Merge branch 'master' into os_10x2

.devcontainer/devcontainer.json

@@ -28,7 +28,9 @@
       "installOhMyZsh": false,
       "upgradePackages": false,
       "username": "batman"
-    }
+    },
+    "ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
+    "ghcr.io/devcontainers/features/azure-cli:1": {}
   },
   "containerUser": "batman",
   "remoteUser": "batman",

.github/PULL_REQUEST_TEMPLATE/car_port.md

@@ -8,7 +8,7 @@ assignees: ''
 
 **Checklist**
 
-- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:

.github/pull_request_template.md

@@ -44,7 +44,7 @@ Explain how you tested this bug fix.
 
 **Checklist**
 
-- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:

.github/workflows/auto-cache/action.yaml

@@ -19,7 +19,7 @@ runs:
   using: "composite"
   steps:
     - name: setup namespace cache
-      if: ${{ contains(runner.name, 'nsc') }} 
+      if: ${{ contains(runner.name, 'nsc') }}
       uses: namespacelabs/nscloud-cache-action@v1
       with:
         path: ${{ inputs.path }}

.github/workflows/selfdrive_tests.yaml

@@ -69,7 +69,7 @@ jobs:
       matrix:
         arch: ${{ fromJson(
            ((github.repository == 'commaai/openpilot') &&
-              ((github.event_name != 'pull_request') || 
+              ((github.event_name != 'pull_request') ||
                (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
     runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
     steps:
@@ -122,7 +122,7 @@ jobs:
   static_analysis:
     name: static analysis
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') || 
+                   ((github.event_name != 'pull_request') ||
                     (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v4
@@ -155,7 +155,7 @@ jobs:
   unit_tests:
     name: unit tests
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') || 
+                   ((github.event_name != 'pull_request') ||
                     (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v4
@@ -186,7 +186,7 @@ jobs:
   process_replay:
     name: process replay
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') || 
+                   ((github.event_name != 'pull_request') ||
                     (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v4
@@ -235,7 +235,7 @@ jobs:
   regen:
     name: regen
     runs-on: 'ubuntu-20.04'
-    steps: 
+    steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
@@ -293,7 +293,7 @@ jobs:
   test_cars:
     name: cars
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') || 
+                   ((github.event_name != 'pull_request') ||
                     (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
     strategy:
       fail-fast: false
@@ -340,7 +340,7 @@ jobs:
       - uses: ./.github/workflows/setup-with-retry
       - name: Get base car info
         run: |
-          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
+          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
           sudo chown -R $USER:$USER ${{ github.workspace }}
       - uses: actions/checkout@v4
         with:
@@ -352,7 +352,7 @@ jobs:
         run: |
           cd current
           ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info")
+          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
           output="${output//$'\n'/'%0A'}"
           echo "::set-output name=diff::$output"
       - name: Find comment
@@ -395,7 +395,7 @@ jobs:
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
-                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && 
+                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
                             python selfdrive/ui/tests/test_ui/run.py"
       - name: Upload Test Report
         uses: actions/upload-artifact@v2

.github/workflows/setup-pre-commit/action.yaml

@@ -4,7 +4,7 @@ runs:
   using: "composite"
   steps:
     - uses: ./.github/workflows/auto-cache
-      with: 
+      with:
         path: .ci_cache/pre-commit
         key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
         restore-keys: |

.pre-commit-config.yaml

@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.2.2
+    rev: v0.3.3
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'

.vscode/settings.json

@@ -21,6 +21,7 @@
     "common/**",
     "selfdrive/**",
     "system/**",
+    "third_party/**",
     "tools/**",
   ]
 }

Jenkinsfile

@@ -194,7 +194,7 @@ node {
           ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
           ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
           ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
-          ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
+          ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
           ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
         ])
       },

RELEASES.md

@@ -1,6 +1,7 @@
 Version 0.9.7 (2024-XX-XX)
 ========================
 * New driving model
+* Adjust driving personality with the follow distance button
 * Support for hybrid variants of supported Ford models
 
 Version 0.9.6 (2024-02-27)

cereal

@@ -1 +1 @@
-Subproject commit cf7bb3e74974879abef94286fab4d39398fe402b
+Subproject commit 430535068ac3bb94d3e117a3cfbc348ef37eb72d

common/git.py

@@ -0,0 +1,42 @@
+import subprocess
+from openpilot.common.utils import cache
+from openpilot.common.run import run_cmd, run_cmd_default
+
+
+@cache
+def get_commit(branch: str = "HEAD") -> str:
+  return run_cmd_default(["git", "rev-parse", branch])
+
+
+@cache
+def get_commit_date(commit: str = "HEAD") -> str:
+  return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit])
+
+
+@cache
+def get_short_branch() -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"])
+
+
+@cache
+def get_branch() -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"])
+
+
+@cache
+def get_origin() -> str:
+  try:
+    local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"])
+    tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"])
+    return run_cmd(["git", "config", "remote." + tracking_remote + ".url"])
+  except subprocess.CalledProcessError:  # Not on a branch, fallback
+    return run_cmd_default(["git", "config", "--get", "remote.origin.url"])
+
+
+@cache
+def get_normalized_origin() -> str:
+  return get_origin() \
+    .replace("git@", "", 1) \
+    .replace(".git", "", 1) \
+    .replace("https://", "", 1) \
+    .replace(":", "/", 1)

common/params.cc

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

common/run.py

@@ -0,0 +1,13 @@
+import subprocess
+
+
+def run_cmd(cmd: list[str]) -> str:
+  return subprocess.check_output(cmd, encoding='utf8').strip()
+
+
+def run_cmd_default(cmd: list[str], default: str = "") -> str:
+  try:
+    return run_cmd(cmd)
+  except subprocess.CalledProcessError:
+    return default
+

common/transformations/camera.py

@@ -1,55 +1,74 @@
+import itertools
 import numpy as np
+from dataclasses import dataclass
 
 import openpilot.common.transformations.orientation as orient
 
 ## -- hardcoded hardware params --
-eon_f_focal_length = 910.0
-eon_d_focal_length = 650.0
-tici_f_focal_length = 2648.0
-tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
-
-eon_f_frame_size = (1164, 874)
-eon_d_frame_size = (816, 612)
-tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
-
-# aka 'K' aka camera_frame_from_view_frame
-eon_fcam_intrinsics = np.array([
-  [eon_f_focal_length,  0.0,  float(eon_f_frame_size[0])/2],
-  [0.0,  eon_f_focal_length,  float(eon_f_frame_size[1])/2],
-  [0.0,  0.0,                                          1.0]])
-eon_intrinsics = eon_fcam_intrinsics # xx
-
-eon_dcam_intrinsics = np.array([
-  [eon_d_focal_length,  0.0,  float(eon_d_frame_size[0])/2],
-  [0.0,  eon_d_focal_length,  float(eon_d_frame_size[1])/2],
-  [0.0,  0.0,                                          1.0]])
-
-tici_fcam_intrinsics = np.array([
-  [tici_f_focal_length,  0.0,  float(tici_f_frame_size[0])/2],
-  [0.0,  tici_f_focal_length,  float(tici_f_frame_size[1])/2],
-  [0.0,  0.0,                                            1.0]])
-
-tici_dcam_intrinsics = np.array([
-  [tici_d_focal_length,  0.0,  float(tici_d_frame_size[0])/2],
-  [0.0,  tici_d_focal_length,  float(tici_d_frame_size[1])/2],
-  [0.0,  0.0,                                            1.0]])
-
-tici_ecam_intrinsics = tici_dcam_intrinsics
-
-# aka 'K_inv' aka view_frame_from_camera_frame
-eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
-eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
-
-tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
-tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
-
-
-FULL_FRAME_SIZE = tici_f_frame_size
-FOCAL = tici_f_focal_length
-fcam_intrinsics = tici_fcam_intrinsics
-
-W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
-
+@dataclass(frozen=True)
+class CameraConfig:
+  width: int
+  height: int
+  focal_length: float
+
+  @property
+  def size(self):
+    return (self.width, self.height)
+
+  @property
+  def intrinsics(self):
+    # aka 'K' aka camera_frame_from_view_frame
+    return np.array([
+      [self.focal_length,  0.0, float(self.width)/2],
+      [0.0, self.focal_length, float(self.height)/2],
+      [0.0,  0.0, 1.0]
+    ])
+
+  @property
+  def intrinsics_inv(self):
+    # aka 'K_inv' aka view_frame_from_camera_frame
+    return np.linalg.inv(self.intrinsics)
+
+@dataclass(frozen=True)
+class _NoneCameraConfig(CameraConfig):
+  width: int = 0
+  height: int = 0
+  focal_length: float = 0
+
+@dataclass(frozen=True)
+class DeviceCameraConfig:
+  fcam: CameraConfig
+  dcam: CameraConfig
+  ecam: CameraConfig
+
+  def all_cams(self):
+    for cam in ['fcam', 'dcam', 'ecam']:
+      if not isinstance(getattr(self, cam), _NoneCameraConfig):
+        yield cam, getattr(self, cam)
+
+_ar_ox_fisheye = CameraConfig(1928, 1208, 567.0)  # focal length probably wrong? magnification is not consistent across frame
+_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
+_ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
+_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
+_neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
+
+DEVICE_CAMERAS = {
+  # A "device camera" is defined by a device type and sensor
+
+  # sensor type was never set on eon/neo/two
+  ("neo", "unknown"): _neo_config,
+  # unknown here is AR0231, field was added with OX03C10 support
+  ("tici", "unknown"): _ar_ox_config,
+
+  # before deviceState.deviceType was set, assume tici AR config
+  ("unknown", "ar0231"): _ar_ox_config,
+  ("unknown", "ox03c10"): _ar_ox_config,
+
+  # simulator (emulates a tici)
+  ("pc", "unknown"): _ar_ox_config,
+}
+prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', _ar_ox_config), ('ox03c10', _ar_ox_config), ('os04c10', _os_config)))
+DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods})
 
 # device/mesh : x->forward, y-> right, z->down
 # view : x->right, y->down, z->forward
@@ -93,7 +112,7 @@ def roll_from_ke(m):
                     -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
 
 
-def normalize(img_pts, intrinsics=fcam_intrinsics):
+def normalize(img_pts, intrinsics):
   # normalizes image coordinates
   # accepts single pt or array of pts
   intrinsics_inv = np.linalg.inv(intrinsics)
@@ -106,7 +125,7 @@ def normalize(img_pts, intrinsics=fcam_intrinsics):
   return img_pts_normalized[:, :2].reshape(input_shape)
 
 
-def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf):
+def denormalize(img_pts, intrinsics, width=np.inf, height=np.inf):
   # denormalizes image coordinates
   # accepts single pt or array of pts
   img_pts = np.array(img_pts)
@@ -123,7 +142,7 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf
   return img_pts_denormalized[:, :2].reshape(input_shape)
 
 
-def get_calib_from_vp(vp, intrinsics=fcam_intrinsics):
+def get_calib_from_vp(vp, intrinsics):
   vp_norm = normalize(vp, intrinsics)
   yaw_calib = np.arctan(vp_norm[0])
   pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))

common/transformations/model.py

@@ -1,19 +1,11 @@
 import numpy as np
 
 from openpilot.common.transformations.orientation import rot_from_euler
-from openpilot.common.transformations.camera import (
-  FULL_FRAME_SIZE, get_view_frame_from_calib_frame, view_frame_from_device_frame,
-  eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics)
+from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame
 
 # segnet
 SEGNET_SIZE = (512, 384)
 
-def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
-  return np.array([[float(segnet_size[0]) / full_frame_size[0],  0.0],
-                   [0.0,  float(segnet_size[1]) / full_frame_size[1]]])
-segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
-
-
 # MED model
 MEDMODEL_INPUT_SIZE = (512, 256)
 MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
@@ -63,16 +55,9 @@ calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3])
 calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3])
 
 # This function is verified to give similar results to xx.uncommon.utils.transform_img
-def get_warp_matrix(device_from_calib_euler: np.ndarray, wide_camera: bool = False, bigmodel_frame: bool = False, tici: bool = True) -> np.ndarray:
-  if tici and wide_camera:
-    cam_intrinsics = tici_ecam_intrinsics
-  elif tici:
-    cam_intrinsics = tici_fcam_intrinsics
-  else:
-    cam_intrinsics = eon_fcam_intrinsics
-
+def get_warp_matrix(device_from_calib_euler: np.ndarray, intrinsics: np.ndarray, bigmodel_frame: bool = False) -> np.ndarray:
   calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel
   device_from_calib = rot_from_euler(device_from_calib_euler)
-  camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib
+  camera_from_calib = intrinsics @ view_frame_from_device_frame @ device_from_calib
   warp_matrix: np.ndarray = camera_from_calib @ calib_from_model
   return warp_matrix

common/utils.py

@@ -1,3 +1,11 @@
+from collections.abc import Callable
+from functools import lru_cache
+from typing import TypeVar
+
+
+_RT = TypeVar("_RT")
+
+
 class Freezable:
   _frozen: bool = False
 
@@ -9,3 +17,7 @@ class Freezable:
     if self._frozen:
       raise Exception("cannot modify frozen object")
     super().__setattr__(*args, **kwargs)
+
+
+def cache(user_function: Callable[..., _RT], /) -> Callable[..., _RT]:
+  return lru_cache(maxsize=None)(user_function)

docs/BOUNTIES.md

@@ -10,7 +10,8 @@ Get paid to improve openpilot!
 * open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim
 * get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders)
 
-New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
+We put up each bounty with the intention that it'll get merged, but occasionally the right resolution is to close the bounty, which only becomes clear once some effort is put in. 
+This is still valuable work, so we'll pay out $100 for getting any bounty closed with a good explanation.
 
 ## Issue bounties
 
@@ -20,6 +21,8 @@ We've tagged bounty-eligible issues across openpilot and the rest of our repos;
 * **$500** - a few days of work for an experienced openpilot developer
 * **$1k+** - a week or two of work (could be less for the right person)
 
+New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
+
 ## Car bounties
 
 The car bounties only apply to cars that have a path to ship in openpilot release, which excludes unsupportable cars (e.g. Fords with a steering lockout) or cars that require extra hardware (Honda Accord with serial steering).

docs/CARS.md

@@ -35,7 +35,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
-|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
@@ -47,14 +47,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
-|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023">Buy Here</a></sub></details>||
+|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
 |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
-|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
+|Genesis|G70 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2020-23">Buy Here</a></sub></details>||
 |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
 |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
-|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
+|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
 |Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
 |Genesis|GV60 (Performance Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
 |Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
@@ -110,7 +110,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Cruz 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
@@ -148,9 +148,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
 |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
@@ -160,7 +160,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
 |Kia|Sorento Hybrid 2021-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
 |Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
+|Kia|Sportage 2023-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
 |Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
@@ -256,8 +256,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
 |Toyota|RAV4 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-24">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||

panda

@@ -1 +1 @@
-Subproject commit 41e9610ff841e4cf62051c6df09c1870f5d12477
+Subproject commit 567dbfe6d86ddda6d803da371942603c6dbe36c8

release/build_release.sh

@@ -94,7 +94,7 @@ cp -pR -n --parents $TEST_FILES $BUILD_DIR/
 cd $BUILD_DIR
 RELEASE=1 selfdrive/test/test_onroad.py
 #selfdrive/manager/test/test_manager.py
-selfdrive/car/tests/test_car_interfaces.py
+#selfdrive/car/tests/test_car_interfaces.py
 rm -rf $TEST_FILES
 
 if [ ! -z "$RELEASE_BRANCH" ]; then

release/files_common

@@ -82,7 +82,6 @@ selfdrive/boardd/panda.h
 selfdrive/boardd/spi.cc
 selfdrive/boardd/panda_comms.h
 selfdrive/boardd/panda_comms.cc
-selfdrive/boardd/set_time.py
 selfdrive/boardd/pandad.py
 selfdrive/boardd/tests/test_boardd_loopback.py
 
@@ -183,6 +182,7 @@ system/hardware/pc/hardware.py
 
 system/ubloxd/.gitignore
 system/ubloxd/SConscript
+system/ubloxd/pigeond.py
 system/ubloxd/generated/*
 system/ubloxd/*.h
 system/ubloxd/*.cc
@@ -242,7 +242,6 @@ system/sensord/SConscript
 system/sensord/sensors_qcom2.cc
 system/sensord/sensors/*.cc
 system/sensord/sensors/*.h
-system/sensord/pigeond.py
 
 system/webrtc/__init__.py
 system/webrtc/webrtcd.py

release/verify.sh

@@ -1,16 +0,0 @@
-#!/bin/bash
-
-set -e
-
-RED="\033[0;31m"
-GREEN="\033[0;32m"
-CLEAR="\033[0m"
-
-BRANCHES="devel release3"
-for b in $BRANCHES; do
-  if git diff --quiet origin/$b origin/$b-staging && [ "$(git rev-parse origin/$b)" = "$(git rev-parse origin/$b-staging)" ]; then
-    printf "%-10s $GREEN ok $CLEAR\n" "$b"
-  else
-    printf "%-10s $RED mismatch $CLEAR\n" "$b"
-  fi
-done

scripts/count_cars.py

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

scripts/launch_corolla.sh

@@ -2,6 +2,6 @@
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 
-export FINGERPRINT="TOYOTA COROLLA TSS2 2019"
+export FINGERPRINT="TOYOTA_COROLLA_TSS2"
 export SKIP_FW_QUERY="1"
 $DIR/../launch_openpilot.sh

selfdrive/athena/athenad.py

@@ -32,12 +32,13 @@ from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.common.api import Api
 from openpilot.common.file_helpers import CallbackReader
+from openpilot.common.git import get_commit, get_normalized_origin, get_short_branch
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_commit, get_normalized_origin, get_short_branch, get_version
+from openpilot.system.version import get_version
 from openpilot.system.hardware.hw import Paths
 
 

selfdrive/athena/manage_athenad.py

@@ -7,7 +7,8 @@ from openpilot.common.params import Params
 from openpilot.selfdrive.manager.process import launcher
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE
-from openpilot.system.version import get_version, get_normalized_origin, get_short_branch, get_commit, is_dirty
+from openpilot.common.git import get_commit, get_normalized_origin, get_short_branch
+from openpilot.system.version import get_version, is_dirty
 
 ATHENA_MGR_PID_PARAM = "AthenadPid"
 

selfdrive/boardd/boardd.cc

@@ -49,12 +49,6 @@ std::atomic<bool> ignition(false);
 
 ExitHandler do_exit;
 
-static std::string get_time_str(const struct tm &time) {
-  char s[30] = {'\0'};
-  std::strftime(s, std::size(s), "%Y-%m-%d %H:%M:%S", &time);
-  return s;
-}
-
 bool check_all_connected(const std::vector<Panda *> &pandas) {
   for (const auto& panda : pandas) {
     if (!panda->connected()) {
@@ -65,36 +59,6 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
   return true;
 }
 
-enum class SyncTimeDir { TO_PANDA, FROM_PANDA };
-
-void sync_time(Panda *panda, SyncTimeDir dir) {
-  if (!panda->has_rtc) return;
-
-  setenv("TZ", "UTC", 1);
-  struct tm sys_time = util::get_time();
-  struct tm rtc_time = panda->get_rtc();
-
-  if (dir == SyncTimeDir::TO_PANDA) {
-    if (util::time_valid(sys_time)) {
-      // Write time to RTC if it looks reasonable
-      double seconds = difftime(mktime(&rtc_time), mktime(&sys_time));
-      if (std::abs(seconds) > 1.1) {
-        panda->set_rtc(sys_time);
-        LOGW("Updating panda RTC. dt = %.2f System: %s RTC: %s",
-              seconds, get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
-      }
-    }
-  } else if (dir == SyncTimeDir::FROM_PANDA) {
-    LOGW("System time: %s, RTC time: %s", get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
-
-    if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) {
-      const struct timeval tv = {mktime(&rtc_time), 0};
-      settimeofday(&tv, 0);
-      LOGE("System time wrong, setting from RTC.");
-    }
-  }
-}
-
 bool safety_setter_thread(std::vector<Panda *> pandas) {
   LOGD("Starting safety setter thread");
 
@@ -195,7 +159,6 @@ Panda *connect(std::string serial="", uint32_t index=0) {
     throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
   }
 
-  sync_time(panda.get(), SyncTimeDir::FROM_PANDA);
   return panda.release();
 }
 
@@ -581,11 +544,6 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
       panda->set_ir_pwr(ir_pwr);
       prev_ir_pwr = ir_pwr;
     }
-
-    // Write to rtc once per minute when no ignition present
-    if (!ignition && (sm.frame % 120 == 1)) {
-      sync_time(panda, SyncTimeDir::TO_PANDA);
-    }
   }
 }
 

selfdrive/boardd/panda.cc

@@ -25,10 +25,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
   }
 
   hw_type = get_hw_type();
-  has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
-            (hw_type == cereal::PandaState::PandaType::DOS) ||
-            (hw_type == cereal::PandaState::PandaType::TRES);
-
   can_reset_communications();
 
   return;
@@ -77,41 +73,6 @@ cereal::PandaState::PandaType Panda::get_hw_type() {
   return (cereal::PandaState::PandaType)(hw_query[0]);
 }
 
-void Panda::set_rtc(struct tm sys_time) {
-  // tm struct has year defined as years since 1900
-  handle->control_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0);
-  handle->control_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0);
-  handle->control_write(0xa3, (uint16_t)sys_time.tm_mday, 0);
-  // handle->control_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0);
-  handle->control_write(0xa5, (uint16_t)sys_time.tm_hour, 0);
-  handle->control_write(0xa6, (uint16_t)sys_time.tm_min, 0);
-  handle->control_write(0xa7, (uint16_t)sys_time.tm_sec, 0);
-}
-
-struct tm Panda::get_rtc() {
-  struct __attribute__((packed)) timestamp_t {
-    uint16_t year; // Starts at 0
-    uint8_t month;
-    uint8_t day;
-    uint8_t weekday;
-    uint8_t hour;
-    uint8_t minute;
-    uint8_t second;
-  } rtc_time = {0};
-
-  handle->control_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time));
-
-  struct tm new_time = { 0 };
-  new_time.tm_year = rtc_time.year - 1900; // tm struct has year defined as years since 1900
-  new_time.tm_mon  = rtc_time.month - 1;
-  new_time.tm_mday = rtc_time.day;
-  new_time.tm_hour = rtc_time.hour;
-  new_time.tm_min  = rtc_time.minute;
-  new_time.tm_sec  = rtc_time.second;
-
-  return new_time;
-}
-
 void Panda::set_fan_speed(uint16_t fan_speed) {
   handle->control_write(0xb1, fan_speed, 0);
 }

selfdrive/boardd/panda.h

@@ -50,7 +50,6 @@ public:
   Panda(std::string serial="", uint32_t bus_offset=0);
 
   cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
-  bool has_rtc = false;
   const uint32_t bus_offset;
 
   bool connected();
@@ -64,8 +63,6 @@ public:
   cereal::PandaState::PandaType get_hw_type();
   void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
   void set_alternative_experience(uint16_t alternative_experience);
-  void set_rtc(struct tm sys_time);
-  struct tm get_rtc();
   void set_fan_speed(uint16_t fan_speed);
   uint16_t get_fan_speed();
   void set_ir_pwr(uint16_t ir_pwr);

selfdrive/boardd/pandad.py

@@ -10,7 +10,6 @@ from functools import cmp_to_key
 from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.boardd.set_time import set_time
 from openpilot.system.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
 
@@ -154,10 +153,6 @@ def main() -> NoReturn:
           cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial())
 
         if first_run:
-          if panda.is_internal():
-            # update time from RTC
-            set_time(cloudlog)
-
           # reset panda to ensure we're in a good state
           cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
           if panda.is_internal():

selfdrive/boardd/set_time.py

@@ -1,38 +0,0 @@
-#!/usr/bin/env python3
-import os
-import datetime
-from panda import Panda
-
-from openpilot.common.time import MIN_DATE
-
-def set_time(logger):
-  sys_time = datetime.datetime.today()
-  if sys_time > MIN_DATE:
-    logger.info("System time valid")
-    return
-
-  try:
-    ps = Panda.list()
-    if len(ps) == 0:
-      logger.error("Failed to set time, no pandas found")
-      return
-
-    for s in ps:
-      with Panda(serial=s) as p:
-        if not p.is_internal():
-          continue
-
-        # Set system time from panda RTC time
-        panda_time = p.get_datetime()
-        if panda_time > MIN_DATE:
-          logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
-          os.system(f"TZ=UTC date -s '{panda_time}'")
-        break
-  except Exception:
-    logger.exception("Failed to fetch time from panda")
-
-if __name__ == "__main__":
-  import logging
-  logging.basicConfig(level=logging.DEBUG)
-
-  set_time(logging)

selfdrive/car/CARS_template.md

@@ -12,12 +12,12 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# {{all_car_info | length}} Supported Cars
+# {{all_car_docs | length}} Supported Cars
 
 |{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
 |---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
-{% for car_info in all_car_info %}
-|{% for column in Column %}{{car_info.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
+{% for car_docs in all_car_docs %}
+|{% for column in Column %}{{car_docs.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
 
 {% endfor %}
 

selfdrive/car/__init__.py

@@ -1,7 +1,7 @@
 # functions common among cars
 from collections import defaultdict, namedtuple
 from dataclasses import dataclass
-from enum import IntFlag, ReprEnum
+from enum import IntFlag, ReprEnum, EnumType
 from dataclasses import replace
 
 import capnp
@@ -9,7 +9,7 @@ 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
+from openpilot.selfdrive.car.docs_definitions import CarDocs
 
 
 # kg of standard extra cargo to count for drive, gas, etc...
@@ -179,27 +179,6 @@ def crc8_pedal(data):
   return crc
 
 
-def create_gas_interceptor_command(packer, gas_amount, idx):
-  # Common gas pedal msg generator
-  enable = gas_amount > 0.001
-
-  values = {
-    "ENABLE": enable,
-    "COUNTER_PEDAL": idx & 0xF,
-  }
-
-  if enable:
-    values["GAS_COMMAND"] = gas_amount * 255.
-    values["GAS_COMMAND2"] = gas_amount * 255.
-
-  dat = packer.make_can_msg("GAS_COMMAND", 0, values)[2]
-
-  checksum = crc8_pedal(dat[:-1])
-  values["CHECKSUM_PEDAL"] = checksum
-
-  return packer.make_can_msg("GAS_COMMAND", 0, values)
-
-
 def make_can_msg(addr, dat, bus):
   return [addr, 0, dat, bus]
 
@@ -245,9 +224,6 @@ class CanSignalRateCalculator:
     return self.rate
 
 
-CarInfos = CarInfo | list[CarInfo] | None
-
-
 @dataclass(frozen=True, kw_only=True)
 class CarSpecs:
   mass: float  # kg, curb weight
@@ -264,14 +240,15 @@ class CarSpecs:
 
 @dataclass(order=True)
 class PlatformConfig(Freezable):
-  platform_str: str
-  car_info: CarInfos
+  car_docs: list[CarDocs]
   specs: CarSpecs
 
   dbc_dict: DbcDict
 
   flags: int = 0
 
+  platform_str: str | None = None
+
   def __hash__(self) -> int:
     return hash(self.platform_str)
 
@@ -283,10 +260,18 @@ class PlatformConfig(Freezable):
 
   def __post_init__(self):
     self.init()
-    self.freeze()
 
 
-class Platforms(str, ReprEnum):
+class PlatformsType(EnumType):
+  def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **kwds):
+    for key in classdict._member_names.keys():
+      cfg: PlatformConfig = classdict[key]
+      cfg.platform_str = key
+      cfg.freeze()
+    return super().__new__(metacls, cls, bases, classdict, boundary=boundary, _simple=_simple, **kwds)
+
+
+class Platforms(str, ReprEnum, metaclass=PlatformsType):
   config: PlatformConfig
 
   def __new__(cls, platform_config: PlatformConfig):

selfdrive/car/body/fingerprints.py

@@ -8,13 +8,13 @@ Ecu = car.CarParams.Ecu
 
 
 FINGERPRINTS = {
-  CAR.BODY: [{
+  CAR.COMMA_BODY: [{
     513: 8, 516: 8, 514: 3, 515: 4
   }],
 }
 
 FW_VERSIONS = {
-  CAR.BODY: {
+  CAR.COMMA_BODY: {
     (Ecu.engine, 0x720, None): [
       b'0.0.01',
       b'0.3.00a',

selfdrive/car/body/interface.py

@@ -37,6 +37,3 @@ class CarInterface(CarInterfaceBase):
     self.frame += 1
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/body/values.py

@@ -1,6 +1,6 @@
 from cereal import car
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarInfo
+from openpilot.selfdrive.car.docs_definitions import CarDocs
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -20,9 +20,8 @@ class CarControllerParams:
 
 
 class CAR(Platforms):
-  BODY = PlatformConfig(
-    "COMMA BODY",
-    CarInfo("comma body", package="All"),
+  COMMA_BODY = PlatformConfig(
+    [CarDocs("comma body", package="All")],
     CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
     dbc_dict('comma_body', None),
   )

selfdrive/car/car_helpers.py

@@ -4,8 +4,6 @@ from collections.abc import Callable
 
 from cereal import car
 from openpilot.common.params import Params
-from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.system.version import is_comma_remote, is_tested_branch
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
@@ -49,17 +47,8 @@ def load_interfaces(brand_names):
   for brand_name in brand_names:
     path = f'openpilot.selfdrive.car.{brand_name}'
     CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
-
-    if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'):
-      CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
-    else:
-      CarState = None
-
-    if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carcontroller.py'):
-      CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
-    else:
-      CarController = None
-
+    CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
+    CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
     for model_name in brand_names[brand_name]:
       ret[model_name] = (CarInterface, CarController, CarState)
   return ret
@@ -192,9 +181,7 @@ def fingerprint(logcan, sendcan, num_pandas):
                  fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
                  fingerprints=repr(finger), fw_query_time=fw_query_time, error=True)
 
-  car_platform = PLATFORMS.get(car_fingerprint, MOCK.MOCK)
-
-  return car_platform, finger, vin, car_fw, source, exact_match
+  return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
 def get_car_interface(CP):
@@ -207,7 +194,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
 
   if candidate is None:
     cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True)
-    candidate = "mock"
+    candidate = "MOCK"
 
   CarInterface, _, _ = interfaces[candidate]
   CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)

selfdrive/car/chrysler/carstate.py

@@ -21,10 +21,16 @@ class CarState(CarStateBase):
     else:
       self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
 
+    self.prev_distance_button = 0
+    self.distance_button = 0
+
   def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
 
+    self.prev_distance_button = self.distance_button
+    self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
+
     # lock info
     ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
                         cp.vl["BCM_1"]["DOOR_OPEN_FR"],

selfdrive/car/chrysler/fingerprints.py

@@ -4,7 +4,7 @@ from openpilot.selfdrive.car.chrysler.values import CAR
 Ecu = car.CarParams.Ecu
 
 FW_VERSIONS = {
-  CAR.PACIFICA_2017_HYBRID: {
+  CAR.CHRYSLER_PACIFICA_2017_HYBRID: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68239262AH',
       b'68239262AI',
@@ -33,7 +33,7 @@ FW_VERSIONS = {
       b'05190226AK',
     ],
   },
-  CAR.PACIFICA_2018: {
+  CAR.CHRYSLER_PACIFICA_2018: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68227902AF',
       b'68227902AG',
@@ -90,11 +90,12 @@ FW_VERSIONS = {
       b'68380571AB',
     ],
   },
-  CAR.PACIFICA_2020: {
+  CAR.CHRYSLER_PACIFICA_2020: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68405327AC',
       b'68436233AB',
       b'68436233AC',
+      b'68436234AB',
       b'68436250AE',
       b'68529067AA',
       b'68594993AB',
@@ -141,6 +142,7 @@ FW_VERSIONS = {
       b'68443120AE ',
       b'68443123AC ',
       b'68443125AC ',
+      b'68496650AI ',
       b'68526752AD ',
       b'68526752AE ',
       b'68526754AE ',
@@ -160,7 +162,7 @@ FW_VERSIONS = {
       b'68586231AD',
     ],
   },
-  CAR.PACIFICA_2018_HYBRID: {
+  CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68358439AE',
       b'68358439AG',
@@ -187,7 +189,7 @@ FW_VERSIONS = {
       b'05190226AM',
     ],
   },
-  CAR.PACIFICA_2019_HYBRID: {
+  CAR.CHRYSLER_PACIFICA_2019_HYBRID: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68405292AC',
       b'68434956AC',
@@ -362,7 +364,7 @@ FW_VERSIONS = {
       b'68503664AC',
     ],
   },
-  CAR.RAM_1500: {
+  CAR.RAM_1500_5TH_GEN: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68294051AG',
       b'68294051AI',
@@ -379,6 +381,7 @@ FW_VERSIONS = {
       b'68434859AC',
       b'68434860AC',
       b'68453483AC',
+      b'68453483AD',
       b'68453487AD',
       b'68453491AC',
       b'68453499AD',
@@ -404,8 +407,10 @@ FW_VERSIONS = {
       b'68527383AD',
       b'68527387AE',
       b'68527403AC',
+      b'68527403AD',
       b'68546047AF',
       b'68631938AA',
+      b'68631940AA',
       b'68631942AA',
     ],
     (Ecu.srs, 0x744, None): [
@@ -477,6 +482,7 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'05035699AG ',
+      b'05035841AC ',
       b'05036026AB ',
       b'05036065AE ',
       b'05036066AE ',
@@ -509,11 +515,13 @@ FW_VERSIONS = {
       b'68455145AE ',
       b'68455146AC ',
       b'68467915AC ',
+      b'68467916AC ',
       b'68467936AC ',
       b'68500630AD',
       b'68500630AE',
       b'68502719AC ',
       b'68502722AC ',
+      b'68502733AC ',
       b'68502734AF ',
       b'68502740AF ',
       b'68502741AF ',
@@ -524,6 +532,7 @@ FW_VERSIONS = {
       b'68586101AA ',
       b'68586105AB ',
       b'68629922AC ',
+      b'68629925AC ',
       b'68629926AC ',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -559,7 +568,7 @@ FW_VERSIONS = {
       b'68629936AC',
     ],
   },
-  CAR.RAM_HD: {
+  CAR.RAM_HD_5TH_GEN: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68361606AH',
       b'68437735AC',

selfdrive/car/chrysler/interface.py

@@ -1,10 +1,12 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
+ButtonType = car.CarState.ButtonEvent.Type
+
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
@@ -27,13 +29,14 @@ class CarInterface(CarInterfaceBase):
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     if candidate not in RAM_CARS:
       # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
-      new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
+      new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
       new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
       if new_eps_platform or new_eps_firmware:
         ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
 
     # 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):
+    if candidate in (CAR.CHRYSLER_PACIFICA_2017_HYBRID, CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, \
+                     CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
       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]]
@@ -49,14 +52,14 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kf = 0.00006
 
     # Ram
-    elif candidate == CAR.RAM_1500:
+    elif candidate == CAR.RAM_1500_5TH_GEN:
       ret.steerActuatorDelay = 0.2
       ret.wheelbase = 3.88
       # 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:
+    elif candidate == CAR.RAM_HD_5TH_GEN:
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
 
@@ -76,6 +79,8 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
+    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     # events
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
 
@@ -90,6 +95,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = events.to_msg()
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/chrysler/values.py

@@ -4,7 +4,7 @@ from dataclasses import dataclass, field
 from cereal import car
 from panda.python import uds
 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.docs_definitions import CarHarness, CarDocs, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
@@ -15,7 +15,7 @@ class ChryslerFlags(IntFlag):
   HIGHER_MIN_STEERING_SPEED = 1
 
 @dataclass
-class ChryslerCarInfo(CarInfo):
+class ChryslerCarDocs(CarDocs):
   package: str = "Adaptive Cruise Control (ACC)"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
 
@@ -32,67 +32,57 @@ class ChryslerCarSpecs(CarSpecs):
 
 class CAR(Platforms):
   # Chrysler
-  PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA HYBRID 2017",
-    ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
+  CHRYSLER_PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017")],
     ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
   )
-  PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA HYBRID 2018",
-    ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
-    PACIFICA_2017_HYBRID.specs,
+  CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")],
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
-  PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA HYBRID 2019",
-    ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
-    PACIFICA_2017_HYBRID.specs,
+  CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")],
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
-  PACIFICA_2018 = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA 2018",
-    ChryslerCarInfo("Chrysler Pacifica 2017-18"),
-    PACIFICA_2017_HYBRID.specs,
+  CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica 2017-18")],
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
-  PACIFICA_2020 = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA 2020",
+  CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
     [
-      ChryslerCarInfo("Chrysler Pacifica 2019-20"),
-      ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
+      ChryslerCarDocs("Chrysler Pacifica 2019-20"),
+      ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
     ],
-    PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
 
   # Dodge
   DODGE_DURANGO = ChryslerPlatformConfig(
-    "DODGE DURANGO 2021",
-    ChryslerCarInfo("Dodge Durango 2020-21"),
-    PACIFICA_2017_HYBRID.specs,
+    [ChryslerCarDocs("Dodge Durango 2020-21")],
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
 
   # Jeep
   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"),
+    [ChryslerCarDocs("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk")],
     ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
   )
 
   JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig(  # includes 2020 Trailhawk
-    "JEEP GRAND CHEROKEE 2019",
-    ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
+    [ChryslerCarDocs("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4")],
     JEEP_GRAND_CHEROKEE.specs,
   )
 
   # Ram
-  RAM_1500 = ChryslerPlatformConfig(
-    "RAM 1500 5TH GEN",
-    ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
+  RAM_1500_5TH_GEN = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram]))],
     ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
     dbc_dict('chrysler_ram_dt_generated', None),
   )
-  RAM_HD = ChryslerPlatformConfig(
-    "RAM HD 5TH GEN",
+  RAM_HD_5TH_GEN = ChryslerPlatformConfig(
     [
-      ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
-      ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
+      ChryslerCarDocs("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
+      ChryslerCarDocs("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
     ],
     ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
     dbc_dict('chrysler_ram_hd_generated', None),
@@ -119,8 +109,8 @@ class CarControllerParams:
 
 STEER_THRESHOLD = 120
 
-RAM_DT = {CAR.RAM_1500, }
-RAM_HD = {CAR.RAM_HD, }
+RAM_DT = {CAR.RAM_1500_5TH_GEN, }
+RAM_HD = {CAR.RAM_HD_5TH_GEN, }
 RAM_CARS = RAM_DT | RAM_HD
 
 

selfdrive/car/docs.py

@@ -9,7 +9,7 @@ from natsort import natsorted
 from cereal import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType
+from openpilot.selfdrive.car.docs_definitions import CarDocs, Column, CommonFootnote, PartType
 from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
 from openpilot.selfdrive.car.values import PLATFORMS
 
@@ -25,46 +25,43 @@ CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
 CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
 
 
-def get_all_car_info() -> list[CarInfo]:
-  all_car_info: list[CarInfo] = []
+def get_all_car_docs() -> list[CarDocs]:
+  all_car_docs: list[CarDocs] = []
   footnotes = get_all_footnotes()
   for model, platform in PLATFORMS.items():
-    car_info = platform.config.car_info
+    car_docs = platform.config.car_docs
     # If available, uses experimental longitudinal limits for the docs
     CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(),
                                          car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True)
 
-    if CP.dashcamOnly or car_info is None:
+    if CP.dashcamOnly or not len(car_docs):
       continue
 
     # A platform can include multiple car models
-    if not isinstance(car_info, list):
-      car_info = [car_info,]
-
-    for _car_info in car_info:
-      if not hasattr(_car_info, "row"):
-        _car_info.init_make(CP)
-        _car_info.init(CP, footnotes)
-      all_car_info.append(_car_info)
+    for _car_docs in car_docs:
+      if not hasattr(_car_docs, "row"):
+        _car_docs.init_make(CP)
+        _car_docs.init(CP, footnotes)
+      all_car_docs.append(_car_docs)
 
   # Sort cars by make and model + year
-  sorted_cars: list[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower())
+  sorted_cars: list[CarDocs] = natsorted(all_car_docs, key=lambda car: car.name.lower())
   return sorted_cars
 
 
-def group_by_make(all_car_info: list[CarInfo]) -> dict[str, list[CarInfo]]:
-  sorted_car_info = defaultdict(list)
-  for car_info in all_car_info:
-    sorted_car_info[car_info.make].append(car_info)
-  return dict(sorted_car_info)
+def group_by_make(all_car_docs: list[CarDocs]) -> dict[str, list[CarDocs]]:
+  sorted_car_docs = defaultdict(list)
+  for car_docs in all_car_docs:
+    sorted_car_docs[car_docs.make].append(car_docs)
+  return dict(sorted_car_docs)
 
 
-def generate_cars_md(all_car_info: list[CarInfo], template_fn: str) -> str:
+def generate_cars_md(all_car_docs: list[CarDocs], template_fn: str) -> str:
   with open(template_fn) as f:
     template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
 
   footnotes = [fn.value.text for fn in get_all_footnotes()]
-  cars_md: str = template.render(all_car_info=all_car_info, PartType=PartType,
+  cars_md: str = template.render(all_car_docs=all_car_docs, PartType=PartType,
                                  group_by_make=group_by_make, footnotes=footnotes,
                                  Column=Column)
   return cars_md
@@ -79,5 +76,5 @@ if __name__ == "__main__":
   args = parser.parse_args()
 
   with open(args.out, 'w') as f:
-    f.write(generate_cars_md(get_all_car_info(), args.template))
+    f.write(generate_cars_md(get_all_car_docs(), args.template))
   print(f"Generated and written to {args.out}")

selfdrive/car/docs_definitions.py

@@ -220,7 +220,7 @@ def split_name(name: str) -> tuple[str, str, str]:
 
 
 @dataclass
-class CarInfo:
+class CarDocs:
   # make + model + model years
   name: str
 
@@ -266,7 +266,7 @@ class CarInfo:
     # min steer & enable speed columns
     # TODO: set all the min steer speeds in carParams and remove this
     if self.min_steer_speed is not None:
-      assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarInfo and CarParams"
+      assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarDocs and CarParams"
     else:
       self.min_steer_speed = CP.minSteerSpeed
 
@@ -317,7 +317,7 @@ class CarInfo:
     return self
 
   def init_make(self, CP: car.CarParams):
-    """CarInfo subclasses can add make-specific logic for harness selection, footnotes, etc."""
+    """CarDocs subclasses can add make-specific logic for harness selection, footnotes, etc."""
 
   def get_detail_sentence(self, CP):
     if not CP.notCar:
@@ -346,7 +346,7 @@ class CarInfo:
       return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
 
     else:
-      if CP.carFingerprint == "COMMA BODY":
+      if CP.carFingerprint == "COMMA_BODY":
         return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com'>Learn more.</a>"
       else:
         raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")

selfdrive/car/fingerprints.py

@@ -1,4 +1,16 @@
 from openpilot.selfdrive.car.interfaces import get_interface_attr
+from openpilot.selfdrive.car.body.values import CAR as BODY
+from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
+from openpilot.selfdrive.car.ford.values import CAR as FORD
+from openpilot.selfdrive.car.gm.values import CAR as GM
+from openpilot.selfdrive.car.honda.values import CAR as HONDA
+from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
+from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
+from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
+from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
+from openpilot.selfdrive.car.tesla.values import CAR as TESLA
+from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.car.volkswagen.values import CAR as VW
 
 FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
 _FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)
@@ -44,3 +56,283 @@ def all_known_cars():
 def all_legacy_fingerprint_cars():
   """Returns a list of all known car strings, FPv1 only."""
   return list(_FINGERPRINTS.keys())
+
+
+# A dict that maps old platform strings to their latest representations
+MIGRATION = {
+  "ACURA ILX 2016 ACURAWATCH PLUS": HONDA.ACURA_ILX,
+  "ACURA RDX 2018 ACURAWATCH PLUS": HONDA.ACURA_RDX,
+  "ACURA RDX 2020 TECH": HONDA.ACURA_RDX_3G,
+  "AUDI A3": VW.AUDI_A3_MK3,
+  "HONDA ACCORD 2018 HYBRID TOURING": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD 1.5T 2018": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD 2018 LX 1.5T": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD 2018 SPORT 2T": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD 2T 2018": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD HYBRID 2018": HONDA.HONDA_ACCORD,
+  "HONDA CIVIC 2016 TOURING": HONDA.HONDA_CIVIC,
+  "HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019": HONDA.HONDA_CIVIC_BOSCH,
+  "HONDA CIVIC SEDAN 1.6 DIESEL": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
+  "HONDA CR-V 2016 EXECUTIVE": HONDA.HONDA_CRV_EU,
+  "HONDA CR-V 2016 TOURING": HONDA.HONDA_CRV,
+  "HONDA CR-V 2017 EX": HONDA.HONDA_CRV_5G,
+  "HONDA CR-V 2019 HYBRID": HONDA.HONDA_CRV_HYBRID,
+  "HONDA FIT 2018 EX": HONDA.HONDA_FIT,
+  "HONDA HRV 2019 TOURING": HONDA.HONDA_HRV,
+  "HONDA INSIGHT 2019 TOURING": HONDA.HONDA_INSIGHT,
+  "HONDA ODYSSEY 2018 EX-L": HONDA.HONDA_ODYSSEY,
+  "HONDA ODYSSEY 2019 EXCLUSIVE CHN": HONDA.HONDA_ODYSSEY_CHN,
+  "HONDA PILOT 2017 TOURING": HONDA.HONDA_PILOT,
+  "HONDA PILOT 2019 ELITE": HONDA.HONDA_PILOT,
+  "HONDA PILOT 2019": HONDA.HONDA_PILOT,
+  "HONDA PASSPORT 2021": HONDA.HONDA_PILOT,
+  "HONDA RIDGELINE 2017 BLACK EDITION": HONDA.HONDA_RIDGELINE,
+  "HYUNDAI ELANTRA LIMITED ULTIMATE 2017": HYUNDAI.HYUNDAI_ELANTRA,
+  "HYUNDAI SANTA FE LIMITED 2019": HYUNDAI.HYUNDAI_SANTA_FE,
+  "HYUNDAI TUCSON DIESEL 2019": HYUNDAI.HYUNDAI_TUCSON,
+  "KIA OPTIMA 2016": HYUNDAI.KIA_OPTIMA_G4,
+  "KIA OPTIMA 2019": HYUNDAI.KIA_OPTIMA_G4_FL,
+  "KIA OPTIMA SX 2019 & 2016": HYUNDAI.KIA_OPTIMA_G4_FL,
+  "LEXUS CT 200H 2018": TOYOTA.LEXUS_CTH,
+  "LEXUS ES 300H 2018": TOYOTA.LEXUS_ES,
+  "LEXUS ES 300H 2019": TOYOTA.LEXUS_ES_TSS2,
+  "LEXUS IS300 2018": TOYOTA.LEXUS_IS,
+  "LEXUS NX300 2018": TOYOTA.LEXUS_NX,
+  "LEXUS NX300H 2018": TOYOTA.LEXUS_NX,
+  "LEXUS RX 350 2016": TOYOTA.LEXUS_RX,
+  "LEXUS RX350 2020": TOYOTA.LEXUS_RX_TSS2,
+  "LEXUS RX450 HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
+  "TOYOTA SIENNA XLE 2018": TOYOTA.TOYOTA_SIENNA,
+  "TOYOTA C-HR HYBRID 2018": TOYOTA.TOYOTA_CHR,
+  "TOYOTA COROLLA HYBRID TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
+  "TOYOTA RAV4 HYBRID 2019": TOYOTA.TOYOTA_RAV4_TSS2,
+  "LEXUS ES HYBRID 2019": TOYOTA.LEXUS_ES_TSS2,
+  "LEXUS NX HYBRID 2018": TOYOTA.LEXUS_NX,
+  "LEXUS NX HYBRID 2020": TOYOTA.LEXUS_NX_TSS2,
+  "LEXUS RX HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
+  "TOYOTA ALPHARD HYBRID 2021": TOYOTA.TOYOTA_ALPHARD_TSS2,
+  "TOYOTA AVALON HYBRID 2019": TOYOTA.TOYOTA_AVALON_2019,
+  "TOYOTA AVALON HYBRID 2022": TOYOTA.TOYOTA_AVALON_TSS2,
+  "TOYOTA CAMRY HYBRID 2018": TOYOTA.TOYOTA_CAMRY,
+  "TOYOTA CAMRY HYBRID 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
+  "TOYOTA C-HR HYBRID 2022": TOYOTA.TOYOTA_CHR_TSS2,
+  "TOYOTA HIGHLANDER HYBRID 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
+  "TOYOTA RAV4 HYBRID 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
+  "TOYOTA RAV4 HYBRID 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
+  "TOYOTA HIGHLANDER HYBRID 2018": TOYOTA.TOYOTA_HIGHLANDER,
+  "LEXUS ES HYBRID 2018": TOYOTA.LEXUS_ES,
+  "LEXUS RX HYBRID 2017": TOYOTA.LEXUS_RX,
+  "HYUNDAI TUCSON HYBRID 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
+  "KIA SPORTAGE HYBRID 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
+  "KIA SORENTO PLUG-IN HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
+
+  # Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/
+  "COMMA BODY": BODY.COMMA_BODY,
+  "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID,
+  "CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
+  "CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID,
+  "CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,
+  "CHRYSLER PACIFICA 2020": CHRYSLER.CHRYSLER_PACIFICA_2020,
+  "DODGE DURANGO 2021": CHRYSLER.DODGE_DURANGO,
+  "RAM 1500 5TH GEN": CHRYSLER.RAM_1500_5TH_GEN,
+  "RAM HD 5TH GEN": CHRYSLER.RAM_HD_5TH_GEN,
+  "FORD BRONCO SPORT 1ST GEN": FORD.FORD_BRONCO_SPORT_MK1,
+  "FORD ESCAPE 4TH GEN": FORD.FORD_ESCAPE_MK4,
+  "FORD EXPLORER 6TH GEN": FORD.FORD_EXPLORER_MK6,
+  "FORD F-150 14TH GEN": FORD.FORD_F_150_MK14,
+  "FORD F-150 LIGHTNING 1ST GEN": FORD.FORD_F_150_LIGHTNING_MK1,
+  "FORD FOCUS 4TH GEN": FORD.FORD_FOCUS_MK4,
+  "FORD MAVERICK 1ST GEN": FORD.FORD_MAVERICK_MK1,
+  "FORD MUSTANG MACH-E 1ST GEN": FORD.FORD_MUSTANG_MACH_E_MK1,
+  "HOLDEN ASTRA RS-V BK 2017": GM.HOLDEN_ASTRA,
+  "CHEVROLET VOLT PREMIER 2017": GM.CHEVROLET_VOLT,
+  "CADILLAC ATS Premium Performance 2018": GM.CADILLAC_ATS,
+  "CHEVROLET MALIBU PREMIER 2017": GM.CHEVROLET_MALIBU,
+  "GMC ACADIA DENALI 2018": GM.GMC_ACADIA,
+  "BUICK LACROSSE 2017": GM.BUICK_LACROSSE,
+  "BUICK REGAL ESSENCE 2018": GM.BUICK_REGAL,
+  "CADILLAC ESCALADE 2017": GM.CADILLAC_ESCALADE,
+  "CADILLAC ESCALADE ESV 2016": GM.CADILLAC_ESCALADE_ESV,
+  "CADILLAC ESCALADE ESV 2019": GM.CADILLAC_ESCALADE_ESV_2019,
+  "CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_EUV,
+  "CHEVROLET SILVERADO 1500 2020": GM.CHEVROLET_SILVERADO,
+  "CHEVROLET EQUINOX 2019": GM.CHEVROLET_EQUINOX,
+  "CHEVROLET TRAILBLAZER 2021": GM.CHEVROLET_TRAILBLAZER,
+  "HONDA ACCORD 2018": HONDA.HONDA_ACCORD,
+  "HONDA CIVIC (BOSCH) 2019": HONDA.HONDA_CIVIC_BOSCH,
+  "HONDA CIVIC SEDAN 1.6 DIESEL 2019": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
+  "HONDA CIVIC 2022": HONDA.HONDA_CIVIC_2022,
+  "HONDA CR-V 2017": HONDA.HONDA_CRV_5G,
+  "HONDA CR-V HYBRID 2019": HONDA.HONDA_CRV_HYBRID,
+  "HONDA HR-V 2023": HONDA.HONDA_HRV_3G,
+  "ACURA RDX 2020": HONDA.ACURA_RDX_3G,
+  "HONDA INSIGHT 2019": HONDA.HONDA_INSIGHT,
+  "HONDA E 2020": HONDA.HONDA_E,
+  "ACURA ILX 2016": HONDA.ACURA_ILX,
+  "HONDA CR-V 2016": HONDA.HONDA_CRV,
+  "HONDA CR-V EU 2016": HONDA.HONDA_CRV_EU,
+  "HONDA FIT 2018": HONDA.HONDA_FIT,
+  "HONDA FREED 2020": HONDA.HONDA_FREED,
+  "HONDA HRV 2019": HONDA.HONDA_HRV,
+  "HONDA ODYSSEY 2018": HONDA.HONDA_ODYSSEY,
+  "HONDA ODYSSEY CHN 2019": HONDA.HONDA_ODYSSEY_CHN,
+  "ACURA RDX 2018": HONDA.ACURA_RDX,
+  "HONDA PILOT 2017": HONDA.HONDA_PILOT,
+  "HONDA RIDGELINE 2017": HONDA.HONDA_RIDGELINE,
+  "HONDA CIVIC 2016": HONDA.HONDA_CIVIC,
+  "HYUNDAI AZERA 6TH GEN": HYUNDAI.HYUNDAI_AZERA_6TH_GEN,
+  "HYUNDAI AZERA HYBRID 6TH GEN": HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN,
+  "HYUNDAI ELANTRA 2017": HYUNDAI.HYUNDAI_ELANTRA,
+  "HYUNDAI I30 N LINE 2019 & GT 2018 DCT": HYUNDAI.HYUNDAI_ELANTRA_GT_I30,
+  "HYUNDAI ELANTRA 2021": HYUNDAI.HYUNDAI_ELANTRA_2021,
+  "HYUNDAI ELANTRA HYBRID 2021": HYUNDAI.HYUNDAI_ELANTRA_HEV_2021,
+  "HYUNDAI GENESIS 2015-2016": HYUNDAI.HYUNDAI_GENESIS,
+  "HYUNDAI IONIQ HYBRID 2017-2019": HYUNDAI.HYUNDAI_IONIQ,
+  "HYUNDAI IONIQ HYBRID 2020-2022": HYUNDAI.HYUNDAI_IONIQ_HEV_2022,
+  "HYUNDAI IONIQ ELECTRIC LIMITED 2019": HYUNDAI.HYUNDAI_IONIQ_EV_LTD,
+  "HYUNDAI IONIQ ELECTRIC 2020": HYUNDAI.HYUNDAI_IONIQ_EV_2020,
+  "HYUNDAI IONIQ PLUG-IN HYBRID 2019": HYUNDAI.HYUNDAI_IONIQ_PHEV_2019,
+  "HYUNDAI IONIQ PHEV 2020": HYUNDAI.HYUNDAI_IONIQ_PHEV,
+  "HYUNDAI KONA 2020": HYUNDAI.HYUNDAI_KONA,
+  "HYUNDAI KONA ELECTRIC 2019": HYUNDAI.HYUNDAI_KONA_EV,
+  "HYUNDAI KONA ELECTRIC 2022": HYUNDAI.HYUNDAI_KONA_EV_2022,
+  "HYUNDAI KONA ELECTRIC 2ND GEN": HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN,
+  "HYUNDAI KONA HYBRID 2020": HYUNDAI.HYUNDAI_KONA_HEV,
+  "HYUNDAI SANTA FE 2019": HYUNDAI.HYUNDAI_SANTA_FE,
+  "HYUNDAI SANTA FE 2022": HYUNDAI.HYUNDAI_SANTA_FE_2022,
+  "HYUNDAI SANTA FE HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022,
+  "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022,
+  "HYUNDAI SONATA 2020": HYUNDAI.HYUNDAI_SONATA,
+  "HYUNDAI SONATA 2019": HYUNDAI.HYUNDAI_SONATA_LF,
+  "HYUNDAI STARIA 4TH GEN": HYUNDAI.HYUNDAI_STARIA_4TH_GEN,
+  "HYUNDAI TUCSON 2019": HYUNDAI.HYUNDAI_TUCSON,
+  "HYUNDAI PALISADE 2020": HYUNDAI.HYUNDAI_PALISADE,
+  "HYUNDAI VELOSTER 2019": HYUNDAI.HYUNDAI_VELOSTER,
+  "HYUNDAI SONATA HYBRID 2021": HYUNDAI.HYUNDAI_SONATA_HYBRID,
+  "HYUNDAI IONIQ 5 2022": HYUNDAI.HYUNDAI_IONIQ_5,
+  "HYUNDAI IONIQ 6 2023": HYUNDAI.HYUNDAI_IONIQ_6,
+  "HYUNDAI TUCSON 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
+  "HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN,
+  "HYUNDAI CUSTIN 1ST GEN": HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN,
+  "KIA FORTE E 2018 & GT 2021": HYUNDAI.KIA_FORTE,
+  "KIA K5 2021": HYUNDAI.KIA_K5_2021,
+  "KIA K5 HYBRID 2020": HYUNDAI.KIA_K5_HEV_2020,
+  "KIA K8 HYBRID 1ST GEN": HYUNDAI.KIA_K8_HEV_1ST_GEN,
+  "KIA NIRO EV 2020": HYUNDAI.KIA_NIRO_EV,
+  "KIA NIRO EV 2ND GEN": HYUNDAI.KIA_NIRO_EV_2ND_GEN,
+  "KIA NIRO HYBRID 2019": HYUNDAI.KIA_NIRO_PHEV,
+  "KIA NIRO PLUG-IN HYBRID 2022": HYUNDAI.KIA_NIRO_PHEV_2022,
+  "KIA NIRO HYBRID 2021": HYUNDAI.KIA_NIRO_HEV_2021,
+  "KIA NIRO HYBRID 2ND GEN": HYUNDAI.KIA_NIRO_HEV_2ND_GEN,
+  "KIA OPTIMA 4TH GEN": HYUNDAI.KIA_OPTIMA_G4,
+  "KIA OPTIMA 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_G4_FL,
+  "KIA OPTIMA HYBRID 2017 & SPORTS 2019": HYUNDAI.KIA_OPTIMA_H,
+  "KIA OPTIMA HYBRID 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_H_G4_FL,
+  "KIA SELTOS 2021": HYUNDAI.KIA_SELTOS,
+  "KIA SPORTAGE 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
+  "KIA SORENTO GT LINE 2018": HYUNDAI.KIA_SORENTO,
+  "KIA SORENTO 4TH GEN": HYUNDAI.KIA_SORENTO_4TH_GEN,
+  "KIA SORENTO HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
+  "KIA STINGER GT2 2018": HYUNDAI.KIA_STINGER,
+  "KIA STINGER 2022": HYUNDAI.KIA_STINGER_2022,
+  "KIA CEED INTRO ED 2019": HYUNDAI.KIA_CEED,
+  "KIA EV6 2022": HYUNDAI.KIA_EV6,
+  "KIA CARNIVAL 4TH GEN": HYUNDAI.KIA_CARNIVAL_4TH_GEN,
+  "GENESIS GV60 ELECTRIC 1ST GEN": HYUNDAI.GENESIS_GV60_EV_1ST_GEN,
+  "GENESIS G70 2018": HYUNDAI.GENESIS_G70,
+  "GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,
+  "GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN,
+  "GENESIS G80 2017": HYUNDAI.GENESIS_G80,
+  "GENESIS G90 2017": HYUNDAI.GENESIS_G90,
+  "GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,
+  "MAZDA CX-5": MAZDA.MAZDA_CX5,
+  "MAZDA CX-9": MAZDA.MAZDA_CX9,
+  "MAZDA 3": MAZDA.MAZDA_3,
+  "MAZDA 6": MAZDA.MAZDA_6,
+  "MAZDA CX-9 2021": MAZDA.MAZDA_CX9_2021,
+  "MAZDA CX-5 2022": MAZDA.MAZDA_CX5_2022,
+  "NISSAN X-TRAIL 2017": NISSAN.NISSAN_XTRAIL,
+  "NISSAN LEAF 2018": NISSAN.NISSAN_LEAF,
+  "NISSAN ROGUE 2019": NISSAN.NISSAN_ROGUE,
+  "NISSAN ALTIMA 2020": NISSAN.NISSAN_ALTIMA,
+  "SUBARU ASCENT LIMITED 2019": SUBARU.SUBARU_ASCENT,
+  "SUBARU OUTBACK 6TH GEN": SUBARU.SUBARU_OUTBACK,
+  "SUBARU LEGACY 7TH GEN": SUBARU.SUBARU_LEGACY,
+  "SUBARU IMPREZA LIMITED 2019": SUBARU.SUBARU_IMPREZA,
+  "SUBARU IMPREZA SPORT 2020": SUBARU.SUBARU_IMPREZA_2020,
+  "SUBARU CROSSTREK HYBRID 2020": SUBARU.SUBARU_CROSSTREK_HYBRID,
+  "SUBARU FORESTER 2019": SUBARU.SUBARU_FORESTER,
+  "SUBARU FORESTER HYBRID 2020": SUBARU.SUBARU_FORESTER_HYBRID,
+  "SUBARU FORESTER 2017 - 2018": SUBARU.SUBARU_FORESTER_PREGLOBAL,
+  "SUBARU LEGACY 2015 - 2018": SUBARU.SUBARU_LEGACY_PREGLOBAL,
+  "SUBARU OUTBACK 2015 - 2017": SUBARU.SUBARU_OUTBACK_PREGLOBAL,
+  "SUBARU OUTBACK 2018 - 2019": SUBARU.SUBARU_OUTBACK_PREGLOBAL_2018,
+  "SUBARU FORESTER 2022": SUBARU.SUBARU_FORESTER_2022,
+  "SUBARU OUTBACK 7TH GEN": SUBARU.SUBARU_OUTBACK_2023,
+  "SUBARU ASCENT 2023": SUBARU.SUBARU_ASCENT_2023,
+  'TESLA AP1 MODEL S': TESLA.TESLA_AP1_MODELS,
+  'TESLA AP2 MODEL S': TESLA.TESLA_AP2_MODELS,
+  'TESLA MODEL S RAVEN': TESLA.TESLA_MODELS_RAVEN,
+  "TOYOTA ALPHARD 2020": TOYOTA.TOYOTA_ALPHARD_TSS2,
+  "TOYOTA AVALON 2016": TOYOTA.TOYOTA_AVALON,
+  "TOYOTA AVALON 2019": TOYOTA.TOYOTA_AVALON_2019,
+  "TOYOTA AVALON 2022": TOYOTA.TOYOTA_AVALON_TSS2,
+  "TOYOTA CAMRY 2018": TOYOTA.TOYOTA_CAMRY,
+  "TOYOTA CAMRY 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
+  "TOYOTA C-HR 2018": TOYOTA.TOYOTA_CHR,
+  "TOYOTA C-HR 2021": TOYOTA.TOYOTA_CHR_TSS2,
+  "TOYOTA COROLLA 2017": TOYOTA.TOYOTA_COROLLA,
+  "TOYOTA COROLLA TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
+  "TOYOTA HIGHLANDER 2017": TOYOTA.TOYOTA_HIGHLANDER,
+  "TOYOTA HIGHLANDER 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
+  "TOYOTA PRIUS 2017": TOYOTA.TOYOTA_PRIUS,
+  "TOYOTA PRIUS v 2017": TOYOTA.TOYOTA_PRIUS_V,
+  "TOYOTA PRIUS TSS2 2021": TOYOTA.TOYOTA_PRIUS_TSS2,
+  "TOYOTA RAV4 2017": TOYOTA.TOYOTA_RAV4,
+  "TOYOTA RAV4 HYBRID 2017": TOYOTA.TOYOTA_RAV4H,
+  "TOYOTA RAV4 2019": TOYOTA.TOYOTA_RAV4_TSS2,
+  "TOYOTA RAV4 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
+  "TOYOTA RAV4 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
+  "TOYOTA MIRAI 2021": TOYOTA.TOYOTA_MIRAI,
+  "TOYOTA SIENNA 2018": TOYOTA.TOYOTA_SIENNA,
+  "LEXUS CT HYBRID 2018": TOYOTA.LEXUS_CTH,
+  "LEXUS ES 2018": TOYOTA.LEXUS_ES,
+  "LEXUS ES 2019": TOYOTA.LEXUS_ES_TSS2,
+  "LEXUS IS 2018": TOYOTA.LEXUS_IS,
+  "LEXUS IS 2023": TOYOTA.LEXUS_IS_TSS2,
+  "LEXUS NX 2018": TOYOTA.LEXUS_NX,
+  "LEXUS NX 2020": TOYOTA.LEXUS_NX_TSS2,
+  "LEXUS LC 2024": TOYOTA.LEXUS_LC_TSS2,
+  "LEXUS RC 2020": TOYOTA.LEXUS_RC,
+  "LEXUS RX 2016": TOYOTA.LEXUS_RX,
+  "LEXUS RX 2020": TOYOTA.LEXUS_RX_TSS2,
+  "LEXUS GS F 2016": TOYOTA.LEXUS_GS_F,
+  "VOLKSWAGEN ARTEON 1ST GEN": VW.VOLKSWAGEN_ARTEON_MK1,
+  "VOLKSWAGEN ATLAS 1ST GEN": VW.VOLKSWAGEN_ATLAS_MK1,
+  "VOLKSWAGEN CADDY 3RD GEN": VW.VOLKSWAGEN_CADDY_MK3,
+  "VOLKSWAGEN CRAFTER 2ND GEN": VW.VOLKSWAGEN_CRAFTER_MK2,
+  "VOLKSWAGEN GOLF 7TH GEN": VW.VOLKSWAGEN_GOLF_MK7,
+  "VOLKSWAGEN JETTA 7TH GEN": VW.VOLKSWAGEN_JETTA_MK7,
+  "VOLKSWAGEN PASSAT 8TH GEN": VW.VOLKSWAGEN_PASSAT_MK8,
+  "VOLKSWAGEN PASSAT NMS": VW.VOLKSWAGEN_PASSAT_NMS,
+  "VOLKSWAGEN POLO 6TH GEN": VW.VOLKSWAGEN_POLO_MK6,
+  "VOLKSWAGEN SHARAN 2ND GEN": VW.VOLKSWAGEN_SHARAN_MK2,
+  "VOLKSWAGEN TAOS 1ST GEN": VW.VOLKSWAGEN_TAOS_MK1,
+  "VOLKSWAGEN T-CROSS 1ST GEN": VW.VOLKSWAGEN_TCROSS_MK1,
+  "VOLKSWAGEN TIGUAN 2ND GEN": VW.VOLKSWAGEN_TIGUAN_MK2,
+  "VOLKSWAGEN TOURAN 2ND GEN": VW.VOLKSWAGEN_TOURAN_MK2,
+  "VOLKSWAGEN TRANSPORTER T6.1": VW.VOLKSWAGEN_TRANSPORTER_T61,
+  "VOLKSWAGEN T-ROC 1ST GEN": VW.VOLKSWAGEN_TROC_MK1,
+  "AUDI A3 3RD GEN": VW.AUDI_A3_MK3,
+  "AUDI Q2 1ST GEN": VW.AUDI_Q2_MK1,
+  "AUDI Q3 2ND GEN": VW.AUDI_Q3_MK2,
+  "SEAT ATECA 1ST GEN": VW.SEAT_ATECA_MK1,
+  "SEAT LEON 3RD GEN": VW.SEAT_LEON_MK3,
+  "SKODA FABIA 4TH GEN": VW.SKODA_FABIA_MK4,
+  "SKODA KAMIQ 1ST GEN": VW.SKODA_KAMIQ_MK1,
+  "SKODA KAROQ 1ST GEN": VW.SKODA_KAROQ_MK1,
+  "SKODA KODIAQ 1ST GEN": VW.SKODA_KODIAQ_MK1,
+  "SKODA OCTAVIA 3RD GEN": VW.SKODA_OCTAVIA_MK3,
+  "SKODA SCALA 1ST GEN": VW.SKODA_SCALA_MK1,
+  "SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3,
+}

selfdrive/car/ford/carcontroller.py

@@ -35,6 +35,7 @@ class CarController(CarControllerBase):
     self.main_on_last = False
     self.lkas_enabled_last = False
     self.steer_alert_last = False
+    self.lead_distance_bars_last = None
 
   def update(self, CC, CS, now_nanos):
     can_sends = []
@@ -73,7 +74,7 @@ class CarController(CarControllerBase):
       if self.CP.flags & FordFlags.CANFD:
         # TODO: extended mode
         mode = 1 if CC.latActive else 0
-        counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF
+        counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
         can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
       else:
         can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
@@ -98,15 +99,19 @@ class CarController(CarControllerBase):
     # send lkas ui msg at 1Hz or if ui state changes
     if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
       can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
+
     # send acc ui msg at 5Hz or if ui state changes
+    if hud_control.leadDistanceBars != self.lead_distance_bars_last:
+      send_ui = True
     if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
       can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
-                                         fcw_alert, CS.out.cruiseState.standstill, hud_control,
-                                         CS.acc_tja_status_stock_values))
+                                                 fcw_alert, CS.out.cruiseState.standstill, hud_control,
+                                                 CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on
     self.lkas_enabled_last = CC.latActive
     self.steer_alert_last = steer_alert
+    self.lead_distance_bars_last = hud_control.leadDistanceBars
 
     new_actuators = actuators.copy()
     new_actuators.curvature = self.apply_curvature_last

selfdrive/car/ford/fingerprints.py

@@ -4,23 +4,26 @@ from openpilot.selfdrive.car.ford.values import CAR
 Ecu = car.CarParams.Ecu
 
 FW_VERSIONS = {
-  CAR.BRONCO_SPORT_MK1: {
+  CAR.FORD_BRONCO_SPORT_MK1: {
     (Ecu.eps, 0x730, None): [
       b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
       b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-2D053-RF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
       b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'M1PT-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.ESCAPE_MK4: {
+  CAR.FORD_ESCAPE_MK4: {
     (Ecu.eps, 0x730, None): [
       b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -43,7 +46,7 @@ FW_VERSIONS = {
       b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.EXPLORER_MK6: {
+  CAR.FORD_EXPLORER_MK6: {
     (Ecu.eps, 0x730, None): [
       b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -71,7 +74,7 @@ FW_VERSIONS = {
       b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.F_150_MK14: {
+  CAR.FORD_F_150_MK14: {
     (Ecu.eps, 0x730, None): [
       b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -82,10 +85,11 @@ FW_VERSIONS = {
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
+      b'ML3T-14H102-ABR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.F_150_LIGHTNING_MK1: {
+  CAR.FORD_F_150_LIGHTNING_MK1: {
     (Ecu.abs, 0x760, None): [
       b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -96,7 +100,7 @@ FW_VERSIONS = {
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.MUSTANG_MACH_E_MK1: {
+  CAR.FORD_MUSTANG_MACH_E_MK1: {
     (Ecu.eps, 0x730, None): [
       b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -111,7 +115,7 @@ FW_VERSIONS = {
       b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.FOCUS_MK4: {
+  CAR.FORD_FOCUS_MK4: {
     (Ecu.eps, 0x730, None): [
       b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -125,7 +129,7 @@ FW_VERSIONS = {
       b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.MAVERICK_MK1: {
+  CAR.FORD_MAVERICK_MK1: {
     (Ecu.eps, 0x730, None): [
       b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -133,6 +137,7 @@ FW_VERSIONS = {
       b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6C-2D053-EF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',

selfdrive/car/ford/fordcan.py

@@ -212,7 +212,7 @@ def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw
       "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0,  # Lead indicator
       "AccStopMde_B_Dsply": 1 if standstill else 0,
       "AccWarn_D_Dsply": 0,                                       # ACC warning
-      "AccTGap_D_Dsply": 4,                                       # Fixed time gap in UI
+      "AccTGap_D_Dsply": hud_control.leadDistanceBars + 1,        # Time gap
     })
 
   # Forwards FCW alert from IPMA

selfdrive/car/ford/interface.py

@@ -71,6 +71,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = events.to_msg()
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/ford/values.py

@@ -1,10 +1,11 @@
-from dataclasses import dataclass, field
+import copy
+from dataclasses import dataclass, field, replace
 from enum import Enum, IntFlag
 
 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, \
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
                                                      Device
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
@@ -58,12 +59,14 @@ class Footnote(Enum):
 
 
 @dataclass
-class FordCarInfo(CarInfo):
+class FordCarDocs(CarDocs):
   package: str = "Co-Pilot360 Assist+"
+  hybrid: bool = False
+  plug_in_hybrid: bool = False
 
   def init_make(self, CP: car.CarParams):
     harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
-    if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1):
+    if CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_MAVERICK_MK1, CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1):
       self.car_parts = CarParts([Device.threex_angled_mount, harness])
     else:
       self.car_parts = CarParts([Device.threex, harness])
@@ -73,6 +76,15 @@ class FordCarInfo(CarInfo):
 class FordPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))
 
+  def init(self):
+    for car_docs in list(self.car_docs):
+      if car_docs.hybrid:
+        name = f"{car_docs.make} {car_docs.model} Hybrid {car_docs.years}"
+        self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
+      if car_docs.plug_in_hybrid:
+        name = f"{car_docs.make} {car_docs.model} Plug-in Hybrid {car_docs.years}"
+        self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
+
 
 @dataclass
 class FordCANFDPlatformConfig(FordPlatformConfig):
@@ -84,67 +96,45 @@ class FordCANFDPlatformConfig(FordPlatformConfig):
 
 
 class CAR(Platforms):
-  BRONCO_SPORT_MK1 = FordPlatformConfig(
-    "FORD BRONCO SPORT 1ST GEN",
-    FordCarInfo("Ford Bronco Sport 2021-22"),
+  FORD_BRONCO_SPORT_MK1 = FordPlatformConfig(
+    [FordCarDocs("Ford Bronco Sport 2021-23")],
     CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
   )
-  ESCAPE_MK4 = FordPlatformConfig(
-    "FORD ESCAPE 4TH GEN",
+  FORD_ESCAPE_MK4 = FordPlatformConfig(
     [
-      FordCarInfo("Ford Escape 2020-22"),
-      FordCarInfo("Ford Escape Hybrid 2020-22"),
-      FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
-      FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
-      FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
-      FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
+      FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True),
+      FordCarDocs("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True),
     ],
     CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
   )
-  EXPLORER_MK6 = FordPlatformConfig(
-    "FORD EXPLORER 6TH GEN",
+  FORD_EXPLORER_MK6 = FordPlatformConfig(
     [
-      FordCarInfo("Ford Explorer 2020-23"),
-      FordCarInfo("Ford Explorer Hybrid 2020-23"),  # Limited and Platinum only
-      FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"),
-      FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"),  # Grand Touring only
+      FordCarDocs("Ford Explorer 2020-23", hybrid=True),  # Hybrid: Limited and Platinum only
+      FordCarDocs("Lincoln Aviator 2020-23", "Co-Pilot360 Plus", plug_in_hybrid=True),  # Hybrid: Grand Touring only
     ],
     CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
   )
-  F_150_MK14 = FordCANFDPlatformConfig(
-    "FORD F-150 14TH GEN",
-    [
-      FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
-      FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"),
-    ],
+  FORD_F_150_MK14 = FordCANFDPlatformConfig(
+    [FordCarDocs("Ford F-150 2022-23", "Co-Pilot360 Active 2.0", hybrid=True)],
     CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
   )
-  F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig(
-    "FORD F-150 LIGHTNING 1ST GEN",
-    FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
+  FORD_F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig(
+    [FordCarDocs("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0")],
     CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
   )
-  FOCUS_MK4 = FordPlatformConfig(
-    "FORD FOCUS 4TH GEN",
-    [
-      FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
-      FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),  # mHEV only
-    ],
+  FORD_FOCUS_MK4 = FordPlatformConfig(
+    [FordCarDocs("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)],  # mHEV only
     CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
   )
-  MAVERICK_MK1 = FordPlatformConfig(
-    "FORD MAVERICK 1ST GEN",
+  FORD_MAVERICK_MK1 = FordPlatformConfig(
     [
-      FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
-      FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"),
-      FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
-      FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"),
+      FordCarDocs("Ford Maverick 2022", "LARIAT Luxury", hybrid=True),
+      FordCarDocs("Ford Maverick 2023-24", "Co-Pilot360 Assist", hybrid=True),
     ],
     CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
   )
-  MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
-    "FORD MUSTANG MACH-E 1ST GEN",
-    FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
+  FORD_MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
+    [FordCarDocs("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0")],
     CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0),  # TODO: check steer ratio
   )
 

selfdrive/car/gm/carcontroller.py

@@ -118,7 +118,7 @@ class CarController(CarControllerBase):
         # Send dashboard UI commands (ACC status)
         send_fcw = hud_alert == VisualAlert.fcw
         can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
-                                                            hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
+                                                            hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
 
       # Radar needs to know current speed and yaw rate (50hz),
       # and that ADAS is alive (10hz)

selfdrive/car/gm/carstate.py

@@ -26,11 +26,16 @@ class CarState(CarStateBase):
     self.cam_lka_steering_cmd_counter = 0
     self.buttons_counter = 0
 
+    self.prev_distance_button = 0
+    self.distance_button = 0
+
   def update(self, pt_cp, cam_cp, loopback_cp):
     ret = car.CarState.new_message()
 
     self.prev_cruise_buttons = self.cruise_buttons
+    self.prev_distance_button = self.distance_button
     self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+    self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
     self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
     # This is to avoid a fault where you engage while still moving backwards after shifting to D.

selfdrive/car/gm/fingerprints.py

@@ -9,7 +9,7 @@ FINGERPRINTS = {
   CAR.HOLDEN_ASTRA: [{
     190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7
   }],
-  CAR.VOLT: [{
+  CAR.CHEVROLET_VOLT: [{
     170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
   },
   {
@@ -27,31 +27,31 @@ FINGERPRINTS = {
   CAR.CADILLAC_ATS: [{
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
   }],
-  CAR.MALIBU: [{
+  CAR.CHEVROLET_MALIBU: [{
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8
   }],
-  CAR.ACADIA: [{
+  CAR.GMC_ACADIA: [{
     190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7
   },
   {
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
   }],
-  CAR.ESCALADE: [{
+  CAR.CADILLAC_ESCALADE: [{
     170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
   }],
-  CAR.ESCALADE_ESV: [{
+  CAR.CADILLAC_ESCALADE_ESV: [{
     309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
   }],
-  CAR.ESCALADE_ESV_2019: [{
+  CAR.CADILLAC_ESCALADE_ESV_2019: [{
     715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7
   }],
-  CAR.BOLT_EUV: [{
+  CAR.CHEVROLET_BOLT_EUV: [{
     189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   }],
-  CAR.SILVERADO: [{
+  CAR.CHEVROLET_SILVERADO: [{
     190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   }],
-  CAR.EQUINOX: [{
+  CAR.CHEVROLET_EQUINOX: [{
     190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   },
   {

selfdrive/car/gm/gmcan.py

@@ -76,7 +76,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
   mode = 0x1
 
   # TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
-  if enabled and CP.carFingerprint in (CAR.BOLT_EUV,):
+  if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV,):
     mode = 0x9
 
   if apply_brake > 0:
@@ -102,17 +102,17 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
   return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
 
 
-def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw):
+def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw):
   target_speed = min(target_speed_kph, 255)
 
   values = {
     "ACCAlwaysOne": 1,
     "ACCResumeButton": 0,
     "ACCSpeedSetpoint": target_speed,
-    "ACCGapLevel": 3 * enabled,  # 3 "far", 0 "inactive"
+    "ACCGapLevel": hud_control.leadDistanceBars * enabled,  # 3 "far", 0 "inactive"
     "ACCCmdActive": enabled,
     "ACCAlwaysOne2": 1,
-    "ACCLeadCar": lead_car_in_sight,
+    "ACCLeadCar": hud_control.leadVisible,
     "FCWAlert": 0x3 if fcw else 0
   }
 

selfdrive/car/gm/interface.py

@@ -22,9 +22,9 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
 
 
 NON_LINEAR_TORQUE_PARAMS = {
-  CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
-  CAR.ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
-  CAR.SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
+  CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
+  CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
+  CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
 }
 
 NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json')
@@ -43,7 +43,7 @@ class CarInterface(CarInterfaceBase):
     return 0.10006696 * sigmoid * (v_ego + 3.12485927)
 
   def get_steer_feedforward_function(self):
-    if self.CP.carFingerprint == CAR.VOLT:
+    if self.CP.carFingerprint == CAR.CHEVROLET_VOLT:
       return self.get_steer_feedforward_volt
     else:
       return CarInterfaceBase.get_steer_feedforward_default
@@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
     return float(self.neural_ff_model.predict(inputs)) + friction
 
   def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
-    if self.CP.carFingerprint == CAR.BOLT_EUV:
+    if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_EUV:
       self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint)
       return self.torque_from_lateral_accel_neural
     elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
@@ -137,7 +137,7 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL} or \
+    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.CHEVROLET_MALIBU, CAR.BUICK_REGAL} or \
                       (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
 
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
@@ -150,7 +150,7 @@ class CarInterface(CarInterfaceBase):
     ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
     ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
 
-    if candidate == CAR.VOLT:
+    if candidate == CAR.CHEVROLET_VOLT:
       ret.lateralTuning.pid.kpBP = [0., 40.]
       ret.lateralTuning.pid.kpV = [0., 0.17]
       ret.lateralTuning.pid.kiBP = [0.]
@@ -158,7 +158,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_volt()
       ret.steerActuatorDelay = 0.2
 
-    elif candidate == CAR.ACADIA:
+    elif candidate == CAR.GMC_ACADIA:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@@ -166,14 +166,14 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.BUICK_LACROSSE:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.ESCALADE:
+    elif candidate == CAR.CADILLAC_ESCALADE:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019):
+    elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019):
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
 
-      if candidate == CAR.ESCALADE_ESV:
+      if candidate == CAR.CADILLAC_ESCALADE_ESV:
         ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
         ret.lateralTuning.pid.kf = 0.000045
@@ -181,11 +181,11 @@ class CarInterface(CarInterfaceBase):
         ret.steerActuatorDelay = 0.2
         CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.BOLT_EUV:
+    elif candidate == CAR.CHEVROLET_BOLT_EUV:
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.SILVERADO:
+    elif candidate == CAR.CHEVROLET_SILVERADO:
       # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
       # with foot on brake to allow engagement, but this platform only has that check in the camera.
       # TODO: check if this is split by EV/ICE with more platforms in the future
@@ -193,10 +193,10 @@ class CarInterface(CarInterfaceBase):
         ret.minEnableSpeed = -1.
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.EQUINOX:
+    elif candidate == CAR.CHEVROLET_EQUINOX:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.TRAILBLAZER:
+    elif candidate == CAR.CHEVROLET_TRAILBLAZER:
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
@@ -208,8 +208,12 @@ class CarInterface(CarInterfaceBase):
 
     # Don't add event if transitioning from INIT, unless it's to an actual button
     if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
-      ret.buttonEvents = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
-                                              unpressed_btn=CruiseButtons.UNPRESS)
+      ret.buttonEvents = [
+        *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
+                              unpressed_btn=CruiseButtons.UNPRESS),
+        *create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
+                              {1: ButtonType.gapAdjustCruise})
+      ]
 
     # The ECM allows enabling on falling edge of set, but only rising edge of resume
     events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
@@ -233,6 +237,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = events.to_msg()
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/gm/tests/test_gm.py

@@ -14,11 +14,11 @@ class TestGMFingerprint(unittest.TestCase):
     self.assertGreater(len(fingerprints), 0)
 
     # Trailblazer is in dashcam
-    if car_model != CAR.TRAILBLAZER:
+    if car_model != CAR.CHEVROLET_TRAILBLAZER:
       self.assertTrue(all(len(finger) for finger in fingerprints))
 
     # The camera can sometimes be communicating on startup
-    if car_model in CAMERA_ACC_CAR - {CAR.TRAILBLAZER}:
+    if car_model in CAMERA_ACC_CAR - {CAR.CHEVROLET_TRAILBLAZER}:
       for finger in fingerprints:
         for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
           self.assertEqual(finger.get(required_addr), 8, required_addr)

selfdrive/car/gm/values.py

@@ -3,7 +3,7 @@ from enum import Enum
 
 from cereal import car
 from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -68,7 +68,7 @@ class Footnote(Enum):
 
 
 @dataclass
-class GMCarInfo(CarInfo):
+class GMCarDocs(CarDocs):
   package: str = "Adaptive Cruise Control (ACC)"
 
   def init_make(self, CP: car.CarParams):
@@ -91,79 +91,65 @@ class GMPlatformConfig(PlatformConfig):
 
 class CAR(Platforms):
   HOLDEN_ASTRA = GMPlatformConfig(
-    "HOLDEN ASTRA RS-V BK 2017",
-    GMCarInfo("Holden Astra 2017"),
+    [GMCarDocs("Holden Astra 2017")],
     GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
   )
-  VOLT = GMPlatformConfig(
-    "CHEVROLET VOLT PREMIER 2017",
-    GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
+  CHEVROLET_VOLT = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")],
     GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469),
   )
   CADILLAC_ATS = GMPlatformConfig(
-    "CADILLAC ATS Premium Performance 2018",
-    GMCarInfo("Cadillac ATS Premium Performance 2018"),
+    [GMCarDocs("Cadillac ATS Premium Performance 2018")],
     GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
   )
-  MALIBU = GMPlatformConfig(
-    "CHEVROLET MALIBU PREMIER 2017",
-    GMCarInfo("Chevrolet Malibu Premier 2017"),
+  CHEVROLET_MALIBU = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Malibu Premier 2017")],
     GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
   )
-  ACADIA = GMPlatformConfig(
-    "GMC ACADIA DENALI 2018",
-    GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
+  GMC_ACADIA = GMPlatformConfig(
+    [GMCarDocs("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
     GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
   )
   BUICK_LACROSSE = GMPlatformConfig(
-    "BUICK LACROSSE 2017",
-    GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
+    [GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
     GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
   )
   BUICK_REGAL = GMPlatformConfig(
-    "BUICK REGAL ESSENCE 2018",
-    GMCarInfo("Buick Regal Essence 2018"),
+    [GMCarDocs("Buick Regal Essence 2018")],
     GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
   )
-  ESCALADE = GMPlatformConfig(
-    "CADILLAC ESCALADE 2017",
-    GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
+  CADILLAC_ESCALADE = GMPlatformConfig(
+    [GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")],
     GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
   )
-  ESCALADE_ESV = GMPlatformConfig(
-    "CADILLAC ESCALADE ESV 2016",
-    GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
+  CADILLAC_ESCALADE_ESV = GMPlatformConfig(
+    [GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")],
     GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
   )
-  ESCALADE_ESV_2019 = GMPlatformConfig(
-    "CADILLAC ESCALADE ESV 2019",
-    GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
-    ESCALADE_ESV.specs,
+  CADILLAC_ESCALADE_ESV_2019 = GMPlatformConfig(
+    [GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
+    CADILLAC_ESCALADE_ESV.specs,
   )
-  BOLT_EUV = GMPlatformConfig(
-    "CHEVROLET BOLT EUV 2022",
+  CHEVROLET_BOLT_EUV = GMPlatformConfig(
     [
-      GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
-      GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
+      GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
+      GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
     ],
     GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
   )
-  SILVERADO = GMPlatformConfig(
-    "CHEVROLET SILVERADO 1500 2020",
+  CHEVROLET_SILVERADO = GMPlatformConfig(
     [
-      GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
-      GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
+      GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
+      GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
     ],
     GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
   )
-  EQUINOX = GMPlatformConfig(
-    "CHEVROLET EQUINOX 2019",
-    GMCarInfo("Chevrolet Equinox 2019-22"),
+  CHEVROLET_EQUINOX = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Equinox 2019-22")],
     GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
   )
-  TRAILBLAZER = GMPlatformConfig(
-    "CHEVROLET TRAILBLAZER 2021",
-    GMCarInfo("Chevrolet Trailblazer 2021-22"),
+  CHEVROLET_TRAILBLAZER = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Trailblazer 2021-22")],
     GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
   )
 
@@ -240,10 +226,10 @@ FW_QUERY_CONFIG = FwQueryConfig(
   extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
 )
 
-EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
+EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV}
 
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
-CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
+CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER}
 
 STEER_THRESHOLD = 1.0
 

selfdrive/car/honda/carcontroller.py

@@ -4,7 +4,6 @@ from cereal import car
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.realtime import DT_CTRL
 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
@@ -96,7 +95,7 @@ def process_hud_alert(hud_alert):
 
 HUDData = namedtuple("HUDData",
                      ["pcm_accel", "v_cruise", "lead_visible",
-                      "lanes_visible", "fcw", "acc_alert", "steer_required"])
+                      "lanes_visible", "fcw", "acc_alert", "steer_required", "lead_distance_bars"])
 
 
 def rate_limit_steer(new_steer, last_steer):
@@ -183,7 +182,7 @@ class CarController(CarControllerBase):
                     0.5]
     # The Honda ODYSSEY seems to have different PCM_ACCEL
     # msgs, is it other cars too?
-    if self.CP.enableGasInterceptor or not CC.longActive:
+    if not CC.longActive:
       pcm_speed = 0.0
       pcm_accel = int(0.0)
     elif self.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
@@ -235,30 +234,15 @@ class CarController(CarControllerBase):
           self.apply_brake_last = apply_brake
           self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX
 
-          if self.CP.enableGasInterceptor:
-            # way too aggressive at low speed without this
-            gas_mult = interp(CS.out.vEgo, [0., 10.], [0.4, 1.0])
-            # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
-            # This prevents unexpected pedal range rescaling
-            # Sending non-zero gas when OP is not enabled will cause the PCM not to respond to throttle as expected
-            # when you do enable.
-            if CC.longActive:
-              self.gas = clip(gas_mult * (gas - brake + wind_brake * 3 / 4), 0., 1.)
-            else:
-              self.gas = 0.0
-            can_sends.append(create_gas_interceptor_command(self.packer, self.gas, self.frame // 2))
-
     # Send dashboard UI commands.
     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)
+                    hud_control.lanesVisible, fcw_display, acc_alert, steer_required, hud_control.leadDistanceBars)
       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
-
-        if not self.CP.enableGasInterceptor:
-          self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
+        self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
 
     new_actuators = actuators.copy()
     new_actuators.speed = self.speed

selfdrive/car/honda/carstate.py

@@ -28,7 +28,7 @@ def get_can_messages(CP, gearbox_msg):
     ("STEER_MOTOR_TORQUE", 0),  # TODO: not on every car
   ]
 
-  if CP.carFingerprint == CAR.ODYSSEY_CHN:
+  if CP.carFingerprint == CAR.HONDA_ODYSSEY_CHN:
     messages += [
       ("SCM_FEEDBACK", 25),
       ("SCM_BUTTONS", 50),
@@ -39,7 +39,7 @@ def get_can_messages(CP, gearbox_msg):
       ("SCM_BUTTONS", 25),
     ]
 
-  if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+  if CP.carFingerprint in (CAR.HONDA_CRV_HYBRID, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
     messages.append((gearbox_msg, 50))
   else:
     messages.append((gearbox_msg, 100))
@@ -47,7 +47,7 @@ def get_can_messages(CP, gearbox_msg):
   if CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
     messages.append(("BRAKE_MODULE", 50))
 
-  if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
+  if CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
     messages.append(("EPB_STATUS", 50))
 
   if CP.carFingerprint in HONDA_BOSCH:
@@ -58,24 +58,20 @@ def get_can_messages(CP, gearbox_msg):
         ("ACC_CONTROL", 50),
       ]
   else:  # Nidec signals
-    if CP.carFingerprint == CAR.ODYSSEY_CHN:
+    if CP.carFingerprint == CAR.HONDA_ODYSSEY_CHN:
       messages.append(("CRUISE_PARAMS", 10))
     else:
       messages.append(("CRUISE_PARAMS", 50))
 
   # TODO: clean this up
-  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):
+  if CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
+                           CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
     pass
-  elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
+  elif CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
     pass
   else:
     messages.append(("DOORS_STATUS", 3))
 
-  # add gas interceptor reading if we are using it
-  if CP.enableGasInterceptor:
-    messages.append(("GAS_SENSOR", 50))
-
   if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
     messages.append(("CRUISE_FAULT_STATUS", 50))
   elif CP.openpilotLongitudinalControl:
@@ -89,7 +85,7 @@ class CarState(CarStateBase):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.gearbox_msg = "GEARBOX"
-    if CP.carFingerprint == CAR.ACCORD and CP.transmissionType == TransmissionType.cvt:
+    if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt:
       self.gearbox_msg = "GEARBOX_15T"
 
     self.main_on_sig_msg = "SCM_FEEDBACK"
@@ -129,10 +125,10 @@ 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.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
-                                  CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
+    if self.CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
+                                  CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
-    elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
+    elif self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
       ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
     else:
       ret.doorOpen = any([cp.vl["DOORS_STATUS"]["DOOR_OPEN_FL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_FR"],
@@ -185,25 +181,24 @@ class CarState(CarStateBase):
     ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
 
     # TODO: set for all cars
-    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
+    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
       ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
 
     gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
 
-    if self.CP.enableGasInterceptor:
-      # Same threshold as panda, equivalent to 1e-5 with previous DBC scaling
-      ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
-      ret.gasPressed = ret.gas > 492
-    else:
-      ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
-      ret.gasPressed = ret.gas > 1e-5
+    ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
+    ret.gasPressed = ret.gas > 1e-5
 
     ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
     ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
 
     if self.CP.carFingerprint in HONDA_BOSCH:
+      # The PCM always manages its own cruise control state, but doesn't publish it
+      if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+        ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
+
       if not self.CP.openpilotLongitudinalControl:
         # ACC_HUD is on camera bus on radarless cars
         acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
@@ -237,7 +232,7 @@ class CarState(CarStateBase):
     ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
 
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
-    if self.CP.carFingerprint in (CAR.PILOT, CAR.RIDGELINE):
+    if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):
       if ret.brake > 0.1:
         ret.brakePressed = True
 
@@ -276,9 +271,10 @@ class CarState(CarStateBase):
     ]
 
     if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
-      messages.append(("LKAS_HUD", 10))
-      if not CP.openpilotLongitudinalControl:
-        messages.append(("ACC_HUD", 10))
+      messages += [
+        ("ACC_HUD", 10),
+        ("LKAS_HUD", 10),
+      ]
 
     elif CP.carFingerprint not in HONDA_BOSCH:
       messages += [

selfdrive/car/honda/fingerprints.py

@@ -10,7 +10,7 @@ Ecu = car.CarParams.Ecu
 
 
 FW_VERSIONS = {
-  CAR.ACCORD: {
+  CAR.HONDA_ACCORD: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-6A0-8720\x00\x00',
       b'37805-6A0-9520\x00\x00',
@@ -39,6 +39,7 @@ FW_VERSIONS = {
       b'37805-6B2-A810\x00\x00',
       b'37805-6B2-A820\x00\x00',
       b'37805-6B2-A920\x00\x00',
+      b'37805-6B2-A960\x00\x00',
       b'37805-6B2-AA10\x00\x00',
       b'37805-6B2-C520\x00\x00',
       b'37805-6B2-C540\x00\x00',
@@ -204,7 +205,7 @@ FW_VERSIONS = {
       b'38897-TWD-J020\x00\x00',
     ],
   },
-  CAR.CIVIC: {
+  CAR.HONDA_CIVIC: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-5AA-A640\x00\x00',
       b'37805-5AA-A650\x00\x00',
@@ -304,7 +305,7 @@ FW_VERSIONS = {
       b'38897-TBA-A020\x00\x00',
     ],
   },
-  CAR.CIVIC_BOSCH: {
+  CAR.HONDA_CIVIC_BOSCH: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-5AA-A940\x00\x00',
       b'37805-5AA-A950\x00\x00',
@@ -489,7 +490,7 @@ FW_VERSIONS = {
       b'39494-TGL-G030\x00\x00',
     ],
   },
-  CAR.CIVIC_BOSCH_DIESEL: {
+  CAR.HONDA_CIVIC_BOSCH_DIESEL: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-59N-G630\x00\x00',
       b'37805-59N-G830\x00\x00',
@@ -527,7 +528,7 @@ FW_VERSIONS = {
       b'38897-TBA-A020\x00\x00',
     ],
   },
-  CAR.CRV: {
+  CAR.HONDA_CRV: {
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-T1W-A230\x00\x00',
       b'57114-T1W-A240\x00\x00',
@@ -547,7 +548,7 @@ FW_VERSIONS = {
       b'36161-T1X-A830\x00\x00',
     ],
   },
-  CAR.CRV_5G: {
+  CAR.HONDA_CRV_5G: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-5PA-3060\x00\x00',
       b'37805-5PA-3080\x00\x00',
@@ -675,7 +676,7 @@ FW_VERSIONS = {
       b'77959-TMM-F040\x00\x00',
     ],
   },
-  CAR.CRV_EU: {
+  CAR.HONDA_CRV_EU: {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-R5Z-G740\x00\x00',
       b'37805-R5Z-G780\x00\x00',
@@ -701,7 +702,7 @@ FW_VERSIONS = {
       b'77959-T1G-G940\x00\x00',
     ],
   },
-  CAR.CRV_HYBRID: {
+  CAR.HONDA_CRV_HYBRID: {
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TMB-H030\x00\x00',
       b'57114-TPA-G020\x00\x00',
@@ -746,7 +747,7 @@ FW_VERSIONS = {
       b'77959-TLA-H240\x00\x00',
     ],
   },
-  CAR.FIT: {
+  CAR.HONDA_FIT: {
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-T5R-L020\x00\x00',
       b'57114-T5R-L220\x00\x00',
@@ -773,7 +774,7 @@ FW_VERSIONS = {
       b'77959-T5R-A230\x00\x00',
     ],
   },
-  CAR.FREED: {
+  CAR.HONDA_FREED: {
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TDK-J010\x00\x00',
     ],
@@ -795,7 +796,7 @@ FW_VERSIONS = {
       b'36161-TDK-J530\x00\x00',
     ],
   },
-  CAR.ODYSSEY: {
+  CAR.HONDA_ODYSSEY: {
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-THR-A010\x00\x00',
       b'38897-THR-A020\x00\x00',
@@ -898,7 +899,7 @@ FW_VERSIONS = {
       b'54008-THR-A020\x00\x00',
     ],
   },
-  CAR.ODYSSEY_CHN: {
+  CAR.HONDA_ODYSSEY_CHN: {
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-T6D-H220\x00\x00',
     ],
@@ -915,12 +916,13 @@ FW_VERSIONS = {
       b'77959-T6A-P110\x00\x00',
     ],
   },
-  CAR.PILOT: {
+  CAR.HONDA_PILOT: {
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-TG7-A520\x00\x00',
       b'54008-TG7-A530\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-5EY-A040\x00\x00',
       b'28101-5EY-A050\x00\x00',
       b'28101-5EY-A100\x00\x00',
       b'28101-5EY-A430\x00\x00',
@@ -941,6 +943,7 @@ FW_VERSIONS = {
       b'37805-RLV-4070\x00\x00',
       b'37805-RLV-5140\x00\x00',
       b'37805-RLV-5230\x00\x00',
+      b'37805-RLV-A630\x00\x00',
       b'37805-RLV-A830\x00\x00',
       b'37805-RLV-A840\x00\x00',
       b'37805-RLV-B210\x00\x00',
@@ -1056,6 +1059,7 @@ FW_VERSIONS = {
       b'57114-TG7-A630\x00\x00',
       b'57114-TG7-A730\x00\x00',
       b'57114-TG8-A140\x00\x00',
+      b'57114-TG8-A230\x00\x00',
       b'57114-TG8-A240\x00\x00',
       b'57114-TG8-A630\x00\x00',
       b'57114-TG8-A730\x00\x00',
@@ -1174,7 +1178,7 @@ FW_VERSIONS = {
       b'39990-TJB-A130\x00\x00',
     ],
   },
-  CAR.RIDGELINE: {
+  CAR.HONDA_RIDGELINE: {
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-T6Z-A020\x00\x00',
       b'39990-T6Z-A030\x00\x00',
@@ -1217,7 +1221,7 @@ FW_VERSIONS = {
       b'57114-TJZ-A520\x00\x00',
     ],
   },
-  CAR.INSIGHT: {
+  CAR.HONDA_INSIGHT: {
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TXM-A040\x00\x00',
     ],
@@ -1250,7 +1254,7 @@ FW_VERSIONS = {
       b'78109-TXM-C010\x00\x00',
     ],
   },
-  CAR.HRV: {
+  CAR.HONDA_HRV: {
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-T7A-A010\x00\x00',
       b'38897-T7A-A110\x00\x00',
@@ -1276,7 +1280,7 @@ FW_VERSIONS = {
       b'78109-THX-C220\x00\x00',
     ],
   },
-  CAR.HRV_3G: {
+  CAR.HONDA_HRV_3G: {
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-3W0-A030\x00\x00',
     ],
@@ -1346,7 +1350,7 @@ FW_VERSIONS = {
       b'57114-TYF-E030\x00\x00',
     ],
   },
-  CAR.CIVIC_2022: {
+  CAR.HONDA_CIVIC_2022: {
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-T24-T120\x00\x00',
       b'39990-T39-A130\x00\x00',

selfdrive/car/honda/hondacan.py

@@ -143,7 +143,8 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
     acc_hud_values = {
       'CRUISE_SPEED': hud.v_cruise,
       'ENABLE_MINI_CAR': 1 if enabled else 0,
-      'HUD_DISTANCE': 0,  # max distance setting on display
+      # only moves the lead car without ACC_ON
+      'HUD_DISTANCE': (hud.lead_distance_bars + 1) % 4,  # wraps to 0 at 4 bars
       'IMPERIAL_UNIT': int(not is_metric),
       'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
       'SET_ME_X01_2': 1,
@@ -154,6 +155,8 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
       acc_hud_values['FCM_OFF'] = 1
       acc_hud_values['FCM_OFF_2'] = 1
     else:
+      # Shows the distance bars, TODO: stock camera shows updates temporarily while disabled
+      acc_hud_values['ACC_ON'] = int(enabled)
       acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH
       acc_hud_values['PCM_GAS'] = hud.pcm_accel
       acc_hud_values['SET_ME_X01'] = 1
@@ -192,7 +195,7 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
     }
     commands.append(packer.make_can_msg('RADAR_HUD', CAN.pt, radar_hud_values))
 
-    if CP.carFingerprint == CAR.CIVIC_BOSCH:
+    if CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH:
       commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", CAN.pt, {}))
 
   return commands

selfdrive/car/honda/interface.py

@@ -4,8 +4,8 @@ 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 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.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
+                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
@@ -16,6 +16,7 @@ EventName = car.CarEvent.EventName
 TransmissionType = car.CarParams.TransmissionType
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
+SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
 
 
 class CarInterface(CarInterfaceBase):
@@ -23,8 +24,6 @@ class CarInterface(CarInterfaceBase):
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     if CP.carFingerprint in HONDA_BOSCH:
       return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
-    elif CP.enableGasInterceptor:
-      return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
     else:
       # NIDECs don't allow acceleration near cruise_speed,
       # so limit limits of pid to prevent windup
@@ -49,12 +48,11 @@ class CarInterface(CarInterfaceBase):
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
-      ret.enableGasInterceptor = 0x201 in fingerprint[CAN.pt]
       ret.openpilotLongitudinalControl = True
 
-      ret.pcmCruise = not ret.enableGasInterceptor
+      ret.pcmCruise = True
 
-    if candidate == CAR.CRV_5G:
+    if candidate == CAR.HONDA_CRV_5G:
       ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]
 
     # Detect Bosch cars with new HUD msgs
@@ -62,7 +60,7 @@ class CarInterface(CarInterfaceBase):
       ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
 
     # Accord ICE 1.5T CVT has different gearbox message
-    if candidate == CAR.ACCORD and 0x191 in fingerprint[CAN.pt]:
+    if candidate == CAR.HONDA_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,
@@ -91,7 +89,7 @@ class CarInterface(CarInterfaceBase):
       if fw.ecu == "eps" and b"," in fw.fwVersion:
         eps_modified = True
 
-    if candidate == CAR.CIVIC:
+    if candidate == CAR.HONDA_CIVIC:
       if eps_modified:
         # stock request input values:     0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
         # stock request output values:    0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
@@ -105,11 +103,11 @@ class CarInterface(CarInterfaceBase):
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
 
-    elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
+    elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022):
       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 == CAR.ACCORD:
+    elif candidate == CAR.HONDA_ACCORD:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
 
       if eps_modified:
@@ -121,12 +119,12 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # 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.CRV, CAR.CRV_EU):
+    elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
       ret.wheelSpeedFactor = 1.025
 
-    elif candidate == CAR.CRV_5G:
+    elif candidate == CAR.HONDA_CRV_5G:
       if eps_modified:
         # stock request input values:     0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
         # stock request output values:    0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
@@ -138,22 +136,22 @@ class CarInterface(CarInterfaceBase):
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
       ret.wheelSpeedFactor = 1.025
 
-    elif candidate == CAR.CRV_HYBRID:
+    elif candidate == CAR.HONDA_CRV_HYBRID:
       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 = [[0.6], [0.18]]
       ret.wheelSpeedFactor = 1.025
 
-    elif candidate == CAR.FIT:
+    elif candidate == CAR.HONDA_FIT:
       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 = [[0.2], [0.05]]
 
-    elif candidate == CAR.FREED:
+    elif candidate == CAR.HONDA_FREED:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
 
-    elif candidate in (CAR.HRV, CAR.HRV_3G):
+    elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
-      if candidate == CAR.HRV:
+      if candidate == CAR.HONDA_HRV:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
         ret.wheelSpeedFactor = 1.025
       else:
@@ -167,22 +165,22 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
 
-    elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
+    elif candidate in (CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
-      if candidate == CAR.ODYSSEY_CHN:
+      if candidate == CAR.HONDA_ODYSSEY_CHN:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
 
-    elif candidate == CAR.PILOT:
+    elif candidate == CAR.HONDA_PILOT:
       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 = [[0.38], [0.11]]
 
-    elif candidate == CAR.RIDGELINE:
+    elif candidate == CAR.HONDA_RIDGELINE:
       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 = [[0.38], [0.11]]
 
-    elif candidate == CAR.INSIGHT:
+    elif candidate == CAR.HONDA_INSIGHT:
       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 = [[0.6], [0.18]]
 
@@ -195,7 +193,7 @@ class CarInterface(CarInterfaceBase):
 
     # These cars use alternate user brake msg (0x1BE)
     # TODO: Only detect feature for Accord/Accord Hybrid, not all Bosch DBCs have BRAKE_MODULE
-    if 0x1BE in fingerprint[CAN.pt] and candidate == CAR.ACCORD:
+    if 0x1BE in fingerprint[CAN.pt] and candidate == CAR.HONDA_ACCORD:
       ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
 
     if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
@@ -208,16 +206,13 @@ class CarInterface(CarInterfaceBase):
     if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
 
-    if ret.enableGasInterceptor and candidate not in HONDA_BOSCH:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_GAS_INTERCEPTOR
-
     if candidate in HONDA_BOSCH_RADARLESS:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
 
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
     # conflict with PCM acc
-    ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
+    ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
     ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
 
     ret.steerActuatorDelay = 0.1
@@ -236,7 +231,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.buttonEvents = [
       *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
-      *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1}),
+      *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
     ]
 
     # events
@@ -262,8 +257,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = events.to_msg()
 
     return ret
-
-  # pass in a car.CarControl
-  # to be called @ 100hz
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/honda/values.py

@@ -5,7 +5,7 @@ from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
 Ecu = car.CarParams.Ecu
@@ -68,6 +68,11 @@ class CruiseButtons:
   MAIN = 1
 
 
+class CruiseSettings:
+  DISTANCE = 3
+  LKAS = 1
+
+
 # See dbc files for info on values
 VISUAL_HUD = {
   VisualAlert.none: 0,
@@ -82,7 +87,7 @@ VISUAL_HUD = {
 
 
 @dataclass
-class HondaCarInfo(CarInfo):
+class HondaCarDocs(CarDocs):
   package: str = "Honda Sensing"
 
   def init_make(self, CP: car.CarParams):
@@ -110,169 +115,147 @@ class HondaNidecPlatformConfig(PlatformConfig):
 
 class CAR(Platforms):
   # Bosch Cars
-  ACCORD = HondaBoschPlatformConfig(
-    "HONDA ACCORD 2018",
+  HONDA_ACCORD = HondaBoschPlatformConfig(
     [
-      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),
+      HondaCarDocs("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
     ],
     # steerRatio: 11.82 is spec end-to-end
     CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
     dbc_dict('honda_accord_2018_can_generated', None),
   )
-  CIVIC_BOSCH = HondaBoschPlatformConfig(
-    "HONDA CIVIC (BOSCH) 2019",
+  HONDA_CIVIC_BOSCH = HondaBoschPlatformConfig(
     [
-      HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
+      HondaCarDocs("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
                    footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
-      HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
     ],
     CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4),  # steerRatio: 10.93 is end-to-end spec
     dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
   )
-  CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
-    "HONDA CIVIC SEDAN 1.6 DIESEL 2019",
-    None,  # don't show in docs
-    CIVIC_BOSCH.specs,
+  HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
+    [],  # don't show in docs
+    HONDA_CIVIC_BOSCH.specs,
     dbc_dict('honda_accord_2018_can_generated', None),
   )
-  CIVIC_2022 = HondaBoschPlatformConfig(
-    "HONDA CIVIC 2022",
+  HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
     [
-      HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
-      HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
     ],
-    CIVIC_BOSCH.specs,
+    HONDA_CIVIC_BOSCH.specs,
     dbc_dict('honda_civic_ex_2022_can_generated', None),
     flags=HondaFlags.BOSCH_RADARLESS,
   )
-  CRV_5G = HondaBoschPlatformConfig(
-    "HONDA CR-V 2017",
-    HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
+  HONDA_CRV_5G = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
     # steerRatio: 12.3 is spec end-to-end
     CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
     dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
     flags=HondaFlags.BOSCH_ALT_BRAKE,
   )
-  CRV_HYBRID = HondaBoschPlatformConfig(
-    "HONDA CR-V HYBRID 2019",
-    HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
+  HONDA_CRV_HYBRID = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS)],
     # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
     CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
     dbc_dict('honda_accord_2018_can_generated', None),
   )
-  HRV_3G = HondaBoschPlatformConfig(
-    "HONDA HR-V 2023",
-    HondaCarInfo("Honda HR-V 2023", "All"),
+  HONDA_HRV_3G = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda HR-V 2023", "All")],
     CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
     dbc_dict('honda_civic_ex_2022_can_generated', None),
     flags=HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE,
   )
   ACURA_RDX_3G = HondaBoschPlatformConfig(
-    "ACURA RDX 2020",
-    HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+    [HondaCarDocs("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
     CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),  # as spec
     dbc_dict('acura_rdx_2020_can_generated', None),
     flags=HondaFlags.BOSCH_ALT_BRAKE,
   )
-  INSIGHT = HondaBoschPlatformConfig(
-    "HONDA INSIGHT 2019",
-    HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+  HONDA_INSIGHT = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
     CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82),  # as spec
     dbc_dict('honda_insight_ex_2019_can_generated', None),
   )
   HONDA_E = HondaBoschPlatformConfig(
-    "HONDA E 2020",
-    HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+    [HondaCarDocs("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
     CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
     dbc_dict('acura_rdx_2020_can_generated', None),
   )
 
   # Nidec Cars
   ACURA_ILX = HondaNidecPlatformConfig(
-    "ACURA ILX 2016",
-    HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
+    [HondaCarDocs("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS)],
     CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72),  # 15.3 is spec end-to-end
     dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  CRV = HondaNidecPlatformConfig(
-    "HONDA CR-V 2016",
-    HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
+  HONDA_CRV = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)],
     CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444),  # as spec
     dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  CRV_EU = HondaNidecPlatformConfig(
-    "HONDA CR-V EU 2016",
-    None,  # Euro version of CRV Touring, don't show in docs
-    CRV.specs,
+  HONDA_CRV_EU = HondaNidecPlatformConfig(
+    [],  # Euro version of CRV Touring, don't show in docs
+    HONDA_CRV.specs,
     dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  FIT = HondaNidecPlatformConfig(
-    "HONDA FIT 2018",
-    HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
+  HONDA_FIT = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS)],
     CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),
     dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  FREED = HondaNidecPlatformConfig(
-    "HONDA FREED 2020",
-    HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
+  HONDA_FREED = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS)],
     CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),  # mostly copied from FIT
     dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  HRV = HondaNidecPlatformConfig(
-    "HONDA HRV 2019",
-    HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
-    HRV_3G.specs,
+  HONDA_HRV = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS)],
+    HONDA_HRV_3G.specs,
     dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  ODYSSEY = HondaNidecPlatformConfig(
-    "HONDA ODYSSEY 2018",
-    HondaCarInfo("Honda Odyssey 2018-20"),
+  HONDA_ODYSSEY = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Odyssey 2018-20")],
     CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
     dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_PCM_ACCEL,
   )
-  ODYSSEY_CHN = HondaNidecPlatformConfig(
-    "HONDA ODYSSEY CHN 2019",
-    None,  # Chinese version of Odyssey, don't show in docs
-    ODYSSEY.specs,
+  HONDA_ODYSSEY_CHN = HondaNidecPlatformConfig(
+    [],  # Chinese version of Odyssey, don't show in docs
+    HONDA_ODYSSEY.specs,
     dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
   ACURA_RDX = HondaNidecPlatformConfig(
-    "ACURA RDX 2018",
-    HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
+    [HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS)],
     CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444),  # as spec
     dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  PILOT = HondaNidecPlatformConfig(
-    "HONDA PILOT 2017",
+  HONDA_PILOT = HondaNidecPlatformConfig(
     [
-      HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
-      HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
+      HondaCarDocs("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
     ],
     CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0, tireStiffnessFactor=0.444),  # as spec
     dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  RIDGELINE = HondaNidecPlatformConfig(
-    "HONDA RIDGELINE 2017",
-    HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
+  HONDA_RIDGELINE = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS)],
     CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444),  # as spec
     dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  CIVIC = HondaNidecPlatformConfig(
-    "HONDA CIVIC 2016",
-    HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
+  HONDA_CIVIC = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE")],
     CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38),  # 10.93 is end-to-end spec
     dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
   )
@@ -324,16 +307,16 @@ 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.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
+    Ecu.programmedFuelInjection: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
+    Ecu.transmission: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
+    Ecu.srs: [CAR.HONDA_ACCORD],
+    Ecu.eps: [CAR.HONDA_ACCORD],
+    Ecu.vsa: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
+    Ecu.combinationMeter: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
+    Ecu.gateway: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
+    Ecu.electricBrakeBooster: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
+    Ecu.shiftByWire: [CAR.HONDA_ACCORD],  # existence correlates with transmission type for ICE
+    Ecu.hud: [CAR.HONDA_ACCORD],  # existence correlates with trim level
   },
   extra_ecus=[
     # The only other ECU on PT bus accessible by camera on radarless Civic
@@ -344,7 +327,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
 STEER_THRESHOLD = {
   # default is 1200, overrides go here
   CAR.ACURA_RDX: 400,
-  CAR.CRV_EU: 400,
+  CAR.HONDA_CRV_EU: 400,
 }
 
 HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL)

selfdrive/car/hyundai/carcontroller.py

@@ -129,7 +129,7 @@ class CarController(CarControllerBase):
           can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
         if self.frame % 2 == 0:
           can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
-                                                           set_speed_in_units))
+                                                           set_speed_in_units, hud_control))
           self.accel_last = accel
       else:
         # button presses
@@ -148,7 +148,7 @@ class CarController(CarControllerBase):
         jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
         use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
         can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
-                                                        hud_control.leadVisible, set_speed_in_units, stopping,
+                                                        hud_control, set_speed_in_units, stopping,
                                                         CC.cruiseControl.override, use_fca))
 
       # 20 Hz LFA MFA message

selfdrive/car/hyundai/carstate.py

@@ -207,7 +207,7 @@ class CarState(CarStateBase):
 
     # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
     left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
-    if self.CP.carFingerprint == CAR.KONA_EV_2ND_GEN:
+    if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
       left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
                                                                       cp.vl["BLINKERS"][right_blinker_sig])

selfdrive/car/hyundai/fingerprints.py

@@ -5,7 +5,7 @@ from openpilot.selfdrive.car.hyundai.values import CAR
 Ecu = car.CarParams.Ecu
 
 FINGERPRINTS = {
-  CAR.SANTA_FE: [{
+  CAR.HYUNDAI_SANTA_FE: [{
     67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
   },
   {
@@ -14,7 +14,7 @@ FINGERPRINTS = {
   {
     67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8
   }],
-  CAR.SONATA: [{
+  CAR.HYUNDAI_SONATA: [{
     67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
   }],
   CAR.KIA_STINGER: [{
@@ -23,13 +23,13 @@ FINGERPRINTS = {
   CAR.GENESIS_G90: [{
     67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
   }],
-  CAR.IONIQ_EV_2020: [{
+  CAR.HYUNDAI_IONIQ_EV_2020: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
   }],
-  CAR.KONA_EV: [{
+  CAR.HYUNDAI_KONA_EV: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
   }],
-  CAR.KONA_EV_2022: [{
+  CAR.HYUNDAI_KONA_EV_2022: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8
   }],
   CAR.KIA_NIRO_EV: [{
@@ -44,7 +44,7 @@ FINGERPRINTS = {
 }
 
 FW_VERSIONS = {
-  CAR.AZERA_6TH_GEN: {
+  CAR.HYUNDAI_AZERA_6TH_GEN: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00IG__ SCC F-CU-      1.00 1.00 99110-G8100         ',
     ],
@@ -61,7 +61,7 @@ FW_VERSIONS = {
       b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.AZERA_HEV_6TH_GEN: {
+  CAR.HYUNDAI_AZERA_HEV_6TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.00 99211-G8000 180903',
       b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.01 99211-G8000 181109',
@@ -93,7 +93,7 @@ FW_VERSIONS = {
       b'\xf1\x00DH LKAS 1.5 -140425',
     ],
   },
-  CAR.IONIQ: {
+  CAR.HYUNDAI_IONIQ: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         ',
     ],
@@ -110,7 +110,7 @@ FW_VERSIONS = {
       b'\xf1\x816U3H1051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H1051\x00\x00HAE0G16US2\x00\x00\x00\x00',
     ],
   },
-  CAR.IONIQ_PHEV_2019: {
+  CAR.HYUNDAI_IONIQ_PHEV_2019: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2100         ',
     ],
@@ -128,7 +128,7 @@ FW_VERSIONS = {
       b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\xdbD\r\x81',
     ],
   },
-  CAR.IONIQ_PHEV: {
+  CAR.HYUNDAI_IONIQ_PHEV: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2200         ',
       b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
@@ -162,7 +162,7 @@ FW_VERSIONS = {
       b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00',
     ],
   },
-  CAR.IONIQ_EV_2020: {
+  CAR.HYUNDAI_IONIQ_EV_2020: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEev SCC F-CUP      1.00 1.00 99110-G7200         ',
       b'\xf1\x00AEev SCC F-CUP      1.00 1.00 99110-G7500         ',
@@ -180,7 +180,7 @@ FW_VERSIONS = {
       b'\xf1\x00AEE MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
     ],
   },
-  CAR.IONIQ_EV_LTD: {
+  CAR.HYUNDAI_IONIQ_EV_LTD: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEev SCC F-CUP      1.00 1.00 96400-G7000         ',
       b'\xf1\x00AEev SCC F-CUP      1.00 1.00 96400-G7100         ',
@@ -199,7 +199,7 @@ FW_VERSIONS = {
       b'\xf1\x00AEE MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
     ],
   },
-  CAR.IONIQ_HEV_2022: {
+  CAR.HYUNDAI_IONIQ_HEV_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
       b'\xf1\x00AEhe SCC FHCUP      1.00 1.00 99110-G2600         ',
@@ -218,7 +218,7 @@ FW_VERSIONS = {
       b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00',
     ],
   },
-  CAR.SONATA: {
+  CAR.HYUNDAI_SONATA: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DN8_ SCC F-CU-      1.00 1.00 99110-L0000         ',
       b'\xf1\x00DN8_ SCC F-CUP      1.00 1.00 99110-L0000         ',
@@ -361,7 +361,7 @@ FW_VERSIONS = {
       b'\xf1\x87SANFB45889451GC7wx\x87\x88gw\x87x\x88\x88x\x88\x87wxw\x87wxw\x87\x8f\xfc\xffeU\x8f\xff+Q\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
     ],
   },
-  CAR.SONATA_LF: {
+  CAR.HYUNDAI_SONATA_LF: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00LF__ SCC F-CUP      1.00 1.00 96401-C2200         ',
     ],
@@ -389,7 +389,7 @@ FW_VERSIONS = {
       b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8',
     ],
   },
-  CAR.TUCSON: {
+  CAR.HYUNDAI_TUCSON: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00TL__ FCA F-CUP      1.00 1.01 99110-D3500         ',
       b'\xf1\x00TL__ FCA F-CUP      1.00 1.02 99110-D3510         ',
@@ -407,7 +407,7 @@ FW_VERSIONS = {
       b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a',
     ],
   },
-  CAR.SANTA_FE: {
+  CAR.HYUNDAI_SANTA_FE: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1210         ',
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.01 99110-S2000         ',
@@ -470,7 +470,7 @@ FW_VERSIONS = {
       b'\xf1\x87SDKXAA2443414GG1vfvgwv\x87h\x88\x88\x88\x88ww\x87wwwww\x99_\xfc\xffvD?\xffl\xd2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4G24NS6\x00\x00\x00\x00',
     ],
   },
-  CAR.SANTA_FE_2022: {
+  CAR.HYUNDAI_SANTA_FE_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
       b'\xf1\x00TM__ SCC FHCUP      1.00 1.00 99110-S1500         ',
@@ -532,35 +532,42 @@ FW_VERSIONS = {
       b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.SANTA_FE_HEV_2022: {
+  CAR.HYUNDAI_SANTA_FE_HEV_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
+      b'\xf1\x00TMhe SCC FHCUP      1.00 1.01 99110-CL500         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-GA000 4TSHA100',
       b'\xf1\x00TM  MDPS R 1.00 1.05 57700-CL000 4TSHP105',
+      b'\xf1\x00TM  MDPS R 1.00 1.06 57700-CL000 4TSHP106',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.03 99211-S2500 220414',
       b'\xf1\x00TMH MFC  AT EUR LHD 1.00 1.06 99211-S1500 220727',
+      b'\xf1\x00TMH MFC  AT KOR LHD 1.00 1.06 99211-S1500 220727',
       b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
+      b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.05 99211-S1500 220126',
       b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.06 99211-S1500 220727',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2H16KA1\xc6\x15Q\x1e',
       b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14',
       b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f',
       b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x87391312MTA0',
       b'\xf1\x87391312MTC1',
       b'\xf1\x87391312MTE0',
       b'\xf1\x87391312MTL0',
     ],
   },
-  CAR.SANTA_FE_PHEV_2022: {
+  CAR.HYUNDAI_SANTA_FE_PHEV_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00TMhe SCC F-CUP      1.00 1.00 99110-CL500         ',
       b'\xf1\x00TMhe SCC FHCUP      1.00 1.01 99110-CL500         ',
       b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
     ],
@@ -574,6 +581,7 @@ FW_VERSIONS = {
       b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.06 99211-S1500 220727',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe',
       b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
       b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe',
       b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
@@ -583,7 +591,7 @@ FW_VERSIONS = {
       b'\xf1\x87391312MTF1',
     ],
   },
-  CAR.CUSTIN_1ST_GEN: {
+  CAR.HYUNDAI_CUSTIN_1ST_GEN: {
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200',
     ],
@@ -677,7 +685,7 @@ FW_VERSIONS = {
       b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6',
     ],
   },
-  CAR.PALISADE: {
+  CAR.HYUNDAI_PALISADE: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00LX2 SCC FHCUP      1.00 1.04 99110-S8100         ',
       b'\xf1\x00LX2_ SCC F-CUP      1.00 1.04 99110-S8100         ',
@@ -784,7 +792,7 @@ FW_VERSIONS = {
       b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
     ],
   },
-  CAR.VELOSTER: {
+  CAR.HYUNDAI_VELOSTER: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00JS__ SCC H-CUP      1.00 1.02 95650-J3200         ',
       b'\xf1\x00JS__ SCC HNCUP      1.00 1.02 95650-J3100         ',
@@ -836,10 +844,12 @@ FW_VERSIONS = {
       b'\xf1\x00IK  MDPS R 1.00 1.07 57700-G9420 4I4VL107',
       b'\xf1\x00IK  MDPS R 1.00 1.08 57700-G9200 4I2CL108',
       b'\xf1\x00IK  MDPS R 1.00 1.08 57700-G9420 4I4VL108',
+      b'\xf1\x00IK  MDPS R 1.00 5.09 57700-G9520 4I4VL509',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
       b'\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz',
+      b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00SIK0T33NH0\x0f\xa3Y*',
       b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00',
       b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81',
       b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
@@ -847,16 +857,19 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ',
       b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         \xf1\xa01.02',
+      b'\xf1\x00IK__ SCC FHCUP      1.00 1.00 99110-G9300         ',
       b'\xf1\x00IK__ SCC FHCUP      1.00 1.02 96400-G9000         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00IK  MFC  AT KOR LHD 1.00 1.01 95740-G9000 170920',
       b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920',
+      b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.04 99211-G9000 220401',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81640N2051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.GENESIS_G80: {
@@ -887,22 +900,25 @@ FW_VERSIONS = {
   },
   CAR.GENESIS_G90: {
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SHI0G50NH0\xff\x80\xc2*',
       b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
       b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
       b'\xf1\x87VDHMD16446682DD3WwwxxvGw\x88\x88\x87\x88\x88whxx\x87\x87\x87\x85fUfwu_\xffT\xf8\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00HI__ SCC F-CUP      1.00 1.01 96400-D2100         ',
+      b'\xf1\x00HI__ SCC FHCUP      1.00 1.02 99110-D2100         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00HI  LKAS AT USA LHD 1.00 1.00 95895-D2020 160302',
       b'\xf1\x00HI  LKAS AT USA LHD 1.00 1.00 95895-D2030 170208',
+      b'\xf1\x00HI  MFC  AT USA LHD 1.00 1.03 99211-D2000 190831',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x810000000000\x00',
     ],
   },
-  CAR.KONA: {
+  CAR.HYUNDAI_KONA: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00OS__ SCC F-CUP      1.00 1.00 95655-J9200         ',
     ],
@@ -1047,7 +1063,7 @@ FW_VERSIONS = {
       b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2',
     ],
   },
-  CAR.KONA_EV: {
+  CAR.HYUNDAI_KONA_EV: {
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000',
       b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
@@ -1075,7 +1091,7 @@ FW_VERSIONS = {
       b'\xf1\x00OSev SCC FNCUP      1.00 1.01 99110-K4000         ',
     ],
   },
-  CAR.KONA_EV_2022: {
+  CAR.HYUNDAI_KONA_EV_2022: {
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010',
       b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010',
@@ -1104,7 +1120,7 @@ FW_VERSIONS = {
       b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-K4500      \x00\x00\x00',
     ],
   },
-  CAR.KONA_EV_2ND_GEN: {
+  CAR.HYUNDAI_KONA_EV_2ND_GEN: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00SXev RDR -----      1.00 1.00 99110-BF000         ',
     ],
@@ -1304,7 +1320,7 @@ FW_VERSIONS = {
       b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.ELANTRA: {
+  CAR.HYUNDAI_ELANTRA: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00AD  LKAS AT USA LHD 1.01 1.01 95895-F2000 251',
       b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31',
@@ -1331,7 +1347,7 @@ FW_VERSIONS = {
       b'\xf1\x00AD__ SCC H-CUP      1.00 1.01 96400-F2100         ',
     ],
   },
-  CAR.ELANTRA_GT_I30: {
+  CAR.HYUNDAI_ELANTRA_GT_I30: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00PD  LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51',
       b'\xf1\x00PD  LKAS AT USA LHD 1.00 1.02 95740-G3000 A51',
@@ -1359,7 +1375,7 @@ FW_VERSIONS = {
       b'\xf1\x00PD__ SCC FNCUP      1.01 1.00 96400-G3000         ',
     ],
   },
-  CAR.ELANTRA_2021: {
+  CAR.HYUNDAI_ELANTRA_2021: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CN7_ SCC F-CUP      1.00 1.01 99110-AA000         ',
       b'\xf1\x00CN7_ SCC FHCUP      1.00 1.01 99110-AA000         ',
@@ -1401,7 +1417,7 @@ FW_VERSIONS = {
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0',
     ],
   },
-  CAR.ELANTRA_HEV_2021: {
+  CAR.HYUNDAI_ELANTRA_HEV_2021: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
       b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.05 99210-AA000 210930',
@@ -1432,7 +1448,7 @@ FW_VERSIONS = {
       b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.KONA_HEV: {
+  CAR.HYUNDAI_KONA_HEV: {
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00OS IEB \x01 104 \x11  58520-CM000',
     ],
@@ -1452,7 +1468,7 @@ FW_VERSIONS = {
       b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.SONATA_HYBRID: {
+  CAR.HYUNDAI_SONATA_HYBRID: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
       b'\xf1\x00DNhe SCC FHCUP      1.00 1.00 99110-L5000         ',
@@ -1528,7 +1544,7 @@ FW_VERSIONS = {
       b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.06 99210-CV000 220328',
     ],
   },
-  CAR.IONIQ_5: {
+  CAR.HYUNDAI_IONIQ_5: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
     ],
@@ -1548,7 +1564,7 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
     ],
   },
-  CAR.IONIQ_6: {
+  CAR.HYUNDAI_IONIQ_6: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
     ],
@@ -1558,7 +1574,7 @@ FW_VERSIONS = {
       b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
     ],
   },
-  CAR.TUCSON_4TH_GEN: {
+  CAR.HYUNDAI_TUCSON_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A',
       b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K',
@@ -1578,10 +1594,11 @@ FW_VERSIONS = {
       b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
     ],
   },
-  CAR.SANTA_CRUZ_1ST_GEN: {
+  CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW020 14Z',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NX4__               1.00 1.00 99110-K5000         ',
@@ -1595,6 +1612,7 @@ FW_VERSIONS = {
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
+      b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1070 690',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NQ5__               1.00 1.02 99110-P1000         ',
@@ -1690,7 +1708,7 @@ FW_VERSIONS = {
       b'\xf1\x00GL3_ RDR -----      1.00 1.02 99110-L8000         ',
     ],
   },
-  CAR.STARIA_4TH_GEN: {
+  CAR.HYUNDAI_STARIA_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00US4 MFC  AT KOR LHD 1.00 1.06 99211-CG000 230524',
     ],

selfdrive/car/hyundai/hyundaican.py

@@ -33,12 +33,12 @@ def create_lkas11(packer, frame, CP, apply_steer, steer_req,
   values["CF_Lkas_ToiFlt"] = torque_fault  # seems to allow actuation on CR_Lkas_StrToqReq
   values["CF_Lkas_MsgCount"] = frame % 0x10
 
-  if CP.carFingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
-                           CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
-                           CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
-                           CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
-                           CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
-                           CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
+  if CP.carFingerprint in (CAR.HYUNDAI_SONATA, CAR.HYUNDAI_PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.HYUNDAI_SANTA_FE,
+                           CAR.HYUNDAI_IONIQ_EV_2020, CAR.HYUNDAI_IONIQ_PHEV, CAR.KIA_SELTOS, CAR.HYUNDAI_ELANTRA_2021, CAR.GENESIS_G70_2020,
+                           CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
+                           CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022,
+                           CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
+                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 
@@ -126,12 +126,12 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca):
   commands = []
 
   scc11_values = {
     "MainMode_ACC": 1,
-    "TauGapSet": 4,
+    "TauGapSet": hud_control.leadDistanceBars + 1,
     "VSetDis": set_speed if enabled else 0,
     "AliveCounterACC": idx % 0x10,
     "ObjValid": 1, # close lead makes controls tighter
@@ -167,7 +167,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
     "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
     "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
     "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
-    "ObjGap": 2 if lead_visible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
+    "ObjGap": 2 if hud_control.leadVisible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
   }
   commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
 

selfdrive/car/hyundai/hyundaicanfd.py

@@ -121,7 +121,7 @@ def create_lfahda_cluster(packer, CAN, enabled):
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
 
-def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed):
+def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
   jerk = 5
   jn = jerk / 50
   if not enabled or gas_override:
@@ -146,7 +146,7 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
     "SET_ME_2": 0x4,
     "SET_ME_3": 0x3,
     "SET_ME_TMP_64": 0x64,
-    "DISTANCE_SETTING": 4,
+    "DISTANCE_SETTING": hud_control.leadDistanceBars + 1,
   }
 
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)

selfdrive/car/hyundai/interface.py

@@ -132,7 +132,7 @@ class CarInterface(CarInterfaceBase):
     elif ret.flags & HyundaiFlags.EV:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
 
-    if candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
+    if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022):
       ret.flags |= HyundaiFlags.ALT_LIMITS.value
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
 
@@ -175,6 +175,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = events.to_msg()
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/hyundai/tests/test_hyundai.py

@@ -18,22 +18,22 @@ ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 NO_DATES_PLATFORMS = {
   # CAN FD
   CAR.KIA_SPORTAGE_5TH_GEN,
-  CAR.SANTA_CRUZ_1ST_GEN,
-  CAR.TUCSON_4TH_GEN,
+  CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
+  CAR.HYUNDAI_TUCSON_4TH_GEN,
   # CAN
-  CAR.ELANTRA,
-  CAR.ELANTRA_GT_I30,
+  CAR.HYUNDAI_ELANTRA,
+  CAR.HYUNDAI_ELANTRA_GT_I30,
   CAR.KIA_CEED,
   CAR.KIA_FORTE,
   CAR.KIA_OPTIMA_G4,
   CAR.KIA_OPTIMA_G4_FL,
   CAR.KIA_SORENTO,
-  CAR.KONA,
-  CAR.KONA_EV,
-  CAR.KONA_EV_2022,
-  CAR.KONA_HEV,
-  CAR.SONATA_LF,
-  CAR.VELOSTER,
+  CAR.HYUNDAI_KONA,
+  CAR.HYUNDAI_KONA_EV,
+  CAR.HYUNDAI_KONA_EV_2022,
+  CAR.HYUNDAI_KONA_HEV,
+  CAR.HYUNDAI_SONATA_LF,
+  CAR.HYUNDAI_VELOSTER,
 }
 
 
@@ -67,7 +67,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
     # Tucson having Santa Cruz camera and EPS for example
     for car_model, ecus in FW_VERSIONS.items():
       with self.subTest(car_model=car_model.value):
-        if car_model == CAR.SANTA_CRUZ_1ST_GEN:
+        if car_model == CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN:
           raise unittest.SkipTest("Skip checking Santa Cruz for its parts")
 
         for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]):
@@ -108,9 +108,9 @@ class TestHyundaiFingerprint(unittest.TestCase):
 
           # Third and fourth character are usually EV/hybrid identifiers
           codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)}
-          if car_model == CAR.PALISADE:
+          if car_model == CAR.HYUNDAI_PALISADE:
             self.assertEqual(codes, {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}")
-          elif car_model == CAR.KONA_EV and ecu[0] == Ecu.fwdCamera:
+          elif car_model == CAR.HYUNDAI_KONA_EV and ecu[0] == Ecu.fwdCamera:
             self.assertEqual(codes, {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}")
           else:
             self.assertEqual(len(codes), 1, f"Car has multiple platform codes: {car_model} {codes}")
@@ -120,7 +120,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
   def test_platform_code_ecus_available(self):
     # TODO: add queries for these non-CAN FD cars to get EPS
     no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
-                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.ELANTRA}
+                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA}
 
     # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
     for car_model, ecus in FW_VERSIONS.items():

selfdrive/car/hyundai/values.py

@@ -6,7 +6,7 @@ from cereal import car
 from panda.python import uds
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
@@ -35,8 +35,8 @@ class CarControllerParams:
 
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
-    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.IONIQ,
-                               CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
+    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_ELANTRA_GT_I30, CAR.HYUNDAI_IONIQ,
+                               CAR.HYUNDAI_IONIQ_EV_LTD, CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.HYUNDAI_SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
                                CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
       self.STEER_MAX = 255
 
@@ -104,7 +104,7 @@ class Footnote(Enum):
 
 
 @dataclass
-class HyundaiCarInfo(CarInfo):
+class HyundaiCarDocs(CarDocs):
   package: str = "Smart Cruise Control (SCC)"
 
   def init_make(self, CP: car.CarParams):
@@ -134,418 +134,360 @@ class HyundaiCanFDPlatformConfig(PlatformConfig):
 
 class CAR(Platforms):
   # Hyundai
-  AZERA_6TH_GEN = HyundaiPlatformConfig(
-    "HYUNDAI AZERA 6TH GEN",
-    HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  HYUNDAI_AZERA_6TH_GEN = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5),
   )
-  AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
-    "HYUNDAI AZERA HYBRID 6TH GEN",
+  HYUNDAI_AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
     [
-      HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
-      HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
+      HyundaiCarDocs("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
     ],
     CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5),
     flags=HyundaiFlags.HYBRID,
   )
-  ELANTRA = HyundaiPlatformConfig(
-    "HYUNDAI ELANTRA 2017",
+  HYUNDAI_ELANTRA = HyundaiPlatformConfig(
     [
       # TODO: 2017-18 could be Hyundai G
-      HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
-      HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
+      HyundaiCarDocs("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
+      HyundaiCarDocs("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
     ],
     # steerRatio: 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535, stiffnessFactor settled on 1.0081302973865127
     CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
   )
-  ELANTRA_GT_I30 = HyundaiPlatformConfig(
-    "HYUNDAI I30 N LINE 2019 & GT 2018 DCT",
+  HYUNDAI_ELANTRA_GT_I30 = HyundaiPlatformConfig(
     [
-      HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
-      HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
+      HyundaiCarDocs("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
+      HyundaiCarDocs("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
     ],
-    ELANTRA.specs,
+    HYUNDAI_ELANTRA.specs,
     flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
   )
-  ELANTRA_2021 = HyundaiPlatformConfig(
-    "HYUNDAI ELANTRA 2021",
-    HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  HYUNDAI_ELANTRA_2021 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.CHECKSUM_CRC8,
   )
-  ELANTRA_HEV_2021 = HyundaiPlatformConfig(
-    "HYUNDAI ELANTRA HYBRID 2021",
-    HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
-                   car_parts=CarParts.common([CarHarness.hyundai_k])),
+  HYUNDAI_ELANTRA_HEV_2021 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
+                    car_parts=CarParts.common([CarHarness.hyundai_k]))],
     CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
   HYUNDAI_GENESIS = HyundaiPlatformConfig(
-    "HYUNDAI GENESIS 2015-2016",
     [
       # TODO: check 2015 packages
-      HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
-      HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
+      HyundaiCarDocs("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
+      HyundaiCarDocs("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
     ],
     CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS),
     flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY,
   )
-  IONIQ = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ HYBRID 2017-2019",
-    HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
+  HYUNDAI_IONIQ = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c]))],
     CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
   )
-  IONIQ_HEV_2022 = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ HYBRID 2020-2022",
-    HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])),  # TODO: confirm 2020-21 harness,
+  HYUNDAI_IONIQ_HEV_2022 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h]))],  # TODO: confirm 2020-21 harness,
     CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
   )
-  IONIQ_EV_LTD = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ ELECTRIC LIMITED 2019",
-    HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
+  HYUNDAI_IONIQ_EV_LTD = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
     CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH,
   )
-  IONIQ_EV_2020 = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ ELECTRIC 2020",
-    HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+  HYUNDAI_IONIQ_EV_2020 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
     CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.EV,
   )
-  IONIQ_PHEV_2019 = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ PLUG-IN HYBRID 2019",
-    HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
+  HYUNDAI_IONIQ_PHEV_2019 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
     CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
   )
-  IONIQ_PHEV = HyundaiPlatformConfig(
-    "HYUNDAI IONIQ PHEV 2020",
-    HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+  HYUNDAI_IONIQ_PHEV = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
     CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.HYBRID,
   )
-  KONA = HyundaiPlatformConfig(
-    "HYUNDAI KONA 2020",
-    HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
+  HYUNDAI_KONA = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b]))],
     CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.CLUSTER_GEARS,
   )
-  KONA_EV = HyundaiPlatformConfig(
-    "HYUNDAI KONA ELECTRIC 2019",
-    HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
+  HYUNDAI_KONA_EV = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
     CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.EV,
   )
-  KONA_EV_2022 = HyundaiPlatformConfig(
-    "HYUNDAI KONA ELECTRIC 2022",
-    HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
+  HYUNDAI_KONA_EV_2022 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))],
     CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV,
   )
-  KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    "HYUNDAI KONA ELECTRIC 2ND GEN",
-    HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
-                   car_parts=CarParts.common([CarHarness.hyundai_r])),
+  HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
+                    car_parts=CarParts.common([CarHarness.hyundai_r]))],
     CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
   )
-  KONA_HEV = HyundaiPlatformConfig(
-    "HYUNDAI KONA HYBRID 2020",
-    HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages,
+  HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))],  # TODO: check packages,
     CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.HYBRID,
   )
-  SANTA_FE = HyundaiPlatformConfig(
-    "HYUNDAI SANTA FE 2019",
-    HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
-                   car_parts=CarParts.common([CarHarness.hyundai_d])),
+  HYUNDAI_SANTA_FE = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
+                    car_parts=CarParts.common([CarHarness.hyundai_d]))],
     CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82),
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
   )
-  SANTA_FE_2022 = HyundaiPlatformConfig(
-    "HYUNDAI SANTA FE 2022",
-    HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
-                   car_parts=CarParts.common([CarHarness.hyundai_l])),
-    SANTA_FE.specs,
+  HYUNDAI_SANTA_FE_2022 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
+                    car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    HYUNDAI_SANTA_FE.specs,
     flags=HyundaiFlags.CHECKSUM_CRC8,
   )
-  SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
-    "HYUNDAI SANTA FE HYBRID 2022",
-    HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-    SANTA_FE.specs,
+  HYUNDAI_SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    HYUNDAI_SANTA_FE.specs,
     flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
-  SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
-    "HYUNDAI SANTA FE PlUG-IN HYBRID 2022",
-    HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-    SANTA_FE.specs,
+  HYUNDAI_SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    HYUNDAI_SANTA_FE.specs,
     flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
-  SONATA = HyundaiPlatformConfig(
-    "HYUNDAI SONATA 2020",
-    HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
-                   car_parts=CarParts.common([CarHarness.hyundai_a])),
+  HYUNDAI_SONATA = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
+                   car_parts=CarParts.common([CarHarness.hyundai_a]))],
     CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65),  # 15% higher at the center seems reasonable
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
   )
-  SONATA_LF = HyundaiPlatformConfig(
-    "HYUNDAI SONATA 2019",
-    HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
+  HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
     CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15),  # 15% higher at the center seems reasonable
 
     flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
   )
-  STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
-    "HYUNDAI STARIA 4TH GEN",
-    HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  HYUNDAI_STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94),  # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
   )
-  TUCSON = HyundaiPlatformConfig(
-    "HYUNDAI TUCSON 2019",
+  HYUNDAI_TUCSON = HyundaiPlatformConfig(
     [
-      HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
     ],
     CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.TCU_GEARS,
   )
-  PALISADE = HyundaiPlatformConfig(
-    "HYUNDAI PALISADE 2020",
+  HYUNDAI_PALISADE = HyundaiPlatformConfig(
     [
-      HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
-      HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+      HyundaiCarDocs("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
+      HyundaiCarDocs("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
     ],
     CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
   )
-  VELOSTER = HyundaiPlatformConfig(
-    "HYUNDAI VELOSTER 2019",
-    HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
+  HYUNDAI_VELOSTER = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e]))],
     CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5),
     flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS,
   )
-  SONATA_HYBRID = HyundaiPlatformConfig(
-    "HYUNDAI SONATA HYBRID 2021",
-    HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-    SONATA.specs,
+  HYUNDAI_SONATA_HYBRID = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    HYUNDAI_SONATA.specs,
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
-  IONIQ_5 = HyundaiCanFDPlatformConfig(
-    "HYUNDAI IONIQ 5 2022",
+  HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
-      HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
-      HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
     ],
     CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV,
   )
-  IONIQ_6 = HyundaiCanFDPlatformConfig(
-    "HYUNDAI IONIQ 6 2023",
-    HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
-    IONIQ_5.specs,
+  HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
+    HYUNDAI_IONIQ_5.specs,
     flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
   )
-  TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
-    "HYUNDAI TUCSON 4TH GEN",
+  HYUNDAI_TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
-      HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
-      HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarDocs("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarDocs("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
     ],
-    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=16, tireStiffnessFactor=0.385),
+    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
   )
-  SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
-    "HYUNDAI SANTA CRUZ 1ST GEN",
-    HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
+  HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
     # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
     CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
   )
-  CUSTIN_1ST_GEN = HyundaiPlatformConfig(
-    "HYUNDAI CUSTIN 1ST GEN",
-    HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17),  # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
     flags=HyundaiFlags.CHECKSUM_CRC8,
   )
 
   # Kia
   KIA_FORTE = HyundaiPlatformConfig(
-    "KIA FORTE E 2018 & GT 2021",
     [
-      HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
-      HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
+      HyundaiCarDocs("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
+      HyundaiCarDocs("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
     ],
     CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
   )
   KIA_K5_2021 = HyundaiPlatformConfig(
-    "KIA K5 2021",
-    HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    [HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))],
     CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5),  # 2021 Kia K5 Steering Ratio (all trims)
     flags=HyundaiFlags.CHECKSUM_CRC8,
   )
   KIA_K5_HEV_2020 = HyundaiPlatformConfig(
-    "KIA K5 HYBRID 2020",
-    HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    [HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))],
     KIA_K5_2021.specs,
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
   KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig(
-    "KIA K8 HYBRID 1ST GEN",
-    HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+    [HyundaiCarDocs("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q]))],
     # mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform
     CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27)
   )
   KIA_NIRO_EV = HyundaiPlatformConfig(
-    "KIA NIRO EV 2020",
     [
-      HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
-      HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
-      HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
-      HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
+      HyundaiCarDocs("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
+      HyundaiCarDocs("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
+      HyundaiCarDocs("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
+      HyundaiCarDocs("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
     ],
     CarSpecs(mass=3543 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385),  # average of all the cars
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV,
   )
   KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    "KIA NIRO EV 2ND GEN",
-    HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    [HyundaiCarDocs("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
     KIA_NIRO_EV.specs,
     flags=HyundaiFlags.EV,
   )
   KIA_NIRO_PHEV = HyundaiPlatformConfig(
-    "KIA NIRO HYBRID 2019",
     [
-      HyundaiCarInfo("Kia Niro Hybrid 2018", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
-      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
-      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
+      HyundaiCarDocs("Kia Niro Hybrid 2018", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
+      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
+      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_d])),
     ],
     KIA_NIRO_EV.specs,
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.MIN_STEER_32_MPH,
   )
   KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig(
-    "KIA NIRO PLUG-IN HYBRID 2022",
     [
-      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
-      HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
+      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
     ],
     KIA_NIRO_EV.specs,
     flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR,
   )
   KIA_NIRO_HEV_2021 = HyundaiPlatformConfig(
-    "KIA NIRO HYBRID 2021",
     [
-      HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
-      HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
+      HyundaiCarDocs("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
+      HyundaiCarDocs("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
     ],
     KIA_NIRO_EV.specs,
     flags=HyundaiFlags.HYBRID,
   )
   KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    "KIA NIRO HYBRID 2ND GEN",
-    HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    [HyundaiCarDocs("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a]))],
     KIA_NIRO_EV.specs,
   )
   KIA_OPTIMA_G4 = HyundaiPlatformConfig(
-    "KIA OPTIMA 4TH GEN",
-    HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
-                   car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
+    [HyundaiCarDocs("Kia Optima 2017", "Advanced Smart Cruise Control",
+                    car_parts=CarParts.common([CarHarness.hyundai_b]))],  # TODO: may support 2016, 2018
     CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
     flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
   )
   KIA_OPTIMA_G4_FL = HyundaiPlatformConfig(
-    "KIA OPTIMA 4TH GEN FACELIFT",
-    HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
+    [HyundaiCarDocs("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g]))],
     CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
     flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
   )
   # TODO: may support adjacent years. may have a non-zero minimum steering speed
   KIA_OPTIMA_H = HyundaiPlatformConfig(
-    "KIA OPTIMA HYBRID 2017 & SPORTS 2019",
-    HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
+    [HyundaiCarDocs("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c]))],
     CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
     flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
   )
   KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig(
-    "KIA OPTIMA HYBRID 4TH GEN FACELIFT",
-    HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    [HyundaiCarDocs("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h]))],
     CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
     flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
   )
   KIA_SELTOS = HyundaiPlatformConfig(
-    "KIA SELTOS 2021",
-    HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    [HyundaiCarDocs("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a]))],
     CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56),
     flags=HyundaiFlags.CHECKSUM_CRC8,
   )
   KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig(
-    "KIA SPORTAGE 5TH GEN",
     [
-      HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
-      HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarDocs("Kia Sportage 2023-24", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarDocs("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
     ],
     # weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
     CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
   )
   KIA_SORENTO = HyundaiPlatformConfig(
-    "KIA SORENTO GT LINE 2018",
     [
-      HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
+      HyundaiCarDocs("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
                      car_parts=CarParts.common([CarHarness.hyundai_e])),
-      HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
+      HyundaiCarDocs("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
     ],
     CarSpecs(mass=1985, wheelbase=2.78, steerRatio=14.4 * 1.1),  # 10% higher at the center seems reasonable
     flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
   )
   KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig(
-    "KIA SORENTO 4TH GEN",
-    HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    [HyundaiCarDocs("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
     flags=HyundaiFlags.RADAR_SCC,
   )
   KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
-    "KIA SORENTO HYBRID 4TH GEN",
     [
-      HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
     ],
     CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
     flags=HyundaiFlags.RADAR_SCC,
   )
   KIA_STINGER = HyundaiPlatformConfig(
-    "KIA STINGER GT2 2018",
-    HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
-                   car_parts=CarParts.common([CarHarness.hyundai_c])),
+    [HyundaiCarDocs("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
+                    car_parts=CarParts.common([CarHarness.hyundai_c]))],
     CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15)  # 15% higher at the center seems reasonable
   )
   KIA_STINGER_2022 = HyundaiPlatformConfig(
-    "KIA STINGER 2022",
-    HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    [HyundaiCarDocs("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     KIA_STINGER.specs,
   )
   KIA_CEED = HyundaiPlatformConfig(
-    "KIA CEED INTRO ED 2019",
-    HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
+    [HyundaiCarDocs("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e]))],
     CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
     flags=HyundaiFlags.LEGACY,
   )
   KIA_EV6 = HyundaiCanFDPlatformConfig(
-    "KIA EV6 2022",
     [
-      HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
-      HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
+      HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
+      HyundaiCarDocs("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
     ],
     CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV,
   )
   KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
-    "KIA CARNIVAL 4TH GEN",
     [
-      HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
+      HyundaiCarDocs("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
     ],
     CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23),
     flags=HyundaiFlags.RADAR_SCC,
@@ -553,49 +495,42 @@ class CAR(Platforms):
 
   # Genesis
   GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig(
-    "GENESIS GV60 ELECTRIC 1ST GEN",
     [
-      HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
     ],
     CarSpecs(mass=2205, wheelbase=2.9, steerRatio=12.6),  # steerRatio: https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
     flags=HyundaiFlags.EV,
   )
   GENESIS_G70 = HyundaiPlatformConfig(
-    "GENESIS G70 2018",
-    HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+    [HyundaiCarDocs("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))],
     CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56),
     flags=HyundaiFlags.LEGACY,
   )
   GENESIS_G70_2020 = HyundaiPlatformConfig(
-    "GENESIS G70 2020",
-    HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+    [HyundaiCarDocs("Genesis G70 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))],
     CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9),
     flags=HyundaiFlags.MANDO_RADAR,
   )
   GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
-    "GENESIS GV70 1ST GEN",
     [
-      HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+      HyundaiCarDocs("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
     ],
     CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
     flags=HyundaiFlags.RADAR_SCC,
   )
   GENESIS_G80 = HyundaiPlatformConfig(
-    "GENESIS G80 2017",
-    HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    [HyundaiCarDocs("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
     CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
     flags=HyundaiFlags.LEGACY,
   )
   GENESIS_G90 = HyundaiPlatformConfig(
-    "GENESIS G90 2017",
-    HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
+    [HyundaiCarDocs("Genesis G90 2017-20", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))],
     CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069),
   )
   GENESIS_GV80 = HyundaiCanFDPlatformConfig(
-    "GENESIS GV80 2023",
-    HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+    [HyundaiCarDocs("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m]))],
     CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14),
     flags=HyundaiFlags.RADAR_SCC,
   )
@@ -701,7 +636,9 @@ DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)')
 PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])')
 
 # We've seen both ICE and hybrid for these platforms, and they have hybrid descriptors (e.g. MQ4 vs MQ4H)
-CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
+CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_K8_HEV_1ST_GEN,
+                         # TODO: the hybrid variant is not out yet
+                         CAR.KIA_CARNIVAL_4TH_GEN}
 
 # List of ECUs expected to have platform codes, camera and radar should exist on all cars
 # TODO: use abs, it has the platform code and part number on many platforms
@@ -806,9 +743,9 @@ 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.transmission: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.PALISADE, CAR.SONATA],
-    Ecu.engine: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.PALISADE, CAR.SONATA],
-    Ecu.abs: [CAR.PALISADE, CAR.SONATA],
+    Ecu.transmission: [CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA],
+    Ecu.engine: [CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA],
+    Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA],
   },
   extra_ecus=[
     (Ecu.adas, 0x730, None),              # ADAS Driving ECU on HDA2 platforms

selfdrive/car/interfaces.py

@@ -14,7 +14,7 @@ from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
-from openpilot.selfdrive.car.values import Platform
+from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -81,45 +81,44 @@ class CarInterfaceBase(ABC):
     self.silent_steer_warning = True
     self.v_ego_cluster_seen = False
 
-    self.CS = None
-    self.can_parsers = []
-    if CarState is not None:
-      self.CS = CarState(CP)
+    self.CS = CarState(CP)
+    self.cp = self.CS.get_can_parser(CP)
+    self.cp_cam = self.CS.get_cam_can_parser(CP)
+    self.cp_adas = self.CS.get_adas_can_parser(CP)
+    self.cp_body = self.CS.get_body_can_parser(CP)
+    self.cp_loopback = self.CS.get_loopback_can_parser(CP)
+    self.can_parsers = [self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback]
 
-      self.cp = self.CS.get_can_parser(CP)
-      self.cp_cam = self.CS.get_cam_can_parser(CP)
-      self.cp_adas = self.CS.get_adas_can_parser(CP)
-      self.cp_body = self.CS.get_body_can_parser(CP)
-      self.cp_loopback = self.CS.get_loopback_can_parser(CP)
-      self.can_parsers = [self.cp, self.cp_cam, self.cp_adas, self.cp_body, self.cp_loopback]
+    dbc_name = "" if self.cp is None else self.cp.dbc_name
+    self.CC: CarControllerBase = CarController(dbc_name, CP, self.VM)
 
-    self.CC = None
-    if CarController is not None:
-      self.CC = CarController(self.cp.dbc_name, CP, self.VM)
+  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]:
+    return self.CC.update(c, self.CS, now_nanos)
 
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     return ACCEL_MIN, ACCEL_MAX
 
   @classmethod
-  def get_non_essential_params(cls, candidate: Platform):
+  def get_non_essential_params(cls, candidate: str):
     """
     Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
     """
     return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False)
 
   @classmethod
-  def get_params(cls, candidate: Platform, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
+  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool):
     ret = CarInterfaceBase.get_std_params(candidate)
 
-    ret.mass = candidate.config.specs.mass
-    ret.wheelbase = candidate.config.specs.wheelbase
-    ret.steerRatio = candidate.config.specs.steerRatio
-    ret.centerToFront = ret.wheelbase * candidate.config.specs.centerToFrontRatio
-    ret.minEnableSpeed = candidate.config.specs.minEnableSpeed
-    ret.minSteerSpeed = candidate.config.specs.minSteerSpeed
-    ret.tireStiffnessFactor = candidate.config.specs.tireStiffnessFactor
-    ret.flags |= int(candidate.config.flags)
+    platform = PLATFORMS[candidate]
+    ret.mass = platform.config.specs.mass
+    ret.wheelbase = platform.config.specs.wheelbase
+    ret.steerRatio = platform.config.specs.steerRatio
+    ret.centerToFront = ret.wheelbase * platform.config.specs.centerToFrontRatio
+    ret.minEnableSpeed = platform.config.specs.minEnableSpeed
+    ret.minSteerSpeed = platform.config.specs.minSteerSpeed
+    ret.tireStiffnessFactor = platform.config.specs.tireStiffnessFactor
+    ret.flags |= int(platform.config.flags)
 
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
 
@@ -249,9 +248,6 @@ class CarInterfaceBase(ABC):
 
     return reader
 
-  @abstractmethod
-  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[bytes]]:
-    pass
 
   def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True,
                            enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
@@ -437,6 +433,10 @@ class CarStateBase(ABC):
     }
     return d.get(gear.upper(), GearShifter.unknown)
 
+  @staticmethod
+  def get_can_parser(CP):
+    return None
+
   @staticmethod
   def get_cam_can_parser(CP):
     return None
@@ -458,8 +458,11 @@ SendCan = tuple[int, int, bytes, int]
 
 
 class CarControllerBase(ABC):
+  def __init__(self, dbc_name: str, CP, VM):
+    pass
+
   @abstractmethod
-  def update(self, CC, CS, now_nanos) -> tuple[car.CarControl.Actuators, list[SendCan]]:
+  def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
     pass
 
 

selfdrive/car/mazda/carstate.py

@@ -18,9 +18,16 @@ class CarState(CarStateBase):
     self.lkas_allowed_speed = False
     self.lkas_disabled = False
 
+    self.prev_distance_button = 0
+    self.distance_button = 0
+
   def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
+
+    self.prev_distance_button = self.distance_button
+    self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"]
+
     ret.wheelSpeeds = self.get_wheel_speeds(
       cp.vl["WHEEL_SPEEDS"]["FL"],
       cp.vl["WHEEL_SPEEDS"]["FR"],

selfdrive/car/mazda/fingerprints.py

@@ -4,12 +4,13 @@ from openpilot.selfdrive.car.mazda.values import CAR
 Ecu = car.CarParams.Ecu
 
 FW_VERSIONS = {
-  CAR.CX5_2022: {
+  CAR.MAZDA_CX5_2022: {
     (Ecu.eps, 0x730, None): [
       b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PW67-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -31,6 +32,7 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'PG69-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PW66-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -39,7 +41,7 @@ FW_VERSIONS = {
       b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.CX5: {
+  CAR.MAZDA_CX5: {
     (Ecu.eps, 0x730, None): [
       b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -108,7 +110,7 @@ FW_VERSIONS = {
       b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.CX9: {
+  CAR.MAZDA_CX9: {
     (Ecu.eps, 0x730, None): [
       b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -158,7 +160,7 @@ FW_VERSIONS = {
       b'PYFM-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.MAZDA3: {
+  CAR.MAZDA_3: {
     (Ecu.eps, 0x730, None): [
       b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -193,7 +195,7 @@ FW_VERSIONS = {
       b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.MAZDA6: {
+  CAR.MAZDA_6: {
     (Ecu.eps, 0x730, None): [
       b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -225,7 +227,7 @@ FW_VERSIONS = {
       b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
-  CAR.CX9_2021: {
+  CAR.MAZDA_CX9_2021: {
     (Ecu.eps, 0x730, None): [
       b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],

selfdrive/car/mazda/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -16,14 +16,14 @@ class CarInterface(CarInterfaceBase):
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
     ret.radarUnavailable = True
 
-    ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021)
+    ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)
 
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.8
 
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate not in (CAR.CX5_2022, ):
+    if candidate not in (CAR.MAZDA_CX5_2022, ):
       ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
 
     ret.centerToFront = ret.wheelbase * 0.41
@@ -34,6 +34,9 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
+     # TODO: add button types for inc and dec
+    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     # events
     events = self.create_common_events(ret)
 
@@ -45,6 +48,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = events.to_msg()
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/mazda/values.py

@@ -4,7 +4,7 @@ from enum import IntFlag
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
+from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -27,7 +27,7 @@ class CarControllerParams:
 
 
 @dataclass
-class MazdaCarInfo(CarInfo):
+class MazdaCarDocs(CarDocs):
   package: str = "All"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda]))
 
@@ -50,35 +50,29 @@ class MazdaPlatformConfig(PlatformConfig):
 
 
 class CAR(Platforms):
-  CX5 = MazdaPlatformConfig(
-    "MAZDA CX-5",
-    MazdaCarInfo("Mazda CX-5 2017-21"),
+  MAZDA_CX5 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda CX-5 2017-21")],
     MazdaCarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5)
   )
-  CX9 = MazdaPlatformConfig(
-    "MAZDA CX-9",
-    MazdaCarInfo("Mazda CX-9 2016-20"),
+  MAZDA_CX9 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda CX-9 2016-20")],
     MazdaCarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6)
   )
-  MAZDA3 = MazdaPlatformConfig(
-    "MAZDA 3",
-    MazdaCarInfo("Mazda 3 2017-18"),
+  MAZDA_3 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda 3 2017-18")],
     MazdaCarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0)
   )
-  MAZDA6 = MazdaPlatformConfig(
-    "MAZDA 6",
-    MazdaCarInfo("Mazda 6 2017-20"),
+  MAZDA_6 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda 6 2017-20")],
     MazdaCarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5)
   )
-  CX9_2021 = MazdaPlatformConfig(
-    "MAZDA CX-9 2021",
-    MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
-    CX9.specs
+  MAZDA_CX9_2021 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4")],
+    MAZDA_CX9.specs
   )
-  CX5_2022 = MazdaPlatformConfig(
-    "MAZDA CX-5 2022",
-    MazdaCarInfo("Mazda CX-5 2022-24"),
-    CX5.specs,
+  MAZDA_CX5_2022 = MazdaPlatformConfig(
+    [MazdaCarDocs("Mazda CX-5 2022-24")],
+    MAZDA_CX5.specs,
   )
 
 

selfdrive/car/mock/carcontroller.py

@@ -0,0 +1,5 @@
+from openpilot.selfdrive.car.interfaces import CarControllerBase
+
+class CarController(CarControllerBase):
+  def update(self, CC, CS, now_nanos):
+    return CC.actuators.copy(), []

selfdrive/car/mock/carstate.py

@@ -0,0 +1,4 @@
+from openpilot.selfdrive.car.interfaces import CarStateBase
+
+class CarState(CarStateBase):
+  pass

selfdrive/car/mock/interface.py

@@ -29,7 +29,3 @@ class CarInterface(CarInterfaceBase):
     ret.vEgoRaw = self.sm[gps_sock].speed
 
     return ret
-
-  def apply(self, c, now_nanos):
-    actuators = car.CarControl.Actuators.new_message()
-    return actuators, []

selfdrive/car/mock/values.py

@@ -3,8 +3,7 @@ from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms
 
 class CAR(Platforms):
   MOCK = PlatformConfig(
-    'mock',
-    None,
+    [],
     CarSpecs(mass=1700, wheelbase=2.7, steerRatio=13),
     {}
   )

selfdrive/car/nissan/carcontroller.py

@@ -51,21 +51,21 @@ class CarController(CarControllerBase):
 
     self.apply_angle_last = apply_angle
 
-    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd:
+    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA) and pcm_cancel_cmd:
       can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg))
 
     # TODO: Find better way to cancel!
     # For some reason spamming the cancel button is unreliable on the Leaf
     # We now cancel by making propilot think the seatbelt is unlatched,
     # this generates a beep and a warning message every time you disengage
-    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and self.frame % 2 == 0:
+    if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC) and self.frame % 2 == 0:
       can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd))
 
     can_sends.append(nissancan.create_steering_control(
       self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque))
 
     # Below are the HUD messages. We copy the stock message and modify
-    if self.CP.carFingerprint != CAR.ALTIMA:
+    if self.CP.carFingerprint != CAR.NISSAN_ALTIMA:
       if self.frame % 2 == 0:
         can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                        hud_control.leftLaneDepart, hud_control.rightLaneDepart))

selfdrive/car/nissan/carstate.py

@@ -20,19 +20,25 @@ class CarState(CarStateBase):
     self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
     self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
 
+    self.prev_distance_button = 0
+    self.distance_button = 0
+
   def update(self, cp, cp_adas, cp_cam):
     ret = car.CarState.new_message()
 
-    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
+    self.prev_distance_button = self.distance_button
+    self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]
+
+    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
       ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
-    elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
+    elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
       ret.gas = cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"]
 
     ret.gasPressed = bool(ret.gas > 3)
 
-    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
+    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
       ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])
-    elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
+    elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
       ret.brakePressed = bool(cp.vl["CRUISE_THROTTLE"]["USER_BRAKE_PRESSED"])
 
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -46,38 +52,38 @@ class CarState(CarStateBase):
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.standstill = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] == 0.0 and cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"] == 0.0
 
-    if self.CP.carFingerprint == CAR.ALTIMA:
+    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
       ret.cruiseState.enabled = bool(cp.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
     else:
       ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
 
-    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL):
+    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL):
       ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
       ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"])
-    elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
-      if self.CP.carFingerprint == CAR.LEAF:
+    elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
+      if self.CP.carFingerprint == CAR.NISSAN_LEAF:
         ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0
-      elif self.CP.carFingerprint == CAR.LEAF_IC:
+      elif self.CP.carFingerprint == CAR.NISSAN_LEAF_IC:
         ret.seatbeltUnlatched = cp.vl["CANCEL_MSG"]["CANCEL_SEATBELT"] == 1
       ret.cruiseState.available = bool(cp.vl["CRUISE_THROTTLE"]["CRUISE_AVAILABLE"])
-    elif self.CP.carFingerprint == CAR.ALTIMA:
+    elif self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
       ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
       ret.cruiseState.available = bool(cp_adas.vl["PRO_PILOT"]["CRUISE_ON"])
 
-    if self.CP.carFingerprint == CAR.ALTIMA:
+    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
       speed = cp.vl["PROPILOT_HUD"]["SET_SPEED"]
     else:
       speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]
 
     if speed != 255:
-      if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
+      if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
         conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
       else:
         conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS
       ret.cruiseState.speed = speed * conversion
       ret.cruiseState.speedCluster = (speed - 1) * conversion  # Speed on HUD is always 1 lower than actually sent on can bus
 
-    if self.CP.carFingerprint == CAR.ALTIMA:
+    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
       ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
     else:
       ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
@@ -101,17 +107,17 @@ class CarState(CarStateBase):
     can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
 
-    if self.CP.carFingerprint == CAR.ALTIMA:
+    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
       self.lkas_enabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
     else:
       self.lkas_enabled = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
 
     self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])
 
-    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
+    if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
       self.cancel_msg = copy.copy(cp.vl["CANCEL_MSG"])
 
-    if self.CP.carFingerprint != CAR.ALTIMA:
+    if self.CP.carFingerprint != CAR.NISSAN_ALTIMA:
       self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
       self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
 
@@ -130,14 +136,14 @@ class CarState(CarStateBase):
       ("LIGHTS", 10),
     ]
 
-    if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
+    if CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
       messages += [
         ("GAS_PEDAL", 100),
         ("CRUISE_THROTTLE", 50),
         ("HUD", 25),
       ]
 
-    elif CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
+    elif CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
       messages += [
         ("BRAKE_PEDAL", 100),
         ("CRUISE_THROTTLE", 50),
@@ -146,7 +152,7 @@ class CarState(CarStateBase):
         ("SEATBELT", 10),
       ]
 
-    if CP.carFingerprint == CAR.ALTIMA:
+    if CP.carFingerprint == CAR.NISSAN_ALTIMA:
       messages += [
         ("CRUISE_STATE", 10),
         ("LKAS_SETTINGS", 10),
@@ -162,7 +168,7 @@ class CarState(CarStateBase):
   def get_adas_can_parser(CP):
     # this function generates lists for signal, messages and initial values
 
-    if CP.carFingerprint == CAR.ALTIMA:
+    if CP.carFingerprint == CAR.NISSAN_ALTIMA:
       messages = [
         ("LKAS", 100),
         ("PRO_PILOT", 100),
@@ -182,9 +188,9 @@ class CarState(CarStateBase):
   def get_cam_can_parser(CP):
     messages = []
 
-    if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL):
+    if CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL):
       messages.append(("PRO_PILOT", 100))
-    elif CP.carFingerprint == CAR.ALTIMA:
+    elif CP.carFingerprint == CAR.NISSAN_ALTIMA:
       messages.append(("STEER_TORQUE_SENSOR", 100))
       return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 

selfdrive/car/nissan/fingerprints.py

@@ -5,31 +5,31 @@ from openpilot.selfdrive.car.nissan.values import CAR
 Ecu = car.CarParams.Ecu
 
 FINGERPRINTS = {
-  CAR.XTRAIL: [{
+  CAR.NISSAN_XTRAIL: [{
     2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8
   },
   {
     2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3, 1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8
   }],
-  CAR.LEAF: [{
+  CAR.NISSAN_LEAF: [{
     2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8, 643: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8
   },
   {
     2: 5, 42: 8, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1008: 7, 1009: 8, 1010: 8, 1011: 7, 1012: 8, 1013: 8, 1019: 8, 1020: 8, 1021: 8, 1022: 8, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8
   }],
-  CAR.LEAF_IC: [{
+  CAR.NISSAN_LEAF_IC: [{
     2: 5, 42: 6, 264: 3, 282: 8, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 756: 5, 758: 3, 761: 2, 783: 3, 830: 2, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 1001: 6, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6, 1792: 8, 1821: 8, 1822: 8, 1837: 8, 1838: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8
   }],
-  CAR.ROGUE: [{
+  CAR.NISSAN_ROGUE: [{
     2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   }],
-  CAR.ALTIMA: [{
+  CAR.NISSAN_ALTIMA: [{
     2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 438: 8, 451: 8, 517: 8, 520: 2, 522: 8, 523: 6, 539: 8, 541: 7, 542: 8, 543: 8, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 570: 8, 576: 8, 577: 8, 582: 8, 583: 8, 584: 8, 586: 8, 587: 8, 588: 8, 589: 8, 590: 8, 591: 8, 592: 8, 600: 8, 601: 8, 610: 8, 611: 8, 612: 8, 614: 8, 615: 8, 616: 8, 617: 8, 622: 8, 623: 8, 634: 7, 638: 8, 645: 8, 648: 5, 654: 6, 658: 8, 659: 8, 660: 8, 661: 8, 665: 8, 666: 8, 674: 2, 675: 8, 676: 8, 682: 8, 683: 8, 684: 8, 685: 8, 686: 8, 687: 8, 689: 8, 690: 8, 703: 8, 708: 7, 709: 7, 711: 7, 712: 7, 713: 7, 714: 8, 715: 8, 716: 8, 717: 7, 718: 7, 719: 7, 720: 7, 723: 8, 726: 7, 727: 7, 728: 7, 735: 8, 746: 8, 748: 6, 749: 6, 750: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 779: 7, 781: 7, 782: 7, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1144: 7, 1145: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1258: 8, 1259: 8, 1266: 8, 1273: 7, 1306: 1, 1314: 8, 1323: 8, 1324: 8, 1342: 1, 1376: 8, 1401: 8, 1454: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   }],
 }
 
 FW_VERSIONS = {
-  CAR.ALTIMA: {
+  CAR.NISSAN_ALTIMA: {
     (Ecu.fwdCamera, 0x707, None): [
       b'284N86CA1D',
     ],
@@ -43,7 +43,7 @@ FW_VERSIONS = {
       b'284U29HE0A',
     ],
   },
-  CAR.LEAF: {
+  CAR.NISSAN_LEAF: {
     (Ecu.abs, 0x740, None): [
       b'476605SA1C',
       b'476605SA7D',
@@ -72,7 +72,7 @@ FW_VERSIONS = {
       b'284U26WK0C',
     ],
   },
-  CAR.LEAF_IC: {
+  CAR.NISSAN_LEAF_IC: {
     (Ecu.fwdCamera, 0x707, None): [
       b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
       b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
@@ -94,7 +94,7 @@ FW_VERSIONS = {
       b'284U25SK2D',
     ],
   },
-  CAR.XTRAIL: {
+  CAR.NISSAN_XTRAIL: {
     (Ecu.fwdCamera, 0x707, None): [
       b'284N86FR2A',
     ],

selfdrive/car/nissan/interface.py

@@ -1,9 +1,11 @@
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.nissan.values import CAR
 
+ButtonType = car.CarState.ButtonEvent.Type
+
 
 class CarInterface(CarInterfaceBase):
 
@@ -20,7 +22,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.radarUnavailable = True
 
-    if candidate == CAR.ALTIMA:
+    if candidate == CAR.NISSAN_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
 
@@ -30,6 +32,8 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
 
+    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
 
     if self.CS.lkas_enabled:
@@ -38,6 +42,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = events.to_msg()
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/nissan/nissancan.py

@@ -39,7 +39,7 @@ def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
     "unsure2",
     "unsure3",
   ]}
-  can_bus = 1 if car_fingerprint == CAR.ALTIMA else 2
+  can_bus = 1 if car_fingerprint == CAR.NISSAN_ALTIMA else 2
 
   values["CANCEL_BUTTON"] = 1
   values["NO_BUTTON_PRESSED"] = 0

selfdrive/car/nissan/values.py

@@ -3,7 +3,7 @@ from dataclasses import dataclass, field
 from cereal import car
 from panda.python import uds
 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.docs_definitions import CarDocs, CarHarness, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -20,7 +20,7 @@ class CarControllerParams:
 
 
 @dataclass
-class NissanCarInfo(CarInfo):
+class NissanCarDocs(CarDocs):
   package: str = "ProPILOT Assist"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a]))
 
@@ -37,28 +37,24 @@ class NissanPlaformConfig(PlatformConfig):
 
 
 class CAR(Platforms):
-  XTRAIL = NissanPlaformConfig(
-    "NISSAN X-TRAIL 2017",
-    NissanCarInfo("Nissan X-Trail 2017"),
+  NISSAN_XTRAIL = NissanPlaformConfig(
+    [NissanCarDocs("Nissan X-Trail 2017")],
     NissanCarSpecs(mass=1610, wheelbase=2.705)
   )
-  LEAF = NissanPlaformConfig(
-    "NISSAN LEAF 2018",
-    NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
+  NISSAN_LEAF = NissanPlaformConfig(
+    [NissanCarDocs("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY")],
     NissanCarSpecs(mass=1610, wheelbase=2.705),
     dbc_dict('nissan_leaf_2018_generated', None),
   )
   # Leaf with ADAS ECU found behind instrument cluster instead of glovebox
   # Currently the only known difference between them is the inverted seatbelt signal.
-  LEAF_IC = LEAF.override(platform_str="NISSAN LEAF 2018 Instrument Cluster", car_info=None)
-  ROGUE = NissanPlaformConfig(
-    "NISSAN ROGUE 2019",
-    NissanCarInfo("Nissan Rogue 2018-20"),
+  NISSAN_LEAF_IC = NISSAN_LEAF.override(car_docs=[])
+  NISSAN_ROGUE = NissanPlaformConfig(
+    [NissanCarDocs("Nissan Rogue 2018-20")],
     NissanCarSpecs(mass=1610, wheelbase=2.705)
   )
-  ALTIMA = NissanPlaformConfig(
-    "NISSAN ALTIMA 2020",
-    NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
+  NISSAN_ALTIMA = NissanPlaformConfig(
+    [NissanCarDocs("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b]))],
     NissanCarSpecs(mass=1492, wheelbase=2.824)
   )
 

selfdrive/car/subaru/fingerprints.py

@@ -4,7 +4,7 @@ from openpilot.selfdrive.car.subaru.values import CAR
 Ecu = car.CarParams.Ecu
 
 FW_VERSIONS = {
-  CAR.ASCENT: {
+  CAR.SUBARU_ASCENT: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa5 \x19\x02\x00',
       b'\xa5 !\x02\x00',
@@ -33,7 +33,7 @@ FW_VERSIONS = {
       b'\x01\xfe\xfa\x00\x00',
     ],
   },
-  CAR.ASCENT_2023: {
+  CAR.SUBARU_ASCENT_2023: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa5 #\x03\x00',
     ],
@@ -50,7 +50,7 @@ FW_VERSIONS = {
       b'\x04\xfe\xf3\x00\x00',
     ],
   },
-  CAR.LEGACY: {
+  CAR.SUBARU_LEGACY: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa1  \x02\x01',
       b'\xa1  \x02\x02',
@@ -78,7 +78,7 @@ FW_VERSIONS = {
       b'\xa7\xfe\xc4@\x00',
     ],
   },
-  CAR.IMPREZA: {
+  CAR.SUBARU_IMPREZA: {
     (Ecu.abs, 0x7b0, None): [
       b'z\x84\x19\x90\x00',
       b'z\x94\x08\x90\x00',
@@ -149,6 +149,7 @@ FW_VERSIONS = {
       b'\xe3\xf5C\x00\x00',
       b'\xe3\xf5F\x00\x00',
       b'\xe3\xf5G\x00\x00',
+      b'\xe4\xe5\x021\x00',
       b'\xe4\xe5\x061\x00',
       b'\xe4\xf5\x02\x00\x00',
       b'\xe4\xf5\x07\x00\x00',
@@ -157,7 +158,7 @@ FW_VERSIONS = {
       b'\xe5\xf5B\x00\x00',
     ],
   },
-  CAR.IMPREZA_2020: {
+  CAR.SUBARU_IMPREZA_2020: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa2 \x193\x00',
       b'\xa2 \x194\x00',
@@ -196,6 +197,7 @@ FW_VERSIONS = {
       b'\xe6"fp\x07',
       b'\xf3"f@\x07',
       b'\xf3"fp\x07',
+      b'\xf3"fr\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe6\xf5\x04\x00\x00',
@@ -210,7 +212,7 @@ FW_VERSIONS = {
       b'\xe9\xf6F0\x00',
     ],
   },
-  CAR.CROSSTREK_HYBRID: {
+  CAR.SUBARU_CROSSTREK_HYBRID: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa2 \x19e\x01',
       b'\xa2 !e\x01',
@@ -228,7 +230,7 @@ FW_VERSIONS = {
       b'\xf4!`0\x07',
     ],
   },
-  CAR.FORESTER: {
+  CAR.SUBARU_FORESTER: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa3 \x18\x14\x00',
       b'\xa3 \x18&\x00',
@@ -268,7 +270,7 @@ FW_VERSIONS = {
       b'\x1a\xf6b`\x00',
     ],
   },
-  CAR.FORESTER_HYBRID: {
+  CAR.SUBARU_FORESTER_HYBRID: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa3 \x19T\x00',
     ],
@@ -285,7 +287,7 @@ FW_VERSIONS = {
       b'\x1b\xa7@a\x00',
     ],
   },
-  CAR.FORESTER_PREGLOBAL: {
+  CAR.SUBARU_FORESTER_PREGLOBAL: {
     (Ecu.abs, 0x7b0, None): [
       b'm\x97\x14@',
       b'}\x97\x14@',
@@ -316,7 +318,7 @@ FW_VERSIONS = {
       b'\xdc\xf2`\x81\x00',
     ],
   },
-  CAR.LEGACY_PREGLOBAL: {
+  CAR.SUBARU_LEGACY_PREGLOBAL: {
     (Ecu.abs, 0x7b0, None): [
       b'[\x97D\x00',
       b'[\xba\xc4\x03',
@@ -349,7 +351,7 @@ FW_VERSIONS = {
       b'\xbf\xfb\xc0\x80\x00',
     ],
   },
-  CAR.OUTBACK_PREGLOBAL: {
+  CAR.SUBARU_OUTBACK_PREGLOBAL: {
     (Ecu.abs, 0x7b0, None): [
       b'[\xba\xac\x03',
       b'[\xf7\xac\x00',
@@ -402,7 +404,7 @@ FW_VERSIONS = {
       b'\xbf\xfb\xe0b\x00',
     ],
   },
-  CAR.OUTBACK_PREGLOBAL_2018: {
+  CAR.SUBARU_OUTBACK_PREGLOBAL_2018: {
     (Ecu.abs, 0x7b0, None): [
       b'\x8b\x97\xac\x00',
       b'\x8b\x97\xbc\x00',
@@ -445,7 +447,7 @@ FW_VERSIONS = {
       b'\xbc\xfb\xe0\x80\x00',
     ],
   },
-  CAR.OUTBACK: {
+  CAR.SUBARU_OUTBACK: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa1  \x06\x00',
       b'\xa1  \x06\x01',
@@ -494,7 +496,7 @@ FW_VERSIONS = {
       b'\xa7\xfe\xf4@\x00',
     ],
   },
-  CAR.FORESTER_2022: {
+  CAR.SUBARU_FORESTER_2022: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa3 !v\x00',
       b'\xa3 !x\x00',
@@ -527,7 +529,7 @@ FW_VERSIONS = {
       b'\x1e\xf6D0\x00',
     ],
   },
-  CAR.OUTBACK_2023: {
+  CAR.SUBARU_OUTBACK_2023: {
     (Ecu.abs, 0x7b0, None): [
       b'\xa1 #\x14\x00',
       b'\xa1 #\x17\x00',

selfdrive/car/subaru/interface.py

@@ -40,45 +40,45 @@ class CarInterface(CarInterfaceBase):
     else:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate in (CAR.ASCENT, CAR.ASCENT_2023):
+    if candidate in (CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023):
       ret.steerActuatorDelay = 0.3  # end-to-end angle controller
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00003
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
 
-    elif candidate == CAR.IMPREZA:
+    elif candidate == CAR.SUBARU_IMPREZA:
       ret.steerActuatorDelay = 0.4  # end-to-end angle controller
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
 
-    elif candidate == CAR.IMPREZA_2020:
+    elif candidate == CAR.SUBARU_IMPREZA_2020:
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
 
-    elif candidate == CAR.CROSSTREK_HYBRID:
+    elif candidate == CAR.SUBARU_CROSSTREK_HYBRID:
       ret.steerActuatorDelay = 0.1
 
-    elif candidate in (CAR.FORESTER, CAR.FORESTER_2022, CAR.FORESTER_HYBRID):
+    elif candidate in (CAR.SUBARU_FORESTER, CAR.SUBARU_FORESTER_2022, CAR.SUBARU_FORESTER_HYBRID):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.000038
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
 
-    elif candidate in (CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023):
+    elif candidate in (CAR.SUBARU_OUTBACK, CAR.SUBARU_LEGACY, CAR.SUBARU_OUTBACK_2023):
       ret.steerActuatorDelay = 0.1
 
-    elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
+    elif candidate in (CAR.SUBARU_FORESTER_PREGLOBAL, CAR.SUBARU_OUTBACK_PREGLOBAL_2018):
       ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE  # Outback 2018-2019 and Forester have reversed driver torque signal
 
-    elif candidate == CAR.LEGACY_PREGLOBAL:
+    elif candidate == CAR.SUBARU_LEGACY_PREGLOBAL:
       ret.steerActuatorDelay = 0.15
 
-    elif candidate == CAR.OUTBACK_PREGLOBAL:
+    elif candidate == CAR.SUBARU_OUTBACK_PREGLOBAL:
       pass
     else:
       raise ValueError(f"unknown car: {candidate}")
@@ -114,6 +114,3 @@ class CarInterface(CarInterfaceBase):
   def init(CP, logcan, sendcan):
     if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
       disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/subaru/values.py

@@ -4,7 +4,7 @@ from enum import Enum, IntFlag
 from cereal import car
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Tool, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
 Ecu = car.CarParams.Ecu
@@ -23,7 +23,7 @@ class CarControllerParams:
       self.STEER_MAX = 1000
       self.STEER_DELTA_UP = 40
       self.STEER_DELTA_DOWN = 40
-    elif CP.carFingerprint == CAR.IMPREZA_2020:
+    elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
       self.STEER_MAX = 1439
     else:
       self.STEER_MAX = 2047
@@ -88,7 +88,7 @@ class Footnote(Enum):
 
 
 @dataclass
-class SubaruCarInfo(CarInfo):
+class SubaruCarDocs(CarDocs):
   package: str = "EyeSight Driver Assistance"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.subaru_a]))
   footnotes: list[Enum] = field(default_factory=lambda: [Footnote.GLOBAL])
@@ -120,105 +120,90 @@ class SubaruGen2PlatformConfig(SubaruPlatformConfig):
 
 class CAR(Platforms):
   # Global platform
-  ASCENT = SubaruPlatformConfig(
-    "SUBARU ASCENT LIMITED 2019",
-    SubaruCarInfo("Subaru Ascent 2019-21", "All"),
+  SUBARU_ASCENT = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Ascent 2019-21", "All")],
     CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
   )
-  OUTBACK = SubaruGen2PlatformConfig(
-    "SUBARU OUTBACK 6TH GEN",
-    SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
+  SUBARU_OUTBACK = SubaruGen2PlatformConfig(
+    [SubaruCarDocs("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))],
     CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
   )
-  LEGACY = SubaruGen2PlatformConfig(
-    "SUBARU LEGACY 7TH GEN",
-    SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
-    OUTBACK.specs,
+  SUBARU_LEGACY = SubaruGen2PlatformConfig(
+    [SubaruCarDocs("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))],
+    SUBARU_OUTBACK.specs,
   )
-  IMPREZA = SubaruPlatformConfig(
-    "SUBARU IMPREZA LIMITED 2019",
+  SUBARU_IMPREZA = SubaruPlatformConfig(
     [
-      SubaruCarInfo("Subaru Impreza 2017-19"),
-      SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
-      SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
+      SubaruCarDocs("Subaru Impreza 2017-19"),
+      SubaruCarDocs("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
+      SubaruCarDocs("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
     ],
     CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15),
   )
-  IMPREZA_2020 = SubaruPlatformConfig(
-    "SUBARU IMPREZA SPORT 2020",
+  SUBARU_IMPREZA_2020 = SubaruPlatformConfig(
     [
-      SubaruCarInfo("Subaru Impreza 2020-22"),
-      SubaruCarInfo("Subaru Crosstrek 2020-23"),
-      SubaruCarInfo("Subaru XV 2020-21"),
+      SubaruCarDocs("Subaru Impreza 2020-22"),
+      SubaruCarDocs("Subaru Crosstrek 2020-23"),
+      SubaruCarDocs("Subaru XV 2020-21"),
     ],
     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])),
+  SUBARU_CROSSTREK_HYBRID = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b]))],
     CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
     flags=SubaruFlags.HYBRID,
   )
-  FORESTER = SubaruPlatformConfig(
-    "SUBARU FORESTER 2019",
-    SubaruCarInfo("Subaru Forester 2019-21", "All"),
+  SUBARU_FORESTER = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Forester 2019-21", "All")],
     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"),
-    FORESTER.specs,
+  SUBARU_FORESTER_HYBRID = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Forester Hybrid 2020")],
+    SUBARU_FORESTER.specs,
     flags=SubaruFlags.HYBRID,
   )
   # Pre-global
-  FORESTER_PREGLOBAL = SubaruPlatformConfig(
-    "SUBARU FORESTER 2017 - 2018",
-    SubaruCarInfo("Subaru Forester 2017-18"),
+  SUBARU_FORESTER_PREGLOBAL = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Forester 2017-18")],
     CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20),
     dbc_dict('subaru_forester_2017_generated', None),
     flags=SubaruFlags.PREGLOBAL,
   )
-  LEGACY_PREGLOBAL = SubaruPlatformConfig(
-    "SUBARU LEGACY 2015 - 2018",
-    SubaruCarInfo("Subaru Legacy 2015-18"),
+  SUBARU_LEGACY_PREGLOBAL = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Legacy 2015-18")],
     CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5),
     dbc_dict('subaru_outback_2015_generated', None),
     flags=SubaruFlags.PREGLOBAL,
   )
-  OUTBACK_PREGLOBAL = SubaruPlatformConfig(
-    "SUBARU OUTBACK 2015 - 2017",
-    SubaruCarInfo("Subaru Outback 2015-17"),
-    FORESTER_PREGLOBAL.specs,
+  SUBARU_OUTBACK_PREGLOBAL = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Outback 2015-17")],
+    SUBARU_FORESTER_PREGLOBAL.specs,
     dbc_dict('subaru_outback_2015_generated', None),
     flags=SubaruFlags.PREGLOBAL,
   )
-  OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
-    "SUBARU OUTBACK 2018 - 2019",
-    SubaruCarInfo("Subaru Outback 2018-19"),
-    FORESTER_PREGLOBAL.specs,
+  SUBARU_OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Outback 2018-19")],
+    SUBARU_FORESTER_PREGLOBAL.specs,
     dbc_dict('subaru_outback_2019_generated', None),
     flags=SubaruFlags.PREGLOBAL,
   )
   # Angle LKAS
-  FORESTER_2022 = SubaruPlatformConfig(
-    "SUBARU FORESTER 2022",
-    SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
-    FORESTER.specs,
+  SUBARU_FORESTER_2022 = SubaruPlatformConfig(
+    [SubaruCarDocs("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c]))],
+    SUBARU_FORESTER.specs,
     flags=SubaruFlags.LKAS_ANGLE,
   )
-  OUTBACK_2023 = SubaruGen2PlatformConfig(
-    "SUBARU OUTBACK 7TH GEN",
-    SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
-    OUTBACK.specs,
+  SUBARU_OUTBACK_2023 = SubaruGen2PlatformConfig(
+    [SubaruCarDocs("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))],
+    SUBARU_OUTBACK.specs,
     flags=SubaruFlags.LKAS_ANGLE,
   )
-  ASCENT_2023 = SubaruGen2PlatformConfig(
-    "SUBARU ASCENT 2023",
-    SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
-    ASCENT.specs,
+  SUBARU_ASCENT_2023 = SubaruGen2PlatformConfig(
+    [SubaruCarDocs("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))],
+    SUBARU_ASCENT.specs,
     flags=SubaruFlags.LKAS_ANGLE,
   )
 
@@ -228,6 +213,13 @@ SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
 SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 
+# The EyeSight ECU takes 10s to respond to SUBARU_VERSION_REQUEST properly,
+# log this alternate manufacturer-specific query
+SUBARU_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xf100)
+SUBARU_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(0xf100)
+
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     Request(
@@ -245,6 +237,13 @@ FW_QUERY_CONFIG = FwQueryConfig(
       whitelist_ecus=[Ecu.fwdCamera],
       bus=0,
     ),
+    Request(
+      [SUBARU_ALT_VERSION_REQUEST],
+      [SUBARU_ALT_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdCamera],
+      bus=0,
+      logging=True,
+    ),
     Request(
       [StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],

selfdrive/car/tesla/carstate.py

@@ -37,7 +37,7 @@ class CarState(CarStateBase):
     ret.brakePressed = bool(cp.vl["BrakeMessage"]["driverBrakeStatus"] != 1)
 
     # Steering wheel
-    epas_status = cp_cam.vl["EPAS3P_sysStatus"] if self.CP.carFingerprint == CAR.MODELS_RAVEN else cp.vl["EPAS_sysStatus"]
+    epas_status = cp_cam.vl["EPAS3P_sysStatus"] if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN else cp.vl["EPAS_sysStatus"]
 
     self.hands_on_level = epas_status["EPAS_handsOnLevel"]
     self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(epas_status["EPAS_eacErrorCode"]), None)
@@ -87,7 +87,7 @@ class CarState(CarStateBase):
     ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1)
 
     # Seatbelt
-    if self.CP.carFingerprint == CAR.MODELS_RAVEN:
+    if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
       ret.seatbeltUnlatched = (cp.vl["DriverSeat"]["buckleStatus"] != 1)
     else:
       ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
@@ -119,7 +119,7 @@ class CarState(CarStateBase):
       ("BrakeMessage", 50),
     ]
 
-    if CP.carFingerprint == CAR.MODELS_RAVEN:
+    if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
       messages.append(("DriverSeat", 20))
     else:
       messages.append(("SDM1", 10))
@@ -133,7 +133,7 @@ class CarState(CarStateBase):
       ("DAS_control", 40),
     ]
 
-    if CP.carFingerprint == CAR.MODELS_RAVEN:
+    if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
       messages.append(("EPAS3P_sysStatus", 100))
 
     return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis)

selfdrive/car/tesla/fingerprints.py

@@ -5,13 +5,13 @@ from openpilot.selfdrive.car.tesla.values import CAR
 Ecu = car.CarParams.Ecu
 
 FINGERPRINTS = {
-  CAR.AP1_MODELS: [{
+  CAR.TESLA_AP1_MODELS: [{
     1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4
   }],
 }
 
 FW_VERSIONS = {
-  CAR.AP2_MODELS: {
+  CAR.TESLA_AP2_MODELS: {
     (Ecu.adas, 0x649, None): [
       b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11',
     ],
@@ -25,7 +25,7 @@ FW_VERSIONS = {
       b'\x10#\x01',
     ],
   },
-  CAR.MODELS_RAVEN: {
+  CAR.TESLA_MODELS_RAVEN: {
     (Ecu.electricBrakeBooster, 0x64d, None): [
       b'1037123-00-A',
     ],

selfdrive/car/tesla/interface.py

@@ -28,7 +28,7 @@ class CarInterface(CarInterfaceBase):
 
     # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
     # If so, we assume that it is connected to the longitudinal harness.
-    flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.MODELS_RAVEN else 0)
+    flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.TESLA_MODELS_RAVEN else 0)
     if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
       ret.openpilotLongitudinalControl = True
       flags |= Panda.FLAG_TESLA_LONG_CONTROL
@@ -50,6 +50,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = self.create_common_events(ret).to_msg()
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/tesla/radar_interface.py

@@ -10,7 +10,7 @@ class RadarInterface(RadarInterfaceBase):
     super().__init__(CP)
     self.CP = CP
 
-    if CP.carFingerprint == CAR.MODELS_RAVEN:
+    if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
       messages = [('RadarStatus', 16)]
       self.num_points = 40
       self.trigger_msg = 1119
@@ -46,7 +46,7 @@ class RadarInterface(RadarInterfaceBase):
     if not self.rcp.can_valid:
       errors.append('canError')
 
-    if self.CP.carFingerprint == CAR.MODELS_RAVEN:
+    if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
       radar_status = self.rcp.vl['RadarStatus']
       if radar_status['sensorBlocked'] or radar_status['shortTermUnavailable'] or radar_status['vehDynamicsError']:
         errors.append('fault')

selfdrive/car/tesla/values.py

@@ -2,7 +2,7 @@ from collections import namedtuple
 
 from cereal import car
 from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarInfo
+from openpilot.selfdrive.car.docs_definitions import CarDocs
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -10,22 +10,19 @@ Ecu = car.CarParams.Ecu
 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 class CAR(Platforms):
-  AP1_MODELS = PlatformConfig(
-    'TESLA AP1 MODEL S',
-    CarInfo("Tesla AP1 Model S", "All"),
+  TESLA_AP1_MODELS = PlatformConfig(
+    [CarDocs("Tesla AP1 Model S", "All")],
     CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0),
     dbc_dict('tesla_powertrain', 'tesla_radar_bosch_generated', chassis_dbc='tesla_can')
   )
-  AP2_MODELS = PlatformConfig(
-    'TESLA AP2 MODEL S',
-    CarInfo("Tesla AP2 Model S", "All"),
-    AP1_MODELS.specs,
-    AP1_MODELS.dbc_dict
+  TESLA_AP2_MODELS = PlatformConfig(
+    [CarDocs("Tesla AP2 Model S", "All")],
+    TESLA_AP1_MODELS.specs,
+    TESLA_AP1_MODELS.dbc_dict
   )
-  MODELS_RAVEN = PlatformConfig(
-    'TESLA MODEL S RAVEN',
-    CarInfo("Tesla Model S Raven", "All"),
-    AP1_MODELS.specs,
+  TESLA_MODELS_RAVEN = PlatformConfig(
+    [CarDocs("Tesla Model S Raven", "All")],
+    TESLA_AP1_MODELS.specs,
     dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can')
   )
 

selfdrive/car/tests/routes.py

@@ -17,14 +17,14 @@ from openpilot.selfdrive.car.body.values import CAR as COMMA
 
 # TODO: add routes for these cars
 non_tested_cars = [
-  FORD.F_150_MK14,
+  FORD.FORD_F_150_MK14,
   GM.CADILLAC_ATS,
   GM.HOLDEN_ASTRA,
-  GM.MALIBU,
+  GM.CHEVROLET_MALIBU,
   HYUNDAI.GENESIS_G90,
-  HONDA.ODYSSEY_CHN,
-  VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
-  SUBARU.FORESTER_HYBRID,
+  HONDA.HONDA_ODYSSEY_CHN,
+  VOLKSWAGEN.VOLKSWAGEN_CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
+  SUBARU.SUBARU_FORESTER_HYBRID,
 ]
 
 
@@ -35,81 +35,81 @@ class CarTestRoute(NamedTuple):
 
 
 routes = [
-  CarTestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.BODY),
+  CarTestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.COMMA_BODY),
 
   CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_GRAND_CHEROKEE),
   CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_GRAND_CHEROKEE_2019),
-  CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.PACIFICA_2017_HYBRID),
-  CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.PACIFICA_2018),
-  CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.PACIFICA_2018_HYBRID),
-  CarTestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.PACIFICA_2019_HYBRID),
-  CarTestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020),
-  CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
-  CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),
+  CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID),
+  CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.CHRYSLER_PACIFICA_2018),
+  CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID),
+  CarTestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID),
+  CarTestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.CHRYSLER_PACIFICA_2020),
+  CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500_5TH_GEN),
+  CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD_5TH_GEN, segment=6),
   CarTestRoute("3379c85aeedc8285|2023-12-07--17-49-39", CHRYSLER.DODGE_DURANGO),
 
-  CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1),
-  CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.ESCAPE_MK4),
-  CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6),
-  CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FOCUS_MK4),
-  CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.MAVERICK_MK1),
-  CarTestRoute("112e4d6e0cad05e1|2023-11-14--08-21-43", FORD.F_150_LIGHTNING_MK1),
-  CarTestRoute("83a4e056c7072678|2023-11-13--16-51-33", FORD.MUSTANG_MACH_E_MK1),
+  CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.FORD_BRONCO_SPORT_MK1),
+  CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.FORD_ESCAPE_MK4),
+  CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.FORD_EXPLORER_MK6),
+  CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FORD_FOCUS_MK4),
+  CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.FORD_MAVERICK_MK1),
+  CarTestRoute("112e4d6e0cad05e1|2023-11-14--08-21-43", FORD.FORD_F_150_LIGHTNING_MK1),
+  CarTestRoute("83a4e056c7072678|2023-11-13--16-51-33", FORD.FORD_MUSTANG_MACH_E_MK1),
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
-  CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),
+  CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.GMC_ACADIA),
   CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
   CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE),
-  CarTestRoute("e746f59bc96fd789|2024-01-31--22-25-58", GM.EQUINOX),
-  CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.ESCALADE),
-  CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
-  CarTestRoute("168f8b3be57f66ae|2023-09-12--21-44-42", GM.ESCALADE_ESV_2019),
-  CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
-  CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1),
-  CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.BOLT_EUV, segment=14),  # Bolt EV
-  CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.SILVERADO),
-  CarTestRoute("5085c761395d1fe6|2023-04-07--18-20-06", GM.TRAILBLAZER),
+  CarTestRoute("e746f59bc96fd789|2024-01-31--22-25-58", GM.CHEVROLET_EQUINOX),
+  CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.CADILLAC_ESCALADE),
+  CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.CADILLAC_ESCALADE_ESV),
+  CarTestRoute("168f8b3be57f66ae|2023-09-12--21-44-42", GM.CADILLAC_ESCALADE_ESV_2019),
+  CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.CHEVROLET_VOLT),
+  CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.CHEVROLET_BOLT_EUV, segment=1),
+  CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.CHEVROLET_BOLT_EUV, segment=14),  # Bolt EV
+  CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.CHEVROLET_SILVERADO),
+  CarTestRoute("5085c761395d1fe6|2023-04-07--18-20-06", GM.CHEVROLET_TRAILBLAZER),
 
   CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
-  CarTestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC),
-  CarTestRoute("a859a044a447c2b0|2020-03-03--18-42-45", HONDA.CRV_EU),
-  CarTestRoute("68aac44ad69f838e|2021-05-18--20-40-52", HONDA.CRV),
-  CarTestRoute("14fed2e5fa0aa1a5|2021-05-25--14-59-42", HONDA.CRV_HYBRID),
-  CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT),
-  CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED),
-  CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV),
-  CarTestRoute("320098ff6c5e4730|2023-04-13--17-47-46", HONDA.HRV_3G),
+  CarTestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.HONDA_CIVIC),
+  CarTestRoute("a859a044a447c2b0|2020-03-03--18-42-45", HONDA.HONDA_CRV_EU),
+  CarTestRoute("68aac44ad69f838e|2021-05-18--20-40-52", HONDA.HONDA_CRV),
+  CarTestRoute("14fed2e5fa0aa1a5|2021-05-25--14-59-42", HONDA.HONDA_CRV_HYBRID),
+  CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.HONDA_FIT),
+  CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.HONDA_FREED),
+  CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HONDA_HRV),
+  CarTestRoute("320098ff6c5e4730|2023-04-13--17-47-46", HONDA.HONDA_HRV_3G),
   CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
-  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.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),
-  CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.INSIGHT),
-  CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.PILOT),
-  CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.PILOT),  # Passport
-  CarTestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.CIVIC_BOSCH),
+  CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.HONDA_ACCORD),  # 1.5T
+  CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.HONDA_ACCORD),  # 2.0T
+  CarTestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.HONDA_ACCORD),  # 2021 with new style HUD msgs
+  CarTestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.HONDA_ACCORD),  # hybrid
+  CarTestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.HONDA_ACCORD),  # hybrid, 2021 with new style HUD msgs
+  CarTestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.HONDA_CRV_5G),
+  CarTestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.HONDA_ODYSSEY),
+  CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.HONDA_CIVIC_BOSCH_DIESEL),
+  CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.HONDA_INSIGHT),
+  CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.HONDA_PILOT),
+  CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.HONDA_PILOT),  # Passport
+  CarTestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.HONDA_CIVIC_BOSCH),
   CarTestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX),
-  CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE),
+  CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.HONDA_RIDGELINE),
   CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
-  CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),
+  CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.HONDA_CIVIC_2022),
 
-  CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.AZERA_6TH_GEN),
-  CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.AZERA_HEV_6TH_GEN),
+  CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN),
+  CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN),
   CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
   CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12),
   CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
   CarTestRoute("ca4de5b12321bd98|2022-10-18--21-15-59", HYUNDAI.GENESIS_GV70_1ST_GEN),
   CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
-  CarTestRoute("0bbe367c98fa1538|2023-09-16--00-16-49", HYUNDAI.CUSTIN_1ST_GEN),
-  CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.SANTA_CRUZ_1ST_GEN),
-  CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE),
-  CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
-  CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022),
-  CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1),
+  CarTestRoute("0bbe367c98fa1538|2023-09-16--00-16-49", HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN),
+  CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN),
+  CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.HYUNDAI_SANTA_FE),
+  CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.HYUNDAI_SANTA_FE_2022),
+  CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022),
+  CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022, segment=1),
   CarTestRoute("de59124955b921d8|2023-06-24--00-12-50", HYUNDAI.KIA_CARNIVAL_4TH_GEN),
   CarTestRoute("409c9409979a8abc|2023-07-11--09-06-44", HYUNDAI.KIA_CARNIVAL_4TH_GEN),  # Chinese model
   CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
@@ -118,36 +118,36 @@ routes = [
   CarTestRoute("f9716670b2481438|2023-08-23--14-49-50", HYUNDAI.KIA_OPTIMA_H),
   CarTestRoute("6a42c1197b2a8179|2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
   CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
-  CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
-  CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
-  CarTestRoute("c344fd2492c7a9d2|2023-12-11--09-03-23", HYUNDAI.STARIA_4TH_GEN),
-  CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
-  CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.TUCSON_4TH_GEN),  # 2023
-  CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_4TH_GEN),  # hybrid
+  CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.HYUNDAI_SONATA),
+  CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.HYUNDAI_SONATA_LF),
+  CarTestRoute("c344fd2492c7a9d2|2023-12-11--09-03-23", HYUNDAI.HYUNDAI_STARIA_4TH_GEN),
+  CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.HYUNDAI_TUCSON),
+  CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # 2023
+  CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # hybrid
   CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
   CarTestRoute("1d0d000db3370fd0|2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
   CarTestRoute("fc19648042eb6896|2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),
   CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN),  # plug-in hybrid
-  CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
-  CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5),  # HDA2
-  CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.IONIQ_6, segment=6),  # HDA2
-  CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
-  CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
-  CarTestRoute("e1107f9d04dfb1e2|2023-09-05--22-32-12", HYUNDAI.IONIQ_PHEV),  # openpilot longitudinal enabled
-  CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
-  CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD),
-  CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ),
-  CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.IONIQ),  # openpilot longitudinal enabled
-  CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022),
-  CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
-  CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
-  CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.KONA_EV),  # openpilot longitudinal enabled
-  CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11),
-  CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.KONA_EV_2ND_GEN, segment=13),
-  CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
+  CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.HYUNDAI_PALISADE),
+  CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.HYUNDAI_IONIQ_5),  # HDA2
+  CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.HYUNDAI_IONIQ_6, segment=6),  # HDA2
+  CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.HYUNDAI_IONIQ_PHEV_2019),
+  CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.HYUNDAI_IONIQ_PHEV),
+  CarTestRoute("e1107f9d04dfb1e2|2023-09-05--22-32-12", HYUNDAI.HYUNDAI_IONIQ_PHEV),  # openpilot longitudinal enabled
+  CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.HYUNDAI_IONIQ_EV_2020),
+  CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.HYUNDAI_IONIQ_EV_LTD),
+  CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.HYUNDAI_IONIQ),
+  CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.HYUNDAI_IONIQ),  # openpilot longitudinal enabled
+  CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022),
+  CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA),
+  CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV),
+  CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.HYUNDAI_KONA_EV),  # openpilot longitudinal enabled
+  CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11),
+  CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN, segment=13),
+  CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.HYUNDAI_KONA_HEV),
   CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
   CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022),
-  CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
+  CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.HYUNDAI_VELOSTER),
   CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6),  # HDA2
   CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6),  # HDA1
   CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
@@ -164,37 +164,37 @@ routes = [
   CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN),
   CarTestRoute("09559f1fcaed4704|2023-11-16--02-24-57", HYUNDAI.KIA_SPORTAGE_5TH_GEN),  # openpilot longitudinal
   CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_5TH_GEN),  # hybrid
-  CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
-  CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA_GT_I30),
-  CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
-  CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
-  CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID),
+  CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.HYUNDAI_ELANTRA),
+  CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.HYUNDAI_ELANTRA_GT_I30),
+  CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.HYUNDAI_ELANTRA_2021),
+  CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021),
+  CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
   CarTestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
   CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
 
-  CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2),
-  CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARD_TSS2),  # hybrid
-  CarTestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON),
-  CarTestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019),
-  CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALON_2019),  # hybrid
-  CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2),
-  CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALON_TSS2),  # hybrid
-  CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY),
-  CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.CAMRY),  # openpilot longitudinal, with radar CAN filter
-  CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRY),  # hybrid
-  CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2),
-  CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRY_TSS2),  # hybrid
-  CarTestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.COROLLA),
-  CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2),
-  CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLA_TSS2),  # hybrid
-  CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS),
-  CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.RAV4),
-  CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H),
-  CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
-  CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
-  CarTestRoute("ad5a3fa719bc2f83|2023-10-17--19-48-42", TOYOTA.RAV4_TSS2_2023),
-  CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4_TSS2),  # hybrid
-  CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4_TSS2_2022),  # hybrid
+  CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.TOYOTA_ALPHARD_TSS2),
+  CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.TOYOTA_ALPHARD_TSS2),  # hybrid
+  CarTestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.TOYOTA_AVALON),
+  CarTestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.TOYOTA_AVALON_2019),
+  CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.TOYOTA_AVALON_2019),  # hybrid
+  CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.TOYOTA_AVALON_TSS2),
+  CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.TOYOTA_AVALON_TSS2),  # hybrid
+  CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.TOYOTA_CAMRY),
+  CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.TOYOTA_CAMRY),  # openpilot longitudinal, with radar CAN filter
+  CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.TOYOTA_CAMRY),  # hybrid
+  CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.TOYOTA_CAMRY_TSS2),
+  CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.TOYOTA_CAMRY_TSS2),  # hybrid
+  CarTestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.TOYOTA_COROLLA),
+  CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.TOYOTA_COROLLA_TSS2),
+  CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.TOYOTA_COROLLA_TSS2),  # hybrid
+  CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.TOYOTA_PRIUS),
+  CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.TOYOTA_RAV4),
+  CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.TOYOTA_RAV4H),
+  CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.TOYOTA_RAV4_TSS2),
+  CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.TOYOTA_RAV4_TSS2_2022),
+  CarTestRoute("ad5a3fa719bc2f83|2023-10-17--19-48-42", TOYOTA.TOYOTA_RAV4_TSS2_2023),
+  CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.TOYOTA_RAV4_TSS2),  # hybrid
+  CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.TOYOTA_RAV4_TSS2_2022),  # hybrid
   CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
   CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES),  # hybrid
   CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
@@ -211,39 +211,39 @@ routes = [
   CarTestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
   CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NX_TSS2),  # hybrid
   CarTestRoute("4765fbbf59e3cd88|2024-02-06--17-45-32", TOYOTA.LEXUS_LC_TSS2),
-  CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
-  CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2),  # hybrid
-  CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
-  CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDER),  # hybrid
-  CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA),
+  CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.TOYOTA_HIGHLANDER_TSS2),
+  CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.TOYOTA_HIGHLANDER_TSS2),  # hybrid
+  CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.TOYOTA_HIGHLANDER),
+  CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.TOYOTA_HIGHLANDER),  # hybrid
+  CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.TOYOTA_SIENNA),
   CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS),
   CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2),
-  CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.PRIUS_TSS2),
-  CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI),
-  CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR),
-  CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHR),  # hybrid
-  CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2),
-  CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2),  # openpilot longitudinal, with smartDSU
-  CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHR_TSS2),  # hybrid
-  CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHR_TSS2),  # hybrid, openpilot longitudinal, radar disabled
-  CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
+  CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.TOYOTA_PRIUS_TSS2),
+  CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.TOYOTA_MIRAI),
+  CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.TOYOTA_CHR),
+  CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.TOYOTA_CHR),  # hybrid
+  CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.TOYOTA_CHR_TSS2),
+  CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.TOYOTA_CHR_TSS2),  # openpilot longitudinal, with smartDSU
+  CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.TOYOTA_CHR_TSS2),  # hybrid
+  CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.TOYOTA_CHR_TSS2),  # hybrid, openpilot longitudinal, radar disabled
+  CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.TOYOTA_PRIUS_V),
 
-  CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
-  CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1),
-  CarTestRoute("ffcd23abbbd02219|2024-02-28--14-59-38", VOLKSWAGEN.CADDY_MK3),
-  CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7),  # Stock ACC
-  CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.GOLF_MK7),  # openpilot longitudinal
-  CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7),
-  CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8),
-  CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.PASSAT_NMS),
-  CarTestRoute("0cd0b7f7e31a3853|2021-11-03--19-30-22", VOLKSWAGEN.POLO_MK6),
-  CarTestRoute("064d1816e448f8eb|2022-09-29--15-32-34", VOLKSWAGEN.SHARAN_MK2),
-  CarTestRoute("7d82b2f3a9115f1f|2021-10-21--15-39-42", VOLKSWAGEN.TAOS_MK1),
-  CarTestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.TCROSS_MK1),
-  CarTestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.TIGUAN_MK2),
-  CarTestRoute("a589dcc642fdb10a|2021-06-14--20-54-26", VOLKSWAGEN.TOURAN_MK2),
-  CarTestRoute("a459f4556782eba1|2021-09-19--09-48-00", VOLKSWAGEN.TRANSPORTER_T61),
-  CarTestRoute("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.TROC_MK1),
+  CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.VOLKSWAGEN_ARTEON_MK1),
+  CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.VOLKSWAGEN_ATLAS_MK1),
+  CarTestRoute("ffcd23abbbd02219|2024-02-28--14-59-38", VOLKSWAGEN.VOLKSWAGEN_CADDY_MK3),
+  CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7),  # Stock ACC
+  CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7),  # openpilot longitudinal
+  CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.VOLKSWAGEN_JETTA_MK7),
+  CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK8),
+  CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS),
+  CarTestRoute("0cd0b7f7e31a3853|2021-11-03--19-30-22", VOLKSWAGEN.VOLKSWAGEN_POLO_MK6),
+  CarTestRoute("064d1816e448f8eb|2022-09-29--15-32-34", VOLKSWAGEN.VOLKSWAGEN_SHARAN_MK2),
+  CarTestRoute("7d82b2f3a9115f1f|2021-10-21--15-39-42", VOLKSWAGEN.VOLKSWAGEN_TAOS_MK1),
+  CarTestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.VOLKSWAGEN_TCROSS_MK1),
+  CarTestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.VOLKSWAGEN_TIGUAN_MK2),
+  CarTestRoute("a589dcc642fdb10a|2021-06-14--20-54-26", VOLKSWAGEN.VOLKSWAGEN_TOURAN_MK2),
+  CarTestRoute("a459f4556782eba1|2021-09-19--09-48-00", VOLKSWAGEN.VOLKSWAGEN_TRANSPORTER_T61),
+  CarTestRoute("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.VOLKSWAGEN_TROC_MK1),
   CarTestRoute("07667b885add75fd|2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3),
   CarTestRoute("6c6b466346192818|2021-06-06--14-17-47", VOLKSWAGEN.AUDI_Q2_MK1),
   CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
@@ -257,44 +257,42 @@ routes = [
   CarTestRoute("026b6d18fba6417f|2021-03-26--09-17-04", VOLKSWAGEN.SKODA_SCALA_MK1),
   CarTestRoute("b2e9858e29db492b|2021-03-26--16-58-42", VOLKSWAGEN.SKODA_SUPERB_MK3),
 
-  CarTestRoute("3c8f0c502e119c1c|2020-06-30--12-58-02", SUBARU.ASCENT),
-  CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER),
-  CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
-  CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
-  CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.IMPREZA),  # openpilot longitudinal
+  CarTestRoute("3c8f0c502e119c1c|2020-06-30--12-58-02", SUBARU.SUBARU_ASCENT),
+  CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.SUBARU_FORESTER),
+  CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.SUBARU_IMPREZA),
+  CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.SUBARU_IMPREZA_2020),
+  CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.SUBARU_IMPREZA),  # openpilot longitudinal
   # CarTestRoute("c3d1ccb52f5f9d65|2023-07-22--01-23-20", SUBARU.OUTBACK, segment=9), # gen2 longitudinal, eyesight disabled
-  CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10),
-  CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3),
-  CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.CROSSTREK_HYBRID, segment=2),
-  CarTestRoute("7fd1e4f3a33c1673|2022-12-04--15-09-53", SUBARU.FORESTER_2022, segment=4),
-  CarTestRoute("f3b34c0d2632aa83|2023-07-23--20-43-25", SUBARU.OUTBACK_2023, segment=7),
-  CarTestRoute("99437cef6d5ff2ee|2023-03-13--21-21-38", SUBARU.ASCENT_2023, segment=7),
+  CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.SUBARU_OUTBACK, segment=10),
+  CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.SUBARU_LEGACY, segment=3),
+  CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.SUBARU_CROSSTREK_HYBRID, segment=2),
+  CarTestRoute("7fd1e4f3a33c1673|2022-12-04--15-09-53", SUBARU.SUBARU_FORESTER_2022, segment=4),
+  CarTestRoute("f3b34c0d2632aa83|2023-07-23--20-43-25", SUBARU.SUBARU_OUTBACK_2023, segment=7),
+  CarTestRoute("99437cef6d5ff2ee|2023-03-13--21-21-38", SUBARU.SUBARU_ASCENT_2023, segment=7),
   # Pre-global, dashcam
-  CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),
-  CarTestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL),
-  CarTestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.OUTBACK_PREGLOBAL),
-  CarTestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.OUTBACK_PREGLOBAL_2018),
+  CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.SUBARU_FORESTER_PREGLOBAL),
+  CarTestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.SUBARU_LEGACY_PREGLOBAL),
+  CarTestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.SUBARU_OUTBACK_PREGLOBAL),
+  CarTestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.SUBARU_OUTBACK_PREGLOBAL_2018),
 
-  CarTestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.XTRAIL),
-  CarTestRoute("5b7c365c50084530|2020-03-25--22-10-13", NISSAN.LEAF),
-  CarTestRoute("22c3dcce2dd627eb|2020-12-30--16-38-48", NISSAN.LEAF_IC),
-  CarTestRoute("059ab9162e23198e|2020-05-30--09-41-01", NISSAN.ROGUE),
-  CarTestRoute("b72d3ec617c0a90f|2020-12-11--15-38-17", NISSAN.ALTIMA),
+  CarTestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.NISSAN_XTRAIL),
+  CarTestRoute("5b7c365c50084530|2020-03-25--22-10-13", NISSAN.NISSAN_LEAF),
+  CarTestRoute("22c3dcce2dd627eb|2020-12-30--16-38-48", NISSAN.NISSAN_LEAF_IC),
+  CarTestRoute("059ab9162e23198e|2020-05-30--09-41-01", NISSAN.NISSAN_ROGUE),
+  CarTestRoute("b72d3ec617c0a90f|2020-12-11--15-38-17", NISSAN.NISSAN_ALTIMA),
 
-  CarTestRoute("32a319f057902bb3|2020-04-27--15-18-58", MAZDA.CX5),
-  CarTestRoute("10b5a4b380434151|2020-08-26--17-11-45", MAZDA.CX9),
-  CarTestRoute("74f1038827005090|2020-08-26--20-05-50", MAZDA.MAZDA3),
-  CarTestRoute("fb53c640f499b73d|2021-06-01--04-17-56", MAZDA.MAZDA6),
-  CarTestRoute("f6d5b1a9d7a1c92e|2021-07-08--06-56-59", MAZDA.CX9_2021),
-  CarTestRoute("a4af1602d8e668ac|2022-02-03--12-17-07", MAZDA.CX5_2022),
+  CarTestRoute("32a319f057902bb3|2020-04-27--15-18-58", MAZDA.MAZDA_CX5),
+  CarTestRoute("10b5a4b380434151|2020-08-26--17-11-45", MAZDA.MAZDA_CX9),
+  CarTestRoute("74f1038827005090|2020-08-26--20-05-50", MAZDA.MAZDA_3),
+  CarTestRoute("fb53c640f499b73d|2021-06-01--04-17-56", MAZDA.MAZDA_6),
+  CarTestRoute("f6d5b1a9d7a1c92e|2021-07-08--06-56-59", MAZDA.MAZDA_CX9_2021),
+  CarTestRoute("a4af1602d8e668ac|2022-02-03--12-17-07", MAZDA.MAZDA_CX5_2022),
 
-  CarTestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.AP1_MODELS),
-  CarTestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.AP2_MODELS),
-  CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.MODELS_RAVEN),
+  CarTestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.TESLA_AP1_MODELS),
+  CarTestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.TESLA_AP2_MODELS),
+  CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.TESLA_MODELS_RAVEN),
 
   # Segments that test specific issues
-  # Controls mismatch due to interceptor threshold
-  CarTestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21),
   # Controls mismatch due to standstill threshold
-  CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.CRV_HYBRID, segment=22),
+  CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.HONDA_CRV_HYBRID, segment=22),
 ]

selfdrive/car/tests/test_can_fingerprint.py

@@ -28,7 +28,7 @@ class TestCanFingerprint(unittest.TestCase):
 
   def test_timing(self):
     # just pick any CAN fingerprinting car
-    car_model = 'CHEVROLET BOLT EUV 2022'
+    car_model = "CHEVROLET_BOLT_EUV"
     fingerprint = FINGERPRINTS[car_model][0]
 
     cases = []

selfdrive/car/tests/test_car_interfaces.py

@@ -74,10 +74,6 @@ class TestCarInterfaces(unittest.TestCase):
     self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP))
     self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP))
 
-    # If we're using the interceptor for gasPressed, we should be commanding gas with it
-    if car_params.enableGasInterceptor:
-      self.assertTrue(car_params.openpilotLongitudinalControl)
-
     # Lateral sanity checks
     if car_params.steerControlType != car.CarParams.SteerControlType.angle:
       tune = car_params.lateralTuning

selfdrive/car/tests/test_docs.py

@@ -6,18 +6,18 @@ import unittest
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car.car_helpers import interfaces
-from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
+from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_docs
 from openpilot.selfdrive.car.docs_definitions import Cable, Column, PartType, Star
 from openpilot.selfdrive.car.honda.values import CAR as HONDA
 from openpilot.selfdrive.car.values import PLATFORMS
-from openpilot.selfdrive.debug.dump_car_info import dump_car_info
-from openpilot.selfdrive.debug.print_docs_diff import print_car_info_diff
+from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
+from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
 
 
 class TestCarDocs(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
-    cls.all_cars = get_all_car_info()
+    cls.all_cars = get_all_car_docs()
 
   def test_generator(self):
     generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
@@ -29,24 +29,24 @@ class TestCarDocs(unittest.TestCase):
 
   def test_docs_diff(self):
     dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
-    dump_car_info(dump_path)
-    print_car_info_diff(dump_path)
+    dump_car_docs(dump_path)
+    print_car_docs_diff(dump_path)
     os.remove(dump_path)
 
   def test_duplicate_years(self):
     make_model_years = defaultdict(list)
     for car in self.all_cars:
-      with self.subTest(car_info_name=car.name):
+      with self.subTest(car_docs_name=car.name):
         make_model = (car.make, car.model)
         for year in car.year_list:
           self.assertNotIn(year, make_model_years[make_model], f"{car.name}: Duplicate model year")
           make_model_years[make_model].append(year)
 
-  def test_missing_car_info(self):
-    all_car_info_platforms = [name for name, config in PLATFORMS.items()]
+  def test_missing_car_docs(self):
+    all_car_docs_platforms = [name for name, config in PLATFORMS.items()]
     for platform in sorted(interfaces.keys()):
       with self.subTest(platform=platform):
-        self.assertTrue(platform in all_car_info_platforms, f"Platform: {platform} doesn't have a CarInfo entry")
+        self.assertTrue(platform in all_car_docs_platforms, f"Platform: {platform} doesn't have a CarDocs entry")
 
   def test_naming_conventions(self):
     # Asserts market-standard car naming conventions by brand
@@ -69,7 +69,7 @@ class TestCarDocs(unittest.TestCase):
     for car in self.all_cars:
       with self.subTest(car=car):
         # honda sanity check, it's the definition of a no torque star
-        if car.car_fingerprint in (HONDA.ACCORD, HONDA.CIVIC, HONDA.CRV, HONDA.ODYSSEY, HONDA.PILOT):
+        if car.car_fingerprint in (HONDA.HONDA_ACCORD, HONDA.HONDA_CIVIC, HONDA.HONDA_CRV, HONDA.HONDA_ODYSSEY, HONDA.HONDA_PILOT):
           self.assertEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has full torque star")
         elif car.car_name in ("toyota", "hyundai"):
           self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star")

selfdrive/car/tests/test_fw_fingerprint.py

@@ -263,7 +263,7 @@ 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: 8.5, 2: 9.4}
+    total_ref_time = {1: 8.6, 2: 9.5}
     brand_ref_times = {
       1: {
         'gm': 1.0,
@@ -274,7 +274,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'hyundai': 1.05,
         'mazda': 0.1,
         'nissan': 0.8,
-        'subaru': 0.55,
+        'subaru': 0.65,
         'tesla': 0.3,
         'toyota': 1.6,
         'volkswagen': 0.65,