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

.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:

.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

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',
@@ -393,13 +384,7 @@ 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'):
   SConscript(['tools/replay/SConscript'])

cereal

@@ -1 +1 @@
-Subproject commit a4255106b7255e00ae04162f7aa14aa3cae339c3
+Subproject commit bfbb0cab83e3ad49d85ad1a34ee1241bf1ff782f

common/params.cc

@@ -207,7 +207,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
     {"VisionRadarToggle", PERSISTENT},
-    {"WheeledBody", PERSISTENT},
 };
 
 } // namespace

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/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 0ac21652f2e643e29aa471ad6b238bf74b22e356
+Subproject commit 5f096db742b0c5dcd19976afdb07d5dd098f4b07

panda

@@ -1 +1 @@
-Subproject commit 0c7d5f11d7187904022ea49b6a76b54d7b280345
+Subproject commit ea156f7c628a371bea9a15a29f9068d5392534ba

pyproject.toml

@@ -190,6 +190,7 @@ 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"]

release/files_common

@@ -60,6 +60,8 @@ system/logmessaged.py
 system/micd.py
 system/version.py
 
+selfdrive/SConscript
+
 selfdrive/athena/__init__.py
 selfdrive/athena/athenad.py
 selfdrive/athena/manage_athenad.py

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/car/__init__.py

@@ -1,12 +1,14 @@
 # functions common among cars
 from collections import namedtuple
 from dataclasses import dataclass, field
-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
 
 
@@ -292,3 +294,7 @@ class Platforms(str, ReprEnum):
   @classmethod
   def create_carinfo_map(cls) -> dict[str, CarInfos]:
     return {p: p.config.car_info for p in cls}
+
+  @classmethod
+  def with_flags(cls, flags: IntFlag) -> set['Platforms']:
+    return {p for p in cls if p.config.flags & flags}

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:
@@ -55,16 +50,6 @@ 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)
 
       speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)

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/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
 
@@ -13,25 +13,89 @@ Ecu = car.CarParams.Ecu
 class ChryslerFlags(IntFlag):
   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]))
+
+
+@dataclass
+class ChryslerPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', None))
+
 
-class CAR(StrEnum):
+@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"),
+    specs=ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
+  )
+  PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA HYBRID 2018",
+    ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
+    specs=PACIFICA_2017_HYBRID.specs,
+  )
+  PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA HYBRID 2019",
+    ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
+    specs=PACIFICA_2017_HYBRID.specs,
+  )
+  PACIFICA_2018 = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA 2018",
+    ChryslerCarInfo("Chrysler Pacifica 2017-18"),
+    specs=PACIFICA_2017_HYBRID.specs,
+  )
+  PACIFICA_2020 = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA 2020",
+    [
+      ChryslerCarInfo("Chrysler Pacifica 2019-20"),
+      ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
+    ],
+    specs=PACIFICA_2017_HYBRID.specs,
+  )
 
   # Dodge
-  DODGE_DURANGO = "DODGE DURANGO 2021"
+  DODGE_DURANGO = ChryslerPlatformConfig(
+    "DODGE DURANGO 2021",
+    ChryslerCarInfo("Dodge Durango 2020-21"),
+    specs=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"),
+    specs=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"),
+    specs=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])),
+    dbc_dict('chrysler_ram_dt_generated', None),
+    specs=ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
+  )
+  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])),
+    ],
+    dbc_dict('chrysler_ram_hd_generated', None),
+    specs=ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
+  )
 
 
 class CarControllerParams:
@@ -59,32 +123,6 @@ 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 +162,5 @@ 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),
-}
+CAR_INFO = CAR.create_carinfo_map()
+DBC = CAR.create_dbc_map()

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):

selfdrive/car/ford/carcontroller.py

@@ -4,6 +4,7 @@ from opendbc.can.packer import CANPacker
 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.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

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

@@ -1,11 +1,12 @@
 from dataclasses import dataclass, field
 from enum import Enum
 
+import panda.python.uds as uds
 from cereal import car
 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
 
@@ -57,13 +58,13 @@ class FordCarInfo(CarInfo):
 
   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):
+    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])
 
 
-@dataclass(frozen=False)
+@dataclass
 class FordPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))
 
@@ -140,6 +141,33 @@ class CAR(Platforms):
 CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
 
 
+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=[
     # CAN and CAN FD queries are combined.
@@ -147,19 +175,29 @@ 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
   ],
 )
 

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/values.py

@@ -79,7 +79,7 @@ class GMCarInfo(CarInfo):
       self.footnotes.append(Footnote.OBD_II)
 
 
-@dataclass(frozen=False)
+@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'))
 
@@ -189,22 +189,35 @@ 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

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): [

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,
@@ -115,7 +117,7 @@ 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
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
-    elif candidate in (CAR.ACCORD, CAR.ACCORDH):
+    elif candidate == CAR.ACCORD:
       ret.mass = 3279. * CV.LB_TO_KG
       ret.wheelbase = 2.83
       ret.centerToFront = ret.wheelbase * 0.39
@@ -276,7 +278,7 @@ class CarInterface(CarInterfaceBase):
       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:
+    if 0x1BE in fingerprint[CAN.pt] and candidate in HONDA_BOSCH:
       ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
 

selfdrive/car/honda/values.py

@@ -74,7 +74,6 @@ 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"
@@ -119,8 +118,8 @@ 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),
+    HondaCarInfo("Honda Accord Hybrid 2018-22", "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",
@@ -188,7 +187,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.UDS_VERSION_REQUEST],
       [StdQueries.UDS_VERSION_RESPONSE],
       bus=0,
-      logging=True,
     ),
     # Bosch PT bus
     Request(
@@ -201,12 +199,16 @@ 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
@@ -217,7 +219,6 @@ 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),
@@ -250,6 +251,6 @@ STEER_THRESHOLD = {
 HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
 HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
                                 CAR.PILOT, CAR.RIDGELINE}
-HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
+HONDA_BOSCH = {CAR.ACCORD, 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}

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)

selfdrive/car/interfaces.py

@@ -120,6 +120,7 @@ class CarInterfaceBase(ABC):
         ret.centerToFront = ret.wheelbase * candidate.config.specs.centerToFrontRatio
         ret.minEnableSpeed = candidate.config.specs.minEnableSpeed
         ret.minSteerSpeed = candidate.config.specs.minSteerSpeed
+      ret.flags |= int(candidate.config.flags)
 
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
 
@@ -135,7 +136,7 @@ class CarInterfaceBase(ABC):
 
   @staticmethod
   @abstractmethod
-  def _get_params(ret: car.CarParams, candidate: Platform, 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
 
@@ -455,6 +456,15 @@ 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/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

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
 

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 +19,52 @@ 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"),
+    specs=NissanCarSpecs(mass=1610, wheelbase=2.705)
+  )
+  LEAF = NissanPlaformConfig(
+    "NISSAN LEAF 2018",
+    NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
+    dbc_dict=dbc_dict('nissan_leaf_2018_generated', None),
+    specs=NissanCarSpecs(mass=1610, wheelbase=2.705)
+  )
+  # 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"),
+    specs=NissanCarSpecs(mass=1610, wheelbase=2.705)
+  )
+  ALTIMA = NissanPlaformConfig(
+    "NISSAN ALTIMA 2020",
+    NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
+    specs=NissanCarSpecs(mass=1492, wheelbase=2.824)
+  )
+
+
+CAR_INFO = CAR.create_carinfo_map()
+DBC = CAR.create_dbc_map()
 
 # Default diagnostic session
 NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81])
@@ -88,11 +110,3 @@ 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 +19,17 @@ 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_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 +48,24 @@ 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 +73,8 @@ 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 +84,8 @@ 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:
+    cp_es_distance = cp_body if self.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID) else cp_cam
+    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 +96,12 @@ 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 +109,7 @@ 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 +125,7 @@ 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 +136,7 @@ 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 +164,7 @@ 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 +173,8 @@ 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 +183,7 @@ 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 +194,7 @@ 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 +206,11 @@ 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/interface.py

@@ -1,42 +1,43 @@
 from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
-from openpilot.selfdrive.car.values import Platform
 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: Platform, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
+    platform_flags = candidate.config.flags
+
     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(platform_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 (platform_flags & SubaruFlags.PREGLOBAL) and 0x323 in fingerprint[2]:
       ret.flags |= SubaruFlags.SEND_INFOTAINMENT.value
 
-    if candidate in PREGLOBAL_CARS:
+    if platform_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 platform_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 platform_flags & SubaruFlags.LKAS_ANGLE:
       ret.steerControlType = car.CarParams.SteerControlType.angle
     else:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@@ -84,10 +85,12 @@ class CarInterface(CarInterfaceBase):
     else:
       raise ValueError(f"unknown car: {candidate}")
 
-    ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
+    LONG_UNAVAILABLE = SubaruFlags.GLOBAL_GEN2 | SubaruFlags.PREGLOBAL| SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID
+
+    ret.experimentalLongitudinalAvailable = not (platform_flags & LONG_UNAVAILABLE)
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
 
-    if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
+    if platform_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
@@ -55,6 +55,14 @@ class CarControllerParams:
 class SubaruFlags(IntFlag):
   SEND_INFOTAINMENT = 1
   DISABLE_EYESIGHT = 2
+  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
@@ -89,10 +97,14 @@ class SubaruCarInfo(CarInfo):
       self.footnotes.append(Footnote.EXP_LONG)
 
 
-@dataclass(frozen=False)
+@dataclass
 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)
+
 
 class CAR(Platforms):
   # Global platform
@@ -105,11 +117,13 @@ class CAR(Platforms):
     "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),
+    flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.STEER_RATE_LIMITED,
   )
   LEGACY = SubaruPlatformConfig(
     "SUBARU LEGACY 7TH GEN",
     SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
     specs=OUTBACK.specs,
+    flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.STEER_RATE_LIMITED,
   )
   IMPREZA = SubaruPlatformConfig(
     "SUBARU IMPREZA LIMITED 2019",
@@ -128,24 +142,26 @@ class CAR(Platforms):
       SubaruCarInfo("Subaru XV 2020-21"),
     ],
     specs=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),
+    flags=SubaruFlags.HYBRID,
   )
   FORESTER = SubaruPlatformConfig(
     "SUBARU FORESTER 2019",
     SubaruCarInfo("Subaru Forester 2019-21", "All"),
     specs=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,
+    flags=SubaruFlags.HYBRID,
   )
   # Pre-global
   FORESTER_PREGLOBAL = SubaruPlatformConfig(
@@ -153,52 +169,50 @@ class CAR(Platforms):
     SubaruCarInfo("Subaru Forester 2017-18"),
     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"),
     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"),
     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"),
     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,
+    flags=SubaruFlags.LKAS_ANGLE,
   )
   OUTBACK_2023 = SubaruPlatformConfig(
     "SUBARU OUTBACK 7TH GEN",
     SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
     specs=OUTBACK.specs,
+    flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.LKAS_ANGLE,
   )
   ASCENT_2023 = SubaruPlatformConfig(
     "SUBARU ASCENT 2023",
     SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
     specs=ASCENT.specs,
+    flags=SubaruFlags.GLOBAL_GEN2 | 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]) + \
@@ -235,7 +249,7 @@ 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)),
   }
 )
 

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/tests/routes.py

@@ -82,8 +82,8 @@ 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),

selfdrive/car/tests/test_fw_fingerprint.py

@@ -263,13 +263,13 @@ 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: 8.3, 2: 9.2}
     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,
@@ -280,7 +280,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'volkswagen': 0.65,
       },
       2: {
-        'ford': 0.3,
+        'ford': 1.6,
         'hyundai': 1.85,
       }
     }

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/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]

selfdrive/car/toyota/carcontroller.py

@@ -2,6 +2,7 @@ from cereal import car
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
                           create_gas_interceptor_command, make_can_msg
+from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.toyota import toyotacan
 from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
                                         MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \
@@ -25,7 +26,7 @@ MAX_LTA_ANGLE = 94.9461  # deg
 MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150  # slightly above steering pressed allows some resistance when changing lanes
 
 
-class CarController:
+class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.params = CarControllerParams(self.CP)

selfdrive/car/toyota/fingerprints.py

@@ -573,6 +573,7 @@ FW_VERSIONS = {
       b'\x018821F6201400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F12010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F1201200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
@@ -843,6 +844,7 @@ FW_VERSIONS = {
       b'8965B47023\x00\x00\x00\x00\x00\x00',
       b'8965B47050\x00\x00\x00\x00\x00\x00',
       b'8965B47060\x00\x00\x00\x00\x00\x00',
+      b'8965B47070\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152647290\x00\x00\x00\x00\x00\x00',
@@ -1024,6 +1026,7 @@ FW_VERSIONS = {
       b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896634A13101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896634A13201\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896634A14001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
       b'\x02896634A14001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896634A14101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',

selfdrive/car/volkswagen/carcontroller.py

@@ -4,6 +4,7 @@ from openpilot.common.numpy_fast import clip
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams, VolkswagenFlags
 
@@ -11,7 +12,7 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
-class CarController:
+class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.CCP = CarControllerParams(CP)

selfdrive/car/volkswagen/values.py

@@ -112,11 +112,11 @@ class CANBUS:
 class VolkswagenFlags(IntFlag):
   STOCK_HCA_PRESENT = 1
 
-@dataclass(frozen=False)
+@dataclass
 class VolkswagenMQBPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_mqb_2010', None))
 
-@dataclass(frozen=False)
+@dataclass
 class VolkswagenPQPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_golf_mk4', None))
 
@@ -393,6 +393,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
       obd_multiplexing=obd_multiplexing,
     ),
   ]],
+  extra_ecus=[(Ecu.fwdCamera, 0x74f, None)],
 )
 
 CAR_INFO = CAR.create_carinfo_map()

selfdrive/controls/lib/lateral_mpc_lib/SConscript

@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch')
+Import('env', 'envCython', 'arch', 'messaging_python', 'common_python', 'opendbc_python')
 
 gen = "c_generated_code"
 
@@ -60,6 +60,7 @@ lenv.Clean(generated_files, Dir(gen))
 generated_lat = lenv.Command(generated_files,
                              source_list,
                              f"cd {Dir('.').abspath} && python3 lat_mpc.py")
+lenv.Depends(generated_lat, [messaging_python, common_python, opendbc_python])
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")

selfdrive/controls/lib/longitudinal_mpc_lib/SConscript

@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'messaging_python', 'common_python')
+Import('env', 'envCython', 'arch', 'messaging_python', 'common_python', 'opendbc_python')
 
 gen = "c_generated_code"
 
@@ -66,7 +66,7 @@ lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
                               source_list,
                               f"cd {Dir('.').abspath} && python3 long_mpc.py")
-lenv.Depends(generated_long, [messaging_python, common_python])
+lenv.Depends(generated_long, [messaging_python, common_python, opendbc_python])
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")

selfdrive/locationd/locationd.cc

@@ -310,7 +310,7 @@ void Localizer::input_fake_gps_observations(double current_time) {
 void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset) {
   // ignore the message if the fix is invalid
   bool gps_invalid_flag = (log.getFlags() % 2 == 0);
-  bool gps_unreasonable = (Vector2d(log.getAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY);
+  bool gps_unreasonable = (Vector2d(log.getHorizontalAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY);
   bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0));
   bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK));
   bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
@@ -331,7 +331,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
 
   VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector();
   VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos;
-  float ecef_pos_std = std::sqrt(this->gps_variance_factor * std::pow(log.getAccuracy(), 2) + this->gps_vertical_variance_factor * std::pow(log.getVerticalAccuracy(), 2));
+  float ecef_pos_std = std::sqrt(this->gps_variance_factor * std::pow(log.getHorizontalAccuracy(), 2) + this->gps_vertical_variance_factor * std::pow(log.getVerticalAccuracy(), 2));
   MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(this->gps_std_factor * ecef_pos_std, 2)).asDiagonal();
   MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(this->gps_std_factor * log.getSpeedAccuracy(), 2)).asDiagonal();
 
@@ -691,10 +691,9 @@ int Localizer::locationd_thread() {
 
   this->configure_gnss_source(source);
   const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "liveCalibration",
-                                                          "carState", "carParams", "accelerometer", "gyroscope"};
+                                                          "carState", "accelerometer", "gyroscope"};
 
-  // TODO: remove carParams once we're always sending at 100Hz
-  SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"});
+  SubMaster sm(service_list, {}, nullptr, {gps_location_socket});
   PubMaster pm({"liveLocationKalman"});
 
   uint64_t cnt = 0;
@@ -718,8 +717,7 @@ int Localizer::locationd_thread() {
       filterInitialized = sm.allAliveAndValid();
     }
 
-    // 100Hz publish for notcars, 20Hz for cars
-    const char* trigger_msg = sm["carParams"].getCarParams().getNotCar() ? "accelerometer" : "cameraOdometry";
+    const char* trigger_msg = "cameraOdometry";
     if (sm.updated(trigger_msg)) {
       bool inputsOK = sm.allValid() && this->are_inputs_ok();
       bool gpsOK = this->is_gps_ok();

selfdrive/test/process_replay/process_replay.py

@@ -512,7 +512,7 @@ CONFIGS = [
     proc_name="locationd",
     pubs=[
       "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal",
-      "liveCalibration", "carState", "carParams", "gpsLocation"
+      "liveCalibration", "carState", "gpsLocation"
     ],
     subs=["liveLocationKalman"],
     ignore=["logMonoTime"],

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-d0cdea7eb15f3cac8a921f7ace3eaa6baebb4fd5
+b9d29ac9402cfc04bf3e48867415efa70c144029

selfdrive/test/test_onroad.py

@@ -424,4 +424,4 @@ class TestOnroad(unittest.TestCase):
 
 
 if __name__ == "__main__":
-  pytest.main()
+  unittest.main()

selfdrive/ui/qt/setup/setup.cc

@@ -20,7 +20,7 @@
 #include "selfdrive/ui/qt/widgets/input.h"
 
 const std::string USER_AGENT = "AGNOSSetup-";
-const QString TEST_URL = "https://openpilot.comma.ai";
+const QString OPENPILOT_URL = "https://openpilot.comma.ai";
 
 bool is_elf(char *fname) {
   FILE *fp = fopen(fname, "rb");
@@ -201,20 +201,7 @@ QWidget * Setup::network_setup() {
   QPushButton *cont = new QPushButton();
   cont->setObjectName("navBtn");
   cont->setProperty("primary", true);
-  QObject::connect(cont, &QPushButton::clicked, [=]() {
-    auto w = currentWidget();
-    QTimer::singleShot(0, [=]() {
-      setCurrentWidget(downloading_widget);
-    });
-    QString url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
-    if (!url.isEmpty()) {
-      QTimer::singleShot(1000, this, [=]() {
-        download(url);
-      });
-    } else {
-      setCurrentWidget(w);
-    }
-  });
+  QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
   blayout->addWidget(cont);
 
   // setup timer for testing internet connection
@@ -229,11 +216,11 @@ QWidget * Setup::network_setup() {
     }
     repaint();
   });
-  request->sendRequest(TEST_URL);
+  request->sendRequest(OPENPILOT_URL);
   QTimer *timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, [=]() {
     if (!request->active() && cont->isVisible()) {
-      request->sendRequest(TEST_URL);
+      request->sendRequest(OPENPILOT_URL);
     }
   });
   timer->start(1000);
@@ -241,6 +228,106 @@ QWidget * Setup::network_setup() {
   return widget;
 }
 
+QWidget * radio_button(QString title, QButtonGroup *group) {
+  QPushButton *btn = new QPushButton(title);
+  btn->setCheckable(true);
+  group->addButton(btn);
+  btn->setStyleSheet(R"(
+    QPushButton {
+      height: 230;
+      padding-left: 100px;
+      padding-right: 100px;
+      text-align: left;
+      font-size: 80px;
+      font-weight: 400;
+      border-radius: 10px;
+      background-color: #4F4F4F;
+    }
+    QPushButton:checked {
+      background-color: #465BEA;
+    }
+  )");
+
+  // checkmark icon
+  QPixmap pix(":/img_circled_check.svg");
+  btn->setIcon(pix);
+  btn->setIconSize(QSize(0, 0));
+  btn->setLayoutDirection(Qt::RightToLeft);
+  QObject::connect(btn, &QPushButton::toggled, [=](bool checked) {
+    btn->setIconSize(checked ? QSize(104, 104) : QSize(0, 0));
+  });
+  return btn;
+}
+
+QWidget * Setup::software_selection() {
+  QWidget *widget = new QWidget();
+  QVBoxLayout *main_layout = new QVBoxLayout(widget);
+  main_layout->setContentsMargins(55, 50, 55, 50);
+  main_layout->setSpacing(0);
+
+  // title
+  QLabel *title = new QLabel(tr("Choose Software to Install"));
+  title->setStyleSheet("font-size: 90px; font-weight: 500;");
+  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
+
+  main_layout->addSpacing(50);
+
+  // openpilot + custom radio buttons
+  QButtonGroup *group = new QButtonGroup(widget);
+  group->setExclusive(true);
+
+  QWidget *openpilot = radio_button(tr("openpilot"), group);
+  main_layout->addWidget(openpilot);
+
+  main_layout->addSpacing(30);
+
+  QWidget *custom = radio_button(tr("Custom Software"), group);
+  main_layout->addWidget(custom);
+
+  main_layout->addStretch();
+
+  // back + continue buttons
+  QHBoxLayout *blayout = new QHBoxLayout;
+  main_layout->addLayout(blayout);
+  blayout->setSpacing(50);
+
+  QPushButton *back = new QPushButton(tr("Back"));
+  back->setObjectName("navBtn");
+  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
+  blayout->addWidget(back);
+
+  QPushButton *cont = new QPushButton(tr("Continue"));
+  cont->setObjectName("navBtn");
+  cont->setEnabled(false);
+  cont->setProperty("primary", true);
+  blayout->addWidget(cont);
+
+  QObject::connect(cont, &QPushButton::clicked, [=]() {
+    auto w = currentWidget();
+    QTimer::singleShot(0, [=]() {
+      setCurrentWidget(downloading_widget);
+    });
+    QString url = OPENPILOT_URL;
+    if (group->checkedButton() != openpilot) {
+      url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
+    }
+    if (!url.isEmpty()) {
+      QTimer::singleShot(1000, this, [=]() {
+        download(url);
+      });
+    } else {
+      setCurrentWidget(w);
+    }
+  });
+
+  connect(group, QOverload<QAbstractButton *>::of(&QButtonGroup::buttonClicked), [=](QAbstractButton *btn) {
+    btn->setChecked(true);
+    cont->setEnabled(true);
+  });
+
+  return widget;
+}
+
 QWidget * Setup::downloading() {
   QWidget *widget = new QWidget();
   QVBoxLayout *main_layout = new QVBoxLayout(widget);
@@ -326,6 +413,7 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) {
 
   addWidget(getting_started());
   addWidget(network_setup());
+  addWidget(software_selection());
 
   downloading_widget = downloading();
   addWidget(downloading_widget);

selfdrive/ui/qt/setup/setup.h

@@ -17,6 +17,7 @@ private:
   QWidget *low_voltage();
   QWidget *getting_started();
   QWidget *network_setup();
+  QWidget *software_selection();
   QWidget *downloading();
   QWidget *download_failed(QLabel *url, QLabel *body);
 

selfdrive/ui/translations/main_ar.ts

@@ -762,6 +762,18 @@ This may take up to a minute.</source>
         <source>Select a language</source>
         <translation>اختر لغة</translation>
     </message>
+    <message>
+        <source>Choose Software to Install</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation type="unfinished">openpilot</translation>
+    </message>
+    <message>
+        <source>Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>

selfdrive/ui/translations/main_de.ts

@@ -744,6 +744,18 @@ This may take up to a minute.</source>
         <source>Select a language</source>
         <translation>Sprache wählen</translation>
     </message>
+    <message>
+        <source>Choose Software to Install</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation type="unfinished">openpilot</translation>
+    </message>
+    <message>
+        <source>Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>

selfdrive/ui/translations/main_fr.ts

@@ -746,6 +746,18 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Select a language</source>
         <translation>Choisir une langue</translation>
     </message>
+    <message>
+        <source>Choose Software to Install</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation type="unfinished">openpilot</translation>
+    </message>
+    <message>
+        <source>Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>

selfdrive/ui/translations/main_ja.ts

@@ -740,6 +740,18 @@ This may take up to a minute.</source>
         <source>Select a language</source>
         <translation>言語を選択</translation>
     </message>
+    <message>
+        <source>Choose Software to Install</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation type="unfinished">openpilot</translation>
+    </message>
+    <message>
+        <source>Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>

selfdrive/ui/translations/main_ko.ts

@@ -742,6 +742,18 @@ This may take up to a minute.</source>
         <source>Select a language</source>
         <translation>언어를 선택하세요</translation>
     </message>
+    <message>
+        <source>Choose Software to Install</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation type="unfinished">openpilot</translation>
+    </message>
+    <message>
+        <source>Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -638,7 +638,7 @@ Isso pode levar até um minuto.</translation>
     </message>
     <message>
         <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation type="unfinished">Reinicialização do sistema acionada. Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancel para retomar a inicialização.</translation>
+        <translation>Reinicialização do sistema acionada. Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancel para retomar a inicialização.</translation>
     </message>
 </context>
 <context>
@@ -746,6 +746,18 @@ Isso pode levar até um minuto.</translation>
         <source>Select a language</source>
         <translation>Selecione o Idioma</translation>
     </message>
+    <message>
+        <source>Choose Software to Install</source>
+        <translation>Escolha o Software a ser Instalado</translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message>
+        <source>Custom Software</source>
+        <translation>Software Customizado</translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>

selfdrive/ui/translations/main_th.ts

@@ -742,6 +742,18 @@ This may take up to a minute.</source>
         <source>Select a language</source>
         <translation>เลือกภาษา</translation>
     </message>
+    <message>
+        <source>Choose Software to Install</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation type="unfinished">openpilot</translation>
+    </message>
+    <message>
+        <source>Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>

selfdrive/ui/translations/main_tr.ts

@@ -740,6 +740,18 @@ This may take up to a minute.</source>
         <source>Select a language</source>
         <translation>Dil seçin</translation>
     </message>
+    <message>
+        <source>Choose Software to Install</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation type="unfinished">openpilot</translation>
+    </message>
+    <message>
+        <source>Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -742,6 +742,18 @@ This may take up to a minute.</source>
         <source>Select a language</source>
         <translation>选择语言</translation>
     </message>
+    <message>
+        <source>Choose Software to Install</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation type="unfinished">openpilot</translation>
+    </message>
+    <message>
+        <source>Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -742,6 +742,18 @@ This may take up to a minute.</source>
         <source>Select a language</source>
         <translation>選擇語言</translation>
     </message>
+    <message>
+        <source>Choose Software to Install</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation type="unfinished">openpilot</translation>
+    </message>
+    <message>
+        <source>Custom Software</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>

system/hardware/tici/tests/test_hardware.py

@@ -25,4 +25,4 @@ class TestHardware(unittest.TestCase):
 
 
 if __name__ == "__main__":
-  pytest.main()
+  unittest.main()

system/hardware/tici/tests/test_power_draw.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from collections import defaultdict, deque
-import sys
 import pytest
 import unittest
 import time
@@ -132,4 +131,4 @@ class TestPowerDraw(unittest.TestCase):
 
 
 if __name__ == "__main__":
-  pytest.main(sys.argv)
+  unittest.main()

system/ubloxd/tests/print_gps_stats.py

@@ -13,7 +13,7 @@ if __name__ == "__main__":
       cnos = []
       for m in ug.measurementReport.measurements:
         cnos.append(m.cno)
-      print("Sats: %d   Accuracy: %.2f m   cnos" % (ug.measurementReport.numMeas, gle.accuracy), sorted(cnos))
+      print("Sats: %d   Accuracy: %.2f m   cnos" % (ug.measurementReport.numMeas, gle.horizontalAccuracy), sorted(cnos))
     except Exception:
       pass
     sm.update()

system/ubloxd/ublox_msg.cc

@@ -132,7 +132,7 @@ kj::Array<capnp::word> UbloxMsgParser::gen_nav_pvt(ubx_t::nav_pvt_t *msg) {
   gpsLoc.setAltitude(msg->height() * 1e-03);
   gpsLoc.setSpeed(msg->g_speed() * 1e-03);
   gpsLoc.setBearingDeg(msg->head_mot() * 1e-5);
-  gpsLoc.setAccuracy(msg->h_acc() * 1e-03);
+  gpsLoc.setHorizontalAccuracy(msg->h_acc() * 1e-03);
   std::tm timeinfo = std::tm();
   timeinfo.tm_year = msg->year() - 1900;
   timeinfo.tm_mon = msg->month() - 1;

tools/lib/tests/test_comma_car_segments.py

@@ -1,3 +1,4 @@
+import pytest
 import unittest
 
 import requests
@@ -6,6 +7,7 @@ from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import SegmentRange
 
 
+@pytest.mark.skip(reason="huggingface is flaky, run this test manually to check for issues")
 class TestCommaCarSegments(unittest.TestCase):
   def test_database(self):
     database = get_comma_car_segments_database()

tools/plotjuggler/layouts/gps_vs_llk.xml

@@ -32,7 +32,7 @@
        <plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false">
         <range bottom="-0.449385" right="196.811937" left="76.646983" top="7.160833"/>
         <limitY/>
-        <curve name="/gpsLocationExternal/accuracy" color="#ff7f0e"/>
+        <curve name="/gpsLocationExternal/horizontalAccuracy" color="#ff7f0e"/>
         <curve name="/gpsLocationExternal/verticalAccuracy" color="#f14cc1"/>
         <curve name="/gpsLocationExternal/speedAccuracy" color="#9467bd"/>
        </plot>

tools/plotjuggler/layouts/ublox-debug.xml

@@ -8,7 +8,7 @@
       <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
        <range right="134.825489" top="4402341.574525" bottom="-107369.555525" left="0.000000"/>
        <limitY/>
-       <curve name="/gpsLocationExternal/accuracy" color="#1f77b4"/>
+       <curve name="/gpsLocationExternal/horizontalAccuracy" color="#1f77b4"/>
       </plot>
      </DockArea>
      <DockArea name="...">

tools/sim/lib/simulated_sensors.py

@@ -55,7 +55,7 @@ class SimulatedSensors:
       dat.gpsLocationExternal = {
         "unixTimestampMillis": int(time.time() * 1000),
         "flags": 1,  # valid fix
-        "accuracy": 1.0,
+        "horizontalAccuracy": 1.0,
         "verticalAccuracy": 1.0,
         "speedAccuracy": 0.1,
         "bearingAccuracyDeg": 0.1,