chrysler_ram_dt_generated', None),
+  )
+  RAM_HD = ChryslerPlatformConfig(
+    "RAM HD 5TH GEN",
+    [
+      ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
+      ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
+    ],
+    ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
+    dbc_dict('chrysler_ram_hd_generated', None),
+  )
 
 
 class CarControllerParams:
@@ -59,32 +124,6 @@ RAM_HD = {CAR.RAM_HD, }
 RAM_CARS = RAM_DT | RAM_HD
 
 
-@dataclass
-class ChryslerCarInfo(CarInfo):
-  package: str = "Adaptive Cruise Control (ACC)"
-  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
-
-
-CAR_INFO: dict[str, ChryslerCarInfo | list[ChryslerCarInfo] | None] = {
-  CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
-  CAR.PACIFICA_2018_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
-  CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
-  CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
-  CAR.PACIFICA_2020: [
-    ChryslerCarInfo("Chrysler Pacifica 2019-20"),
-    ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
-  ],
-  CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
-  CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
-  CAR.DODGE_DURANGO: ChryslerCarInfo("Dodge Durango 2020-21"),
-  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
-  CAR.RAM_HD: [
-    ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
-    ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
-  ],
-}
-
-
 CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(0xf132)
 CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
@@ -124,16 +163,4 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
 )
 
-
-DBC = {
-  CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.DODGE_DURANGO: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.JEEP_GRAND_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.JEEP_GRAND_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),
-  CAR.RAM_HD: dbc_dict('chrysler_ram_hd_generated', None),
-}
+DBC = CAR.create_dbc_map()

selfdrive/car/docs.py

@@ -11,6 +11,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType
 from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
+from openpilot.selfdrive.car.values import PLATFORMS
 
 
 def get_all_footnotes() -> dict[Enum, int]:
@@ -27,9 +28,10 @@ CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
 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():
+  for model, platform in PLATFORMS.items():
+    car_info = platform.config.car_info
     # If available, uses experimental longitudinal limits for the docs
-    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(),
+    CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(),
                                          car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True)
 
     if CP.dashcamOnly or car_info is None:
@@ -37,7 +39,7 @@ def get_all_car_info() -> list[CarInfo]:
 
     # A platform can include multiple car models
     if not isinstance(car_info, list):
-      car_info = (car_info,)
+      car_info = [car_info,]
 
     for _car_info in car_info:
       if not hasattr(_car_info, "row"):

selfdrive/car/docs_definitions.py

@@ -118,7 +118,8 @@ class CarHarness(EnumBase):
   nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
   mazda = BaseCarHarness("Mazda connector")
   ford_q3 = BaseCarHarness("Ford Q3 connector")
-  ford_q4 = BaseCarHarness("Ford Q4 connector")
+  ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft, Cable.long_obdc_cable,
+                                                       Cable.usbc_coupler])
 
 
 class Device(EnumBase):
@@ -159,7 +160,7 @@ class CarParts:
     return copy.deepcopy(self)
 
   @classmethod
-  def common(cls, add: list[EnumBase] | None = None, remove: list[EnumBase] | None = None):
+  def common(cls, add: list[EnumBase] = None, remove: list[EnumBase] = None):
     p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
     return cls(p)
 

selfdrive/car/ecu_addrs.py

@@ -19,7 +19,7 @@ def make_tester_present_msg(addr, bus, subaddr=None):
   return make_can_msg(addr, bytes(dat), bus)
 
 
-def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int | None = None) -> bool:
+def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
   # ISO-TP messages are always padded to 8 bytes
   # tester present response is always a single frame
   dat_offset = 1 if subaddr is not None else 0

selfdrive/car/ford/carcontroller.py

@@ -1,9 +1,10 @@
 from cereal import car
-from openpilot.common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
+from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
-from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams
+from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
+from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -22,7 +23,7 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c
   return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
 
 
-class CarController:
+class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.VM = VM
@@ -69,7 +70,7 @@ class CarController:
 
       self.apply_curvature_last = apply_curvature
 
-      if self.CP.carFingerprint in CANFD_CAR:
+      if self.CP.flags & FordFlags.CANFD:
         # TODO: extended mode
         mode = 1 if CC.latActive else 0
         counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF

selfdrive/car/ford/carstate.py

@@ -1,10 +1,10 @@
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.ford.fordcan import CanBus
-from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC
+from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags
+from openpilot.selfdrive.car.interfaces import CarStateBase
 
 GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType
@@ -19,6 +19,9 @@ class CarState(CarStateBase):
 
     self.vehicle_sensors_valid = False
 
+    self.prev_distance_button = 0
+    self.distance_button = 0
+
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
@@ -49,7 +52,7 @@ class CarState(CarStateBase):
     ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
     ret.espDisabled = cp.vl["Cluster_Info1_FD1"]["DrvSlipCtlMde_D_Rq"] != 0  # 0 is default mode
 
-    if self.CP.carFingerprint in CANFD_CAR:
+    if self.CP.flags & FordFlags.CANFD:
       # this signal is always 0 on non-CAN FD cars
       ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)
 
@@ -83,6 +86,8 @@ class CarState(CarStateBase):
     ret.rightBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2
     # TODO: block this going to the camera otherwise it will enable stock TJA
     ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
+    self.prev_distance_button = self.distance_button
+    self.distance_button = cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"]
 
     # lock info
     ret.doorOpen = any([cp.vl["BodyInfo_3_FD1"]["DrStatDrv_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatPsngr_B_Actl"],
@@ -91,7 +96,7 @@ class CarState(CarStateBase):
 
     # blindspot sensors
     if self.CP.enableBsm:
-      cp_bsm = cp_cam if self.CP.carFingerprint in CANFD_CAR else cp
+      cp_bsm = cp_cam if self.CP.flags & FordFlags.CANFD else cp
       ret.leftBlindspot = cp_bsm.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
       ret.rightBlindspot = cp_bsm.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
 
@@ -122,7 +127,7 @@ class CarState(CarStateBase):
       ("RCMStatusMessage2_FD1", 10),
     ]
 
-    if CP.carFingerprint in CANFD_CAR:
+    if CP.flags & FordFlags.CANFD:
       messages += [
         ("Lane_Assist_Data3_FD1", 33),
       ]
@@ -137,7 +142,7 @@ class CarState(CarStateBase):
         ("BCM_Lamp_Stat_FD1", 1),
       ]
 
-    if CP.enableBsm and CP.carFingerprint not in CANFD_CAR:
+    if CP.enableBsm and not (CP.flags & FordFlags.CANFD):
       messages += [
         ("Side_Detect_L_Stat", 5),
         ("Side_Detect_R_Stat", 5),
@@ -155,7 +160,7 @@ class CarState(CarStateBase):
       ("IPMA_Data", 1),
     ]
 
-    if CP.enableBsm and CP.carFingerprint in CANFD_CAR:
+    if CP.enableBsm and CP.flags & FordFlags.CANFD:
       messages += [
         ("Side_Detect_L_Stat", 5),
         ("Side_Detect_R_Stat", 5),

selfdrive/car/ford/interface.py

@@ -1,11 +1,12 @@
 from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.ford.fordcan import CanBus
-from openpilot.selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu
+from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
+ButtonType = car.CarState.ButtonEvent.Type
 TransmissionType = car.CarParams.TransmissionType
 GearShifter = car.CarState.GearShifter
 
@@ -14,7 +15,7 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
-    ret.dashcamOnly = candidate in CANFD_CAR
+    ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
 
     ret.radarUnavailable = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
@@ -36,54 +37,9 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
       ret.openpilotLongitudinalControl = True
 
-    if candidate in CANFD_CAR:
+    if ret.flags & FordFlags.CANFD:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
 
-    if candidate == CAR.BRONCO_SPORT_MK1:
-      ret.wheelbase = 2.67
-      ret.steerRatio = 17.7
-      ret.mass = 1625
-
-    elif candidate == CAR.ESCAPE_MK4:
-      ret.wheelbase = 2.71
-      ret.steerRatio = 16.7
-      ret.mass = 1750
-
-    elif candidate == CAR.EXPLORER_MK6:
-      ret.wheelbase = 3.025
-      ret.steerRatio = 16.8
-      ret.mass = 2050
-
-    elif candidate == CAR.F_150_MK14:
-      # required trim only on SuperCrew
-      ret.wheelbase = 3.69
-      ret.steerRatio = 17.0
-      ret.mass = 2000
-
-    elif candidate == CAR.F_150_LIGHTNING_MK1:
-      # required trim only on SuperCrew
-      ret.wheelbase = 3.70
-      ret.steerRatio = 16.9
-      ret.mass = 2948
-
-    elif candidate == CAR.MUSTANG_MACH_E_MK1:
-      ret.wheelbase = 2.984
-      ret.steerRatio = 17.0  # guess
-      ret.mass = 2200
-
-    elif candidate == CAR.FOCUS_MK4:
-      ret.wheelbase = 2.7
-      ret.steerRatio = 15.0
-      ret.mass = 1350
-
-    elif candidate == CAR.MAVERICK_MK1:
-      ret.wheelbase = 3.076
-      ret.steerRatio = 17.0
-      ret.mass = 1650
-
-    else:
-      raise ValueError(f"Unsupported car: {candidate}")
-
     # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
     found_ecus = [fw.ecu for fw in car_fw]
     if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
@@ -106,6 +62,8 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
+    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
     if not self.CS.vehicle_sensors_valid:
       events.add(car.CarEvent.EventName.vehicleSensorsInvalid)

selfdrive/car/ford/tests/test_ford.py

@@ -19,6 +19,7 @@ ECU_ADDRESSES = {
   Ecu.fwdCamera: 0x706,    # Image Processing Module A (IPMA)
   Ecu.engine: 0x7E0,       # Powertrain Control Module (PCM)
   Ecu.shiftByWire: 0x732,  # Gear Shift Module (GSM)
+  Ecu.debug: 0x7D0,        # Accessory Protocol Interface Module (APIM)
 }
 
 

selfdrive/car/ford/values.py

@@ -1,12 +1,12 @@
-from collections import defaultdict
-from dataclasses import dataclass
-from enum import Enum, StrEnum
+from dataclasses import dataclass, field
+from enum import Enum, IntFlag
 
+import panda.python.uds as uds
 from cereal import car
-from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
+from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
                                                      Device
-from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
 Ecu = car.CarParams.Ecu
 
@@ -39,18 +39,9 @@ class CarControllerParams:
     pass
 
 
-class CAR(StrEnum):
-  BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
-  ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
-  EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
-  F_150_MK14 = "FORD F-150 14TH GEN"
-  FOCUS_MK4 = "FORD FOCUS 4TH GEN"
-  MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
-  F_150_LIGHTNING_MK1 = "FORD F-150 LIGHTNING 1ST GEN"
-  MUSTANG_MACH_E_MK1 = "FORD MUSTANG MACH-E 1ST GEN"
-
-
-CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
+class FordFlags(IntFlag):
+  # Static flags
+  CANFD = 1
 
 
 class RADAR:
@@ -58,14 +49,6 @@ class RADAR:
   DELPHI_MRR = 'FORD_CADS'
 
 
-DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR))
-
-# F-150 radar is not yet supported
-DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None)
-DBC[CAR.F_150_LIGHTNING_MK1] = dbc_dict("ford_lincoln_base_pt", None)
-DBC[CAR.MUSTANG_MACH_E_MK1] = dbc_dict("ford_lincoln_base_pt", None)
-
-
 class Footnote(Enum):
   FOCUS = CarFootnote(
     "Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " +
@@ -79,46 +62,119 @@ class FordCarInfo(CarInfo):
   package: str = "Co-Pilot360 Assist+"
 
   def init_make(self, CP: car.CarParams):
-    harness = CarHarness.ford_q4 if CP.carFingerprint in CANFD_CAR else CarHarness.ford_q3
-    if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14):
+    harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
+    if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1):
       self.car_parts = CarParts([Device.threex_angled_mount, harness])
     else:
       self.car_parts = CarParts([Device.threex, harness])
 
 
-CAR_INFO: dict[str, CarInfo | list[CarInfo]] = {
-  CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
-  CAR.ESCAPE_MK4: [
-    FordCarInfo("Ford Escape 2020-22"),
-    FordCarInfo("Ford Escape Hybrid 2020-22"),
-    FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
-    FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
-    FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
-    FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
-  ],
-  CAR.EXPLORER_MK6: [
-    FordCarInfo("Ford Explorer 2020-23"),
-    FordCarInfo("Ford Explorer Hybrid 2020-23"),  # Limited and Platinum only
-    FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"),
-    FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"),  # Grand Touring only
-  ],
-  CAR.F_150_MK14: [
-    FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
-    FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"),
-  ],
-  CAR.F_150_LIGHTNING_MK1: FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
-  CAR.MUSTANG_MACH_E_MK1: FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
-  CAR.FOCUS_MK4: [
-    FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
-    FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),  # mHEV only
-  ],
-  CAR.MAVERICK_MK1: [
-    FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
-    FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"),
-    FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
-    FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"),
-  ],
-}
+@dataclass
+class FordPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))
+
+
+@dataclass
+class FordCANFDPlatformConfig(FordPlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', None))
+
+  def init(self):
+    super().init()
+    self.flags |= FordFlags.CANFD
+
+
+class CAR(Platforms):
+  BRONCO_SPORT_MK1 = FordPlatformConfig(
+    "FORD BRONCO SPORT 1ST GEN",
+    FordCarInfo("Ford Bronco Sport 2021-22"),
+    CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
+  )
+  ESCAPE_MK4 = FordPlatformConfig(
+    "FORD ESCAPE 4TH GEN",
+    [
+      FordCarInfo("Ford Escape 2020-22"),
+      FordCarInfo("Ford Escape Hybrid 2020-22"),
+      FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
+      FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
+      FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
+      FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
+    ],
+    CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
+  )
+  EXPLORER_MK6 = FordPlatformConfig(
+    "FORD EXPLORER 6TH GEN",
+    [
+      FordCarInfo("Ford Explorer 2020-23"),
+      FordCarInfo("Ford Explorer Hybrid 2020-23"),  # Limited and Platinum only
+      FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"),
+      FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"),  # Grand Touring only
+    ],
+    CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
+  )
+  F_150_MK14 = FordCANFDPlatformConfig(
+    "FORD F-150 14TH GEN",
+    [
+      FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
+      FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"),
+    ],
+    CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
+  )
+  F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig(
+    "FORD F-150 LIGHTNING 1ST GEN",
+    FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
+    CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
+  )
+  FOCUS_MK4 = FordPlatformConfig(
+    "FORD FOCUS 4TH GEN",
+    [
+      FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
+      FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),  # mHEV only
+    ],
+    CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
+  )
+  MAVERICK_MK1 = FordPlatformConfig(
+    "FORD MAVERICK 1ST GEN",
+    [
+      FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
+      FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"),
+      FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
+      FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"),
+    ],
+    CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
+  )
+  MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
+    "FORD MUSTANG MACH-E 1ST GEN",
+    FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
+    CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0),  # TODO: check steer ratio
+  )
+
+
+DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00
+
+ASBUILT_BLOCKS: list[tuple[int, list]] = [
+  (1, [Ecu.debug, Ecu.fwdCamera, Ecu.eps]),
+  (2, [Ecu.abs, Ecu.debug, Ecu.eps]),
+  (3, [Ecu.abs, Ecu.debug, Ecu.eps]),
+  (4, [Ecu.debug, Ecu.fwdCamera]),
+  (5, [Ecu.debug]),
+  (6, [Ecu.debug]),
+  (7, [Ecu.debug]),
+  (8, [Ecu.debug]),
+  (9, [Ecu.debug]),
+  (16, [Ecu.debug, Ecu.fwdCamera]),
+  (18, [Ecu.fwdCamera]),
+  (20, [Ecu.fwdCamera]),
+  (21, [Ecu.fwdCamera]),
+]
+
+
+def ford_asbuilt_block_request(block_id: int):
+  return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
+
+
+def ford_asbuilt_block_response(block_id: int):
+  return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
+
 
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
@@ -127,18 +183,30 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
       logging=True,
     ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
       bus=0,
       auxiliary=True,
     ),
+    *[Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, ford_asbuilt_block_request(block_id)],
+      [StdQueries.TESTER_PRESENT_RESPONSE, ford_asbuilt_block_response(block_id)],
+      whitelist_ecus=ecus,
+      bus=0,
+      logging=True,
+    ) for block_id, ecus in ASBUILT_BLOCKS],
   ],
   extra_ecus=[
-    # We are unlikely to get a response from the PCM from behind the gateway
-    (Ecu.engine, 0x7e0, None),
-    (Ecu.shiftByWire, 0x732, None),
+    (Ecu.engine, 0x7e0, None),        # Powertrain Control Module
+                                      # Note: We are unlikely to get a response from behind the gateway
+    (Ecu.shiftByWire, 0x732, None),   # Gear Shift Module
+    (Ecu.debug, 0x7d0, None),         # Accessory Protocol Interface Module
   ],
 )
+
+DBC = CAR.create_dbc_map()

selfdrive/car/fw_query_definitions.py

@@ -47,6 +47,11 @@ class StdQueries:
   MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
     p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
 
+  SUPPLIER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+    p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
+  SUPPLIER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+    p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
+
   UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
     p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
   UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \

selfdrive/car/fw_versions.py

@@ -1,19 +1,20 @@
 #!/usr/bin/env python3
 from collections import defaultdict
-from typing import Any, TypeVar
 from collections.abc import Iterator
+from typing import Any, Protocol, TypeVar
+
 from tqdm import tqdm
 import capnp
 
 import panda.python.uds as uds
 from cereal import car
 from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
-from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig
-from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
+from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions
+from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from openpilot.common.swaglog import cloudlog
 
 Ecu = car.CarParams.Ecu
 ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
@@ -38,8 +39,7 @@ def is_brand(brand: str, filter_brand: str | None) -> bool:
   return filter_brand is None or brand == filter_brand
 
 
-def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder],
-                  filter_brand: str | None = None) -> dict[AddrType, set[bytes]]:
+def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], filter_brand: str = None) -> dict[AddrType, set[bytes]]:
   fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set)
   for fw in fw_versions:
     if is_brand(fw.brand, filter_brand) and not fw.logging:
@@ -48,7 +48,12 @@ def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder],
   return dict(fw_versions_dict)
 
 
-def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=None):
+class MatchFwToCar(Protocol):
+  def __call__(self, live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True) -> set[str]:
+    ...
+
+
+def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, exclude: str = None) -> set[str]:
   """Do a fuzzy FW match. This function will return a match, and the number of firmware version
   that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
   the match is rejected."""
@@ -73,7 +78,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=
         all_fw_versions[(addr[1], addr[2], f)].append(candidate)
 
   matched_ecus = set()
-  candidate = None
+  match: str | None = None
   for addr, versions in live_fw_versions.items():
     ecu_key = (addr[0], addr[1])
     for version in versions:
@@ -82,23 +87,23 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=
 
       if len(candidates) == 1:
         matched_ecus.add(ecu_key)
-        if candidate is None:
-          candidate = candidates[0]
+        if match is None:
+          match = candidates[0]
         # We uniquely matched two different cars. No fuzzy match possible
-        elif candidate != candidates[0]:
+        elif match != candidates[0]:
           return set()
 
   # Note that it is possible to match to a candidate without all its ECUs being present
   # if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching
-  if len(matched_ecus) >= 2:
+  if match and len(matched_ecus) >= 2:
     if log:
-      cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {len(matched_ecus)} matching ECUs")
-    return {candidate}
+      cloudlog.error(f"Fingerprinted {match} using fuzzy match. {len(matched_ecus)} matching ECUs")
+    return {match}
   else:
     return set()
 
 
-def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> set[str]:
+def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, extra_fw_versions: dict = None) -> 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
@@ -139,9 +144,10 @@ def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw
   return set(candidates.keys()) - invalid
 
 
-def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
+def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], allow_exact: bool = True, allow_fuzzy: bool = True,
+                    log: bool = True) -> tuple[bool, set[str]]:
   # Try exact matching first
-  exact_matches = []
+  exact_matches: list[tuple[bool, MatchFwToCar]] = []
   if allow_exact:
     exact_matches = [(True, match_fw_to_car_exact)]
   if allow_fuzzy:
@@ -149,7 +155,7 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
 
   for exact_match, match_func in exact_matches:
     # For each brand, attempt to fingerprint using all FW returned from its queries
-    matches = set()
+    matches: set[str] = set()
     for brand in VERSIONS.keys():
       fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
       matches |= match_func(fw_versions_dict, match_brand=brand, log=log)
@@ -165,12 +171,12 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
   return True, set()
 
 
-def get_present_ecus(logcan, sendcan, num_pandas=1) -> set[EcuAddrBusType]:
+def get_present_ecus(logcan, sendcan, num_pandas: int = 1) -> set[EcuAddrBusType]:
   params = Params()
   # queries are split by OBD multiplexing mode
   queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []}
   parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []}
-  responses = set()
+  responses: set[EcuAddrBusType] = set()
 
   for brand, config, r in REQUESTS:
     # Skip query if no panda available
@@ -231,8 +237,8 @@ def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
     cloudlog.warning("OBD multiplexing set successfully")
 
 
-def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
-  list[capnp.lib.capnp._DynamicStructBuilder]:
+def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1,
+                            debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
   """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
 
   all_car_fw = []
@@ -254,8 +260,8 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
   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) -> \
-  list[capnp.lib.capnp._DynamicStructBuilder]:
+def get_fw_versions(logcan, sendcan, query_brand: str = None, extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1,
+                    debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]:
   versions = VERSIONS.copy()
   params = Params()
 

selfdrive/car/gm/carcontroller.py

@@ -6,6 +6,7 @@ from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
+from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
@@ -17,7 +18,7 @@ CAMERA_CANCEL_DELAY_FRAMES = 10
 MIN_STEER_MSG_INTERVAL_MS = 15
 
 
-class CarController:
+class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.start_time = 0.

selfdrive/car/gm/interface.py

@@ -145,19 +145,12 @@ class CarInterface(CarInterfaceBase):
     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
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
-    ret.tireStiffnessFactor = 0.444  # not optimized yet
 
     ret.steerLimitTimer = 0.4
     ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
     ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
 
     if candidate == CAR.VOLT:
-      ret.mass = 1607.
-      ret.wheelbase = 2.69
-      ret.steerRatio = 17.7  # Stock 15.7, LiveParameters
-      ret.tireStiffnessFactor = 0.469  # Stock Michelin Energy Saver A/S, LiveParameters
-      ret.centerToFront = ret.wheelbase * 0.45  # Volt Gen 1, TODO corner weigh
-
       ret.lateralTuning.pid.kpBP = [0., 40.]
       ret.lateralTuning.pid.kpV = [0., 0.17]
       ret.lateralTuning.pid.kiBP = [0.]
@@ -165,62 +158,20 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_volt()
       ret.steerActuatorDelay = 0.2
 
-    elif candidate == CAR.MALIBU:
-      ret.mass = 1496.
-      ret.wheelbase = 2.83
-      ret.steerRatio = 15.8
-      ret.centerToFront = ret.wheelbase * 0.4  # wild guess
-
-    elif candidate == CAR.HOLDEN_ASTRA:
-      ret.mass = 1363.
-      ret.wheelbase = 2.662
-      # Remaining parameters copied from Volt for now
-      ret.centerToFront = ret.wheelbase * 0.4
-      ret.steerRatio = 15.7
-
     elif candidate == CAR.ACADIA:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-      ret.mass = 4353. * CV.LB_TO_KG
-      ret.wheelbase = 2.86
-      ret.steerRatio = 14.4  # end to end is 13.46
-      ret.centerToFront = ret.wheelbase * 0.4
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.BUICK_LACROSSE:
-      ret.mass = 1712.
-      ret.wheelbase = 2.91
-      ret.steerRatio = 15.8
-      ret.centerToFront = ret.wheelbase * 0.4  # wild guess
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.BUICK_REGAL:
-      ret.mass = 3779. * CV.LB_TO_KG  # (3849+3708)/2
-      ret.wheelbase = 2.83  # 111.4 inches in meters
-      ret.steerRatio = 14.4  # guess for tourx
-      ret.centerToFront = ret.wheelbase * 0.4  # guess for tourx
-
-    elif candidate == CAR.CADILLAC_ATS:
-      ret.mass = 1601.
-      ret.wheelbase = 2.78
-      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  # (5552+5815)/2
-      ret.wheelbase = 2.95  # 116 inches in meters
-      ret.steerRatio = 17.3
-      ret.centerToFront = ret.wheelbase * 0.5
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019):
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-      ret.mass = 2739.
-      ret.wheelbase = 3.302
-      ret.steerRatio = 17.3
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.tireStiffnessFactor = 1.0
 
       if candidate == CAR.ESCALADE_ESV:
         ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
@@ -231,20 +182,10 @@ class CarInterface(CarInterfaceBase):
         CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.BOLT_EUV:
-      ret.mass = 1669.
-      ret.wheelbase = 2.63779
-      ret.steerRatio = 16.8
-      ret.centerToFront = ret.wheelbase * 0.4
-      ret.tireStiffnessFactor = 1.0
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.SILVERADO:
-      ret.mass = 2450.
-      ret.wheelbase = 3.75
-      ret.steerRatio = 16.3
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.tireStiffnessFactor = 1.0
       # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
       # with foot on brake to allow engagement, but this platform only has that check in the camera.
       # TODO: check if this is split by EV/ICE with more platforms in the future
@@ -253,18 +194,9 @@ class CarInterface(CarInterfaceBase):
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.EQUINOX:
-      ret.mass = 3500. * CV.LB_TO_KG
-      ret.wheelbase = 2.72
-      ret.steerRatio = 14.4
-      ret.centerToFront = ret.wheelbase * 0.4
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.TRAILBLAZER:
-      ret.mass = 1345.
-      ret.wheelbase = 2.64
-      ret.steerRatio = 16.8
-      ret.centerToFront = ret.wheelbase * 0.4
-      ret.tireStiffnessFactor = 1.0
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 

selfdrive/car/gm/values.py

@@ -1,9 +1,8 @@
-from collections import defaultdict
-from dataclasses import dataclass
-from enum import Enum, StrEnum
+from dataclasses import dataclass, field
+from enum import Enum
 
 from cereal import car
-from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -61,23 +60,6 @@ class CarControllerParams:
     self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
 
 
-class CAR(StrEnum):
-  HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
-  VOLT = "CHEVROLET VOLT PREMIER 2017"
-  CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
-  MALIBU = "CHEVROLET MALIBU PREMIER 2017"
-  ACADIA = "GMC ACADIA DENALI 2018"
-  BUICK_LACROSSE = "BUICK LACROSSE 2017"
-  BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
-  ESCALADE = "CADILLAC ESCALADE 2017"
-  ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
-  ESCALADE_ESV_2019 = "CADILLAC ESCALADE ESV 2019"
-  BOLT_EUV = "CHEVROLET BOLT EUV 2022"
-  SILVERADO = "CHEVROLET SILVERADO 1500 2020"
-  EQUINOX = "CHEVROLET EQUINOX 2019"
-  TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021"
-
-
 class Footnote(Enum):
   OBD_II = CarFootnote(
     'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. ' +
@@ -97,28 +79,93 @@ class GMCarInfo(CarInfo):
       self.footnotes.append(Footnote.OBD_II)
 
 
-CAR_INFO: dict[str, GMCarInfo | list[GMCarInfo]] = {
-  CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"),
-  CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
-  CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
-  CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
-  CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
-  CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
-  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.ESCALADE_ESV_2019: GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
-  CAR.BOLT_EUV: [
-    GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
-    GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
-  ],
-  CAR.SILVERADO: [
-    GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
-    GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
-  ],
-  CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
-  CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"),
-}
+@dataclass(frozen=True, kw_only=True)
+class GMCarSpecs(CarSpecs):
+  tireStiffnessFactor: float = 0.444  # not optimized yet
+
+
+@dataclass
+class GMPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
+
+
+class CAR(Platforms):
+  HOLDEN_ASTRA = GMPlatformConfig(
+    "HOLDEN ASTRA RS-V BK 2017",
+    GMCarInfo("Holden Astra 2017"),
+    GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
+  )
+  VOLT = GMPlatformConfig(
+    "CHEVROLET VOLT PREMIER 2017",
+    GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
+    GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469),
+  )
+  CADILLAC_ATS = GMPlatformConfig(
+    "CADILLAC ATS Premium Performance 2018",
+    GMCarInfo("Cadillac ATS Premium Performance 2018"),
+    GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
+  )
+  MALIBU = GMPlatformConfig(
+    "CHEVROLET MALIBU PREMIER 2017",
+    GMCarInfo("Chevrolet Malibu Premier 2017"),
+    GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
+  )
+  ACADIA = GMPlatformConfig(
+    "GMC ACADIA DENALI 2018",
+    GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
+    GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
+  )
+  BUICK_LACROSSE = GMPlatformConfig(
+    "BUICK LACROSSE 2017",
+    GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
+    GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
+  )
+  BUICK_REGAL = GMPlatformConfig(
+    "BUICK REGAL ESSENCE 2018",
+    GMCarInfo("Buick Regal Essence 2018"),
+    GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
+  )
+  ESCALADE = GMPlatformConfig(
+    "CADILLAC ESCALADE 2017",
+    GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
+    GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
+  )
+  ESCALADE_ESV = GMPlatformConfig(
+    "CADILLAC ESCALADE ESV 2016",
+    GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
+    GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
+  )
+  ESCALADE_ESV_2019 = GMPlatformConfig(
+    "CADILLAC ESCALADE ESV 2019",
+    GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
+    ESCALADE_ESV.specs,
+  )
+  BOLT_EUV = GMPlatformConfig(
+    "CHEVROLET BOLT EUV 2022",
+    [
+      GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
+      GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
+    ],
+    GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
+  )
+  SILVERADO = GMPlatformConfig(
+    "CHEVROLET SILVERADO 1500 2020",
+    [
+      GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
+      GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
+    ],
+    GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
+  )
+  EQUINOX = GMPlatformConfig(
+    "CHEVROLET EQUINOX 2019",
+    GMCarInfo("Chevrolet Equinox 2019-22"),
+    GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
+  )
+  TRAILBLAZER = GMPlatformConfig(
+    "CHEVROLET TRAILBLAZER 2021",
+    GMCarInfo("Chevrolet Trailblazer 2021-22"),
+    GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
+  )
 
 
 class CruiseButtons:
@@ -147,22 +194,35 @@ class CanBus:
 # In a Data Module, an identifier is a string used to recognize an object,
 # either by itself or together with the identifiers of parent objects.
 # Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951
+GM_BOOT_SOFTWARE_PART_NUMER_REQUEST = b'\x1a\xc0'  # likely does not contain anything useful
 GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1'
 GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2'
 GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3'
+
+# Part number of XML data file that is used to configure ECU
+GM_XML_DATA_FILE_PART_NUMBER = b'\x1a\x9c'
+GM_XML_CONFIG_COMPAT_ID = b'\x1a\x9b'  # used to know if XML file is compatible with the ECU software/hardware
+
 # This DID is for identifying the part number that reflects the mix of hardware,
 # software, and calibrations in the ECU when it first arrives at the vehicle assembly plant.
 # If there's an Alpha Code, it's associated with this part number and stored in the DID $DB.
 GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb'
+GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdb'
 GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc'
+GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdc'
 GM_FW_RESPONSE = b'\x5a'
 
 GM_FW_REQUESTS = [
+  GM_BOOT_SOFTWARE_PART_NUMER_REQUEST,
   GM_SOFTWARE_MODULE_1_REQUEST,
   GM_SOFTWARE_MODULE_2_REQUEST,
   GM_SOFTWARE_MODULE_3_REQUEST,
+  GM_XML_DATA_FILE_PART_NUMBER,
+  GM_XML_CONFIG_COMPAT_ID,
   GM_END_MODEL_PART_NUMBER_REQUEST,
+  GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
   GM_BASE_MODEL_PART_NUMBER_REQUEST,
+  GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
 ]
 
 GM_RX_OFFSET = 0x400
@@ -180,11 +240,11 @@ FW_QUERY_CONFIG = FwQueryConfig(
   extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
 )
 
-DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
-
 EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
 
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
 CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
 
 STEER_THRESHOLD = 1.0
+
+DBC = CAR.create_dbc_map()

selfdrive/car/honda/carcontroller.py

@@ -7,6 +7,7 @@ from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import create_gas_interceptor_command
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
+from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -104,11 +105,12 @@ def rate_limit_steer(new_steer, last_steer):
   return clip(new_steer, last_steer - MAX_DELTA, last_steer + MAX_DELTA)
 
 
-class CarController:
+class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
+    self.CAN = hondacan.CanBus(CP)
     self.frame = 0
 
     self.braking = False
@@ -167,7 +169,7 @@ class CarController:
         can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
 
     # Send steering command.
-    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, CC.latActive, self.CP.carFingerprint,
+    can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_steer, CC.latActive, self.CP.carFingerprint,
                                                       CS.CP.openpilotLongitudinalControl))
 
     # wind brake from air resistance decel at high speed
@@ -201,12 +203,12 @@ class CarController:
 
     if not self.CP.openpilotLongitudinalControl:
       if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:  # radarless cars don't have supplemental message
-        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint))
+        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CAN, self.CP.carFingerprint))
       # If using stock ACC, spam cancel command to kill gas when OP disengages.
       if pcm_cancel_cmd:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, self.CP.carFingerprint))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint))
       elif CC.cruiseControl.resume:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
 
     else:
       # Send gas and brake commands.
@@ -219,7 +221,7 @@ class CarController:
 
           stopping = actuators.longControlState == LongCtrlState.stopping
           self.stopping_counter = self.stopping_counter + 1 if stopping else 0
-          can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas,
+          can_sends.extend(hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas,
                                                         self.stopping_counter, self.CP.carFingerprint))
         else:
           apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
@@ -227,7 +229,7 @@ class CarController:
           pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
 
           pcm_override = True
-          can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
+          can_sends.append(hondacan.create_brake_command(self.packer, self.CAN, apply_brake, pump_on,
                                                          pcm_override, pcm_cancel_cmd, fcw_display,
                                                          self.CP.carFingerprint, CS.stock_brake))
           self.apply_brake_last = apply_brake
@@ -250,7 +252,7 @@ class CarController:
     if self.frame % 10 == 0:
       hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
                     hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
 
       if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
         self.speed = pcm_speed

selfdrive/car/honda/carstate.py

@@ -5,7 +5,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus
+from openpilot.selfdrive.car.honda.hondacan import CanBus, get_cruise_speed_conversion
 from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
                                                  HondaFlags
@@ -64,7 +64,7 @@ def get_can_messages(CP, gearbox_msg):
       messages.append(("CRUISE_PARAMS", 50))
 
   # TODO: clean this up
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
+  if CP.carFingerprint in (CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
                            CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
     pass
   elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
@@ -129,7 +129,7 @@ class CarState(CarStateBase):
     # panda checks if the signal is non-zero
     ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
     # TODO: find a common signal across all cars
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
                                   CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
     elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
@@ -267,7 +267,7 @@ class CarState(CarStateBase):
 
   def get_can_parser(self, CP):
     messages = get_can_messages(CP, self.gearbox_msg)
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, get_pt_bus(CP.carFingerprint))
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).pt)
 
   @staticmethod
   def get_cam_can_parser(CP):
@@ -287,7 +287,7 @@ class CarState(CarStateBase):
         ("BRAKE_COMMAND", 50),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).camera)
 
   @staticmethod
   def get_body_can_parser(CP):
@@ -296,6 +296,6 @@ class CarState(CarStateBase):
         ("BSM_STATUS_LEFT", 3),
         ("BSM_STATUS_RIGHT", 3),
       ]
-      bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
+      bus_body = CanBus(CP).radar # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
       return CANParser(DBC[CP.carFingerprint]["body"], messages, bus_body)
     return None

selfdrive/car/honda/fingerprints.py

@@ -48,6 +48,7 @@ FW_VERSIONS = {
     ],
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-TVC-A910\x00\x00',
+      b'54008-TWA-A910\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-6A7-A220\x00\x00',
@@ -89,6 +90,12 @@ FW_VERSIONS = {
       b'57114-TVA-C530\x00\x00',
       b'57114-TVA-E520\x00\x00',
       b'57114-TVE-H250\x00\x00',
+      b'57114-TWA-A040\x00\x00',
+      b'57114-TWA-A050\x00\x00',
+      b'57114-TWA-A530\x00\x00',
+      b'57114-TWA-B520\x00\x00',
+      b'57114-TWA-C510\x00\x00',
+      b'57114-TWB-H030\x00\x00',
     ],
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TBX-H120\x00\x00',
@@ -100,6 +107,7 @@ FW_VERSIONS = {
       b'39990-TVA-X030\x00\x00',
       b'39990-TVA-X040\x00\x00',
       b'39990-TVE-H130\x00\x00',
+      b'39990-TWB-H120\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TBX-H230\x00\x00',
@@ -108,6 +116,9 @@ FW_VERSIONS = {
       b'77959-TVA-H230\x00\x00',
       b'77959-TVA-L420\x00\x00',
       b'77959-TVA-X330\x00\x00',
+      b'77959-TWA-A440\x00\x00',
+      b'77959-TWA-L420\x00\x00',
+      b'77959-TWB-H220\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18da60f1, None): [
       b'78109-TBX-H310\x00\x00',
@@ -141,7 +152,19 @@ FW_VERSIONS = {
       b'78109-TVC-M510\x00\x00',
       b'78109-TVC-YF10\x00\x00',
       b'78109-TVE-H610\x00\x00',
+      b'78109-TWA-A010\x00\x00',
+      b'78109-TWA-A020\x00\x00',
+      b'78109-TWA-A030\x00\x00',
+      b'78109-TWA-A110\x00\x00',
+      b'78109-TWA-A120\x00\x00',
+      b'78109-TWA-A130\x00\x00',
       b'78109-TWA-A210\x00\x00',
+      b'78109-TWA-A220\x00\x00',
+      b'78109-TWA-A230\x00\x00',
+      b'78109-TWA-A610\x00\x00',
+      b'78109-TWA-H210\x00\x00',
+      b'78109-TWA-L010\x00\x00',
+      b'78109-TWA-L210\x00\x00',
     ],
     (Ecu.hud, 0x18da61f1, None): [
       b'78209-TVA-A010\x00\x00',
@@ -158,6 +181,9 @@ FW_VERSIONS = {
       b'36802-TVE-H070\x00\x00',
       b'36802-TWA-A070\x00\x00',
       b'36802-TWA-A080\x00\x00',
+      b'36802-TWA-A210\x00\x00',
+      b'36802-TWA-A330\x00\x00',
+      b'36802-TWB-H060\x00\x00',
     ],
     (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TBX-H130\x00\x00',
@@ -166,72 +192,17 @@ FW_VERSIONS = {
       b'36161-TVC-A330\x00\x00',
       b'36161-TVE-H050\x00\x00',
       b'36161-TWA-A070\x00\x00',
+      b'36161-TWA-A330\x00\x00',
+      b'36161-TWB-H040\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TVA-A010\x00\x00',
       b'38897-TVA-A020\x00\x00',
       b'38897-TVA-A230\x00\x00',
       b'38897-TVA-A240\x00\x00',
-    ],
-  },
-  CAR.ACCORDH: {
-    (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TWA-A120\x00\x00',
       b'38897-TWD-J020\x00\x00',
     ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TWA-A040\x00\x00',
-      b'57114-TWA-A050\x00\x00',
-      b'57114-TWA-A530\x00\x00',
-      b'57114-TWA-B520\x00\x00',
-      b'57114-TWA-C510\x00\x00',
-      b'57114-TWB-H030\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TWA-A440\x00\x00',
-      b'77959-TWA-L420\x00\x00',
-      b'77959-TWB-H220\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TWA-A010\x00\x00',
-      b'78109-TWA-A020\x00\x00',
-      b'78109-TWA-A030\x00\x00',
-      b'78109-TWA-A110\x00\x00',
-      b'78109-TWA-A120\x00\x00',
-      b'78109-TWA-A130\x00\x00',
-      b'78109-TWA-A210\x00\x00',
-      b'78109-TWA-A220\x00\x00',
-      b'78109-TWA-A230\x00\x00',
-      b'78109-TWA-A610\x00\x00',
-      b'78109-TWA-H210\x00\x00',
-      b'78109-TWA-L010\x00\x00',
-      b'78109-TWA-L210\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TWA-A910\x00\x00',
-    ],
-    (Ecu.hud, 0x18da61f1, None): [
-      b'78209-TVA-A010\x00\x00',
-      b'78209-TVA-A110\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TWA-A070\x00\x00',
-      b'36161-TWA-A330\x00\x00',
-      b'36161-TWB-H040\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TWA-A070\x00\x00',
-      b'36802-TWA-A080\x00\x00',
-      b'36802-TWA-A210\x00\x00',
-      b'36802-TWA-A330\x00\x00',
-      b'36802-TWB-H060\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TVA-A150\x00\x00',
-      b'39990-TVA-A160\x00\x00',
-      b'39990-TVA-A340\x00\x00',
-      b'39990-TWB-H120\x00\x00',
-    ],
   },
   CAR.CIVIC: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
@@ -834,6 +805,7 @@ FW_VERSIONS = {
       b'37805-5MR-3250\x00\x00',
       b'37805-5MR-4070\x00\x00',
       b'37805-5MR-4080\x00\x00',
+      b'37805-5MR-4170\x00\x00',
       b'37805-5MR-4180\x00\x00',
       b'37805-5MR-A240\x00\x00',
       b'37805-5MR-A250\x00\x00',

selfdrive/car/honda/hondacan.py

@@ -1,4 +1,5 @@
 from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car import CanBusBase
 from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
 
 # CAN bus layout with relay
@@ -8,15 +9,34 @@ from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_
 # 3 = F-CAN A - OBDII port
 
 
-def get_pt_bus(car_fingerprint):
-  return 1 if car_fingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) else 0
+class CanBus(CanBusBase):
+  def __init__(self, CP=None, fingerprint=None) -> None:
+    # use fingerprint if specified
+    super().__init__(CP if fingerprint is None else None, fingerprint)
+
+    if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS):
+      self._pt, self._radar = self.offset + 1, self.offset
+    else:
+      self._pt, self._radar = self.offset, self.offset + 1
+
+  @property
+  def pt(self) -> int:
+    return self._pt
+
+  @property
+  def radar(self) -> int:
+    return self._radar
+
+  @property
+  def camera(self) -> int:
+    return self.offset + 2
 
 
-def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
+def get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled=False):
   no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS
   if radar_disabled or no_radar:
     # when radar is disabled, steering commands are sent directly to powertrain bus
-    return get_pt_bus(car_fingerprint)
+    return CAN.pt
   # normally steering commands are sent to radar, which forwards them to powertrain bus
   return 0
 
@@ -26,7 +46,7 @@ def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
   return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS
 
 
-def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
+def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
   # TODO: do we loose pressure if we keep pump off for long?
   brakelights = apply_brake > 0
   brake_rq = apply_brake > 0
@@ -47,13 +67,11 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
     "AEB_REQ_2": 0,
     "AEB_STATUS": 0,
   }
-  bus = get_pt_bus(car_fingerprint)
-  return packer.make_can_msg("BRAKE_COMMAND", bus, values)
+  return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)
 
 
-def create_acc_commands(packer, enabled, active, accel, gas, stopping_counter, car_fingerprint):
+def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, car_fingerprint):
   commands = []
-  bus = get_pt_bus(car_fingerprint)
   min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
 
   control_on = 5 if enabled else 0
@@ -90,37 +108,36 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping_counter, c
       "SET_TO_75": 0x75,
       "SET_TO_30": 0x30,
     }
-    commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))
+    commands.append(packer.make_can_msg("ACC_CONTROL_ON", CAN.pt, acc_control_on_values))
 
-  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
+  commands.append(packer.make_can_msg("ACC_CONTROL", CAN.pt, acc_control_values))
   return commands
 
 
-def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, radar_disabled):
+def create_steering_control(packer, CAN, apply_steer, lkas_active, car_fingerprint, radar_disabled):
   values = {
     "STEER_TORQUE": apply_steer if lkas_active else 0,
     "STEER_TORQUE_REQUEST": lkas_active,
   }
-  bus = get_lkas_cmd_bus(car_fingerprint, radar_disabled)
+  bus = get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled)
   return packer.make_can_msg("STEERING_CONTROL", bus, values)
 
 
-def create_bosch_supplemental_1(packer, car_fingerprint):
+def create_bosch_supplemental_1(packer, CAN, car_fingerprint):
   # non-active params
   values = {
     "SET_ME_X04": 0x04,
     "SET_ME_X80": 0x80,
     "SET_ME_X10": 0x10,
   }
-  bus = get_lkas_cmd_bus(car_fingerprint)
+  bus = get_lkas_cmd_bus(CAN, car_fingerprint)
   return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)
 
 
-def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
+def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
   commands = []
-  bus_pt = get_pt_bus(CP.carFingerprint)
   radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
-  bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled)
+  bus_lkas = get_lkas_cmd_bus(CAN, CP.carFingerprint, radar_disabled)
 
   if CP.openpilotLongitudinalControl:
     acc_hud_values = {
@@ -144,7 +161,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
       acc_hud_values['FCM_OFF_2'] = acc_hud['FCM_OFF_2']
       acc_hud_values['FCM_PROBLEM'] = acc_hud['FCM_PROBLEM']
       acc_hud_values['ICONS'] = acc_hud['ICONS']
-    commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values))
+    commands.append(packer.make_can_msg("ACC_HUD", CAN.pt, acc_hud_values))
 
   lkas_hud_values = {
     'SET_ME_X41': 0x41,
@@ -173,19 +190,19 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
       'CMBS_OFF': 0x01,
       'SET_TO_1': 0x01,
     }
-    commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values))
+    commands.append(packer.make_can_msg('RADAR_HUD', CAN.pt, radar_hud_values))
 
     if CP.carFingerprint == CAR.CIVIC_BOSCH:
-      commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus_pt, {}))
+      commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", CAN.pt, {}))
 
   return commands
 
 
-def spam_buttons_command(packer, button_val, car_fingerprint):
+def spam_buttons_command(packer, CAN, button_val, car_fingerprint):
   values = {
     'CRUISE_BUTTONS': button_val,
     'CRUISE_SETTING': 0,
   }
   # send buttons to camera on radarless cars
-  bus = 2 if car_fingerprint in HONDA_BOSCH_RADARLESS else get_pt_bus(car_fingerprint)
+  bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
   return packer.make_can_msg("SCM_BUTTONS", bus, values)

selfdrive/car/honda/interface.py

@@ -3,7 +3,7 @@ from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
-from openpilot.selfdrive.car.honda.hondacan import get_pt_bus
+from openpilot.selfdrive.car.honda.hondacan import CanBus
 from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
                                                  HONDA_BOSCH_RADARLESS
 from openpilot.selfdrive.car import create_button_events, get_safety_config
@@ -36,6 +36,8 @@ class CarInterface(CarInterfaceBase):
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "honda"
 
+    CAN = CanBus(ret, fingerprint)
+
     if candidate in HONDA_BOSCH:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
       ret.radarUnavailable = True
@@ -47,20 +49,20 @@ class CarInterface(CarInterfaceBase):
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
-      ret.enableGasInterceptor = 0x201 in fingerprint[0]
+      ret.enableGasInterceptor = 0x201 in fingerprint[CAN.pt]
       ret.openpilotLongitudinalControl = True
 
       ret.pcmCruise = not ret.enableGasInterceptor
 
     if candidate == CAR.CRV_5G:
-      ret.enableBsm = 0x12f8bfa7 in fingerprint[0]
+      ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]
 
     # Detect Bosch cars with new HUD msgs
     if any(0x33DA in f for f in fingerprint.values()):
       ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
 
-    # Accord 1.5T CVT has different gearbox message
-    if candidate == CAR.ACCORD and 0x191 in fingerprint[1]:
+    # Accord ICE 1.5T CVT has different gearbox message
+    if candidate == CAR.ACCORD and 0x191 in fingerprint[CAN.pt]:
       ret.transmissionType = TransmissionType.cvt
 
     # Certain Hondas have an extra steering sensor at the bottom of the steering rack,
@@ -90,10 +92,6 @@ class CarInterface(CarInterfaceBase):
         eps_modified = True
 
     if candidate == CAR.CIVIC:
-      ret.mass = 1326.
-      ret.wheelbase = 2.70
-      ret.centerToFront = ret.wheelbase * 0.4
-      ret.steerRatio = 15.38  # 10.93 is end-to-end spec
       if eps_modified:
         # stock request input values:     0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
         # stock request output values:    0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
@@ -108,20 +106,11 @@ class CarInterface(CarInterfaceBase):
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
 
     elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
-      ret.mass = 1326.
-      ret.wheelbase = 2.70
-      ret.centerToFront = ret.wheelbase * 0.4
-      ret.steerRatio = 15.38  # 10.93 is end-to-end spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
-    elif candidate in (CAR.ACCORD, CAR.ACCORDH):
-      ret.mass = 3279. * CV.LB_TO_KG
-      ret.wheelbase = 2.83
-      ret.centerToFront = ret.wheelbase * 0.39
-      ret.steerRatio = 16.33  # 11.82 is spec end-to-end
+    elif candidate == CAR.ACCORD:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.8467
 
       if eps_modified:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
@@ -129,29 +118,15 @@ class CarInterface(CarInterfaceBase):
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.ACURA_ILX:
-      ret.mass = 3095. * CV.LB_TO_KG
-      ret.wheelbase = 2.67
-      ret.centerToFront = ret.wheelbase * 0.37
-      ret.steerRatio = 18.61  # 15.3 is spec end-to-end
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.72
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate in (CAR.CRV, CAR.CRV_EU):
-      ret.mass = 3572. * CV.LB_TO_KG
-      ret.wheelbase = 2.62
-      ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 16.89  # as spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
       ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.CRV_5G:
-      ret.mass = 3410. * CV.LB_TO_KG
-      ret.wheelbase = 2.66
-      ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 16.0  # 12.3 is spec end-to-end
       if eps_modified:
         # stock request input values:     0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
         # stock request output values:    0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
@@ -161,45 +136,23 @@ class CarInterface(CarInterfaceBase):
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
-      ret.tireStiffnessFactor = 0.677
       ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.CRV_HYBRID:
-      ret.mass = 1667.  # mean of 4 models in kg
-      ret.wheelbase = 2.66
-      ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 16.0  # 12.3 is spec end-to-end
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.677
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
       ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.FIT:
-      ret.mass = 2644. * CV.LB_TO_KG
-      ret.wheelbase = 2.53
-      ret.centerToFront = ret.wheelbase * 0.39
-      ret.steerRatio = 13.06
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.75
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
 
     elif candidate == CAR.FREED:
-      ret.mass = 3086. * CV.LB_TO_KG
-      ret.wheelbase = 2.74
-      # the remaining parameters were copied from FIT
-      ret.centerToFront = ret.wheelbase * 0.39
-      ret.steerRatio = 13.06
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
-      ret.tireStiffnessFactor = 0.75
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
 
     elif candidate in (CAR.HRV, CAR.HRV_3G):
-      ret.mass = 3125 * CV.LB_TO_KG
-      ret.wheelbase = 2.61
-      ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 15.2
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
-      ret.tireStiffnessFactor = 0.5
       if candidate == CAR.HRV:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
         ret.wheelSpeedFactor = 1.025
@@ -207,29 +160,14 @@ class CarInterface(CarInterfaceBase):
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]  # TODO: can probably use some tuning
 
     elif candidate == CAR.ACURA_RDX:
-      ret.mass = 3935. * CV.LB_TO_KG
-      ret.wheelbase = 2.68
-      ret.centerToFront = ret.wheelbase * 0.38
-      ret.steerRatio = 15.0  # as spec
-      ret.tireStiffnessFactor = 0.444
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate == CAR.ACURA_RDX_3G:
-      ret.mass = 4068. * CV.LB_TO_KG
-      ret.wheelbase = 2.75
-      ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 11.95  # as spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
-      ret.tireStiffnessFactor = 0.677
 
     elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
-      ret.mass = 1900.
-      ret.wheelbase = 3.00
-      ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 14.35  # as spec
-      ret.tireStiffnessFactor = 0.82
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
       if candidate == CAR.ODYSSEY_CHN:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
@@ -237,47 +175,30 @@ class CarInterface(CarInterfaceBase):
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
 
     elif candidate == CAR.PILOT:
-      ret.mass = 4278. * CV.LB_TO_KG  # average weight
-      ret.wheelbase = 2.86
-      ret.centerToFront = ret.wheelbase * 0.428
-      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
-      ret.tireStiffnessFactor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
 
     elif candidate == CAR.RIDGELINE:
-      ret.mass = 4515. * CV.LB_TO_KG
-      ret.wheelbase = 3.18
-      ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 15.59  # as spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
 
     elif candidate == CAR.INSIGHT:
-      ret.mass = 2987. * CV.LB_TO_KG
-      ret.wheelbase = 2.7
-      ret.centerToFront = ret.wheelbase * 0.39
-      ret.steerRatio = 15.0  # 12.58 is spec end-to-end
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.82
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.HONDA_E:
-      ret.mass = 3338.8 * CV.LB_TO_KG
-      ret.wheelbase = 2.5
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 16.71
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.tireStiffnessFactor = 0.82
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
 
     else:
       raise ValueError(f"unsupported car {candidate}")
 
     # These cars use alternate user brake msg (0x1BE)
-    if 0x1BE in fingerprint[get_pt_bus(candidate)] and candidate in HONDA_BOSCH:
+    # TODO: Only detect feature for Accord/Accord Hybrid, not all Bosch DBCs have BRAKE_MODULE
+    if 0x1BE in fingerprint[CAN.pt] and candidate == CAR.ACCORD:
       ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
+
+    if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
 
     # These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)

selfdrive/car/honda/values.py

@@ -1,10 +1,10 @@
 from dataclasses import dataclass
-from enum import Enum, IntFlag, StrEnum
+from enum import Enum, IntFlag
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from panda.python import uds
-from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
@@ -46,10 +46,19 @@ class CarControllerParams:
 
 
 class HondaFlags(IntFlag):
+  # Detected flags
   # Bosch models with alternate set of LKAS_HUD messages
   BOSCH_EXT_HUD = 1
   BOSCH_ALT_BRAKE = 2
 
+  # Static flags
+  BOSCH = 4
+  BOSCH_RADARLESS = 8
+
+  NIDEC = 16
+  NIDEC_ALT_PCM_ACCEL = 32
+  NIDEC_ALT_SCM_MESSAGES = 64
+
 
 # Car button codes
 class CruiseButtons:
@@ -72,87 +81,202 @@ VISUAL_HUD = {
 }
 
 
-class CAR(StrEnum):
-  ACCORD = "HONDA ACCORD 2018"
-  ACCORDH = "HONDA ACCORD HYBRID 2018"
-  CIVIC = "HONDA CIVIC 2016"
-  CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
-  CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
-  CIVIC_2022 = "HONDA CIVIC 2022"
-  ACURA_ILX = "ACURA ILX 2016"
-  CRV = "HONDA CR-V 2016"
-  CRV_5G = "HONDA CR-V 2017"
-  CRV_EU = "HONDA CR-V EU 2016"
-  CRV_HYBRID = "HONDA CR-V HYBRID 2019"
-  FIT = "HONDA FIT 2018"
-  FREED = "HONDA FREED 2020"
-  HRV = "HONDA HRV 2019"
-  HRV_3G = "HONDA HR-V 2023"
-  ODYSSEY = "HONDA ODYSSEY 2018"
-  ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019"
-  ACURA_RDX = "ACURA RDX 2018"
-  ACURA_RDX_3G = "ACURA RDX 2020"
-  PILOT = "HONDA PILOT 2017"
-  RIDGELINE = "HONDA RIDGELINE 2017"
-  INSIGHT = "HONDA INSIGHT 2019"
-  HONDA_E = "HONDA E 2020"
-
-
-class Footnote(Enum):
-  CIVIC_DIESEL = CarFootnote(
-    "2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
-    Column.FSR_STEERING)
-
-
 @dataclass
 class HondaCarInfo(CarInfo):
   package: str = "Honda Sensing"
 
   def init_make(self, CP: car.CarParams):
-    if CP.carFingerprint in HONDA_BOSCH:
-      self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
+    if CP.flags & HondaFlags.BOSCH:
+      self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.flags & HondaFlags.BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
     else:
       self.car_parts = CarParts.common([CarHarness.nidec])
 
 
-CAR_INFO: dict[str, HondaCarInfo | list[HondaCarInfo] | None] = {
-  CAR.ACCORD: [
-    HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
-    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-  ],
-  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
-  CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
-                 footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
-    HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
-  ],
-  CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
-  CAR.CIVIC_2022: [
-    HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
-    HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
-  ],
-  CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
-  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.CRV_EU: None,  # HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
-  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All"),
-  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"),
-  CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
-  CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
-  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),
-    HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
-  ],
-  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-24", 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),
-}
+class Footnote(Enum):
+  CIVIC_DIESEL = CarFootnote(
+    "2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
+    Column.FSR_STEERING)
+
+
+class HondaBoschPlatformConfig(PlatformConfig):
+  def init(self):
+    self.flags |= HondaFlags.BOSCH
+
+
+class HondaNidecPlatformConfig(PlatformConfig):
+  def init(self):
+    self.flags |= HondaFlags.NIDEC
+
+
+class CAR(Platforms):
+  # Bosch Cars
+  ACCORD = HondaBoschPlatformConfig(
+    "HONDA ACCORD 2018",
+    [
+      HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
+      HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+      HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+    ],
+    # steerRatio: 11.82 is spec end-to-end
+    CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
+    dbc_dict('honda_accord_2018_can_generated', None),
+  )
+  CIVIC_BOSCH = HondaBoschPlatformConfig(
+    "HONDA CIVIC (BOSCH) 2019",
+    [
+      HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
+                   footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
+      HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
+    ],
+    CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4),  # steerRatio: 10.93 is end-to-end spec
+    dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
+  )
+  CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
+    "HONDA CIVIC SEDAN 1.6 DIESEL 2019",
+    None,  # don't show in docs
+    CIVIC_BOSCH.specs,
+    dbc_dict('honda_accord_2018_can_generated', None),
+  )
+  CIVIC_2022 = HondaBoschPlatformConfig(
+    "HONDA CIVIC 2022",
+    [
+      HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+    ],
+    CIVIC_BOSCH.specs,
+    dbc_dict('honda_civic_ex_2022_can_generated', None),
+    flags=HondaFlags.BOSCH_RADARLESS,
+  )
+  CRV_5G = HondaBoschPlatformConfig(
+    "HONDA CR-V 2017",
+    HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
+    # steerRatio: 12.3 is spec end-to-end
+    CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
+    dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
+    flags=HondaFlags.BOSCH_ALT_BRAKE,
+  )
+  CRV_HYBRID = HondaBoschPlatformConfig(
+    "HONDA CR-V HYBRID 2019",
+    HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
+    # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
+    CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
+    dbc_dict('honda_accord_2018_can_generated', None),
+  )
+  HRV_3G = HondaBoschPlatformConfig(
+    "HONDA HR-V 2023",
+    HondaCarInfo("Honda HR-V 2023", "All"),
+    CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
+    dbc_dict('honda_civic_ex_2022_can_generated', None),
+    flags=HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE,
+  )
+  ACURA_RDX_3G = HondaBoschPlatformConfig(
+    "ACURA RDX 2020",
+    HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+    CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),  # as spec
+    dbc_dict('acura_rdx_2020_can_generated', None),
+    flags=HondaFlags.BOSCH_ALT_BRAKE,
+  )
+  INSIGHT = HondaBoschPlatformConfig(
+    "HONDA INSIGHT 2019",
+    HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+    CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82),  # as spec
+    dbc_dict('honda_insight_ex_2019_can_generated', None),
+  )
+  HONDA_E = HondaBoschPlatformConfig(
+    "HONDA E 2020",
+    HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+    CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
+    dbc_dict('acura_rdx_2020_can_generated', None),
+  )
+
+  # Nidec Cars
+  ACURA_ILX = HondaNidecPlatformConfig(
+    "ACURA ILX 2016",
+    HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
+    CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72),  # 15.3 is spec end-to-end
+    dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  CRV = HondaNidecPlatformConfig(
+    "HONDA CR-V 2016",
+    HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
+    CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444),  # as spec
+    dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  CRV_EU = HondaNidecPlatformConfig(
+    "HONDA CR-V EU 2016",
+    None,  # Euro version of CRV Touring, don't show in docs
+    CRV.specs,
+    dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  FIT = HondaNidecPlatformConfig(
+    "HONDA FIT 2018",
+    HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
+    CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),
+    dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  FREED = HondaNidecPlatformConfig(
+    "HONDA FREED 2020",
+    HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
+    CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),  # mostly copied from FIT
+    dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  HRV = HondaNidecPlatformConfig(
+    "HONDA HRV 2019",
+    HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
+    HRV_3G.specs,
+    dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  ODYSSEY = HondaNidecPlatformConfig(
+    "HONDA ODYSSEY 2018",
+    HondaCarInfo("Honda Odyssey 2018-20"),
+    CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
+    dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_PCM_ACCEL,
+  )
+  ODYSSEY_CHN = HondaNidecPlatformConfig(
+    "HONDA ODYSSEY CHN 2019",
+    None,  # Chinese version of Odyssey, don't show in docs
+    ODYSSEY.specs,
+    dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  ACURA_RDX = HondaNidecPlatformConfig(
+    "ACURA RDX 2018",
+    HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
+    CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444),  # as spec
+    dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  PILOT = HondaNidecPlatformConfig(
+    "HONDA PILOT 2017",
+    [
+      HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
+      HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
+    ],
+    CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0, tireStiffnessFactor=0.444),  # as spec
+    dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  RIDGELINE = HondaNidecPlatformConfig(
+    "HONDA RIDGELINE 2017",
+    HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
+    CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444),  # as spec
+    dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
+  CIVIC = HondaNidecPlatformConfig(
+    "HONDA CIVIC 2016",
+    HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
+    CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38),  # 10.93 is end-to-end spec
+    dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
+  )
+
 
 HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(0xF112)
@@ -188,7 +312,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.UDS_VERSION_REQUEST],
       [StdQueries.UDS_VERSION_RESPONSE],
       bus=0,
-      logging=True,
     ),
     # Bosch PT bus
     Request(
@@ -201,12 +324,16 @@ FW_QUERY_CONFIG = FwQueryConfig(
   # We lose these ECUs without the comma power on these cars.
   # Note that we still attempt to match with them when they are present
   non_essential_ecus={
-    Ecu.programmedFuelInjection: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.transmission: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.vsa: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.combinationMeter: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.gateway: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
-    Ecu.electricBrakeBooster: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.programmedFuelInjection: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.transmission: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.srs: [CAR.ACCORD],
+    Ecu.eps: [CAR.ACCORD],
+    Ecu.vsa: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.combinationMeter: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.gateway: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.electricBrakeBooster: [CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.shiftByWire: [CAR.ACCORD],  # existence correlates with transmission type for ICE
+    Ecu.hud: [CAR.ACCORD],  # existence correlates with trim level
   },
   extra_ecus=[
     # The only other ECU on PT bus accessible by camera on radarless Civic
@@ -214,42 +341,16 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
 )
 
-
-DBC = {
-  CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None),
-  CAR.ACCORDH: dbc_dict('honda_accord_2018_can_generated', None),
-  CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None),
-  CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
-  CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_accord_2018_can_generated', None),
-  CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
-  CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.CRV_HYBRID: dbc_dict('honda_accord_2018_can_generated', None),
-  CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None),
-  CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
-  CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
-  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),
-  CAR.CIVIC_2022: dbc_dict('honda_civic_ex_2022_can_generated', None),
-}
-
 STEER_THRESHOLD = {
   # default is 1200, overrides go here
   CAR.ACURA_RDX: 400,
   CAR.CRV_EU: 400,
 }
 
-HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
-HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
-                                CAR.PILOT, CAR.RIDGELINE}
-HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
-               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
-HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}
+HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL)
+HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES)
+HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
+HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
+
+
+DBC = CAR.create_dbc_map()

selfdrive/car/hyundai/carcontroller.py

@@ -7,6 +7,7 @@ from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fau
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
+from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -42,7 +43,7 @@ def process_hud_alert(enabled, fingerprint, hud_control):
   return sys_warning, sys_state, left_lane_warning, right_lane_warning
 
 
-class CarController:
+class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.CAN = CanBus(CP)
@@ -134,7 +135,7 @@ class CarController:
         # button presses
         can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
     else:
-      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, apply_steer_req,
+      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_steer, apply_steer_req,
                                                 torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
                                                 hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                 left_lane_warning, right_lane_warning))
@@ -174,12 +175,12 @@ class CarController:
     can_sends = []
     if use_clu11:
       if CC.cruiseControl.cancel:
-        can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
+        can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
       elif CC.cruiseControl.resume:
         # send resume at a max freq of 10Hz
         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)
+          can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25)
           if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
             self.last_button_frame = self.frame
     else:

selfdrive/car/hyundai/fingerprints.py

@@ -5,21 +5,6 @@ from openpilot.selfdrive.car.hyundai.values import CAR
 Ecu = car.CarParams.Ecu
 
 FINGERPRINTS = {
-  CAR.HYUNDAI_GENESIS: [{
-    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
-  },
-  {
-    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
-  },
-  {
-    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1268: 8, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1437: 8, 1456: 4
-  },
-  {
-    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4
-  },
-  {
-    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4
-  }],
   CAR.SANTA_FE: [{
     67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
   },
@@ -32,33 +17,15 @@ FINGERPRINTS = {
   CAR.SONATA: [{
     67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
   }],
-  CAR.SONATA_LF: [{
-    66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-  }],
-  CAR.KIA_SORENTO: [{
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
-  }],
   CAR.KIA_STINGER: [{
     67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
   }],
-  CAR.GENESIS_G80: [{
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8
-  },
-  {
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 546: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1437: 8, 1456: 4, 1470: 8
-  },
-  {
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1162: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1193: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4, 1470: 8
-  }],
   CAR.GENESIS_G90: [{
     67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
   }],
   CAR.IONIQ_EV_2020: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
   }],
-  CAR.IONIQ: [{
-    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
-  }],
   CAR.KONA_EV: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
   }],
@@ -74,9 +41,6 @@ FINGERPRINTS = {
   {
     68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
   }],
-  CAR.PALISADE: [{
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8
-  }],
 }
 
 FW_VERSIONS = {
@@ -100,15 +64,18 @@ FW_VERSIONS = {
   CAR.AZERA_HEV_6TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.00 99211-G8000 180903',
+      b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.01 99211-G8000 181109',
       b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.02 99211-G8100 191029',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00IG  MDPS C 1.00 1.00 56310M9600\x00 4IHSC100',
       b'\xf1\x00IG  MDPS C 1.00 1.01 56310M9350\x00 4IH8C101',
+      b'\xf1\x00IG  MDPS C 1.00 1.02 56310M9350\x00 4IH8C102',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00IGhe SCC FHCUP      1.00 1.00 99110-M9100         ',
       b'\xf1\x00IGhe SCC FHCUP      1.00 1.01 99110-M9000         ',
+      b'\xf1\x00IGhe SCC FHCUP      1.00 1.02 99110-M9000         ',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x006T7N0_C2\x00\x006T7Q2051\x00\x00TIG2H24KA2\x12@\x11\xb7',
@@ -413,6 +380,7 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5',
+      b'\xf1\x006T6H0_C2\x00\x006T6B7051\x00\x00TLF0G24SL4;\x08\x12i',
       b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00',
       b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
       b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
@@ -724,6 +692,7 @@ FW_VERSIONS = {
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360',
       b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360',
+      b'\xf1\x00LX ESC \x01 104 \x10\x16 58910-S8360',
       b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330',
       b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330',
       b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330',
@@ -745,10 +714,12 @@ FW_VERSIONS = {
       b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103',
       b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103',
       b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104',
+      b'\xf1\x00LX2 MDPS R 1.00 1.02 56370-S8300 9318',
       b'\xf1\x00ON  MDPS C 1.00 1.00 56340-S9000 8B13',
       b'\xf1\x00ON  MDPS C 1.00 1.01 56340-S9000 9201',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00LX2 MFC  AT KOR LHD 1.00 1.08 99211-S8100 200903',
       b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.00 99211-S8110 210226',
       b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.03 99211-S8100 190125',
       b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.05 99211-S8100 190909',
@@ -762,6 +733,7 @@ FW_VERSIONS = {
       b'\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
       b'\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
       b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
+      b'\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX2G38NB5X\xfa\xe88',
       b'\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00TON2G38NB5j\x94.\xde',
       b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1',
       b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8",
@@ -890,6 +862,7 @@ FW_VERSIONS = {
   CAR.GENESIS_G80: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DH__ SCC F-CUP      1.00 1.01 96400-B1120         ',
+      b'\xf1\x00DH__ SCC F-CUP      1.00 1.02 96400-B1120         ',
       b'\xf1\x00DH__ SCC FHCUP      1.00 1.01 96400-B1110         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
@@ -897,10 +870,12 @@ FW_VERSIONS = {
       b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.01 95895-B1500 161014',
       b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.02 95895-B1500 170810',
       b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.03 95895-B1500 180713',
+      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.04 95895-B1500 181213',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0G33KH2\xae\xde\xd5!',
       b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH2j\x9dA\x1c',
+      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH3\xaf\x1a7\xe2',
       b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0T33NH3\x97\xe6\xbc\xb8',
       b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00TDH0G38NH3:-\xa9n',
       b'\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SDH0T33NH4\xd7O\x9e\xc9',
@@ -1089,6 +1064,7 @@ FW_VERSIONS = {
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00OS  MDPS C 1.00 1.03 56310/K4550 4OEDC103',
+      b'\xf1\x00OS  MDPS C 1.00 1.04 56310-XX000 4OEDC104',
       b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4000\x00 4OEDC104',
       b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4050\x00 4OEDC104',
     ],
@@ -1176,11 +1152,13 @@ FW_VERSIONS = {
   },
   CAR.KIA_NIRO_PHEV: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6D0051\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x816H6F4051\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\x006U3H0_C2\x00\x006U3G0051\x00\x00HDE0G16NS2\x00\x00\x00\x00',
       b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL2&[\xc3\x01',
       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',
@@ -1192,6 +1170,7 @@ FW_VERSIONS = {
       b'\xf1\x00DE  MDPS C 1.00 1.09 56310G5301\x00 4DEHC109',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DEH MFC  AT USA LHD 1.00 1.00 95740-G5010 170117',
       b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.00 95740-G5010 170117',
       b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.01 95740-G5010 170424',
       b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.05 99211-G5000 190826',
@@ -1476,11 +1455,13 @@ FW_VERSIONS = {
   CAR.SONATA_HYBRID: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
+      b'\xf1\x00DNhe SCC FHCUP      1.00 1.00 99110-L5000         ',
       b'\xf1\x00DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
       b'\xf1\x8799110L5000\xf1\x00DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
       b'\xf1\x8799110L5000\xf1\x00DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
     ],
     (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L5000 4DNHC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
       b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',
       b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103',
@@ -1488,12 +1469,14 @@ FW_VERSIONS = {
       b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DN8HMFC  AT KOR LHD 1.00 1.03 99211-L1000 190705',
       b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.04 99211-L1000 191016',
       b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.05 99211-L1000 201109',
       b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.06 99211-L1000 210325',
       b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00PSBG2314  E07\x00\x00\x00\x00\x00\x00\x00TDN2H20KA5\xba\x82\xc7\xc3',
       b'\xf1\x00PSBG2323  E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e',
       b'\xf1\x00PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
       b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab',
@@ -1503,6 +1486,7 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x87391062J002',
+      b'\xf1\x87391162J011',
       b'\xf1\x87391162J012',
       b'\xf1\x87391162J013',
       b'\xf1\x87391162J014',
@@ -1510,15 +1494,18 @@ FW_VERSIONS = {
   },
   CAR.KIA_SORENTO: {
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00UMP LKAS AT USA LHD 1.00 1.00 95740-C6550 d00',
       b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01',
     ],
     (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00UM ESC \x02 12 \x18\x05\x05 58910-C6300',
       b'\xf1\x00UM ESC \x0c 12 \x18\x05\x06 58910-C6330',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00UM__ SCC F-CUP      1.00 1.00 96400-C6500         ',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U834\x00\x00\x00\x00\x00\x00TUM2G33NL7K\xae\xdd\x1d',
       b'\xf1\x87LDKUAA0348164HE3\x87www\x87www\x88\x88\xa8\x88w\x88\x97xw\x88\x97x\x86o\xf8\xff\x87f\x7f\xff\x15\xe0\xf1\x81U811\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U811\x00\x00\x00\x00\x00\x00TUM4G33NL3V|DG',
     ],
     (Ecu.engine, 0x7e0, None): [
@@ -1546,7 +1533,9 @@ FW_VERSIONS = {
       b'\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI010 230110',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.02 99211-GI010 211206',
       b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.00 99211-GI020 230719',
@@ -1564,12 +1553,14 @@ FW_VERSIONS = {
       b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CE  MFC  AT CAN LHD 1.00 1.04 99211-KL000 221213',
       b'\xf1\x00CE  MFC  AT EUR LHD 1.00 1.03 99211-KL000 221011',
       b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
     ],
   },
   CAR.TUCSON_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A',
       b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K',
       b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',

selfdrive/car/hyundai/hyundaican.py

@@ -1,9 +1,9 @@
 import crcmod
-from openpilot.selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
+from openpilot.selfdrive.car.hyundai.values import CAR, HyundaiFlags
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 
-def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
+def create_lkas11(packer, frame, CP, apply_steer, steer_req,
                   torque_fault, lkas11, sys_warning, sys_state, enabled,
                   left_lane, right_lane,
                   left_lane_depart, right_lane_depart):
@@ -33,12 +33,12 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
   values["CF_Lkas_ToiFlt"] = torque_fault  # seems to allow actuation on CR_Lkas_StrToqReq
   values["CF_Lkas_MsgCount"] = frame % 0x10
 
-  if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
-                         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.KIA_K5_HEV_2020, CAR.KIA_CEED,
-                         CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
+  if CP.carFingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
+                           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.KIA_K5_HEV_2020, CAR.KIA_CEED,
+                           CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 
@@ -57,7 +57,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
     values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
 
   # Likely cars lacking the ability to show individual lane lines in the dash
-  elif car_fingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL):
+  elif CP.carFingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL):
     # SysWarning 4 = keep hands on wheel + beep
     values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
 
@@ -72,18 +72,18 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
     values["CF_Lkas_LdwsActivemode"] = 0
     values["CF_Lkas_FcwOpt_USM"] = 0
 
-  elif car_fingerprint == CAR.HYUNDAI_GENESIS:
+  elif CP.carFingerprint == CAR.HYUNDAI_GENESIS:
     # This field is actually LdwsActivemode
     # Genesis and Optima fault when forwarding while engaged
     values["CF_Lkas_LdwsActivemode"] = 2
 
   dat = packer.make_can_msg("LKAS11", 0, values)[2]
 
-  if car_fingerprint in CHECKSUM["crc8"]:
+  if CP.flags & HyundaiFlags.CHECKSUM_CRC8:
     # CRC Checksum as seen on 2019 Hyundai Santa Fe
     dat = dat[:6] + dat[7:8]
     checksum = hyundai_checksum(dat)
-  elif car_fingerprint in CHECKSUM["6B"]:
+  elif CP.flags & HyundaiFlags.CHECKSUM_6B:
     # Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
     checksum = sum(dat[:6]) % 256
   else:
@@ -95,7 +95,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
   return packer.make_can_msg("LKAS11", 0, values)
 
 
-def create_clu11(packer, frame, clu11, button, car_fingerprint):
+def create_clu11(packer, frame, clu11, button, CP):
   values = {s: clu11[s] for s in [
     "CF_Clu_CruiseSwState",
     "CF_Clu_CruiseSwMain",
@@ -113,7 +113,7 @@ def create_clu11(packer, frame, clu11, button, car_fingerprint):
   values["CF_Clu_CruiseSwState"] = button
   values["CF_Clu_AliveCnt1"] = frame % 0x10
   # send buttons to camera on camera-scc based cars
-  bus = 2 if car_fingerprint in CAMERA_SCC_CAR else 0
+  bus = 2 if CP.flags & HyundaiFlags.CAMERA_SCC else 0
   return packer.make_can_msg("CLU11", bus, values)
 
 

selfdrive/car/hyundai/interface.py

@@ -1,6 +1,5 @@
 from cereal import car
 from panda import Panda
-from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
                                          CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
@@ -76,196 +75,6 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate in (CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN):
-      ret.mass = 1600. if candidate == CAR.AZERA_6TH_GEN else 1675.  # ICE is ~average of 2.5L and 3.5L
-      ret.wheelbase = 2.885
-      ret.steerRatio = 14.5
-    elif candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
-      ret.mass = 3982. * CV.LB_TO_KG
-      ret.wheelbase = 2.766
-      # Values from optimizer
-      ret.steerRatio = 16.55  # 13.8 is spec end-to-end
-      ret.tireStiffnessFactor = 0.82
-    elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
-      ret.mass = 1513.
-      ret.wheelbase = 2.84
-      ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
-      ret.tireStiffnessFactor = 0.65
-    elif candidate == CAR.SONATA_LF:
-      ret.mass = 1536.
-      ret.wheelbase = 2.804
-      ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
-    elif candidate == CAR.PALISADE:
-      ret.mass = 1999.
-      ret.wheelbase = 2.90
-      ret.steerRatio = 15.6 * 1.15
-      ret.tireStiffnessFactor = 0.63
-    elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
-      ret.mass = 1275.
-      ret.wheelbase = 2.7
-      ret.steerRatio = 15.4            # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
-      ret.tireStiffnessFactor = 0.385    # stiffnessFactor settled on 1.0081302973865127
-      ret.minSteerSpeed = 32 * CV.MPH_TO_MS
-    elif candidate == CAR.ELANTRA_2021:
-      ret.mass = 2800. * CV.LB_TO_KG
-      ret.wheelbase = 2.72
-      ret.steerRatio = 12.9
-      ret.tireStiffnessFactor = 0.65
-    elif candidate == CAR.ELANTRA_HEV_2021:
-      ret.mass = 3017. * CV.LB_TO_KG
-      ret.wheelbase = 2.72
-      ret.steerRatio = 12.9
-      ret.tireStiffnessFactor = 0.65
-    elif candidate == CAR.HYUNDAI_GENESIS:
-      ret.mass = 2060.
-      ret.wheelbase = 3.01
-      ret.steerRatio = 16.5
-      ret.minSteerSpeed = 60 * CV.KPH_TO_MS
-    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.KONA_EV_2ND_GEN):
-      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743., CAR.KONA_EV_2ND_GEN: 1740.}.get(candidate, 1275.)
-      ret.wheelbase = {CAR.KONA_EV_2ND_GEN: 2.66, }.get(candidate, 2.6)
-      ret.steerRatio = {CAR.KONA_EV_2ND_GEN: 13.6, }.get(candidate, 13.42)  # Spec
-      ret.tireStiffnessFactor = 0.385
-    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.  # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
-      ret.wheelbase = 2.7
-      ret.steerRatio = 13.73  # Spec
-      ret.tireStiffnessFactor = 0.385
-      if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019):
-        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
-    elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
-      ret.mass = 1948
-      ret.wheelbase = 2.97
-      ret.steerRatio = 14.26
-      ret.tireStiffnessFactor = 0.65
-    elif candidate == CAR.VELOSTER:
-      ret.mass = 2917. * CV.LB_TO_KG
-      ret.wheelbase = 2.80
-      ret.steerRatio = 13.75 * 1.15
-      ret.tireStiffnessFactor = 0.5
-    elif candidate == CAR.TUCSON:
-      ret.mass = 3520. * CV.LB_TO_KG
-      ret.wheelbase = 2.67
-      ret.steerRatio = 14.00 * 1.15
-      ret.tireStiffnessFactor = 0.385
-    elif candidate == CAR.TUCSON_4TH_GEN:
-      ret.mass = 1630.  # average
-      ret.wheelbase = 2.756
-      ret.steerRatio = 16.
-      ret.tireStiffnessFactor = 0.385
-    elif candidate == CAR.SANTA_CRUZ_1ST_GEN:
-      ret.mass = 1870.  # weight from Limited trim - the only supported trim
-      ret.wheelbase = 3.000
-      # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
-      ret.steerRatio = 14.2
-    elif candidate == CAR.CUSTIN_1ST_GEN:
-      ret.mass = 1690.  # from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0
-      ret.wheelbase = 3.055
-      ret.steerRatio = 17.0  # from learner
-    elif candidate == CAR.STARIA_4TH_GEN:
-      ret.mass = 2205.
-      ret.wheelbase = 3.273
-      ret.steerRatio = 11.94  # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
-
-    # Kia
-    elif candidate == CAR.KIA_SORENTO:
-      ret.mass = 1985.
-      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_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_PHEV_2022):
-      ret.mass = 3543. * CV.LB_TO_KG  # average of all the cars
-      ret.wheelbase = 2.7
-      ret.steerRatio = 13.6  # average of all the cars
-      ret.tireStiffnessFactor = 0.385
-      if candidate == CAR.KIA_NIRO_PHEV:
-        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
-    elif candidate == CAR.KIA_SELTOS:
-      ret.mass = 1337.
-      ret.wheelbase = 2.63
-      ret.steerRatio = 14.56
-    elif candidate == CAR.KIA_SPORTAGE_5TH_GEN:
-      ret.mass = 1725.  # weight from SX and above trims, average of FWD and AWD versions
-      ret.wheelbase = 2.756
-      ret.steerRatio = 13.6  # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
-    elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL):
-      ret.mass = 3558. * CV.LB_TO_KG
-      ret.wheelbase = 2.80
-      ret.steerRatio = 13.75
-      ret.tireStiffnessFactor = 0.5
-      if candidate == CAR.KIA_OPTIMA_G4:
-        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
-    elif candidate in (CAR.KIA_STINGER, CAR.KIA_STINGER_2022):
-      ret.mass = 1825.
-      ret.wheelbase = 2.78
-      ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
-    elif candidate == CAR.KIA_FORTE:
-      ret.mass = 2878. * CV.LB_TO_KG
-      ret.wheelbase = 2.80
-      ret.steerRatio = 13.75
-      ret.tireStiffnessFactor = 0.5
-    elif candidate == CAR.KIA_CEED:
-      ret.mass = 1450.
-      ret.wheelbase = 2.65
-      ret.steerRatio = 13.75
-      ret.tireStiffnessFactor = 0.5
-    elif candidate in (CAR.KIA_K5_2021, CAR.KIA_K5_HEV_2020):
-      ret.mass = 3381. * CV.LB_TO_KG
-      ret.wheelbase = 2.85
-      ret.steerRatio = 13.27  # 2021 Kia K5 Steering Ratio (all trims)
-      ret.tireStiffnessFactor = 0.5
-    elif candidate == CAR.KIA_EV6:
-      ret.mass = 2055
-      ret.wheelbase = 2.9
-      ret.steerRatio = 16.
-      ret.tireStiffnessFactor = 0.65
-    elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN):
-      ret.wheelbase = 2.81
-      ret.steerRatio = 13.5  # average of the platforms
-      if candidate == CAR.KIA_SORENTO_4TH_GEN:
-        ret.mass = 3957 * CV.LB_TO_KG
-      else:
-        ret.mass = 4396 * CV.LB_TO_KG
-    elif candidate == CAR.KIA_CARNIVAL_4TH_GEN:
-      ret.mass = 2087.
-      ret.wheelbase = 3.09
-      ret.steerRatio = 14.23
-    elif candidate == CAR.KIA_K8_HEV_1ST_GEN:
-      ret.mass = 1630.  # https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid
-      ret.wheelbase = 2.895
-      ret.steerRatio = 13.27  # guesstimate from K5 platform
-
-    # Genesis
-    elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
-      ret.mass = 2205
-      ret.wheelbase = 2.9
-      # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
-      ret.steerRatio = 12.6
-    elif candidate == CAR.GENESIS_G70:
-      ret.steerActuatorDelay = 0.1
-      ret.mass = 1640.0
-      ret.wheelbase = 2.84
-      ret.steerRatio = 13.56
-    elif candidate == CAR.GENESIS_G70_2020:
-      ret.mass = 3673.0 * CV.LB_TO_KG
-      ret.wheelbase = 2.83
-      ret.steerRatio = 12.9
-    elif candidate == CAR.GENESIS_GV70_1ST_GEN:
-      ret.mass = 1950.
-      ret.wheelbase = 2.87
-      ret.steerRatio = 14.6
-    elif candidate == CAR.GENESIS_G80:
-      ret.mass = 2060.
-      ret.wheelbase = 3.01
-      ret.steerRatio = 16.5
-    elif candidate == CAR.GENESIS_G90:
-      ret.mass = 2200.
-      ret.wheelbase = 3.15
-      ret.steerRatio = 12.069
-    elif candidate == CAR.GENESIS_GV80:
-      ret.mass = 2258.
-      ret.wheelbase = 2.95
-      ret.steerRatio = 14.14
-
     # *** longitudinal control ***
     if candidate in CANFD_CAR:
       ret.longitudinalTuning.kpV = [0.1]

selfdrive/car/hyundai/tests/test_hyundai.py

@@ -98,6 +98,23 @@ class TestHyundaiFingerprint(unittest.TestCase):
     fws = data.draw(fw_strategy)
     get_platform_codes(fws)
 
+  def test_expected_platform_codes(self):
+    # Ensures we don't accidentally add multiple platform codes for a car unless it is intentional
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model.value):
+        for ecu, fws in ecus.items():
+          if ecu[0] not in PLATFORM_CODE_ECUS:
+            continue
+
+          # Third and fourth character are usually EV/hybrid identifiers
+          codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)}
+          if car_model == CAR.PALISADE:
+            self.assertEqual(codes, {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}")
+          elif car_model == CAR.KONA_EV and ecu[0] == Ecu.fwdCamera:
+            self.assertEqual(codes, {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}")
+          else:
+            self.assertEqual(len(codes), 1, f"Car has multiple platform codes: {car_model} {codes}")
+
   # Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
   # fingerprint in the absence of full FW matches:
   def test_platform_code_ecus_available(self):

selfdrive/car/hyundai/values.py

@@ -1,11 +1,11 @@
 import re
-from dataclasses import dataclass
-from enum import Enum, IntFlag, StrEnum
+from dataclasses import dataclass, field
+from enum import Enum, IntFlag
 
 from cereal import car
 from panda.python import uds
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
@@ -52,92 +52,48 @@ class CarControllerParams:
 
 
 class HyundaiFlags(IntFlag):
+  # Dynamic Flags
   CANFD_HDA2 = 1
   CANFD_ALT_BUTTONS = 2
-  CANFD_ALT_GEARS = 4
-  CANFD_CAMERA_SCC = 8
+  CANFD_ALT_GEARS = 2 ** 2
+  CANFD_CAMERA_SCC = 2 ** 3
 
-  ALT_LIMITS = 16
-  ENABLE_BLINKERS = 32
-  CANFD_ALT_GEARS_2 = 64
-  SEND_LFA = 128
-  USE_FCA = 256
-  CANFD_HDA2_ALT_STEERING = 512
-  HYBRID = 1024
-  EV = 2048
+  ALT_LIMITS = 2 ** 4
+  ENABLE_BLINKERS = 2 ** 5
+  CANFD_ALT_GEARS_2 = 2 ** 6
+  SEND_LFA = 2 ** 7
+  USE_FCA = 2 ** 8
+  CANFD_HDA2_ALT_STEERING = 2 ** 9
 
+  # these cars use a different gas signal
+  HYBRID = 2 ** 10
+  EV = 2 ** 11
 
-class CAR(StrEnum):
-  # Hyundai
-  AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
-  AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
-  ELANTRA = "HYUNDAI ELANTRA 2017"
-  ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
-  ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
-  ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
-  HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
-  IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
-  IONIQ_HEV_2022 = "HYUNDAI IONIQ HYBRID 2020-2022"
-  IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
-  IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020"
-  IONIQ_PHEV_2019 = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
-  IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020"
-  KONA = "HYUNDAI KONA 2020"
-  KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
-  KONA_EV_2022 = "HYUNDAI KONA ELECTRIC 2022"
-  KONA_EV_2ND_GEN = "HYUNDAI KONA ELECTRIC 2ND GEN"
-  KONA_HEV = "HYUNDAI KONA HYBRID 2020"
-  SANTA_FE = "HYUNDAI SANTA FE 2019"
-  SANTA_FE_2022 = "HYUNDAI SANTA FE 2022"
-  SANTA_FE_HEV_2022 = "HYUNDAI SANTA FE HYBRID 2022"
-  SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022"
-  SONATA = "HYUNDAI SONATA 2020"
-  SONATA_LF = "HYUNDAI SONATA 2019"
-  STARIA_4TH_GEN = "HYUNDAI STARIA 4TH GEN"
-  TUCSON = "HYUNDAI TUCSON 2019"
-  PALISADE = "HYUNDAI PALISADE 2020"
-  VELOSTER = "HYUNDAI VELOSTER 2019"
-  SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
-  IONIQ_5 = "HYUNDAI IONIQ 5 2022"
-  IONIQ_6 = "HYUNDAI IONIQ 6 2023"
-  TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
-  SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
-  CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN"
+  # Static flags
 
-  # Kia
-  KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
-  KIA_K5_2021 = "KIA K5 2021"
-  KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
-  KIA_K8_HEV_1ST_GEN = "KIA K8 HYBRID 1ST GEN"
-  KIA_NIRO_EV = "KIA NIRO EV 2020"
-  KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
-  KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
-  KIA_NIRO_PHEV_2022 = "KIA NIRO PLUG-IN HYBRID 2022"
-  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_OPTIMA_H_G4_FL = "KIA OPTIMA HYBRID 4TH GEN FACELIFT"
-  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_HEV_4TH_GEN = "KIA SORENTO HYBRID 4TH GEN"
-  KIA_STINGER = "KIA STINGER GT2 2018"
-  KIA_STINGER_2022 = "KIA STINGER 2022"
-  KIA_CEED = "KIA CEED INTRO ED 2019"
-  KIA_EV6 = "KIA EV6 2022"
-  KIA_CARNIVAL_4TH_GEN = "KIA CARNIVAL 4TH GEN"
+  # 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
+  MANDO_RADAR = 2 ** 12
+  CANFD = 2 ** 13
 
-  # Genesis
-  GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN"
-  GENESIS_G70 = "GENESIS G70 2018"
-  GENESIS_G70_2020 = "GENESIS G70 2020"
-  GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN"
-  GENESIS_G80 = "GENESIS G80 2017"
-  GENESIS_G90 = "GENESIS G90 2017"
-  GENESIS_GV80 = "GENESIS GV80 2023"
+  # The radar does SCC on these cars when HDA I, rather than the camera
+  RADAR_SCC = 2 ** 14
+  CAMERA_SCC = 2 ** 15
+  CHECKSUM_CRC8 = 2 ** 16
+  CHECKSUM_6B = 2 ** 17
+
+  # these cars require a special panda safety mode due to missing counters and checksums in the messages
+  LEGACY = 2 ** 18
+
+  # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
+  UNSUPPORTED_LONGITUDINAL = 2 ** 19
+
+  CANFD_NO_RADAR_DISABLE = 2 ** 20
+
+  CLUSTER_GEARS = 2 ** 21
+  TCU_GEARS = 2 ** 22
+
+  MIN_STEER_32_MPH = 2 ** 23
 
 
 class Footnote(Enum):
@@ -152,160 +108,498 @@ class HyundaiCarInfo(CarInfo):
   package: str = "Smart Cruise Control (SCC)"
 
   def init_make(self, CP: car.CarParams):
-    if CP.carFingerprint in CANFD_CAR:
+    if CP.flags & HyundaiFlags.CANFD:
       self.footnotes.insert(0, Footnote.CANFD)
 
 
-CAR_INFO: dict[str, HyundaiCarInfo | list[HyundaiCarInfo] | None] = {
-  CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
-  CAR.AZERA_HEV_6TH_GEN: [
-    HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
-    HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
-  ],
-  CAR.ELANTRA: [
-    # TODO: 2017-18 could be Hyundai G
-    HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
-    HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
-  ],
-  CAR.ELANTRA_GT_I30: [
-    HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
-    HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
-  ],
-  CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
-  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
-                                       car_parts=CarParts.common([CarHarness.hyundai_k])),
-  CAR.HYUNDAI_GENESIS: [
-    # TODO: check 2015 packages
-    HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
-    HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
-  ],
-  CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
-  CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])),  # TODO: confirm 2020-21 harness
-  CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
-  CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
-  CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
-  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
-  CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
-  CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
-  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
-  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
-  # TODO: this is the 2024 US MY, not yet released
-  CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
-                                      car_parts=CarParts.common([CarHarness.hyundai_r])),
-  CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
-                               car_parts=CarParts.common([CarHarness.hyundai_d])),
-  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
-                                    car_parts=CarParts.common([CarHarness.hyundai_l])),
-  CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
-                             car_parts=CarParts.common([CarHarness.hyundai_a])),
-  CAR.STARIA_4TH_GEN: HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
-  CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
-  CAR.TUCSON: [
-    HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
-    HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
-  ],
-  CAR.PALISADE: [
-    HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
-    HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
-  ],
-  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
-  CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-  CAR.IONIQ_5: [
-    HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
-    HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
-    HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
-  ],
-  CAR.IONIQ_6: [
+@dataclass
+class HyundaiPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_kia_generic", None))
+
+  def init(self):
+    if self.flags & HyundaiFlags.MANDO_RADAR:
+      self.dbc_dict = dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated')
+
+    if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
+      self.specs = self.specs.override(minSteerSpeed=32 * CV.MPH_TO_MS)
+
+
+@dataclass
+class HyundaiCanFDPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_canfd", None))
+
+  def init(self):
+    self.flags |= HyundaiFlags.CANFD
+
+
+class CAR(Platforms):
+  # Hyundai
+  AZERA_6TH_GEN = HyundaiPlatformConfig(
+    "HYUNDAI AZERA 6TH GEN",
+    HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5),
+  )
+  AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
+    "HYUNDAI AZERA HYBRID 6TH GEN",
+    [
+      HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
+      HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    ],
+    CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5),
+    flags=HyundaiFlags.HYBRID,
+  )
+  ELANTRA = HyundaiPlatformConfig(
+    "HYUNDAI ELANTRA 2017",
+    [
+      # TODO: 2017-18 could be Hyundai G
+      HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
+      HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
+    ],
+    # steerRatio: 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535, stiffnessFactor settled on 1.0081302973865127
+    CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
+  )
+  ELANTRA_GT_I30 = HyundaiPlatformConfig(
+    "HYUNDAI I30 N LINE 2019 & GT 2018 DCT",
+    [
+      HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
+      HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
+    ],
+    ELANTRA.specs,
+    flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
+  )
+  ELANTRA_2021 = HyundaiPlatformConfig(
+    "HYUNDAI ELANTRA 2021",
+    HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
+    flags=HyundaiFlags.CHECKSUM_CRC8,
+  )
+  ELANTRA_HEV_2021 = HyundaiPlatformConfig(
+    "HYUNDAI ELANTRA HYBRID 2021",
+    HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
+                   car_parts=CarParts.common([CarHarness.hyundai_k])),
+    CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
+    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
+  )
+  HYUNDAI_GENESIS = HyundaiPlatformConfig(
+    "HYUNDAI GENESIS 2015-2016",
+    [
+      # TODO: check 2015 packages
+      HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
+      HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
+    ],
+    CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS),
+    flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY,
+  )
+  IONIQ = HyundaiPlatformConfig(
+    "HYUNDAI IONIQ HYBRID 2017-2019",
+    HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
+    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
+  )
+  IONIQ_HEV_2022 = HyundaiPlatformConfig(
+    "HYUNDAI IONIQ HYBRID 2020-2022",
+    HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])),  # TODO: confirm 2020-21 harness,
+    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
+  )
+  IONIQ_EV_LTD = HyundaiPlatformConfig(
+    "HYUNDAI IONIQ ELECTRIC LIMITED 2019",
+    HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
+    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH,
+  )
+  IONIQ_EV_2020 = HyundaiPlatformConfig(
+    "HYUNDAI IONIQ ELECTRIC 2020",
+    HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.EV,
+  )
+  IONIQ_PHEV_2019 = HyundaiPlatformConfig(
+    "HYUNDAI IONIQ PLUG-IN HYBRID 2019",
+    HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
+    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
+  )
+  IONIQ_PHEV = HyundaiPlatformConfig(
+    "HYUNDAI IONIQ PHEV 2020",
+    HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.HYBRID,
+  )
+  KONA = HyundaiPlatformConfig(
+    "HYUNDAI KONA 2020",
+    HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
+    CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CLUSTER_GEARS,
+  )
+  KONA_EV = HyundaiPlatformConfig(
+    "HYUNDAI KONA ELECTRIC 2019",
+    HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
+    CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.EV,
+  )
+  KONA_EV_2022 = HyundaiPlatformConfig(
+    "HYUNDAI KONA ELECTRIC 2022",
+    HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
+    CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV,
+  )
+  KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
+    "HYUNDAI KONA ELECTRIC 2ND GEN",
+    HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
+                   car_parts=CarParts.common([CarHarness.hyundai_r])),
+    CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
+  )
+  KONA_HEV = HyundaiPlatformConfig(
+    "HYUNDAI KONA HYBRID 2020",
+    HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages,
+    CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.HYBRID,
+  )
+  SANTA_FE = HyundaiPlatformConfig(
+    "HYUNDAI SANTA FE 2019",
+    HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
+                   car_parts=CarParts.common([CarHarness.hyundai_d])),
+    CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82),
+    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
+  )
+  SANTA_FE_2022 = HyundaiPlatformConfig(
+    "HYUNDAI SANTA FE 2022",
+    HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
+                   car_parts=CarParts.common([CarHarness.hyundai_l])),
+    SANTA_FE.specs,
+    flags=HyundaiFlags.CHECKSUM_CRC8,
+  )
+  SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
+    "HYUNDAI SANTA FE HYBRID 2022",
+    HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+    SANTA_FE.specs,
+    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
+  )
+  SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
+    "HYUNDAI SANTA FE PlUG-IN HYBRID 2022",
+    HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+    SANTA_FE.specs,
+    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
+  )
+  SONATA = HyundaiPlatformConfig(
+    "HYUNDAI SONATA 2020",
+    HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
+                   car_parts=CarParts.common([CarHarness.hyundai_a])),
+    CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65),  # 15% higher at the center seems reasonable
+    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
+  )
+  SONATA_LF = HyundaiPlatformConfig(
+    "HYUNDAI SONATA 2019",
+    HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
+    CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15),  # 15% higher at the center seems reasonable
+
+    flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
+  )
+  STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
+    "HYUNDAI STARIA 4TH GEN",
+    HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94),  # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
+  )
+  TUCSON = HyundaiPlatformConfig(
+    "HYUNDAI TUCSON 2019",
+    [
+      HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
+    ],
+    CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.TCU_GEARS,
+  )
+  PALISADE = HyundaiPlatformConfig(
+    "HYUNDAI PALISADE 2020",
+    [
+      HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
+      HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    ],
+    CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
+    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
+  )
+  VELOSTER = HyundaiPlatformConfig(
+    "HYUNDAI VELOSTER 2019",
+    HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
+    CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5),
+    flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS,
+  )
+  SONATA_HYBRID = HyundaiPlatformConfig(
+    "HYUNDAI SONATA HYBRID 2021",
+    HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    SONATA.specs,
+    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
+  )
+  IONIQ_5 = HyundaiCanFDPlatformConfig(
+    "HYUNDAI IONIQ 5 2022",
+    [
+      HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+    ],
+    CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
+    flags=HyundaiFlags.EV,
+  )
+  IONIQ_6 = HyundaiCanFDPlatformConfig(
+    "HYUNDAI IONIQ 6 2023",
     HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
-  ],
-  CAR.TUCSON_4TH_GEN: [
-    HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
-    HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
-    HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
-  ],
-  CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
-  CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    IONIQ_5.specs,
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
+  )
+  TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
+    "HYUNDAI TUCSON 4TH GEN",
+    [
+      HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
+    ],
+    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=16, tireStiffnessFactor=0.385),
+  )
+  SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
+    "HYUNDAI SANTA CRUZ 1ST GEN",
+    HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
+    # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
+    CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
+  )
+  CUSTIN_1ST_GEN = HyundaiPlatformConfig(
+    "HYUNDAI CUSTIN 1ST GEN",
+    HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17),  # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
+    flags=HyundaiFlags.CHECKSUM_CRC8,
+  )
 
   # Kia
-  CAR.KIA_FORTE: [
-    HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
-    HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
-  ],
-  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
-  CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
-  CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
-  CAR.KIA_NIRO_EV: [
-    HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
-    HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
-    HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
-    HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
-  ],
-  CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-  CAR.KIA_NIRO_PHEV: [
-    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
-    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
-  ],
-  CAR.KIA_NIRO_PHEV_2022: [
-    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
-    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
-  ],
-  CAR.KIA_NIRO_HEV_2021: [
-    HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
-    HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
-  ],
-  CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
-  CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
-                                    car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
-  CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
+  KIA_FORTE = HyundaiPlatformConfig(
+    "KIA FORTE E 2018 & GT 2021",
+    [
+      HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
+      HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
+    ],
+    CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
+  )
+  KIA_K5_2021 = HyundaiPlatformConfig(
+    "KIA K5 2021",
+    HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5),  # 2021 Kia K5 Steering Ratio (all trims)
+    flags=HyundaiFlags.CHECKSUM_CRC8,
+  )
+  KIA_K5_HEV_2020 = HyundaiPlatformConfig(
+    "KIA K5 HYBRID 2020",
+    HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    KIA_K5_2021.specs,
+    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
+  )
+  KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig(
+    "KIA K8 HYBRID 1ST GEN",
+    HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+    # mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform
+    CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27)
+  )
+  KIA_NIRO_EV = HyundaiPlatformConfig(
+    "KIA NIRO EV 2020",
+    [
+      HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
+      HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
+      HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
+      HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    ],
+    CarSpecs(mass=3543 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385),  # average of all the cars
+    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV,
+  )
+  KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
+    "KIA NIRO EV 2ND GEN",
+    HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    KIA_NIRO_EV.specs,
+    flags=HyundaiFlags.EV,
+  )
+  KIA_NIRO_PHEV = HyundaiPlatformConfig(
+    "KIA NIRO HYBRID 2019",
+    [
+      HyundaiCarInfo("Kia Niro Hybrid 2018", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
+      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
+      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
+    ],
+    KIA_NIRO_EV.specs,
+    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.MIN_STEER_32_MPH,
+  )
+  KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig(
+    "KIA NIRO PLUG-IN HYBRID 2022",
+    [
+      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
+      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+    ],
+    KIA_NIRO_EV.specs,
+    flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR,
+  )
+  KIA_NIRO_HEV_2021 = HyundaiPlatformConfig(
+    "KIA NIRO HYBRID 2021",
+    [
+      HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
+      HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
+    ],
+    KIA_NIRO_EV.specs,
+    flags=HyundaiFlags.HYBRID,
+  )
+  KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
+    "KIA NIRO HYBRID 2ND GEN",
+    HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    KIA_NIRO_EV.specs,
+  )
+  KIA_OPTIMA_G4 = HyundaiPlatformConfig(
+    "KIA OPTIMA 4TH GEN",
+    HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
+                   car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
+    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
+    flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
+  )
+  KIA_OPTIMA_G4_FL = HyundaiPlatformConfig(
+    "KIA OPTIMA 4TH GEN FACELIFT",
+    HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
+    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
+    flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
+  )
   # TODO: may support adjacent years. may have a non-zero minimum steering speed
-  CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
-  CAR.KIA_OPTIMA_H_G4_FL: HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
-  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
-  CAR.KIA_SPORTAGE_5TH_GEN: [
-    HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
-    HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
-  ],
-  CAR.KIA_SORENTO: [
-    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
-                   car_parts=CarParts.common([CarHarness.hyundai_e])),
-    HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
-  ],
-  CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
-  CAR.KIA_SORENTO_HEV_4TH_GEN: [
-    HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-    HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-  ],
-  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
-                                  car_parts=CarParts.common([CarHarness.hyundai_c])),
-  CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
-  CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
-  CAR.KIA_EV6: [
-    HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
-    HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
-    HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
-  ],
-  CAR.KIA_CARNIVAL_4TH_GEN: [
-    HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
-    HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
-  ],
+  KIA_OPTIMA_H = HyundaiPlatformConfig(
+    "KIA OPTIMA HYBRID 2017 & SPORTS 2019",
+    HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
+    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
+    flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
+  )
+  KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig(
+    "KIA OPTIMA HYBRID 4TH GEN FACELIFT",
+    HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
+    flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
+  )
+  KIA_SELTOS = HyundaiPlatformConfig(
+    "KIA SELTOS 2021",
+    HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56),
+    flags=HyundaiFlags.CHECKSUM_CRC8,
+  )
+  KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig(
+    "KIA SPORTAGE 5TH GEN",
+    [
+      HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
+    ],
+    # weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
+    CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
+  )
+  KIA_SORENTO = HyundaiPlatformConfig(
+    "KIA SORENTO GT LINE 2018",
+    [
+      HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
+                     car_parts=CarParts.common([CarHarness.hyundai_e])),
+      HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
+    ],
+    CarSpecs(mass=1985, wheelbase=2.78, steerRatio=14.4 * 1.1),  # 10% higher at the center seems reasonable
+    flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
+  )
+  KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig(
+    "KIA SORENTO 4TH GEN",
+    HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
+    flags=HyundaiFlags.RADAR_SCC,
+  )
+  KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
+    "KIA SORENTO HYBRID 4TH GEN",
+    [
+      HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    ],
+    CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
+    flags=HyundaiFlags.RADAR_SCC,
+  )
+  KIA_STINGER = HyundaiPlatformConfig(
+    "KIA STINGER GT2 2018",
+    HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
+                   car_parts=CarParts.common([CarHarness.hyundai_c])),
+    CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15)  # 15% higher at the center seems reasonable
+  )
+  KIA_STINGER_2022 = HyundaiPlatformConfig(
+    "KIA STINGER 2022",
+    HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    KIA_STINGER.specs,
+  )
+  KIA_CEED = HyundaiPlatformConfig(
+    "KIA CEED INTRO ED 2019",
+    HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
+    CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
+    flags=HyundaiFlags.LEGACY,
+  )
+  KIA_EV6 = HyundaiCanFDPlatformConfig(
+    "KIA EV6 2022",
+    [
+      HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
+      HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
+    ],
+    CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
+    flags=HyundaiFlags.EV,
+  )
+  KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
+    "KIA CARNIVAL 4TH GEN",
+    [
+      HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
+    ],
+    CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23),
+    flags=HyundaiFlags.RADAR_SCC,
+  )
 
   # Genesis
-  CAR.GENESIS_GV60_EV_1ST_GEN: [
-    HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-    HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
-  ],
-  CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
-  CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
-  CAR.GENESIS_GV70_1ST_GEN: [
-    HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-    HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
-  ],
-  CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
-  CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
-  CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
-}
+  GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig(
+    "GENESIS GV60 ELECTRIC 1ST GEN",
+    [
+      HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    ],
+    CarSpecs(mass=2205, wheelbase=2.9, steerRatio=12.6),  # steerRatio: https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
+    flags=HyundaiFlags.EV,
+  )
+  GENESIS_G70 = HyundaiPlatformConfig(
+    "GENESIS G70 2018",
+    HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+    CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56),
+    flags=HyundaiFlags.LEGACY,
+  )
+  GENESIS_G70_2020 = HyundaiPlatformConfig(
+    "GENESIS G70 2020",
+    HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+    CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9),
+    flags=HyundaiFlags.MANDO_RADAR,
+  )
+  GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
+    "GENESIS GV70 1ST GEN",
+    [
+      HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+    ],
+    CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
+    flags=HyundaiFlags.RADAR_SCC,
+  )
+  GENESIS_G80 = HyundaiPlatformConfig(
+    "GENESIS G80 2017",
+    HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
+    flags=HyundaiFlags.LEGACY,
+  )
+  GENESIS_G90 = HyundaiPlatformConfig(
+    "GENESIS G90 2017",
+    HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
+    CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069),
+  )
+  GENESIS_GV80 = HyundaiCanFDPlatformConfig(
+    "GENESIS GV80 2023",
+    HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+    CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14),
+    flags=HyundaiFlags.RADAR_SCC,
+  )
+
 
 class Buttons:
   NONE = 0
@@ -416,7 +710,8 @@ PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
 # TODO: there are date codes in the ABS firmware versions in hex
 DATE_FW_ECUS = [Ecu.fwdCamera]
 
-ALL_HYUNDAI_ECUS = [Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.engine, Ecu.parkingAdas, Ecu.transmission, Ecu.adas, Ecu.hvac, Ecu.cornerRadar]
+ALL_HYUNDAI_ECUS = [Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.engine, Ecu.parkingAdas,
+                    Ecu.transmission, Ecu.adas, Ecu.hvac, Ecu.cornerRadar, Ecu.combinationMeter]
 
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
@@ -438,7 +733,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac, Ecu.eps],
       bus=0,
       auxiliary=True,
     ),
@@ -508,128 +803,54 @@ FW_QUERY_CONFIG = FwQueryConfig(
       obd_multiplexing=False,
     ),
   ],
+  # We lose these ECUs without the comma power on these cars.
+  # Note that we still attempt to match with them when they are present
+  non_essential_ecus={
+    Ecu.transmission: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.PALISADE, CAR.SONATA],
+    Ecu.engine: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.PALISADE, CAR.SONATA],
+    Ecu.abs: [CAR.PALISADE, CAR.SONATA],
+  },
   extra_ecus=[
-    (Ecu.adas, 0x730, None),         # ADAS Driving ECU on HDA2 platforms
-    (Ecu.parkingAdas, 0x7b1, None),  # ADAS Parking ECU (may exist on all platforms)
-    (Ecu.hvac, 0x7b3, None),         # HVAC Control Assembly
+    (Ecu.adas, 0x730, None),              # ADAS Driving ECU on HDA2 platforms
+    (Ecu.parkingAdas, 0x7b1, None),       # ADAS Parking ECU (may exist on all platforms)
+    (Ecu.hvac, 0x7b3, None),              # HVAC Control Assembly
     (Ecu.cornerRadar, 0x7b7, None),
+    (Ecu.combinationMeter, 0x7c6, None),  # CAN FD Instrument cluster
   ],
   # Custom fuzzy fingerprinting function using platform codes, part numbers + FW dates:
   match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
 )
 
-
 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,
-           CAR.KIA_K5_HEV_2020, CAR.CUSTIN_1ST_GEN],
-  "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
+  "crc8": CAR.with_flags(HyundaiFlags.CHECKSUM_CRC8),
+  "6B": CAR.with_flags(HyundaiFlags.CHECKSUM_6B),
 }
 
 CAN_GEARS = {
   # which message has the gear. hybrid and EV use ELECT_GEAR
-  "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
-  "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
+  "use_cluster_gears": CAR.with_flags(HyundaiFlags.CLUSTER_GEARS),
+  "use_tcu_gears": CAR.with_flags(HyundaiFlags.TCU_GEARS),
 }
 
-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN,
-             CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
-             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN,
-             CAR.STARIA_4TH_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_4TH_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
+CANFD_CAR = CAR.with_flags(HyundaiFlags.CANFD)
+CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC)
 
 # These CAN FD cars do not accept communication control to disable the ADAS ECU,
 # responds with 0x7F2822 - 'conditions not correct'
-CANFD_UNSUPPORTED_LONGITUDINAL_CAR = {CAR.IONIQ_6, CAR.KONA_EV_2ND_GEN}
+CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE)
 
 # The camera does SCC on these cars, rather than the radar
-CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
-
-# 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.KIA_K5_HEV_2020,
-              CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022}
-
-EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
-          CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_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_LTD, CAR.KIA_OPTIMA_G4,
-                          CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
-                          CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
-
-# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
-UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL,
-                                                         CAR.KIA_OPTIMA_H_G4_FL}
-
-# 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
-DBC = {
-  CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
-  CAR.AZERA_HEV_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
-  CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
-  CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
-  CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
-  CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
-  CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
-  CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
-  CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
-  CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
-  CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
-  CAR.IONIQ_PHEV_2019: dbc_dict('hyundai_kia_generic', None),
-  CAR.IONIQ_PHEV: dbc_dict('hyundai_kia_generic', None),
-  CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None),
-  CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
-  CAR.IONIQ: dbc_dict('hyundai_kia_generic', None),
-  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),
-  CAR.KIA_OPTIMA_G4: dbc_dict('hyundai_kia_generic', None),
-  CAR.KIA_OPTIMA_G4_FL: dbc_dict('hyundai_kia_generic', None),
-  CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
-  CAR.KIA_OPTIMA_H_G4_FL: dbc_dict('hyundai_kia_generic', None),
-  CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
-  CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
-  CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
-  CAR.KIA_STINGER_2022: dbc_dict('hyundai_kia_generic', None),
-  CAR.KONA: dbc_dict('hyundai_kia_generic', None),
-  CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
-  CAR.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None),
-  CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None),
-  CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
-  CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None),
-  CAR.SANTA_FE_HEV_2022: dbc_dict('hyundai_kia_generic', None),
-  CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None),
-  CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
-  CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
-  CAR.TUCSON: dbc_dict('hyundai_kia_generic', None),
-  CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
-  CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
-  CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
-  CAR.KIA_EV6: dbc_dict('hyundai_canfd', None),
-  CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
-  CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None),
-  CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
-  CAR.IONIQ_6: dbc_dict('hyundai_canfd', None),
-  CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
-  CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
-  CAR.GENESIS_GV70_1ST_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),
-  CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
-  CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None),
-  CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
-  CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
-  CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
-  CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None),
-  CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None),
-  CAR.KIA_NIRO_PHEV_2022: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
-  CAR.STARIA_4TH_GEN: dbc_dict('hyundai_canfd', None),
-}
+CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC)
+
+HYBRID_CAR = CAR.with_flags(HyundaiFlags.HYBRID)
+
+EV_CAR = CAR.with_flags(HyundaiFlags.EV)
+
+LEGACY_SAFETY_MODE_CAR = CAR.with_flags(HyundaiFlags.LEGACY)
+
+UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)
+
+DBC = CAR.create_dbc_map()
+
+if __name__ == "__main__":
+  CAR.print_debug(HyundaiFlags)

selfdrive/car/interfaces.py

@@ -4,7 +4,7 @@ import numpy as np
 import tomllib
 from abc import abstractmethod, ABC
 from enum import StrEnum
-from typing import Any, NamedTuple, cast
+from typing import Any, NamedTuple
 from collections.abc import Callable
 
 from cereal import car
@@ -13,7 +13,8 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import PlatformConfig, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+from openpilot.selfdrive.car.values import Platform
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -101,22 +102,24 @@ class CarInterfaceBase(ABC):
     return ACCEL_MIN, ACCEL_MAX
 
   @classmethod
-  def get_non_essential_params(cls, candidate: str):
+  def get_non_essential_params(cls, candidate: Platform):
     """
     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, False)
 
   @classmethod
-  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
+  def get_params(cls, candidate: Platform, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
     ret = CarInterfaceBase.get_std_params(candidate)
 
-    if hasattr(candidate, "config"):
-      platform_config = cast(PlatformConfig, candidate.config)
-      if platform_config.specs is not None:
-        ret.mass = platform_config.specs.mass
-        ret.wheelbase = platform_config.specs.wheelbase
-        ret.steerRatio = platform_config.specs.steerRatio
+    ret.mass = candidate.config.specs.mass
+    ret.wheelbase = candidate.config.specs.wheelbase
+    ret.steerRatio = candidate.config.specs.steerRatio
+    ret.centerToFront = ret.wheelbase * candidate.config.specs.centerToFrontRatio
+    ret.minEnableSpeed = candidate.config.specs.minEnableSpeed
+    ret.minSteerSpeed = candidate.config.specs.minSteerSpeed
+    ret.tireStiffnessFactor = candidate.config.specs.tireStiffnessFactor
+    ret.flags |= int(candidate.config.flags)
 
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
 
@@ -132,7 +135,7 @@ class CarInterfaceBase(ABC):
 
   @staticmethod
   @abstractmethod
-  def _get_params(ret: car.CarParams, candidate: str, fingerprint: dict[int, dict[int, int]],
+  def _get_params(ret: car.CarParams, candidate, fingerprint: dict[int, dict[int, int]],
                   car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
     raise NotImplementedError
 
@@ -331,7 +334,6 @@ class RadarInterfaceBase(ABC):
     self.delay = 0
     self.radar_ts = CP.radarTimeStep
     self.frame = 0
-    self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ
 
   def update(self, can_strings):
     self.frame += 1
@@ -452,6 +454,15 @@ class CarStateBase(ABC):
     return None
 
 
+SendCan = tuple[int, int, bytes, int]
+
+
+class CarControllerBase(ABC):
+  @abstractmethod
+  def update(self, CC, CS, now_nanos) -> tuple[car.CarControl.Actuators, list[SendCan]]:
+    pass
+
+
 INTERFACE_ATTR_FILE = {
   "FINGERPRINTS": "fingerprints",
   "FW_VERSIONS": "fingerprints",

selfdrive/car/isotp_parallel_query.py

@@ -12,7 +12,7 @@ from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_a
 class IsoTpParallelQuery:
   def __init__(self, sendcan: messaging.PubSocket, logcan: messaging.SubSocket, bus: int, addrs: list[int] | list[AddrType],
                request: list[bytes], response: list[bytes], response_offset: int = 0x8,
-               functional_addrs: list[int] | None = None, debug: bool = False, response_pending_timeout: float = 10) -> None:
+               functional_addrs: list[int] = None, debug: bool = False, response_pending_timeout: float = 10) -> None:
     self.sendcan = sendcan
     self.logcan = logcan
     self.bus = bus

selfdrive/car/mazda/carcontroller.py

@@ -1,13 +1,14 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.mazda import mazdacan
 from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
-class CarController:
+class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.apply_steer_last = 0
@@ -35,13 +36,13 @@ class CarController:
       if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
         # Cancel Stock ACC if it's enabled while OP is disengaged
         # Send at a rate of 10hz until we sync with stock ACC state
-        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
+        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.CANCEL))
     else:
       self.brake_counter = 0
       if CC.cruiseControl.resume and self.frame % 5 == 0:
         # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
         # Send Resume button when planner wants car to move
-        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
+        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.RESUME))
 
     self.apply_steer_last = apply_steer
 
@@ -54,7 +55,7 @@ class CarController:
       can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
 
     # send steering command
-    can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint,
+    can_sends.append(mazdacan.create_steering_control(self.packer, self.CP,
                                                       self.frame, apply_steer, CS.cam_lkas))
 
     new_actuators = CC.actuators.copy()

selfdrive/car/mazda/carstate.py

@@ -3,7 +3,7 @@ from openpilot.common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1
+from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -116,7 +116,7 @@ class CarState(CarStateBase):
       ("WHEEL_SPEEDS", 100),
     ]
 
-    if CP.carFingerprint in GEN1:
+    if CP.flags & MazdaFlags.GEN1:
       messages += [
         ("ENGINE_DATA", 100),
         ("CRZ_CTRL", 50),
@@ -136,7 +136,7 @@ class CarState(CarStateBase):
   def get_cam_can_parser(CP):
     messages = []
 
-    if CP.carFingerprint in GEN1:
+    if CP.flags & MazdaFlags.GEN1:
       messages += [
         # sig_address, frequency
         ("CAM_LANEINFO", 2),

selfdrive/car/mazda/interface.py

@@ -20,27 +20,9 @@ class CarInterface(CarInterfaceBase):
 
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.8
-    ret.tireStiffnessFactor = 0.70   # not optimized yet
 
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate in (CAR.CX5, CAR.CX5_2022):
-      ret.mass = 3655 * CV.LB_TO_KG
-      ret.wheelbase = 2.7
-      ret.steerRatio = 15.5
-    elif candidate in (CAR.CX9, CAR.CX9_2021):
-      ret.mass = 4217 * CV.LB_TO_KG
-      ret.wheelbase = 3.1
-      ret.steerRatio = 17.6
-    elif candidate == CAR.MAZDA3:
-      ret.mass = 2875 * CV.LB_TO_KG
-      ret.wheelbase = 2.7
-      ret.steerRatio = 14.0
-    elif candidate == CAR.MAZDA6:
-      ret.mass = 3443 * CV.LB_TO_KG
-      ret.wheelbase = 2.83
-      ret.steerRatio = 15.5
-
     if candidate not in (CAR.CX5_2022, ):
       ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
 

selfdrive/car/mazda/mazdacan.py

@@ -1,7 +1,7 @@
-from openpilot.selfdrive.car.mazda.values import GEN1, Buttons
+from openpilot.selfdrive.car.mazda.values import Buttons, MazdaFlags
 
 
-def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
+def create_steering_control(packer, CP, frame, apply_steer, lkas):
 
   tmp = apply_steer + 2048
 
@@ -45,7 +45,7 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
   csum = csum % 256
 
   values = {}
-  if car_fingerprint in GEN1:
+  if CP.flags & MazdaFlags.GEN1:
     values = {
       "LKAS_REQUEST": apply_steer,
       "CTR": ctr,
@@ -88,12 +88,12 @@ def create_alert_command(packer, cam_msg: dict, ldw: bool, steer_required: bool)
   return packer.make_can_msg("CAM_LANEINFO", 0, values)
 
 
-def create_button_cmd(packer, car_fingerprint, counter, button):
+def create_button_cmd(packer, CP, counter, button):
 
   can = int(button == Buttons.CANCEL)
   res = int(button == Buttons.RESUME)
 
-  if car_fingerprint in GEN1:
+  if CP.flags & MazdaFlags.GEN1:
     values = {
       "CAN_OFF": can,
       "CAN_OFF_INV": (can + 1) % 2,

selfdrive/car/mazda/values.py

@@ -1,8 +1,9 @@
 from dataclasses import dataclass, field
-from enum import StrEnum
+from enum import IntFlag
 
 from cereal import car
-from openpilot.selfdrive.car import dbc_dict
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -25,29 +26,60 @@ class CarControllerParams:
     pass
 
 
-class CAR(StrEnum):
-  CX5 = "MAZDA CX-5"
-  CX9 = "MAZDA CX-9"
-  MAZDA3 = "MAZDA 3"
-  MAZDA6 = "MAZDA 6"
-  CX9_2021 = "MAZDA CX-9 2021"
-  CX5_2022 = "MAZDA CX-5 2022"
-
-
 @dataclass
 class MazdaCarInfo(CarInfo):
   package: str = "All"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda]))
 
 
-CAR_INFO: dict[str, MazdaCarInfo | list[MazdaCarInfo]] = {
-  CAR.CX5: MazdaCarInfo("Mazda CX-5 2017-21"),
-  CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"),
-  CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
-  CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
-  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
-  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-24"),
-}
+@dataclass(frozen=True, kw_only=True)
+class MazdaCarSpecs(CarSpecs):
+  tireStiffnessFactor: float = 0.7  # not optimized yet
+
+
+class MazdaFlags(IntFlag):
+  # Static flags
+  # Gen 1 hardware: same CAN messages and same camera
+  GEN1 = 1
+
+
+@dataclass
+class MazdaPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('mazda_2017', None))
+  flags: int = MazdaFlags.GEN1
+
+
+class CAR(Platforms):
+  CX5 = MazdaPlatformConfig(
+    "MAZDA CX-5",
+    MazdaCarInfo("Mazda CX-5 2017-21"),
+    MazdaCarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5)
+  )
+  CX9 = MazdaPlatformConfig(
+    "MAZDA CX-9",
+    MazdaCarInfo("Mazda CX-9 2016-20"),
+    MazdaCarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6)
+  )
+  MAZDA3 = MazdaPlatformConfig(
+    "MAZDA 3",
+    MazdaCarInfo("Mazda 3 2017-18"),
+    MazdaCarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0)
+  )
+  MAZDA6 = MazdaPlatformConfig(
+    "MAZDA 6",
+    MazdaCarInfo("Mazda 6 2017-20"),
+    MazdaCarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5)
+  )
+  CX9_2021 = MazdaPlatformConfig(
+    "MAZDA CX-9 2021",
+    MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
+    CX9.specs
+  )
+  CX5_2022 = MazdaPlatformConfig(
+    "MAZDA CX-5 2022",
+    MazdaCarInfo("Mazda CX-5 2022-24"),
+    CX5.specs,
+  )
 
 
 class LKAS_LIMITS:
@@ -75,15 +107,4 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
 )
 
-
-DBC = {
-  CAR.CX5: dbc_dict('mazda_2017', None),
-  CAR.CX9: dbc_dict('mazda_2017', None),
-  CAR.MAZDA3: dbc_dict('mazda_2017', None),
-  CAR.MAZDA6: dbc_dict('mazda_2017', None),
-  CAR.CX9_2021: dbc_dict('mazda_2017', None),
-  CAR.CX5_2022: dbc_dict('mazda_2017', None),
-}
-
-# Gen 1 hardware: same CAN messages and same camera
-GEN1 = {CAR.CX5, CAR.CX9, CAR.CX9_2021, CAR.MAZDA3, CAR.MAZDA6, CAR.CX5_2022}
+DBC = CAR.create_dbc_map()

selfdrive/car/mock/values.py

@@ -1,12 +1,10 @@
-from enum import StrEnum
+from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms
 
-from openpilot.selfdrive.car.docs_definitions import CarInfo
 
-
-class CAR(StrEnum):
-  MOCK = 'mock'
-
-
-CAR_INFO: dict[str, CarInfo | list[CarInfo] | None] = {
-  CAR.MOCK: None,
-}
+class CAR(Platforms):
+  MOCK = PlatformConfig(
+    'mock',
+    None,
+    CarSpecs(mass=1700, wheelbase=2.7, steerRatio=13),
+    {}
+  )

selfdrive/car/nissan/carcontroller.py

@@ -1,13 +1,14 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
+from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.nissan import nissancan
 from openpilot.selfdrive.car.nissan.values import CAR, CarControllerParams
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
-class CarController:
+class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.car_fingerprint = CP.carFingerprint

selfdrive/car/nissan/interface.py

@@ -16,25 +16,13 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 1.0
 
     ret.steerActuatorDelay = 0.1
-    ret.steerRatio = 17
 
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.radarUnavailable = True
 
-    if candidate in (CAR.ROGUE, CAR.XTRAIL):
-      ret.mass = 1610
-      ret.wheelbase = 2.705
-      ret.centerToFront = ret.wheelbase * 0.44
-    elif candidate in (CAR.LEAF, CAR.LEAF_IC):
-      ret.mass = 1610
-      ret.wheelbase = 2.705
-      ret.centerToFront = ret.wheelbase * 0.44
-    elif candidate == CAR.ALTIMA:
+    if candidate == CAR.ALTIMA:
       # Altima has EPS on C-CAN unlike the others that have it on V-CAN
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
-      ret.mass = 1492
-      ret.wheelbase = 2.824
-      ret.centerToFront = ret.wheelbase * 0.44
 
     return ret
 
@@ -42,11 +30,6 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
 
-    buttonEvents = []
-    be = car.CarState.ButtonEvent.new_message()
-    be.type = car.CarState.ButtonEvent.Type.accelCruise
-    buttonEvents.append(be)
-
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
 
     if self.CS.lkas_enabled:

selfdrive/car/nissan/values.py

@@ -1,9 +1,8 @@
 from dataclasses import dataclass, field
-from enum import StrEnum
 
 from cereal import car
 from panda.python import uds
-from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
+from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -20,29 +19,51 @@ class CarControllerParams:
     pass
 
 
-class CAR(StrEnum):
-  XTRAIL = "NISSAN X-TRAIL 2017"
-  LEAF = "NISSAN LEAF 2018"
-  # Leaf with ADAS ECU found behind instrument cluster instead of glovebox
-  # Currently the only known difference between them is the inverted seatbelt signal.
-  LEAF_IC = "NISSAN LEAF 2018 Instrument Cluster"
-  ROGUE = "NISSAN ROGUE 2019"
-  ALTIMA = "NISSAN ALTIMA 2020"
-
-
 @dataclass
 class NissanCarInfo(CarInfo):
   package: str = "ProPILOT Assist"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a]))
 
 
-CAR_INFO: dict[str, NissanCarInfo | list[NissanCarInfo] | None] = {
-  CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
-  CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
-  CAR.LEAF_IC: None,  # same platforms
-  CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
-  CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
-}
+@dataclass(frozen=True)
+class NissanCarSpecs(CarSpecs):
+  centerToFrontRatio: float = 0.44
+  steerRatio: float = 17.
+
+
+@dataclass
+class NissanPlaformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('nissan_x_trail_2017_generated', None))
+
+
+class CAR(Platforms):
+  XTRAIL = NissanPlaformConfig(
+    "NISSAN X-TRAIL 2017",
+    NissanCarInfo("Nissan X-Trail 2017"),
+    NissanCarSpecs(mass=1610, wheelbase=2.705)
+  )
+  LEAF = NissanPlaformConfig(
+    "NISSAN LEAF 2018",
+    NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
+    NissanCarSpecs(mass=1610, wheelbase=2.705),
+    dbc_dict('nissan_leaf_2018_generated', None),
+  )
+  # Leaf with ADAS ECU found behind instrument cluster instead of glovebox
+  # Currently the only known difference between them is the inverted seatbelt signal.
+  LEAF_IC = LEAF.override(platform_str="NISSAN LEAF 2018 Instrument Cluster", car_info=None)
+  ROGUE = NissanPlaformConfig(
+    "NISSAN ROGUE 2019",
+    NissanCarInfo("Nissan Rogue 2018-20"),
+    NissanCarSpecs(mass=1610, wheelbase=2.705)
+  )
+  ALTIMA = NissanPlaformConfig(
+    "NISSAN ALTIMA 2020",
+    NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
+    NissanCarSpecs(mass=1492, wheelbase=2.824)
+  )
+
+
+DBC = CAR.create_dbc_map()
 
 # Default diagnostic session
 NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81])
@@ -88,11 +109,3 @@ FW_QUERY_CONFIG = FwQueryConfig(
     ),
   ]],
 )
-
-DBC = {
-  CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None),
-  CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None),
-  CAR.LEAF_IC: dbc_dict('nissan_leaf_2018_generated', None),
-  CAR.ROGUE: dbc_dict('nissan_x_trail_2017_generated', None),
-  CAR.ALTIMA: dbc_dict('nissan_x_trail_2017_generated', None),
-}

selfdrive/car/subaru/carcontroller.py

@@ -1,9 +1,9 @@
 from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.subaru import subarucan
-from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, \
-                                                  CanBus, CarControllerParams, SubaruFlags
+from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags
 
 # FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
 # involves the total steering angle change rather than rate, but these limits work well for now
@@ -11,7 +11,7 @@ MAX_STEER_RATE = 25  # deg/s
 MAX_STEER_RATE_FRAMES = 7  # tx control frames needed before torque can be cut
 
 
-class CarController:
+class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.apply_steer_last = 0
@@ -42,12 +42,12 @@ class CarController:
       if not CC.latActive:
         apply_steer = 0
 
-      if self.CP.carFingerprint in PREGLOBAL_CARS:
+      if self.CP.flags & SubaruFlags.PREGLOBAL:
         can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive))
       else:
         apply_steer_req = CC.latActive
 
-        if self.CP.carFingerprint in STEER_RATE_LIMITED:
+        if self.CP.flags & SubaruFlags.STEER_RATE_LIMITED:
           # Steering rate fault prevention
           self.steer_rate_counter, apply_steer_req = \
             common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req,
@@ -74,7 +74,7 @@ class CarController:
       cruise_brake = CarControllerParams.BRAKE_MIN
 
     # *** alerts and pcm cancel ***
-    if self.CP.carFingerprint in PREGLOBAL_CARS:
+    if self.CP.flags & SubaruFlags.PREGLOBAL:
       if self.frame % 5 == 0:
         # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
         # disengage ACC when OP is disengaged
@@ -117,8 +117,8 @@ class CarController:
                                                         self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle))
       else:
         if pcm_cancel_cmd:
-          if self.CP.carFingerprint not in HYBRID_CARS:
-            bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
+          if not (self.CP.flags & SubaruFlags.HYBRID):
+            bus = CanBus.alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else CanBus.main
             can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
 
       if self.CP.flags & SubaruFlags.DISABLE_EYESIGHT:

selfdrive/car/subaru/carstate.py

@@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, SubaruFlags
+from openpilot.selfdrive.car.subaru.values import DBC, CanBus, SubaruFlags
 from openpilot.selfdrive.car import CanSignalRateCalculator
 
 
@@ -19,17 +19,27 @@ class CarState(CarStateBase):
   def update(self, cp, cp_cam, cp_body):
     ret = car.CarState.new_message()
 
-    throttle_msg = cp.vl["Throttle"] if self.car_fingerprint not in HYBRID_CARS else cp_body.vl["Throttle_Hybrid"]
+    throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_body.vl["Throttle_Hybrid"]
     ret.gas = throttle_msg["Throttle_Pedal"] / 255.
 
     ret.gasPressed = ret.gas > 1e-5
-    if self.car_fingerprint in PREGLOBAL_CARS:
+    if self.CP.flags & SubaruFlags.PREGLOBAL:
       ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 0
     else:
-      cp_brakes = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
+      cp_brakes = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
       ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1
 
-    cp_wheels = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
+    cp_es_distance = cp_body if self.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID) else cp_cam
+    if not (self.CP.flags & SubaruFlags.HYBRID):
+      eyesight_fault = bool(cp_es_distance.vl["ES_Distance"]["Cruise_Fault"])
+
+      # if openpilot is controlling long, an eyesight fault is a non-critical fault. otherwise it's an ACC fault
+      if self.CP.openpilotLongitudinalControl:
+        ret.carFaultedNonCritical = eyesight_fault
+      else:
+        ret.accFaulted = eyesight_fault
+
+    cp_wheels = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
     ret.wheelSpeeds = self.get_wheel_speeds(
       cp_wheels.vl["Wheel_Speeds"]["FL"],
       cp_wheels.vl["Wheel_Speeds"]["FR"],
@@ -48,24 +58,24 @@ class CarState(CarStateBase):
       ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1)
       ret.rightBlindspot = (cp.vl["BSD_RCTA"]["R_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["R_APPROACHING"] == 1)
 
-    cp_transmission = cp_body if self.car_fingerprint in HYBRID_CARS else cp
+    cp_transmission = cp_body if self.CP.flags & SubaruFlags.HYBRID else cp
     can_gear = int(cp_transmission.vl["Transmission"]["Gear"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
 
     ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
 
-    if self.car_fingerprint not in PREGLOBAL_CARS:
+    if not (self.CP.flags & SubaruFlags.PREGLOBAL):
       # ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it
       ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, cp.vl["Steering_Torque"]["COUNTER"])
 
     ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
     ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
 
-    steer_threshold = 75 if self.CP.carFingerprint in PREGLOBAL_CARS else 80
+    steer_threshold = 75 if self.CP.flags & SubaruFlags.PREGLOBAL else 80
     ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
 
-    cp_cruise = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
-    if self.car_fingerprint in HYBRID_CARS:
+    cp_cruise = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
+    if self.CP.flags & SubaruFlags.HYBRID:
       ret.cruiseState.enabled = cp_cam.vl["ES_DashStatus"]['Cruise_Activated'] != 0
       ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0
     else:
@@ -73,8 +83,8 @@ class CarState(CarStateBase):
       ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0
     ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
 
-    if (self.car_fingerprint in PREGLOBAL_CARS and cp.vl["Dash_State2"]["UNITS"] == 1) or \
-       (self.car_fingerprint not in PREGLOBAL_CARS and cp.vl["Dashlights"]["UNITS"] == 1):
+    if (self.CP.flags & SubaruFlags.PREGLOBAL and cp.vl["Dash_State2"]["UNITS"] == 1) or \
+       (not (self.CP.flags & SubaruFlags.PREGLOBAL) and cp.vl["Dashlights"]["UNITS"] == 1):
       ret.cruiseState.speed *= CV.MPH_TO_KPH
 
     ret.seatbeltUnlatched = cp.vl["Dashlights"]["SEATBELT_FL"] == 1
@@ -84,8 +94,7 @@ class CarState(CarStateBase):
                         cp.vl["BodyInfo"]["DOOR_OPEN_FL"]])
     ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1
 
-    cp_es_distance = cp_body if self.car_fingerprint in (GLOBAL_GEN2 | HYBRID_CARS) else cp_cam
-    if self.car_fingerprint in PREGLOBAL_CARS:
+    if self.CP.flags & SubaruFlags.PREGLOBAL:
       self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"]
       self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
     else:
@@ -96,12 +105,12 @@ class CarState(CarStateBase):
                      (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2)
 
       self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
-      cp_es_brake = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
+      cp_es_brake = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam
       self.es_brake_msg = copy.copy(cp_es_brake.vl["ES_Brake"])
-      cp_es_status = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
+      cp_es_status = cp_body if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam
 
       # TODO: Hybrid cars don't have ES_Distance, need a replacement
-      if self.car_fingerprint not in HYBRID_CARS:
+      if not (self.CP.flags & SubaruFlags.HYBRID):
         # 8 is known AEB, there are a few other values related to AEB we ignore
         ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \
                        (cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0)
@@ -109,7 +118,7 @@ class CarState(CarStateBase):
         self.es_status_msg = copy.copy(cp_es_status.vl["ES_Status"])
         self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"])
 
-    if self.car_fingerprint not in HYBRID_CARS:
+    if not (self.CP.flags & SubaruFlags.HYBRID):
       self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
 
     self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
@@ -125,7 +134,7 @@ class CarState(CarStateBase):
       ("Brake_Status", 50),
     ]
 
-    if CP.carFingerprint not in HYBRID_CARS:
+    if not (CP.flags & SubaruFlags.HYBRID):
       messages.append(("CruiseControl", 20))
 
     return messages
@@ -136,7 +145,7 @@ class CarState(CarStateBase):
       ("ES_Brake", 20),
     ]
 
-    if CP.carFingerprint not in HYBRID_CARS:
+    if not (CP.flags & SubaruFlags.HYBRID):
       messages += [
         ("ES_Distance", 20),
         ("ES_Status", 20)
@@ -164,7 +173,7 @@ class CarState(CarStateBase):
       ("Brake_Pedal", 50),
     ]
 
-    if CP.carFingerprint not in HYBRID_CARS:
+    if not (CP.flags & SubaruFlags.HYBRID):
       messages += [
         ("Throttle", 100),
         ("Transmission", 100)
@@ -173,8 +182,8 @@ class CarState(CarStateBase):
     if CP.enableBsm:
       messages.append(("BSD_RCTA", 17))
 
-    if CP.carFingerprint not in PREGLOBAL_CARS:
-      if CP.carFingerprint not in GLOBAL_GEN2:
+    if not (CP.flags & SubaruFlags.PREGLOBAL):
+      if not (CP.flags & SubaruFlags.GLOBAL_GEN2):
         messages += CarState.get_common_global_body_messages(CP)
     else:
       messages += CarState.get_common_preglobal_body_messages()
@@ -183,7 +192,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_cam_can_parser(CP):
-    if CP.carFingerprint in PREGLOBAL_CARS:
+    if CP.flags & SubaruFlags.PREGLOBAL:
       messages = [
         ("ES_DashStatus", 20),
         ("ES_Distance", 20),
@@ -194,7 +203,7 @@ class CarState(CarStateBase):
         ("ES_LKAS_State", 10),
       ]
 
-      if CP.carFingerprint not in GLOBAL_GEN2:
+      if not (CP.flags & SubaruFlags.GLOBAL_GEN2):
         messages += CarState.get_common_global_es_messages(CP)
 
       if CP.flags & SubaruFlags.SEND_INFOTAINMENT:
@@ -206,11 +215,11 @@ class CarState(CarStateBase):
   def get_body_can_parser(CP):
     messages = []
 
-    if CP.carFingerprint in GLOBAL_GEN2:
+    if CP.flags & SubaruFlags.GLOBAL_GEN2:
       messages += CarState.get_common_global_body_messages(CP)
       messages += CarState.get_common_global_es_messages(CP)
 
-    if CP.carFingerprint in HYBRID_CARS:
+    if CP.flags & SubaruFlags.HYBRID:
       messages += [
         ("Throttle_Hybrid", 40),
         ("Transmission", 100)

selfdrive/car/subaru/fingerprints.py

@@ -26,6 +26,7 @@ FW_VERSIONS = {
       b'\xd1,\xa0q\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\x00>\xf0\x00\x00',
       b'\x00\xfe\xf7\x00\x00',
       b'\x01\xfe\xf7\x00\x00',
       b'\x01\xfe\xf9\x00\x00',

selfdrive/car/subaru/interface.py

@@ -3,55 +3,52 @@ from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags
+from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags
 
 
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "subaru"
     ret.radarUnavailable = True
     # for HYBRID CARS to be upstreamed, we need:
     # - replacement for ES_Distance so we can cancel the cruise control
     # - to find the Cruise_Activated bit from the car
     # - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc)
-    ret.dashcamOnly = candidate in (PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
+    ret.dashcamOnly = bool(ret.flags & (SubaruFlags.PREGLOBAL | SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
     ret.autoResumeSng = False
 
     # Detect infotainment message sent from the camera
-    if candidate not in PREGLOBAL_CARS and 0x323 in fingerprint[2]:
+    if not (ret.flags & SubaruFlags.PREGLOBAL) and 0x323 in fingerprint[2]:
       ret.flags |= SubaruFlags.SEND_INFOTAINMENT.value
 
-    if candidate in PREGLOBAL_CARS:
+    if ret.flags & SubaruFlags.PREGLOBAL:
       ret.enableBsm = 0x25c in fingerprint[0]
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruPreglobal)]
     else:
       ret.enableBsm = 0x228 in fingerprint[0]
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
-      if candidate in GLOBAL_GEN2:
+      if ret.flags & SubaruFlags.GLOBAL_GEN2:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
 
     ret.steerLimitTimer = 0.4
     ret.steerActuatorDelay = 0.1
 
-    if candidate in LKAS_ANGLE:
+    if ret.flags & SubaruFlags.LKAS_ANGLE:
       ret.steerControlType = car.CarParams.SteerControlType.angle
     else:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-
-    ret.centerToFront = ret.wheelbase * 0.5
-
     if candidate in (CAR.ASCENT, CAR.ASCENT_2023):
-      ret.steerActuatorDelay = 0.3   # end-to-end angle controller
+      ret.steerActuatorDelay = 0.3  # end-to-end angle controller
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00003
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
 
     elif candidate == CAR.IMPREZA:
-      ret.steerActuatorDelay = 0.4   # end-to-end angle controller
+      ret.steerActuatorDelay = 0.4  # end-to-end angle controller
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
@@ -86,10 +83,11 @@ class CarInterface(CarInterfaceBase):
     else:
       raise ValueError(f"unknown car: {candidate}")
 
-    ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
+    ret.experimentalLongitudinalAvailable = not (ret.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.PREGLOBAL |
+                                                              SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID))
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
 
-    if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
+    if ret.flags & SubaruFlags.GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
       ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value
 
     if ret.openpilotLongitudinalControl:

selfdrive/car/subaru/values.py

@@ -19,7 +19,7 @@ class CarControllerParams:
     self.STEER_DRIVER_MULTIPLIER = 50  # weight driver torque heavily
     self.STEER_DRIVER_FACTOR = 1       # from dbc
 
-    if CP.carFingerprint in GLOBAL_GEN2:
+    if CP.flags & SubaruFlags.GLOBAL_GEN2:
       self.STEER_MAX = 1000
       self.STEER_DELTA_UP = 40
       self.STEER_DELTA_DOWN = 40
@@ -53,9 +53,20 @@ class CarControllerParams:
 
 
 class SubaruFlags(IntFlag):
+  # Detected flags
   SEND_INFOTAINMENT = 1
   DISABLE_EYESIGHT = 2
 
+  # Static flags
+  GLOBAL_GEN2 = 4
+
+  # Cars that temporarily fault when steering angle rate is greater than some threshold.
+  # Appears to be all torque-based cars produced around 2019 - present
+  STEER_RATE_LIMITED = 8
+  PREGLOBAL = 16
+  HYBRID = 32
+  LKAS_ANGLE = 64
+
 
 GLOBAL_ES_ADDR = 0x787
 GEN2_ES_BUTTONS_DID = b'\x11\x30'
@@ -93,23 +104,36 @@ class SubaruCarInfo(CarInfo):
 class SubaruPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('subaru_global_2017_generated', None))
 
+  def init(self):
+    if self.flags & SubaruFlags.HYBRID:
+      self.dbc_dict = dbc_dict('subaru_global_2020_hybrid_generated', None)
+
+
+@dataclass
+class SubaruGen2PlatformConfig(SubaruPlatformConfig):
+  def init(self):
+    super().init()
+    self.flags |= SubaruFlags.GLOBAL_GEN2
+    if not (self.flags & SubaruFlags.LKAS_ANGLE):
+      self.flags |= SubaruFlags.STEER_RATE_LIMITED
+
 
 class CAR(Platforms):
   # Global platform
   ASCENT = SubaruPlatformConfig(
     "SUBARU ASCENT LIMITED 2019",
     SubaruCarInfo("Subaru Ascent 2019-21", "All"),
-    specs=CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
+    CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
   )
-  OUTBACK = SubaruPlatformConfig(
+  OUTBACK = SubaruGen2PlatformConfig(
     "SUBARU OUTBACK 6TH GEN",
     SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
-    specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
+    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
   )
-  LEGACY = SubaruPlatformConfig(
+  LEGACY = SubaruGen2PlatformConfig(
     "SUBARU LEGACY 7TH GEN",
     SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
-    specs=OUTBACK.specs,
+    OUTBACK.specs,
   )
   IMPREZA = SubaruPlatformConfig(
     "SUBARU IMPREZA LIMITED 2019",
@@ -118,7 +142,7 @@ class CAR(Platforms):
       SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
       SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
     ],
-    specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15),
+    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15),
   )
   IMPREZA_2020 = SubaruPlatformConfig(
     "SUBARU IMPREZA SPORT 2020",
@@ -127,78 +151,78 @@ class CAR(Platforms):
       SubaruCarInfo("Subaru Crosstrek 2020-23"),
       SubaruCarInfo("Subaru XV 2020-21"),
     ],
-    specs=CarSpecs(mass=1480, wheelbase=2.67, steerRatio=17),
+    CarSpecs(mass=1480, wheelbase=2.67, steerRatio=17),
+    flags=SubaruFlags.STEER_RATE_LIMITED,
   )
   # TODO: is there an XV and Impreza too?
   CROSSTREK_HYBRID = SubaruPlatformConfig(
     "SUBARU CROSSTREK HYBRID 2020",
     SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
-    dbc_dict('subaru_global_2020_hybrid_generated', None),
-    specs=CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
+    CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
+    flags=SubaruFlags.HYBRID,
   )
   FORESTER = SubaruPlatformConfig(
     "SUBARU FORESTER 2019",
     SubaruCarInfo("Subaru Forester 2019-21", "All"),
-    specs=CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
+    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
+    flags=SubaruFlags.STEER_RATE_LIMITED,
   )
   FORESTER_HYBRID = SubaruPlatformConfig(
     "SUBARU FORESTER HYBRID 2020",
     SubaruCarInfo("Subaru Forester Hybrid 2020"),
-    dbc_dict('subaru_global_2020_hybrid_generated', None),
-    specs=FORESTER.specs,
+    FORESTER.specs,
+    flags=SubaruFlags.HYBRID,
   )
   # Pre-global
   FORESTER_PREGLOBAL = SubaruPlatformConfig(
     "SUBARU FORESTER 2017 - 2018",
     SubaruCarInfo("Subaru Forester 2017-18"),
+    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20),
     dbc_dict('subaru_forester_2017_generated', None),
-    specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20),
+    flags=SubaruFlags.PREGLOBAL,
   )
   LEGACY_PREGLOBAL = SubaruPlatformConfig(
     "SUBARU LEGACY 2015 - 2018",
     SubaruCarInfo("Subaru Legacy 2015-18"),
+    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5),
     dbc_dict('subaru_outback_2015_generated', None),
-    specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5),
+    flags=SubaruFlags.PREGLOBAL,
   )
   OUTBACK_PREGLOBAL = SubaruPlatformConfig(
     "SUBARU OUTBACK 2015 - 2017",
     SubaruCarInfo("Subaru Outback 2015-17"),
+    FORESTER_PREGLOBAL.specs,
     dbc_dict('subaru_outback_2015_generated', None),
-    specs=FORESTER_PREGLOBAL.specs,
+    flags=SubaruFlags.PREGLOBAL,
   )
   OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
     "SUBARU OUTBACK 2018 - 2019",
     SubaruCarInfo("Subaru Outback 2018-19"),
+    FORESTER_PREGLOBAL.specs,
     dbc_dict('subaru_outback_2019_generated', None),
-    specs=FORESTER_PREGLOBAL.specs,
+    flags=SubaruFlags.PREGLOBAL,
   )
   # Angle LKAS
   FORESTER_2022 = SubaruPlatformConfig(
     "SUBARU FORESTER 2022",
     SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
-    specs=FORESTER.specs,
+    FORESTER.specs,
+    flags=SubaruFlags.LKAS_ANGLE,
   )
-  OUTBACK_2023 = SubaruPlatformConfig(
+  OUTBACK_2023 = SubaruGen2PlatformConfig(
     "SUBARU OUTBACK 7TH GEN",
     SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
-    specs=OUTBACK.specs,
+    OUTBACK.specs,
+    flags=SubaruFlags.LKAS_ANGLE,
   )
-  ASCENT_2023 = SubaruPlatformConfig(
+  ASCENT_2023 = SubaruGen2PlatformConfig(
     "SUBARU ASCENT 2023",
     SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
-    specs=ASCENT.specs,
+    ASCENT.specs,
+    flags=SubaruFlags.LKAS_ANGLE,
   )
 
 
-LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
-GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
-PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
-HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
-
-# Cars that temporarily fault when steering angle rate is greater than some threshold.
-# Appears to be all torque-based cars produced around 2019 - present
-STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER}
-
 SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
@@ -210,21 +234,31 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
+      logging=True,
     ),
+    # Non-OBD requests
     # Some Eyesight modules fail on TESTER_PRESENT_REQUEST
     # TODO: check if this resolves the fingerprinting issue for the 2023 Ascent and other new Subaru cars
     Request(
       [SUBARU_VERSION_REQUEST],
       [SUBARU_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.fwdCamera],
+      bus=0,
+    ),
+    Request(
+      [StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
+      [StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdCamera],
+      bus=0,
+      logging=True,
     ),
-    # Non-OBD requests
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
       bus=0,
     ),
+    # GEN2 powertrain bus query
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
@@ -235,9 +269,11 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
   # We don't get the EPS from non-OBD queries on GEN2 cars. Note that we still attempt to match when it exists
   non_essential_ecus={
-    Ecu.eps: list(GLOBAL_GEN2),
+    Ecu.eps: list(CAR.with_flags(SubaruFlags.GLOBAL_GEN2)),
   }
 )
 
-CAR_INFO = CAR.create_carinfo_map()
 DBC = CAR.create_dbc_map()
+
+if __name__ == "__main__":
+  CAR.print_debug(SubaruFlags)

selfdrive/car/tesla/carcontroller.py

@@ -1,11 +1,12 @@
 from openpilot.common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
+from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.tesla.teslacan import TeslaCAN
 from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams
 
 
-class CarController:
+class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.frame = 0

selfdrive/car/tesla/carstate.py

@@ -2,7 +2,7 @@ import copy
 from collections import deque
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
+from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
@@ -37,13 +37,15 @@ class CarState(CarStateBase):
     ret.brakePressed = bool(cp.vl["BrakeMessage"]["driverBrakeStatus"] != 1)
 
     # Steering wheel
-    self.hands_on_level = cp.vl["EPAS_sysStatus"]["EPAS_handsOnLevel"]
-    self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacErrorCode"]), None)
-    steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacStatus"]), None)
+    epas_status = cp_cam.vl["EPAS3P_sysStatus"] if self.CP.carFingerprint == CAR.MODELS_RAVEN else cp.vl["EPAS_sysStatus"]
 
-    ret.steeringAngleDeg = -cp.vl["EPAS_sysStatus"]["EPAS_internalSAS"]
+    self.hands_on_level = epas_status["EPAS_handsOnLevel"]
+    self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(epas_status["EPAS_eacErrorCode"]), None)
+    steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(epas_status["EPAS_eacStatus"]), None)
+
+    ret.steeringAngleDeg = -epas_status["EPAS_internalSAS"]
     ret.steeringRateDeg = -cp.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"] # This is from a different angle sensor, and at different rate
-    ret.steeringTorque = -cp.vl["EPAS_sysStatus"]["EPAS_torsionBarTorque"]
+    ret.steeringTorque = -epas_status["EPAS_torsionBarTorque"]
     ret.steeringPressed = (self.hands_on_level > 0)
     ret.steerFaultPermanent = steer_status == "EAC_FAULT"
     ret.steerFaultTemporary = (self.steer_warning not in ("EAC_ERROR_IDLE", "EAC_ERROR_HANDS_ON"))
@@ -85,7 +87,10 @@ class CarState(CarStateBase):
     ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1)
 
     # Seatbelt
-    ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
+    if self.CP.carFingerprint == CAR.MODELS_RAVEN:
+      ret.seatbeltUnlatched = (cp.vl["DriverSeat"]["buckleStatus"] != 1)
+    else:
+      ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
 
     # TODO: blindspot
 
@@ -111,9 +116,14 @@ class CarState(CarStateBase):
       ("DI_state", 10),
       ("STW_ACTN_RQ", 10),
       ("GTW_carState", 10),
-      ("SDM1", 10),
       ("BrakeMessage", 50),
     ]
+
+    if CP.carFingerprint == CAR.MODELS_RAVEN:
+      messages.append(("DriverSeat", 20))
+    else:
+      messages.append(("SDM1", 10))
+
     return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.chassis)
 
   @staticmethod
@@ -122,4 +132,8 @@ class CarState(CarStateBase):
       # sig_address, frequency
       ("DAS_control", 40),
     ]
+
+    if CP.carFingerprint == CAR.MODELS_RAVEN:
+      messages.append(("EPAS3P_sysStatus", 100))
+
     return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis)

selfdrive/car/tesla/fingerprints.py

@@ -25,4 +25,15 @@ FW_VERSIONS = {
       b'\x10#\x01',
     ],
   },
+  CAR.MODELS_RAVEN: {
+    (Ecu.electricBrakeBooster, 0x64d, None): [
+      b'1037123-00-A',
+    ],
+    (Ecu.fwdRadar, 0x671, None): [
+      b'\x01\x00\x99\x02\x01\x00\x10\x00\x00AP8.3.03\x00\x10',
+    ],
+    (Ecu.eps, 0x730, None): [
+      b'SX_0.0.0 (99),SR013.7',
+    ],
+  },
 }

selfdrive/car/tesla/interface.py

@@ -28,27 +28,20 @@ class CarInterface(CarInterfaceBase):
 
     # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
     # If so, we assume that it is connected to the longitudinal harness.
+    flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.MODELS_RAVEN else 0)
     if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
       ret.openpilotLongitudinalControl = True
+      flags |= Panda.FLAG_TESLA_LONG_CONTROL
       ret.safetyConfigs = [
-        get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL),
-        get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN),
+        get_safety_config(car.CarParams.SafetyModel.tesla, flags),
+        get_safety_config(car.CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN),
       ]
     else:
       ret.openpilotLongitudinalControl = False
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, 0)]
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, flags)]
 
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.25
-
-    if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
-      ret.mass = 2100.
-      ret.wheelbase = 2.959
-      ret.centerToFront = ret.wheelbase * 0.5
-      ret.steerRatio = 15.0
-    else:
-      raise ValueError(f"Unsupported car: {candidate}")
-
     return ret
 
   def _update(self, c):

selfdrive/car/tesla/radar_interface.py

@@ -1,38 +1,33 @@
 #!/usr/bin/env python3
 from cereal import car
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car.tesla.values import DBC, CANBUS
+from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
-RADAR_MSGS_A = list(range(0x310, 0x36E, 3))
-RADAR_MSGS_B = list(range(0x311, 0x36F, 3))
-NUM_POINTS = len(RADAR_MSGS_A)
-
-def get_radar_can_parser(CP):
-  # Status messages
-  messages = [
-    ('TeslaRadarSguInfo', 10),
-  ]
-
-  # Radar tracks. There are also raw point clouds available,
-  # we don't use those.
-  for i in range(NUM_POINTS):
-    msg_id_a = RADAR_MSGS_A[i]
-    msg_id_b = RADAR_MSGS_B[i]
-    messages.extend([
-      (msg_id_a, 8),
-      (msg_id_b, 8),
-    ])
-
-  return CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar)
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
-    self.rcp = get_radar_can_parser(CP)
+    self.CP = CP
+
+    if CP.carFingerprint == CAR.MODELS_RAVEN:
+      messages = [('RadarStatus', 16)]
+      self.num_points = 40
+      self.trigger_msg = 1119
+    else:
+      messages = [('TeslaRadarSguInfo', 10)]
+      self.num_points = 32
+      self.trigger_msg = 878
+
+    for i in range(self.num_points):
+      messages.extend([
+        (f'RadarPoint{i}_A', 16),
+        (f'RadarPoint{i}_B', 16),
+      ])
+
+    self.rcp = CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar)
     self.updated_messages = set()
     self.track_id = 0
-    self.trigger_msg = RADAR_MSGS_B[-1]
 
   def update(self, can_strings):
     if self.rcp is None:
@@ -48,17 +43,24 @@ class RadarInterface(RadarInterfaceBase):
 
     # Errors
     errors = []
-    sgu_info = self.rcp.vl['TeslaRadarSguInfo']
     if not self.rcp.can_valid:
       errors.append('canError')
-    if sgu_info['RADC_HWFail'] or sgu_info['RADC_SGUFail'] or sgu_info['RADC_SensorDirty']:
-      errors.append('fault')
+
+    if self.CP.carFingerprint == CAR.MODELS_RAVEN:
+      radar_status = self.rcp.vl['RadarStatus']
+      if radar_status['sensorBlocked'] or radar_status['shortTermUnavailable'] or radar_status['vehDynamicsError']:
+        errors.append('fault')
+    else:
+      radar_status = self.rcp.vl['TeslaRadarSguInfo']
+      if radar_status['RADC_HWFail'] or radar_status['RADC_SGUFail'] or radar_status['RADC_SensorDirty']:
+        errors.append('fault')
+
     ret.errors = errors
 
     # Radar tracks
-    for i in range(NUM_POINTS):
-      msg_a = self.rcp.vl[RADAR_MSGS_A[i]]
-      msg_b = self.rcp.vl[RADAR_MSGS_B[i]]
+    for i in range(self.num_points):
+      msg_a = self.rcp.vl[f'RadarPoint{i}_A']
+      msg_b = self.rcp.vl[f'RadarPoint{i}_B']
 
       # Make sure msg A and B are together
       if msg_a['Index'] != msg_b['Index2']:

selfdrive/car/tesla/values.py

@@ -1,8 +1,7 @@
 from collections import namedtuple
-from enum import StrEnum
 
 from cereal import car
-from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
+from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarInfo
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -10,22 +9,25 @@ Ecu = car.CarParams.Ecu
 
 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
-
-class CAR(StrEnum):
-  AP1_MODELS = 'TESLA AP1 MODEL S'
-  AP2_MODELS = 'TESLA AP2 MODEL S'
-
-
-CAR_INFO: dict[str, CarInfo | list[CarInfo]] = {
-  CAR.AP1_MODELS: CarInfo("Tesla AP1 Model S", "All"),
-  CAR.AP2_MODELS: CarInfo("Tesla AP2 Model S", "All"),
-}
-
-
-DBC = {
-  CAR.AP2_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
-  CAR.AP1_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
-}
+class CAR(Platforms):
+  AP1_MODELS = PlatformConfig(
+    'TESLA AP1 MODEL S',
+    CarInfo("Tesla AP1 Model S", "All"),
+    CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0),
+    dbc_dict('tesla_powertrain', 'tesla_radar_bosch_generated', chassis_dbc='tesla_can')
+  )
+  AP2_MODELS = PlatformConfig(
+    'TESLA AP2 MODEL S',
+    CarInfo("Tesla AP2 Model S", "All"),
+    AP1_MODELS.specs,
+    AP1_MODELS.dbc_dict
+  )
+  MODELS_RAVEN = PlatformConfig(
+    'TESLA MODEL S RAVEN',
+    CarInfo("Tesla Model S Raven", "All"),
+    AP1_MODELS.specs,
+    dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can')
+  )
 
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
@@ -36,6 +38,13 @@ FW_QUERY_CONFIG = FwQueryConfig(
       rx_offset=0x08,
       bus=0,
     ),
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.SUPPLIER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.eps],
+      rx_offset=0x08,
+      bus=0,
+    ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
@@ -46,7 +55,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ]
 )
 
-
 class CANBUS:
   # Lateral harness
   chassis = 0
@@ -88,3 +96,6 @@ class CarControllerParams:
 
   def __init__(self, CP):
     pass
+
+
+DBC = CAR.create_dbc_map()

selfdrive/car/tests/routes.py

@@ -10,6 +10,7 @@ from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
 from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
 from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.car.values import Platform
 from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
 from openpilot.selfdrive.car.tesla.values import CAR as TESLA
 from openpilot.selfdrive.car.body.values import CAR as COMMA
@@ -29,7 +30,7 @@ non_tested_cars = [
 
 class CarTestRoute(NamedTuple):
   route: str
-  car_model: str | None
+  car_model: Platform | None
   segment: int | None = None
 
 
@@ -82,8 +83,8 @@ routes = [
   CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD),  # 1.5T
   CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD),  # 2.0T
   CarTestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD),  # 2021 with new style HUD msgs
-  CarTestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.ACCORDH),
-  CarTestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORDH), # 2021 with new style HUD msgs
+  CarTestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.ACCORD),  # hybrid
+  CarTestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORD),  # hybrid, 2021 with new style HUD msgs
   CarTestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.CRV_5G),
   CarTestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.ODYSSEY),
   CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL),
@@ -229,6 +230,7 @@ routes = [
 
   CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
   CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1),
+  CarTestRoute("ffcd23abbbd02219|2024-02-28--14-59-38", VOLKSWAGEN.CADDY_MK3),
   CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7),  # Stock ACC
   CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.GOLF_MK7),  # openpilot longitudinal
   CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7),
@@ -288,6 +290,7 @@ routes = [
 
   CarTestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.AP1_MODELS),
   CarTestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.AP2_MODELS),
+  CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.MODELS_RAVEN),
 
   # Segments that test specific issues
   # Controls mismatch due to interceptor threshold

selfdrive/car/tests/test_car_interfaces.py

@@ -22,7 +22,7 @@ from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
 
 ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()})
 
-MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '20'))
+MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '40'))
 
 
 def get_fuzzy_car_interface_args(draw: DrawType) -> dict:

selfdrive/car/tests/test_docs.py

@@ -5,10 +5,11 @@ import re
 import unittest
 
 from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
+from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
 from openpilot.selfdrive.car.docs_definitions import Cable, Column, PartType, Star
 from openpilot.selfdrive.car.honda.values import CAR as HONDA
+from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.debug.dump_car_info import dump_car_info
 from openpilot.selfdrive.debug.print_docs_diff import print_car_info_diff
 
@@ -42,10 +43,10 @@ class TestCarDocs(unittest.TestCase):
           make_model_years[make_model].append(year)
 
   def test_missing_car_info(self):
-    all_car_info_platforms = get_interface_attr("CAR_INFO", combine_brands=True).keys()
+    all_car_info_platforms = [name for name, config in PLATFORMS.items()]
     for platform in sorted(interfaces.keys()):
       with self.subTest(platform=platform):
-        self.assertTrue(platform in all_car_info_platforms, f"Platform: {platform} doesn't exist in CarInfo")
+        self.assertTrue(platform in all_car_info_platforms, f"Platform: {platform} doesn't have a CarInfo entry")
 
   def test_naming_conventions(self):
     # Asserts market-standard car naming conventions by brand

selfdrive/car/tests/test_fw_fingerprint.py

@@ -263,25 +263,26 @@ class TestFwFingerprintTiming(unittest.TestCase):
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    total_ref_time = {1: 6.5, 2: 7.4}
+    total_ref_time = {1: 8.5, 2: 9.4}
     brand_ref_times = {
       1: {
-        'gm': 0.5,
+        'gm': 1.0,
         'body': 0.1,
         'chrysler': 0.3,
-        'ford': 0.2,
+        'ford': 1.5,
         'honda': 0.55,
         'hyundai': 1.05,
         'mazda': 0.1,
         'nissan': 0.8,
-        'subaru': 0.45,
-        'tesla': 0.2,
+        'subaru': 0.55,
+        'tesla': 0.3,
         'toyota': 1.6,
         'volkswagen': 0.65,
       },
       2: {
-        'ford': 0.3,
+        'ford': 1.6,
         'hyundai': 1.85,
+        'tesla': 0.3,
       }
     }
 

selfdrive/car/tests/test_models.py

@@ -17,8 +17,9 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
-from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
+from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
+from openpilot.selfdrive.car.values import PLATFORMS, Platform
 from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -64,7 +65,7 @@ def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
 @pytest.mark.slow
 @pytest.mark.shared_download_cache
 class TestCarModelBase(unittest.TestCase):
-  car_model: str | None = None
+  platform: Platform | None = None
   test_route: CarTestRoute | None = None
   test_route_on_bucket: bool = True  # whether the route is on the preserved CI bucket
 
@@ -93,8 +94,8 @@ class TestCarModelBase(unittest.TestCase):
         car_fw = msg.carParams.carFw
         if msg.carParams.openpilotLongitudinalControl:
           experimental_long = True
-        if cls.car_model is None and not cls.ci:
-          cls.car_model = msg.carParams.carFingerprint
+        if cls.platform is None and not cls.ci:
+          cls.platform = PLATFORMS.get(msg.carParams.carFingerprint)
 
       # Log which can frame the panda safety mode left ELM327, for CAN validity checks
       elif msg.which() == 'pandaStates':
@@ -155,15 +156,11 @@ class TestCarModelBase(unittest.TestCase):
     if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'):
       raise unittest.SkipTest
 
-    if 'FILTER' in os.environ:
-      if not cls.car_model.startswith(tuple(os.environ.get('FILTER').split(','))):
-        raise unittest.SkipTest
-
     if cls.test_route is None:
-      if cls.car_model in non_tested_cars:
-        print(f"Skipping tests for {cls.car_model}: missing route")
+      if cls.platform in non_tested_cars:
+        print(f"Skipping tests for {cls.platform}: missing route")
         raise unittest.SkipTest
-      raise Exception(f"missing test route for {cls.car_model}")
+      raise Exception(f"missing test route for {cls.platform}")
 
     car_fw, can_msgs, experimental_long = cls.get_testing_data()
 
@@ -172,10 +169,10 @@ class TestCarModelBase(unittest.TestCase):
 
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
-    cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
-    cls.CP = cls.CarInterface.get_params(cls.car_model, cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.platform]
+    cls.CP = cls.CarInterface.get_params(cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
-    assert cls.CP.carFingerprint == cls.car_model
+    assert cls.CP.carFingerprint == cls.platform
 
     os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
 
@@ -381,7 +378,7 @@ class TestCarModelBase(unittest.TestCase):
       if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
         self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
 
-      if not (self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH):
+      if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
         if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
           self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
 
@@ -442,7 +439,7 @@ class TestCarModelBase(unittest.TestCase):
         # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
         # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
         # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
-        if self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH:
+        if self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
           # only the rising edges are expected to match
           if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
             checks['controlsAllowed'] += not self.safety.get_controls_allowed()
@@ -478,7 +475,7 @@ class TestCarModelBase(unittest.TestCase):
                     "This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket.")
 
 
-@parameterized_class(('car_model', 'test_route'), get_test_cases())
+@parameterized_class(('platform', 'test_route'), get_test_cases())
 @pytest.mark.xdist_group_class_property('test_route')
 class TestCarModel(TestCarModelBase):
   pass

selfdrive/car/tests/test_models_segs.txt

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cadad21e1230729c70cffb4c46dd0a5dda4eec1a262b1bcd9f1b6b98265c20b5
-size 125104
+oid sha256:0810a361ec5b5f5f9a2ee73b89ffb2df62ef40e8feff7e97ecb62f80fa53f6f5
+size 124950

selfdrive/car/tests/test_platform_configs.py

@@ -0,0 +1,23 @@
+#!/usr/bin/env python3
+
+import unittest
+
+from openpilot.selfdrive.car.values import PLATFORMS
+
+
+class TestPlatformConfigs(unittest.TestCase):
+  def test_configs(self):
+
+    for platform in PLATFORMS.values():
+      with self.subTest(platform=str(platform)):
+        self.assertTrue(platform.config._frozen)
+
+        if platform != "mock":
+          self.assertIn("pt", platform.config.dbc_dict)
+        self.assertTrue(len(platform.config.platform_str) > 0)
+
+        self.assertIsNotNone(platform.config.specs)
+
+
+if __name__ == "__main__":
+  unittest.main()

selfdrive/car/torque_data/override.toml

@@ -18,6 +18,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 # Tesla has high torque
 "TESLA AP1 MODEL S" = [nan, 2.5, nan]
 "TESLA AP2 MODEL S" = [nan, 2.5, nan]
+"TESLA MODEL S RAVEN" = [nan, 2.5, nan]
 
 # Guess
 "FORD BRONCO SPORT 1ST GEN" = [nan, 1.5, nan]
@@ -43,6 +44,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112]
 "CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16]
 "CHEVROLET EQUINOX 2019" = [2.5, 2.5, 0.05]
+"VOLKSWAGEN CADDY 3RD GEN" = [1.2, 1.2, 0.1]
 "VOLKSWAGEN PASSAT NMS" = [2.5, 2.5, 0.1]
 "VOLKSWAGEN SHARAN 2ND GEN" = [2.5, 2.5, 0.1]
 "HYUNDAI SANTA CRUZ 1ST GEN" = [2.7, 2.7, 0.1]

selfdrive/car/torque_data/params.toml

@@ -11,8 +11,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHRYSLER PACIFICA HYBRID 2018" = [2.08887, 1.2943025830995154, 0.114818]
 "CHRYSLER PACIFICA HYBRID 2019" = [1.90120, 1.1958788168371808, 0.131520]
 "GENESIS G70 2018" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
-"HONDA ACCORD 2018" = [1.7135052593468778, 0.3461280068322071, 0.21579936052863807]
-"HONDA ACCORD HYBRID 2018" = [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
+"HONDA ACCORD 2018" = [1.6893333799149202, 0.3246749081720698, 0.2120497022936265]
 "HONDA CIVIC (BOSCH) 2019" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
 "HONDA CIVIC 2016" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
 "HONDA CR-V 2016" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]