Merge remote-tracking branch 'origin/master' into build-casync-releases-in-ci

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/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/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/CARS.md

@@ -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>||

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/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/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
@@ -165,20 +165,6 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra
   return above_limit_frames, request
 
 
-def crc8_pedal(data):
-  crc = 0xFF    # standard init value
-  poly = 0xD5   # standard crc8: x8+x7+x6+x4+x2+1
-  size = len(data)
-  for i in range(size - 1, -1, -1):
-    crc ^= data[i]
-    for _ in range(8):
-      if ((crc & 0x80) != 0):
-        crc = ((crc << 1) ^ poly) & 0xFF
-      else:
-        crc <<= 1
-  return crc
-
-
 def make_can_msg(addr, dat, bus):
   return [addr, 0, dat, bus]
 
@@ -240,7 +226,6 @@ class CarSpecs:
 
 @dataclass(order=True)
 class PlatformConfig(Freezable):
-  platform_str: str
   car_docs: list[CarDocs]
   specs: CarSpecs
 
@@ -248,6 +233,8 @@ class PlatformConfig(Freezable):
 
   flags: int = 0
 
+  platform_str: str | None = None
+
   def __hash__(self) -> int:
     return hash(self.platform_str)
 
@@ -259,10 +246,18 @@ 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

@@ -20,8 +20,7 @@ class CarControllerParams:
 
 
 class CAR(Platforms):
-  BODY = PlatformConfig(
-    "COMMA BODY",
+  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

@@ -4,7 +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.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
@@ -48,17 +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
@@ -204,7 +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/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',
@@ -90,7 +90,7 @@ FW_VERSIONS = {
       b'68380571AB',
     ],
   },
-  CAR.PACIFICA_2020: {
+  CAR.CHRYSLER_PACIFICA_2020: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68405327AC',
       b'68436233AB',
@@ -142,6 +142,7 @@ FW_VERSIONS = {
       b'68443120AE ',
       b'68443123AC ',
       b'68443125AC ',
+      b'68496650AI ',
       b'68526752AD ',
       b'68526752AE ',
       b'68526754AE ',
@@ -161,7 +162,7 @@ FW_VERSIONS = {
       b'68586231AD',
     ],
   },
-  CAR.PACIFICA_2018_HYBRID: {
+  CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68358439AE',
       b'68358439AG',
@@ -188,7 +189,7 @@ FW_VERSIONS = {
       b'05190226AM',
     ],
   },
-  CAR.PACIFICA_2019_HYBRID: {
+  CAR.CHRYSLER_PACIFICA_2019_HYBRID: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68405292AC',
       b'68434956AC',
@@ -363,7 +364,7 @@ FW_VERSIONS = {
       b'68503664AC',
     ],
   },
-  CAR.RAM_1500: {
+  CAR.RAM_1500_5TH_GEN: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68294051AG',
       b'68294051AI',
@@ -409,6 +410,7 @@ FW_VERSIONS = {
       b'68527403AD',
       b'68546047AF',
       b'68631938AA',
+      b'68631940AA',
       b'68631942AA',
     ],
     (Ecu.srs, 0x744, None): [
@@ -530,6 +532,7 @@ FW_VERSIONS = {
       b'68586101AA ',
       b'68586105AB ',
       b'68629922AC ',
+      b'68629925AC ',
       b'68629926AC ',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -565,7 +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

@@ -29,13 +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]]
@@ -51,14 +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)
 
@@ -94,6 +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

@@ -32,64 +32,54 @@ class ChryslerCarSpecs(CarSpecs):
 
 class CAR(Platforms):
   # Chrysler
-  PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
-    "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",
+  CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
     [ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")],
-    PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
-  PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA HYBRID 2019",
+  CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
     [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")],
-    PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
-  PACIFICA_2018 = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA 2018",
+  CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
     [ChryslerCarDocs("Chrysler Pacifica 2017-18")],
-    PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
-  PACIFICA_2020 = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA 2020",
+  CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
     [
       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",
     [ChryslerCarDocs("Dodge Durango 2020-21")],
-    PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
 
   # Jeep
   JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig(  # includes 2017 Trailhawk
-    "JEEP GRAND CHEROKEE V6 2018",
     [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",
     [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",
+  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(
     [
       ChryslerCarDocs("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
       ChryslerCarDocs("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
@@ -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_definitions.py

@@ -346,7 +346,7 @@ class CarDocs:
       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

@@ -1,7 +1,17 @@
+from typing import Any, Callable
 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.values import PLATFORMS, Platform
 from openpilot.selfdrive.car.volkswagen.values import CAR as VW
 
 FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
@@ -56,32 +66,32 @@ MIGRATION = {
   "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.ACCORD,
-  "HONDA ACCORD 1.5T 2018": HONDA.ACCORD,
-  "HONDA ACCORD 2018 LX 1.5T": HONDA.ACCORD,
-  "HONDA ACCORD 2018 SPORT 2T": HONDA.ACCORD,
-  "HONDA ACCORD 2T 2018": HONDA.ACCORD,
-  "HONDA ACCORD HYBRID 2018": HONDA.ACCORD,
-  "HONDA CIVIC 2016 TOURING": HONDA.CIVIC,
-  "HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019": HONDA.CIVIC_BOSCH,
-  "HONDA CIVIC SEDAN 1.6 DIESEL": HONDA.CIVIC_BOSCH_DIESEL,
-  "HONDA CR-V 2016 EXECUTIVE": HONDA.CRV_EU,
-  "HONDA CR-V 2016 TOURING": HONDA.CRV,
-  "HONDA CR-V 2017 EX": HONDA.CRV_5G,
-  "HONDA CR-V 2019 HYBRID": HONDA.CRV_HYBRID,
-  "HONDA FIT 2018 EX": HONDA.FIT,
-  "HONDA HRV 2019 TOURING": HONDA.HRV,
-  "HONDA INSIGHT 2019 TOURING": HONDA.INSIGHT,
-  "HONDA ODYSSEY 2018 EX-L": HONDA.ODYSSEY,
-  "HONDA ODYSSEY 2019 EXCLUSIVE CHN": HONDA.ODYSSEY_CHN,
-  "HONDA PILOT 2017 TOURING": HONDA.PILOT,
-  "HONDA PILOT 2019 ELITE": HONDA.PILOT,
-  "HONDA PILOT 2019": HONDA.PILOT,
-  "HONDA PASSPORT 2021": HONDA.PILOT,
-  "HONDA RIDGELINE 2017 BLACK EDITION": HONDA.RIDGELINE,
-  "HYUNDAI ELANTRA LIMITED ULTIMATE 2017": HYUNDAI.ELANTRA,
-  "HYUNDAI SANTA FE LIMITED 2019": HYUNDAI.SANTA_FE,
-  "HYUNDAI TUCSON DIESEL 2019": HYUNDAI.TUCSON,
+  "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,
@@ -94,27 +104,249 @@ MIGRATION = {
   "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.SIENNA,
-  "TOYOTA C-HR HYBRID 2018": TOYOTA.CHR,
-  "TOYOTA COROLLA HYBRID TSS2 2019": TOYOTA.COROLLA_TSS2,
-  "TOYOTA RAV4 HYBRID 2019": TOYOTA.RAV4_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.ALPHARD_TSS2,
-  "TOYOTA AVALON HYBRID 2019": TOYOTA.AVALON_2019,
-  "TOYOTA AVALON HYBRID 2022": TOYOTA.AVALON_TSS2,
-  "TOYOTA CAMRY HYBRID 2018": TOYOTA.CAMRY,
-  "TOYOTA CAMRY HYBRID 2021": TOYOTA.CAMRY_TSS2,
-  "TOYOTA C-HR HYBRID 2022": TOYOTA.CHR_TSS2,
-  "TOYOTA HIGHLANDER HYBRID 2020": TOYOTA.HIGHLANDER_TSS2,
-  "TOYOTA RAV4 HYBRID 2022": TOYOTA.RAV4_TSS2_2022,
-  "TOYOTA RAV4 HYBRID 2023": TOYOTA.RAV4_TSS2_2023,
-  "TOYOTA HIGHLANDER HYBRID 2018": TOYOTA.HIGHLANDER,
+  "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.TUCSON_4TH_GEN,
+  "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,
 }
+
+
+MapFunc = Callable[[Platform], Any]
+
+
+def create_platform_map(func: MapFunc):
+  ret = {str(platform): func(platform) for platform in PLATFORMS.values() if func(platform) is not None}
+
+  for m in MIGRATION:
+    ret[m] = ret[MIGRATION[m]]
+
+  return ret

selfdrive/car/ford/fingerprints.py

@@ -4,7 +4,7 @@ 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',
@@ -23,7 +23,7 @@ FW_VERSIONS = {
       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',
@@ -46,7 +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',
@@ -74,7 +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',
     ],
@@ -89,7 +89,7 @@ FW_VERSIONS = {
       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',
     ],
@@ -100,7 +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',
@@ -115,7 +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',
     ],
@@ -129,7 +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',
     ],

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

@@ -66,7 +66,7 @@ class FordCarDocs(CarDocs):
 
   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])
@@ -96,52 +96,44 @@ class FordCANFDPlatformConfig(FordPlatformConfig):
 
 
 class CAR(Platforms):
-  BRONCO_SPORT_MK1 = FordPlatformConfig(
-    "FORD BRONCO SPORT 1ST GEN",
+  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(
     [
       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(
     [
       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",
+  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",
+  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",
+  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(
     [
       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",
+  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/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:

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)
 
@@ -237,6 +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

@@ -91,78 +91,64 @@ class GMPlatformConfig(PlatformConfig):
 
 class CAR(Platforms):
   HOLDEN_ASTRA = GMPlatformConfig(
-    "HOLDEN ASTRA RS-V BK 2017",
     [GMCarDocs("Holden Astra 2017")],
     GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
   )
-  VOLT = GMPlatformConfig(
-    "CHEVROLET VOLT PREMIER 2017",
+  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",
     [GMCarDocs("Cadillac ATS Premium Performance 2018")],
     GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
   )
-  MALIBU = GMPlatformConfig(
-    "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",
+  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",
     [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",
     [GMCarDocs("Buick Regal Essence 2018")],
     GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
   )
-  ESCALADE = GMPlatformConfig(
-    "CADILLAC ESCALADE 2017",
+  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",
+  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",
+  CADILLAC_ESCALADE_ESV_2019 = GMPlatformConfig(
     [GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
-    ESCALADE_ESV.specs,
+    CADILLAC_ESCALADE_ESV.specs,
   )
-  BOLT_EUV = GMPlatformConfig(
-    "CHEVROLET BOLT EUV 2022",
+  CHEVROLET_BOLT_EUV = GMPlatformConfig(
     [
       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(
     [
       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",
+  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",
+  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/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:
@@ -58,16 +58,16 @@ 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))
@@ -85,7 +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"
@@ -125,10 +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"],
@@ -181,7 +181,7 @@ 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"])
@@ -232,7 +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
 

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',
@@ -205,7 +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',
@@ -305,7 +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',
@@ -490,7 +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',
@@ -528,7 +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',
@@ -548,7 +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',
@@ -676,7 +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',
@@ -702,7 +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',
@@ -747,7 +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',
@@ -774,7 +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',
     ],
@@ -796,7 +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',
@@ -899,7 +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',
     ],
@@ -916,7 +916,7 @@ 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',
@@ -1178,7 +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',
@@ -1221,7 +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',
     ],
@@ -1254,7 +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',
@@ -1280,7 +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',
     ],
@@ -1350,7 +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

@@ -195,7 +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

@@ -52,7 +52,7 @@ class CarInterface(CarInterfaceBase):
 
       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
@@ -60,7 +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,
@@ -89,7 +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
@@ -103,11 +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:
@@ -119,12 +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
@@ -136,22 +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:
@@ -165,22 +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]]
 
@@ -193,7 +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:
@@ -212,7 +212,7 @@ class CarInterface(CarInterfaceBase):
     # 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})
+    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
@@ -257,8 +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

@@ -115,8 +115,7 @@ class HondaNidecPlatformConfig(PlatformConfig):
 
 class CAR(Platforms):
   # Bosch Cars
-  ACCORD = HondaBoschPlatformConfig(
-    "HONDA ACCORD 2018",
+  HONDA_ACCORD = HondaBoschPlatformConfig(
     [
       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),
@@ -126,8 +125,7 @@ class CAR(Platforms):
     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(
     [
       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),
@@ -136,59 +134,51 @@ class CAR(Platforms):
     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",
+  HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
     [],  # don't show in docs
-    CIVIC_BOSCH.specs,
+    HONDA_CIVIC_BOSCH.specs,
     dbc_dict('honda_accord_2018_can_generated', None),
   )
-  CIVIC_2022 = HondaBoschPlatformConfig(
-    "HONDA CIVIC 2022",
+  HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
     [
       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",
+  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",
+  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",
+  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",
     [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",
+  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",
     [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),
@@ -196,70 +186,60 @@ class CAR(Platforms):
 
   # Nidec Cars
   ACURA_ILX = HondaNidecPlatformConfig(
-    "ACURA ILX 2016",
     [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",
+  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",
+  HONDA_CRV_EU = HondaNidecPlatformConfig(
     [],  # Euro version of CRV Touring, don't show in docs
-    CRV.specs,
+    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",
+  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",
+  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",
+  HONDA_HRV = HondaNidecPlatformConfig(
     [HondaCarDocs("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS)],
-    HRV_3G.specs,
+    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",
+  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",
+  HONDA_ODYSSEY_CHN = HondaNidecPlatformConfig(
     [],  # Chinese version of Odyssey, don't show in docs
-    ODYSSEY.specs,
+    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",
     [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(
     [
       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),
@@ -268,15 +248,13 @@ class CAR(Platforms):
     dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
     flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
   )
-  RIDGELINE = HondaNidecPlatformConfig(
-    "HONDA RIDGELINE 2017",
+  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",
+  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'),
@@ -329,16 +307,20 @@ 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.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
+    Ecu.transmission: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
+    Ecu.srs: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E],
+    Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E],
+    Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G, CAR.HONDA_E],
+    Ecu.combinationMeter: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH,
+                           CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_E, CAR.HONDA_ODYSSEY_CHN],
+    Ecu.gateway: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_FREED,
+                  CAR.HONDA_HRV, CAR.HONDA_CRV_5G, CAR.HONDA_E, CAR.HONDA_ODYSSEY_CHN],
+    Ecu.electricBrakeBooster: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
+    # existence correlates with transmission type for Accord ICE
+    Ecu.shiftByWire: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E],
+    # existence correlates with trim level
+    Ecu.hud: [CAR.HONDA_ACCORD],
   },
   extra_ecus=[
     # The only other ECU on PT bus accessible by camera on radarless Civic
@@ -349,7 +331,7 @@ 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/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         ',
@@ -532,7 +532,7 @@ 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         ',
@@ -565,7 +565,7 @@ FW_VERSIONS = {
       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         ',
@@ -591,7 +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',
     ],
@@ -685,7 +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         ',
@@ -792,7 +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         ',
@@ -918,7 +918,7 @@ FW_VERSIONS = {
       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         ',
     ],
@@ -1063,7 +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',
@@ -1091,7 +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',
@@ -1120,7 +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         ',
     ],
@@ -1320,7 +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',
@@ -1347,7 +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',
@@ -1375,7 +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         ',
@@ -1417,7 +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',
@@ -1448,7 +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',
     ],
@@ -1468,7 +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         ',
@@ -1544,7 +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         ',
     ],
@@ -1564,7 +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         ',
     ],
@@ -1574,7 +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',
@@ -1594,7 +1594,7 @@ 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',
@@ -1708,7 +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
 

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

@@ -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
 
@@ -134,13 +134,11 @@ class HyundaiCanFDPlatformConfig(PlatformConfig):
 
 class CAR(Platforms):
   # Hyundai
-  AZERA_6TH_GEN = HyundaiPlatformConfig(
-    "HYUNDAI AZERA 6TH GEN",
+  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(
     [
       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])),
@@ -148,8 +146,7 @@ class CAR(Platforms):
     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
       HyundaiCarDocs("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
@@ -159,30 +156,26 @@ class CAR(Platforms):
     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(
     [
       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",
+  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",
+  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
       HyundaiCarDocs("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
@@ -191,120 +184,101 @@ class CAR(Platforms):
     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",
+  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",
+  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",
+  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",
+  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",
+  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",
+  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",
+  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",
+  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",
+  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",
+  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",
+  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",
+  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",
+  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]))],
-    SANTA_FE.specs,
+    HYUNDAI_SANTA_FE.specs,
     flags=HyundaiFlags.CHECKSUM_CRC8,
   )
-  SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
-    "HYUNDAI SANTA FE HYBRID 2022",
+  HYUNDAI_SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
-    SANTA_FE.specs,
+    HYUNDAI_SANTA_FE.specs,
     flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
-  SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
-    "HYUNDAI SANTA FE PlUG-IN HYBRID 2022",
+  HYUNDAI_SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
-    SANTA_FE.specs,
+    HYUNDAI_SANTA_FE.specs,
     flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
-  SONATA = HyundaiPlatformConfig(
-    "HYUNDAI SONATA 2020",
+  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",
+  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",
+  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(
     [
       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])),
@@ -312,8 +286,7 @@ class CAR(Platforms):
     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(
     [
       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])),
@@ -321,20 +294,17 @@ class CAR(Platforms):
     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",
+  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",
+  HYUNDAI_SONATA_HYBRID = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
-    SONATA.specs,
+    HYUNDAI_SONATA.specs,
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
-  IONIQ_5 = HyundaiCanFDPlatformConfig(
-    "HYUNDAI IONIQ 5 2022",
+  HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
     [
       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])),
@@ -343,14 +313,12 @@ class CAR(Platforms):
     CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV,
   )
-  IONIQ_6 = HyundaiCanFDPlatformConfig(
-    "HYUNDAI IONIQ 6 2023",
+  HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
     [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
-    IONIQ_5.specs,
+    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(
     [
       HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
       HyundaiCarDocs("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
@@ -358,14 +326,12 @@ class CAR(Platforms):
     ],
     CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
   )
-  SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
-    "HYUNDAI SANTA CRUZ 1ST GEN",
+  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",
+  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,
@@ -373,7 +339,6 @@ class CAR(Platforms):
 
   # Kia
   KIA_FORTE = HyundaiPlatformConfig(
-    "KIA FORTE E 2018 & GT 2021",
     [
       HyundaiCarDocs("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
       HyundaiCarDocs("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
@@ -381,25 +346,21 @@ class CAR(Platforms):
     CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
   )
   KIA_K5_2021 = HyundaiPlatformConfig(
-    "KIA K5 2021",
     [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",
     [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",
     [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",
     [
       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])),
@@ -410,13 +371,11 @@ class CAR(Platforms):
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV,
   )
   KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    "KIA NIRO EV 2ND GEN",
     [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",
     [
       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])),
@@ -426,7 +385,6 @@ class CAR(Platforms):
     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",
     [
       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])),
@@ -435,7 +393,6 @@ class CAR(Platforms):
     flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR,
   )
   KIA_NIRO_HEV_2021 = HyundaiPlatformConfig(
-    "KIA NIRO HYBRID 2021",
     [
       HyundaiCarDocs("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
       HyundaiCarDocs("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
@@ -444,44 +401,37 @@ class CAR(Platforms):
     flags=HyundaiFlags.HYBRID,
   )
   KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    "KIA NIRO HYBRID 2ND GEN",
     [HyundaiCarDocs("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a]))],
     KIA_NIRO_EV.specs,
   )
   KIA_OPTIMA_G4 = HyundaiPlatformConfig(
-    "KIA OPTIMA 4TH GEN",
     [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",
     [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",
     [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",
     [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",
     [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",
     [
       HyundaiCarDocs("Kia Sportage 2023-24", car_parts=CarParts.common([CarHarness.hyundai_n])),
       HyundaiCarDocs("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
@@ -490,7 +440,6 @@ class CAR(Platforms):
     CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
   )
   KIA_SORENTO = HyundaiPlatformConfig(
-    "KIA SORENTO GT LINE 2018",
     [
       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])),
@@ -500,13 +449,11 @@ class CAR(Platforms):
     flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
   )
   KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig(
-    "KIA SORENTO 4TH GEN",
     [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",
     [
       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])),
@@ -515,24 +462,20 @@ class CAR(Platforms):
     flags=HyundaiFlags.RADAR_SCC,
   )
   KIA_STINGER = HyundaiPlatformConfig(
-    "KIA STINGER GT2 2018",
     [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",
     [HyundaiCarDocs("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     KIA_STINGER.specs,
   )
   KIA_CEED = HyundaiPlatformConfig(
-    "KIA CEED INTRO ED 2019",
     [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",
     [
       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])),
@@ -542,7 +485,6 @@ class CAR(Platforms):
     flags=HyundaiFlags.EV,
   )
   KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
-    "KIA CARNIVAL 4TH GEN",
     [
       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]))
@@ -553,7 +495,6 @@ class CAR(Platforms):
 
   # Genesis
   GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig(
-    "GENESIS GV60 ELECTRIC 1ST GEN",
     [
       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])),
@@ -562,19 +503,16 @@ class CAR(Platforms):
     flags=HyundaiFlags.EV,
   )
   GENESIS_G70 = HyundaiPlatformConfig(
-    "GENESIS G70 2018",
     [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",
     [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",
     [
       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])),
@@ -583,18 +521,15 @@ class CAR(Platforms):
     flags=HyundaiFlags.RADAR_SCC,
   )
   GENESIS_G80 = HyundaiPlatformConfig(
-    "GENESIS G80 2017",
     [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",
     [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",
     [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,
@@ -808,9 +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

@@ -81,21 +81,19 @@ 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.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.CC = None
-    if CarController is not None:
-      self.CC = CarController(self.cp.dbc_name, CP, self.VM)
+    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]
+
+    dbc_name = "" if self.cp is None else self.cp.dbc_name
+    self.CC: CarControllerBase = CarController(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):
@@ -250,9 +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)):
@@ -438,6 +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
@@ -459,8 +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/fingerprints.py

@@ -4,7 +4,7 @@ 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',
     ],
@@ -41,7 +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',
@@ -110,7 +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',
@@ -160,7 +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',
@@ -195,7 +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',
@@ -227,7 +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

@@ -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
@@ -48,6 +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

@@ -50,35 +50,29 @@ class MazdaPlatformConfig(PlatformConfig):
 
 
 class CAR(Platforms):
-  CX5 = MazdaPlatformConfig(
-    "MAZDA CX-5",
+  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",
+  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",
+  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",
+  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",
+  MAZDA_CX9_2021 = MazdaPlatformConfig(
     [MazdaCarDocs("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4")],
-    CX9.specs
+    MAZDA_CX9.specs
   )
-  CX5_2022 = MazdaPlatformConfig(
-    "MAZDA CX-5 2022",
+  MAZDA_CX5_2022 = MazdaPlatformConfig(
     [MazdaCarDocs("Mazda CX-5 2022-24")],
-    CX5.specs,
+    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

@@ -3,7 +3,6 @@ from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms
 
 class CAR(Platforms):
   MOCK = PlatformConfig(
-    'mock',
     [],
     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

@@ -29,16 +29,16 @@ class CarState(CarStateBase):
     self.prev_distance_button = self.distance_button
     self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]
 
-    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.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(
@@ -52,38 +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"]
@@ -107,17 +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"])
 
@@ -136,14 +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),
@@ -152,7 +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),
@@ -168,7 +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),
@@ -188,9 +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

@@ -22,7 +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
 
@@ -42,6 +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

@@ -37,27 +37,23 @@ class NissanPlaformConfig(PlatformConfig):
 
 
 class CAR(Platforms):
-  XTRAIL = NissanPlaformConfig(
-    "NISSAN X-TRAIL 2017",
+  NISSAN_XTRAIL = NissanPlaformConfig(
     [NissanCarDocs("Nissan X-Trail 2017")],
     NissanCarSpecs(mass=1610, wheelbase=2.705)
   )
-  LEAF = NissanPlaformConfig(
-    "NISSAN LEAF 2018",
+  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_docs=[])
-  ROGUE = NissanPlaformConfig(
-    "NISSAN ROGUE 2019",
+  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",
+  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

@@ -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
@@ -120,23 +120,19 @@ class SubaruGen2PlatformConfig(SubaruPlatformConfig):
 
 class CAR(Platforms):
   # Global platform
-  ASCENT = SubaruPlatformConfig(
-    "SUBARU ASCENT LIMITED 2019",
+  SUBARU_ASCENT = SubaruPlatformConfig(
     [SubaruCarDocs("Subaru Ascent 2019-21", "All")],
     CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
   )
-  OUTBACK = SubaruGen2PlatformConfig(
-    "SUBARU OUTBACK 6TH GEN",
+  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",
+  SUBARU_LEGACY = SubaruGen2PlatformConfig(
     [SubaruCarDocs("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))],
-    OUTBACK.specs,
+    SUBARU_OUTBACK.specs,
   )
-  IMPREZA = SubaruPlatformConfig(
-    "SUBARU IMPREZA LIMITED 2019",
+  SUBARU_IMPREZA = SubaruPlatformConfig(
     [
       SubaruCarDocs("Subaru Impreza 2017-19"),
       SubaruCarDocs("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
@@ -144,8 +140,7 @@ class CAR(Platforms):
     ],
     CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15),
   )
-  IMPREZA_2020 = SubaruPlatformConfig(
-    "SUBARU IMPREZA SPORT 2020",
+  SUBARU_IMPREZA_2020 = SubaruPlatformConfig(
     [
       SubaruCarDocs("Subaru Impreza 2020-22"),
       SubaruCarDocs("Subaru Crosstrek 2020-23"),
@@ -155,70 +150,60 @@ class CAR(Platforms):
     flags=SubaruFlags.STEER_RATE_LIMITED,
   )
   # TODO: is there an XV and Impreza too?
-  CROSSTREK_HYBRID = SubaruPlatformConfig(
-    "SUBARU CROSSTREK HYBRID 2020",
+  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",
+  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",
+  SUBARU_FORESTER_HYBRID = SubaruPlatformConfig(
     [SubaruCarDocs("Subaru Forester Hybrid 2020")],
-    FORESTER.specs,
+    SUBARU_FORESTER.specs,
     flags=SubaruFlags.HYBRID,
   )
   # Pre-global
-  FORESTER_PREGLOBAL = SubaruPlatformConfig(
-    "SUBARU FORESTER 2017 - 2018",
+  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",
+  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",
+  SUBARU_OUTBACK_PREGLOBAL = SubaruPlatformConfig(
     [SubaruCarDocs("Subaru Outback 2015-17")],
-    FORESTER_PREGLOBAL.specs,
+    SUBARU_FORESTER_PREGLOBAL.specs,
     dbc_dict('subaru_outback_2015_generated', None),
     flags=SubaruFlags.PREGLOBAL,
   )
-  OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
-    "SUBARU OUTBACK 2018 - 2019",
+  SUBARU_OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
     [SubaruCarDocs("Subaru Outback 2018-19")],
-    FORESTER_PREGLOBAL.specs,
+    SUBARU_FORESTER_PREGLOBAL.specs,
     dbc_dict('subaru_outback_2019_generated', None),
     flags=SubaruFlags.PREGLOBAL,
   )
   # Angle LKAS
-  FORESTER_2022 = SubaruPlatformConfig(
-    "SUBARU FORESTER 2022",
+  SUBARU_FORESTER_2022 = SubaruPlatformConfig(
     [SubaruCarDocs("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c]))],
-    FORESTER.specs,
+    SUBARU_FORESTER.specs,
     flags=SubaruFlags.LKAS_ANGLE,
   )
-  OUTBACK_2023 = SubaruGen2PlatformConfig(
-    "SUBARU OUTBACK 7TH GEN",
+  SUBARU_OUTBACK_2023 = SubaruGen2PlatformConfig(
     [SubaruCarDocs("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))],
-    OUTBACK.specs,
+    SUBARU_OUTBACK.specs,
     flags=SubaruFlags.LKAS_ANGLE,
   )
-  ASCENT_2023 = SubaruGen2PlatformConfig(
-    "SUBARU ASCENT 2023",
+  SUBARU_ASCENT_2023 = SubaruGen2PlatformConfig(
     [SubaruCarDocs("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))],
-    ASCENT.specs,
+    SUBARU_ASCENT.specs,
     flags=SubaruFlags.LKAS_ANGLE,
   )
 

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

@@ -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',
+  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',
+  TESLA_AP2_MODELS = PlatformConfig(
     [CarDocs("Tesla AP2 Model S", "All")],
-    AP1_MODELS.specs,
-    AP1_MODELS.dbc_dict
+    TESLA_AP1_MODELS.specs,
+    TESLA_AP1_MODELS.dbc_dict
   )
-  MODELS_RAVEN = PlatformConfig(
-    'TESLA MODEL S RAVEN',
+  TESLA_MODELS_RAVEN = PlatformConfig(
     [CarDocs("Tesla Model S Raven", "All")],
-    AP1_MODELS.specs,
+    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),
@@ -257,42 +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 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_docs.py

@@ -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_lateral_limits.py

@@ -24,8 +24,8 @@ JERK_MEAS_T = 0.5
 
 # TODO: put these cars within limits
 ABOVE_LIMITS_CARS = [
-  SUBARU.LEGACY,
-  SUBARU.OUTBACK,
+  SUBARU.SUBARU_LEGACY,
+  SUBARU.SUBARU_OUTBACK,
 ]
 
 car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict)

selfdrive/car/tests/test_models.py

@@ -15,7 +15,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.fingerprints import all_known_cars
+from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
@@ -95,7 +95,8 @@ class TestCarModelBase(unittest.TestCase):
         if msg.carParams.openpilotLongitudinalControl:
           experimental_long = True
         if cls.platform is None and not cls.ci:
-          cls.platform = msg.carParams.carFingerprint
+          live_fingerprint = msg.carParams.carFingerprint
+          cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint)
 
       # Log which can frame the panda safety mode left ELM327, for CAN validity checks
       elif msg.which() == 'pandaStates':
@@ -367,7 +368,7 @@ class TestCarModelBase(unittest.TestCase):
         # TODO: remove this exception once this mismatch is resolved
         brake_pressed = CS.brakePressed
         if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-          if self.CP.carFingerprint in (HONDA.PILOT, HONDA.RIDGELINE) and CS.brake > 0.05:
+          if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
             brake_pressed = False
 
         self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
@@ -430,7 +431,7 @@ class TestCarModelBase(unittest.TestCase):
       # TODO: remove this exception once this mismatch is resolved
       brake_pressed = CS.brakePressed
       if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-        if self.CP.carFingerprint in (HONDA.PILOT, HONDA.RIDGELINE) and CS.brake > 0.05:
+        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
           brake_pressed = False
       checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
       checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()

selfdrive/car/tests/test_platform_configs.py

@@ -8,14 +8,16 @@ from openpilot.selfdrive.car.values import PLATFORMS
 class TestPlatformConfigs(unittest.TestCase):
   def test_configs(self):
 
-    for platform in PLATFORMS.values():
+    for name, platform in PLATFORMS.items():
       with self.subTest(platform=str(platform)):
         self.assertTrue(platform.config._frozen)
 
-        if platform != "mock":
+        if platform != "MOCK":
           self.assertIn("pt", platform.config.dbc_dict)
         self.assertTrue(len(platform.config.platform_str) > 0)
 
+        self.assertEqual(name, platform.config.platform_str)
+
         self.assertIsNotNone(platform.config.specs)
 
 

selfdrive/car/torque_data/override.toml

@@ -1,76 +1,76 @@
 legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 ### angle control
 # Nissan appears to have torque
-"NISSAN X-TRAIL 2017" = [nan, 1.5, nan]
-"NISSAN ALTIMA 2020" = [nan, 1.5, nan]
-"NISSAN LEAF 2018 Instrument Cluster" = [nan, 1.5, nan]
-"NISSAN LEAF 2018" = [nan, 1.5, nan]
-"NISSAN ROGUE 2019" = [nan, 1.5, nan]
+"NISSAN_XTRAIL" = [nan, 1.5, nan]
+"NISSAN_ALTIMA" = [nan, 1.5, nan]
+"NISSAN_LEAF_IC" = [nan, 1.5, nan]
+"NISSAN_LEAF" = [nan, 1.5, nan]
+"NISSAN_ROGUE" = [nan, 1.5, nan]
 
 # New subarus angle based controllers
-"SUBARU FORESTER 2022" = [nan, 3.0, nan]
-"SUBARU OUTBACK 7TH GEN" = [nan, 3.0, nan]
-"SUBARU ASCENT 2023" = [nan, 3.0, nan]
+"SUBARU_FORESTER_2022" = [nan, 3.0, nan]
+"SUBARU_OUTBACK_2023" = [nan, 3.0, nan]
+"SUBARU_ASCENT_2023" = [nan, 3.0, nan]
 
 # Toyota LTA also has torque
-"TOYOTA RAV4 2023" = [nan, 3.0, nan]
+"TOYOTA_RAV4_TSS2_2023" = [nan, 3.0, nan]
 
 # Tesla has high torque
-"TESLA AP1 MODEL S" = [nan, 2.5, nan]
-"TESLA AP2 MODEL S" = [nan, 2.5, nan]
-"TESLA MODEL S RAVEN" = [nan, 2.5, nan]
+"TESLA_AP1_MODELS" = [nan, 2.5, nan]
+"TESLA_AP2_MODELS" = [nan, 2.5, nan]
+"TESLA_MODELS_RAVEN" = [nan, 2.5, nan]
 
 # Guess
-"FORD BRONCO SPORT 1ST GEN" = [nan, 1.5, nan]
-"FORD ESCAPE 4TH GEN" = [nan, 1.5, nan]
-"FORD EXPLORER 6TH GEN" = [nan, 1.5, nan]
-"FORD F-150 14TH GEN" = [nan, 1.5, nan]
-"FORD FOCUS 4TH GEN" = [nan, 1.5, nan]
-"FORD MAVERICK 1ST GEN" = [nan, 1.5, nan]
-"FORD F-150 LIGHTNING 1ST GEN" = [nan, 1.5, nan]
-"FORD MUSTANG MACH-E 1ST GEN" = [nan, 1.5, nan]
+"FORD_BRONCO_SPORT_MK1" = [nan, 1.5, nan]
+"FORD_ESCAPE_MK4" = [nan, 1.5, nan]
+"FORD_EXPLORER_MK6" = [nan, 1.5, nan]
+"FORD_F_150_MK14" = [nan, 1.5, nan]
+"FORD_FOCUS_MK4" = [nan, 1.5, nan]
+"FORD_MAVERICK_MK1" = [nan, 1.5, nan]
+"FORD_F_150_LIGHTNING_MK1" = [nan, 1.5, nan]
+"FORD_MUSTANG_MACH_E_MK1" = [nan, 1.5, nan]
 ###
 
 # No steering wheel
-"COMMA BODY" = [nan, 1000, nan]
+"COMMA_BODY" = [nan, 1000, nan]
 
 # Totally new cars
-"RAM 1500 5TH GEN" = [2.0, 2.0, 0.05]
-"RAM HD 5TH GEN" = [1.4, 1.4, 0.05]
-"SUBARU OUTBACK 6TH GEN" = [2.0, 2.0, 0.2]
-"CADILLAC ESCALADE 2017" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
-"CADILLAC ESCALADE ESV 2019" = [1.15, 1.3, 0.2]
-"CHEVROLET BOLT EUV 2022" = [2.0, 2.0, 0.05]
-"CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112]
-"CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16]
-"CHEVROLET EQUINOX 2019" = [2.5, 2.5, 0.05]
-"VOLKSWAGEN CADDY 3RD GEN" = [1.2, 1.2, 0.1]
-"VOLKSWAGEN PASSAT NMS" = [2.5, 2.5, 0.1]
-"VOLKSWAGEN SHARAN 2ND GEN" = [2.5, 2.5, 0.1]
-"HYUNDAI SANTA CRUZ 1ST GEN" = [2.7, 2.7, 0.1]
-"KIA SPORTAGE 5TH GEN" = [2.6, 2.6, 0.1]
-"GENESIS GV70 1ST GEN" = [2.42, 2.42, 0.1]
-"GENESIS GV60 ELECTRIC 1ST GEN" = [2.5, 2.5, 0.1]
-"KIA SORENTO 4TH GEN" = [2.5, 2.5, 0.1]
-"KIA SORENTO HYBRID 4TH GEN" = [2.5, 2.5, 0.1]
-"KIA NIRO HYBRID 2ND GEN" = [2.42, 2.5, 0.12]
-"KIA NIRO EV 2ND GEN" = [2.05, 2.5, 0.14]
-"GENESIS GV80 2023" = [2.5, 2.5, 0.1]
-"KIA CARNIVAL 4TH GEN" = [1.75, 1.75, 0.15]
-"GMC ACADIA DENALI 2018" = [1.6, 1.6, 0.2]
-"LEXUS IS 2023" = [2.0, 2.0, 0.1]
-"HYUNDAI KONA ELECTRIC 2ND GEN" = [2.5, 2.5, 0.1]
-"HYUNDAI IONIQ 6 2023" = [2.5, 2.5, 0.1]
-"HYUNDAI AZERA 6TH GEN" = [1.8, 1.8, 0.1]
-"HYUNDAI AZERA HYBRID 6TH GEN" = [1.8, 1.8, 0.1]
-"KIA K8 HYBRID 1ST GEN" = [2.5, 2.5, 0.1]
-"HYUNDAI CUSTIN 1ST GEN" = [2.5, 2.5, 0.1]
-"LEXUS GS F 2016" = [2.5, 2.5, 0.08]
-"HYUNDAI STARIA 4TH GEN" = [1.8, 2.0, 0.15]
+"RAM_1500_5TH_GEN" = [2.0, 2.0, 0.05]
+"RAM_HD_5TH_GEN" = [1.4, 1.4, 0.05]
+"SUBARU_OUTBACK" = [2.0, 2.0, 0.2]
+"CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
+"CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
+"CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05]
+"CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
+"CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
+"CHEVROLET_EQUINOX" = [2.5, 2.5, 0.05]
+"VOLKSWAGEN_CADDY_MK3" = [1.2, 1.2, 0.1]
+"VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
+"VOLKSWAGEN_SHARAN_MK2" = [2.5, 2.5, 0.1]
+"HYUNDAI_SANTA_CRUZ_1ST_GEN" = [2.7, 2.7, 0.1]
+"KIA_SPORTAGE_5TH_GEN" = [2.6, 2.6, 0.1]
+"GENESIS_GV70_1ST_GEN" = [2.42, 2.42, 0.1]
+"GENESIS_GV60_EV_1ST_GEN" = [2.5, 2.5, 0.1]
+"KIA_SORENTO_4TH_GEN" = [2.5, 2.5, 0.1]
+"KIA_SORENTO_HEV_4TH_GEN" = [2.5, 2.5, 0.1]
+"KIA_NIRO_HEV_2ND_GEN" = [2.42, 2.5, 0.12]
+"KIA_NIRO_EV_2ND_GEN" = [2.05, 2.5, 0.14]
+"GENESIS_GV80" = [2.5, 2.5, 0.1]
+"KIA_CARNIVAL_4TH_GEN" = [1.75, 1.75, 0.15]
+"GMC_ACADIA" = [1.6, 1.6, 0.2]
+"LEXUS_IS_TSS2" = [2.0, 2.0, 0.1]
+"HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1]
+"HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.1]
+"HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1]
+"HYUNDAI_AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1]
+"KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1]
+"HYUNDAI_CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1]
+"LEXUS_GS_F" = [2.5, 2.5, 0.08]
+"HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
 
 # Dashcam or fallback configured as ideal car
-"mock" = [10.0, 10, 0.0]
+"MOCK" = [10.0, 10, 0.0]
 
 # Manually checked
-"HONDA CIVIC 2022" = [2.5, 1.2, 0.15]
-"HONDA HR-V 2023" = [2.5, 1.2, 0.2]
+"HONDA_CIVIC_2022" = [2.5, 1.2, 0.15]
+"HONDA_HRV_3G" = [2.5, 1.2, 0.2]

selfdrive/car/torque_data/params.toml

@@ -1,85 +1,82 @@
 legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
-"ACURA ILX 2016" = [1.524988973896102, 0.519011053086259, 0.34236219253028]
-"ACURA RDX 2018" = [0.9987728568686902, 0.5323765166196301, 0.303218805715844]
-"ACURA RDX 2020" = [1.4314459806646749, 0.33874701282109954, 0.18048847083897598]
-"AUDI A3 3RD GEN" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
-"AUDI Q3 2ND GEN" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
-"CHEVROLET VOLT PREMIER 2017" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
-"CHRYSLER PACIFICA 2018" = [2.07140, 1.3366521181047952, 0.13776367250652022]
-"CHRYSLER PACIFICA 2020" = [1.86206, 1.509076559398423, 0.14328246159386085]
-"CHRYSLER PACIFICA HYBRID 2017" = [1.79422, 1.06831764583744, 0.116237]
-"CHRYSLER PACIFICA HYBRID 2018" = [2.08887, 1.2943025830995154, 0.114818]
-"CHRYSLER PACIFICA HYBRID 2019" = [1.90120, 1.1958788168371808, 0.131520]
-"GENESIS G70 2018" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
-"HONDA ACCORD 2018" = [1.6893333799149202, 0.3246749081720698, 0.2120497022936265]
-"HONDA CIVIC (BOSCH) 2019" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
-"HONDA CIVIC 2016" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
-"HONDA CR-V 2016" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
-"HONDA CR-V 2017" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
-"HONDA CR-V HYBRID 2019" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083]
-"HONDA FIT 2018" = [1.5719981427109775, 0.5712761407108976, 0.110773383324281]
-"HONDA HRV 2019" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
-"HONDA INSIGHT 2019" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
-"HONDA ODYSSEY 2018" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
-"HONDA PILOT 2017" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
-"HONDA RIDGELINE 2017" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
-"HYUNDAI ELANTRA 2021" = [3.169, 2.1259108157250735, 0.0819]
-"HYUNDAI GENESIS 2015-2016" = [2.7807965280270794, 2.325, 0.0984484465421171]
-"HYUNDAI IONIQ 5 2022" = [3.172929, 2.713050, 0.096019]
-"HYUNDAI IONIQ ELECTRIC LIMITED 2019" = [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
-"HYUNDAI IONIQ PHEV 2020" = [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
-"HYUNDAI IONIQ PLUG-IN HYBRID 2019" = [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
-"HYUNDAI KONA ELECTRIC 2019" = [3.078814714619148, 2.307336938253934, 0.12359762054065548]
-"HYUNDAI PALISADE 2020" = [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
-"HYUNDAI SANTA FE 2019" = [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
-"HYUNDAI SANTA FE HYBRID 2022" = [3.501877602644835, 2.729064118456137, 0.10384068104538963]
-"HYUNDAI SANTA FE PlUG-IN HYBRID 2022" = [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
-"HYUNDAI SONATA 2019" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
-"HYUNDAI SONATA 2020" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
-"HYUNDAI SONATA HYBRID 2021" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
-"HYUNDAI TUCSON 4TH GEN" = [2.960174, 2.860284, 0.108745]
-"JEEP GRAND CHEROKEE 2019" = [2.30972, 1.289689569171081, 0.117048]
-"JEEP GRAND CHEROKEE V6 2018" = [2.27116, 1.4057367824262523, 0.11725947414922003]
-"KIA EV6 2022" = [3.2, 2.093457, 0.05]
-"KIA K5 2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716]
-"KIA NIRO EV 2020" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
-"KIA SORENTO GT LINE 2018" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
-"KIA STINGER GT2 2018" = [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
-"LEXUS ES 2019" = [2.0357564999999997, 1.999082295195227, 0.101533]
-"LEXUS NX 2018" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
-"LEXUS NX 2020" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
-"LEXUS RX 2016" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034]
-"LEXUS RX 2020" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
-"MAZDA CX-9 2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
-"SKODA SUPERB 3RD GEN" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
-"SUBARU FORESTER 2019" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
-"SUBARU IMPREZA LIMITED 2019" = [1.0670704910352047, 0.8234374840709592, 0.20986563268614938]
-"SUBARU IMPREZA SPORT 2020" = [2.6068223389108303, 2.134872342760203, 0.15261513193561627]
-"TOYOTA AVALON 2016" = [2.5185770183845646, 1.7153346784214922, 0.10603968787111022]
-"TOYOTA AVALON 2019" = [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
-"TOYOTA AVALON 2022" = [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
-"TOYOTA C-HR 2018" = [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
-"TOYOTA C-HR 2021" = [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
-"TOYOTA CAMRY 2018" = [2.0568162685952505, 1.7576185169559122, 0.108878753]
-"TOYOTA CAMRY 2021" = [2.3548324999999997, 2.368900128946771, 0.118436]
-"TOYOTA COROLLA 2017" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
-"TOYOTA COROLLA TSS2 2019" = [1.991132339206426, 1.868866242720403, 0.19570063298031432]
-"TOYOTA HIGHLANDER 2017" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398]
-"TOYOTA HIGHLANDER 2020" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
-"TOYOTA MIRAI 2021" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
-"TOYOTA PRIUS 2017" = [1.60, 1.5023147650693636, 0.151515]
-"TOYOTA PRIUS TSS2 2021" = [1.972600, 1.9104337425537743, 0.170968]
-"TOYOTA RAV4 2017" = [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
-"TOYOTA RAV4 2019" = [2.279239424615458, 2.087101966779332, 0.13682208413446817]
-"TOYOTA RAV4 2019 8965" = [2.3080951748210854, 2.1189367835820603, 0.12942102328134028]
-"TOYOTA RAV4 2019 x02" = [2.762293266024922, 2.243615865975329, 0.11113568178327986]
-"TOYOTA RAV4 HYBRID 2017" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
-"TOYOTA RAV4 2022" = [2.241883248393209, 1.9304407208090029, 0.112174]
-"TOYOTA RAV4 2022 x02" = [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
-"TOYOTA SIENNA 2018" = [1.689726, 1.3208264576110418, 0.140456]
-"VOLKSWAGEN ARTEON 1ST GEN" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
-"VOLKSWAGEN ATLAS 1ST GEN" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
-"VOLKSWAGEN GOLF 7TH GEN" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
-"VOLKSWAGEN JETTA 7TH GEN" = [1.2271623034089392, 1.216955117387, 0.19437384688370712]
-"VOLKSWAGEN PASSAT 8TH GEN" = [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
-"VOLKSWAGEN TIGUAN 2ND GEN" = [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]
+"ACURA_ILX" = [1.524988973896102, 0.519011053086259, 0.34236219253028]
+"ACURA_RDX" = [0.9987728568686902, 0.5323765166196301, 0.303218805715844]
+"ACURA_RDX_3G" = [1.4314459806646749, 0.33874701282109954, 0.18048847083897598]
+"AUDI_A3_MK3" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
+"AUDI_Q3_MK2" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
+"CHEVROLET_VOLT" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
+"CHRYSLER_PACIFICA_2018" = [2.07140, 1.3366521181047952, 0.13776367250652022]
+"CHRYSLER_PACIFICA_2020" = [1.86206, 1.509076559398423, 0.14328246159386085]
+"CHRYSLER_PACIFICA_2017_HYBRID" = [1.79422, 1.06831764583744, 0.116237]
+"CHRYSLER_PACIFICA_2018_HYBRID" = [2.08887, 1.2943025830995154, 0.114818]
+"CHRYSLER_PACIFICA_2019_HYBRID" = [1.90120, 1.1958788168371808, 0.131520]
+"GENESIS_G70" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
+"HONDA_ACCORD" = [1.6893333799149202, 0.3246749081720698, 0.2120497022936265]
+"HONDA_CIVIC_BOSCH" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
+"HONDA_CIVIC" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
+"HONDA_CRV" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
+"HONDA_CRV_5G" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
+"HONDA_CRV_HYBRID" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083]
+"HONDA_FIT" = [1.5719981427109775, 0.5712761407108976, 0.110773383324281]
+"HONDA_HRV" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
+"HONDA_INSIGHT" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
+"HONDA_ODYSSEY" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
+"HONDA_PILOT" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
+"HONDA_RIDGELINE" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
+"HYUNDAI_ELANTRA_2021" = [3.169, 2.1259108157250735, 0.0819]
+"HYUNDAI_GENESIS" = [2.7807965280270794, 2.325, 0.0984484465421171]
+"HYUNDAI_IONIQ_5" = [3.172929, 2.713050, 0.096019]
+"HYUNDAI_IONIQ_EV_LTD" = [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
+"HYUNDAI_IONIQ_PHEV" = [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
+"HYUNDAI_IONIQ_PHEV_2019" = [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
+"HYUNDAI_KONA_EV" = [3.078814714619148, 2.307336938253934, 0.12359762054065548]
+"HYUNDAI_PALISADE" = [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
+"HYUNDAI_SANTA_FE" = [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
+"HYUNDAI_SANTA_FE_HEV_2022" = [3.501877602644835, 2.729064118456137, 0.10384068104538963]
+"HYUNDAI_SANTA_FE_PHEV_2022" = [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
+"HYUNDAI_SONATA_LF" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
+"HYUNDAI_SONATA" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
+"HYUNDAI_SONATA_HYBRID" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
+"HYUNDAI_TUCSON_4TH_GEN" = [2.960174, 2.860284, 0.108745]
+"JEEP_GRAND_CHEROKEE_2019" = [2.30972, 1.289689569171081, 0.117048]
+"JEEP_GRAND_CHEROKEE" = [2.27116, 1.4057367824262523, 0.11725947414922003]
+"KIA_EV6" = [3.2, 2.093457, 0.05]
+"KIA_K5_2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716]
+"KIA_NIRO_EV" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
+"KIA_SORENTO" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
+"KIA_STINGER" = [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
+"LEXUS_ES_TSS2" = [2.0357564999999997, 1.999082295195227, 0.101533]
+"LEXUS_NX" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
+"LEXUS_NX_TSS2" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
+"LEXUS_RX" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034]
+"LEXUS_RX_TSS2" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
+"MAZDA_CX9_2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
+"SKODA_SUPERB_MK3" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
+"SUBARU_FORESTER" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
+"SUBARU_IMPREZA" = [1.0670704910352047, 0.8234374840709592, 0.20986563268614938]
+"SUBARU_IMPREZA_2020" = [2.6068223389108303, 2.134872342760203, 0.15261513193561627]
+"TOYOTA_AVALON" = [2.5185770183845646, 1.7153346784214922, 0.10603968787111022]
+"TOYOTA_AVALON_2019" = [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
+"TOYOTA_AVALON_TSS2" = [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
+"TOYOTA_CHR" = [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
+"TOYOTA_CHR_TSS2" = [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
+"TOYOTA_CAMRY" = [2.0568162685952505, 1.7576185169559122, 0.108878753]
+"TOYOTA_CAMRY_TSS2" = [2.3548324999999997, 2.368900128946771, 0.118436]
+"TOYOTA_COROLLA" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
+"TOYOTA_COROLLA_TSS2" = [1.991132339206426, 1.868866242720403, 0.19570063298031432]
+"TOYOTA_HIGHLANDER" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398]
+"TOYOTA_HIGHLANDER_TSS2" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
+"TOYOTA_MIRAI" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
+"TOYOTA_PRIUS" = [1.60, 1.5023147650693636, 0.151515]
+"TOYOTA_PRIUS_TSS2" = [1.972600, 1.9104337425537743, 0.170968]
+"TOYOTA_RAV4" = [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
+"TOYOTA_RAV4_TSS2" = [2.279239424615458, 2.087101966779332, 0.13682208413446817]
+"TOYOTA_RAV4H" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
+"TOYOTA_RAV4_TSS2_2022" = [2.241883248393209, 1.9304407208090029, 0.112174]
+"TOYOTA_SIENNA" = [1.689726, 1.3208264576110418, 0.140456]
+"VOLKSWAGEN_ARTEON_MK1" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
+"VOLKSWAGEN_ATLAS_MK1" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
+"VOLKSWAGEN_GOLF_MK7" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
+"VOLKSWAGEN_JETTA_MK7" = [1.2271623034089392, 1.216955117387, 0.19437384688370712]
+"VOLKSWAGEN_PASSAT_MK8" = [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
+"VOLKSWAGEN_TIGUAN_MK2" = [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]

selfdrive/car/torque_data/substitute.toml

@@ -1,85 +1,85 @@
 legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
-"MAZDA 3" = "MAZDA CX-9 2021"
-"MAZDA 6" = "MAZDA CX-9 2021"
-"MAZDA CX-5" = "MAZDA CX-9 2021"
-"MAZDA CX-5 2022" = "MAZDA CX-9 2021"
-"MAZDA CX-9" = "MAZDA CX-9 2021"
+"MAZDA_3" = "MAZDA_CX9_2021"
+"MAZDA_6" = "MAZDA_CX9_2021"
+"MAZDA_CX5" = "MAZDA_CX9_2021"
+"MAZDA_CX5_2022" = "MAZDA_CX9_2021"
+"MAZDA_CX9" = "MAZDA_CX9_2021"
 
-"DODGE DURANGO 2021" = "CHRYSLER PACIFICA 2020"
+"DODGE_DURANGO" = "CHRYSLER_PACIFICA_2020"
 
-"TOYOTA ALPHARD 2020" = "TOYOTA SIENNA 2018"
-"TOYOTA PRIUS v 2017" = "TOYOTA PRIUS 2017"
-"LEXUS IS 2018" = "LEXUS NX 2018"
-"LEXUS CT HYBRID 2018" = "LEXUS NX 2018"
-"LEXUS ES 2018" = "TOYOTA CAMRY 2018"
-"LEXUS RC 2020" = "LEXUS NX 2020"
-"LEXUS LC 2024" = "LEXUS NX 2020"
+"TOYOTA_ALPHARD_TSS2" = "TOYOTA_SIENNA"
+"TOYOTA_PRIUS_V" = "TOYOTA_PRIUS"
+"LEXUS_IS" = "LEXUS_NX"
+"LEXUS_CTH" = "LEXUS_NX"
+"LEXUS_ES" = "TOYOTA_CAMRY"
+"LEXUS_RC" = "LEXUS_NX_TSS2"
+"LEXUS_LC_TSS2" = "LEXUS_NX_TSS2"
 
-"KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020"
-"KIA OPTIMA 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020"
-"KIA OPTIMA HYBRID 2017 & SPORTS 2019" = "HYUNDAI SONATA 2020"
-"KIA OPTIMA HYBRID 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020"
-"KIA FORTE E 2018 & GT 2021" = "HYUNDAI SONATA 2020"
-"KIA CEED INTRO ED 2019" = "HYUNDAI SONATA 2020"
-"KIA SELTOS 2021" = "HYUNDAI SONATA 2020"
-"KIA NIRO HYBRID 2019" = "KIA NIRO EV 2020"
-"KIA NIRO PLUG-IN HYBRID 2022" = "KIA NIRO EV 2020"
-"KIA NIRO HYBRID 2021" = "KIA NIRO EV 2020"
-"HYUNDAI VELOSTER 2019" = "HYUNDAI SONATA 2019"
-"HYUNDAI KONA 2020" = "HYUNDAI KONA ELECTRIC 2019"
-"HYUNDAI KONA HYBRID 2020" = "HYUNDAI KONA ELECTRIC 2019"
-"HYUNDAI KONA ELECTRIC 2022" = "HYUNDAI KONA ELECTRIC 2019"
-"HYUNDAI IONIQ HYBRID 2017-2019" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
-"HYUNDAI IONIQ HYBRID 2020-2022" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
-"HYUNDAI IONIQ ELECTRIC 2020" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
-"HYUNDAI ELANTRA 2017" = "HYUNDAI SONATA 2019"
-"HYUNDAI I30 N LINE 2019 & GT 2018 DCT" = "HYUNDAI SONATA 2019"
-"HYUNDAI ELANTRA HYBRID 2021" = "HYUNDAI SONATA 2020"
-"HYUNDAI TUCSON 2019" = "HYUNDAI SANTA FE 2019"
-"HYUNDAI SANTA FE 2022" = "HYUNDAI SANTA FE HYBRID 2022"
-"KIA K5 HYBRID 2020" = "KIA K5 2021"
-"KIA STINGER 2022" = "KIA STINGER GT2 2018"
-"GENESIS G90 2017" = "GENESIS G70 2018"
-"GENESIS G80 2017" = "GENESIS G70 2018"
-"GENESIS G70 2020" = "HYUNDAI SONATA 2020"
+"KIA_OPTIMA_G4" = "HYUNDAI_SONATA"
+"KIA_OPTIMA_G4_FL" = "HYUNDAI_SONATA"
+"KIA_OPTIMA_H" = "HYUNDAI_SONATA"
+"KIA_OPTIMA_H_G4_FL" = "HYUNDAI_SONATA"
+"KIA_FORTE" = "HYUNDAI_SONATA"
+"KIA_CEED" = "HYUNDAI_SONATA"
+"KIA_SELTOS" = "HYUNDAI_SONATA"
+"KIA_NIRO_PHEV" = "KIA_NIRO_EV"
+"KIA_NIRO_PHEV_2022" = "KIA_NIRO_EV"
+"KIA_NIRO_HEV_2021" = "KIA_NIRO_EV"
+"HYUNDAI_VELOSTER" = "HYUNDAI_SONATA_LF"
+"HYUNDAI_KONA" = "HYUNDAI_KONA_EV"
+"HYUNDAI_KONA_HEV" = "HYUNDAI_KONA_EV"
+"HYUNDAI_KONA_EV_2022" = "HYUNDAI_KONA_EV"
+"HYUNDAI_IONIQ" = "HYUNDAI_IONIQ_PHEV_2019"
+"HYUNDAI_IONIQ_HEV_2022" = "HYUNDAI_IONIQ_PHEV_2019"
+"HYUNDAI_IONIQ_EV_2020" = "HYUNDAI_IONIQ_PHEV_2019"
+"HYUNDAI_ELANTRA" = "HYUNDAI_SONATA_LF"
+"HYUNDAI_ELANTRA_GT_I30" = "HYUNDAI_SONATA_LF"
+"HYUNDAI_ELANTRA_HEV_2021" = "HYUNDAI_SONATA"
+"HYUNDAI_TUCSON" = "HYUNDAI_SANTA_FE"
+"HYUNDAI_SANTA_FE_2022" = "HYUNDAI_SANTA_FE_HEV_2022"
+"KIA_K5_HEV_2020" = "KIA_K5_2021"
+"KIA_STINGER_2022" = "KIA_STINGER"
+"GENESIS_G90" = "GENESIS_G70"
+"GENESIS_G80" = "GENESIS_G70"
+"GENESIS_G70_2020" = "HYUNDAI_SONATA"
 
-"HONDA FREED 2020" = "HONDA ODYSSEY 2018"
-"HONDA CR-V EU 2016" = "HONDA CR-V 2016"
-"HONDA CIVIC SEDAN 1.6 DIESEL 2019" = "HONDA CIVIC (BOSCH) 2019"
-"HONDA E 2020" = "HONDA CIVIC (BOSCH) 2019"
-"HONDA ODYSSEY CHN 2019" = "HONDA ODYSSEY 2018"
+"HONDA_FREED" = "HONDA_ODYSSEY"
+"HONDA_CRV_EU" = "HONDA_CRV"
+"HONDA_CIVIC_BOSCH_DIESEL" = "HONDA_CIVIC_BOSCH"
+"HONDA_E" = "HONDA_CIVIC_BOSCH"
+"HONDA_ODYSSEY_CHN" = "HONDA_ODYSSEY"
 
-"BUICK LACROSSE 2017" = "CHEVROLET VOLT PREMIER 2017"
-"BUICK REGAL ESSENCE 2018" = "CHEVROLET VOLT PREMIER 2017"
-"CADILLAC ESCALADE ESV 2016" = "CHEVROLET VOLT PREMIER 2017"
-"CADILLAC ATS Premium Performance 2018" = "CHEVROLET VOLT PREMIER 2017"
-"CHEVROLET MALIBU PREMIER 2017" = "CHEVROLET VOLT PREMIER 2017"
-"HOLDEN ASTRA RS-V BK 2017" = "CHEVROLET VOLT PREMIER 2017"
+"BUICK_LACROSSE" = "CHEVROLET_VOLT"
+"BUICK_REGAL" = "CHEVROLET_VOLT"
+"CADILLAC_ESCALADE_ESV" = "CHEVROLET_VOLT"
+"CADILLAC_ATS" = "CHEVROLET_VOLT"
+"CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
+"HOLDEN_ASTRA" = "CHEVROLET_VOLT"
 
-"SKODA FABIA 4TH GEN" = "VOLKSWAGEN GOLF 7TH GEN"
-"SKODA OCTAVIA 3RD GEN" = "SKODA SUPERB 3RD GEN"
-"SKODA SCALA 1ST GEN" = "SKODA SUPERB 3RD GEN"
-"SKODA KODIAQ 1ST GEN" = "SKODA SUPERB 3RD GEN"
-"SKODA KAROQ 1ST GEN" = "SKODA SUPERB 3RD GEN"
-"SKODA KAMIQ 1ST GEN" = "SKODA SUPERB 3RD GEN"
-"VOLKSWAGEN CRAFTER 2ND GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
-"VOLKSWAGEN T-ROC 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
-"VOLKSWAGEN T-CROSS 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
-"VOLKSWAGEN TOURAN 2ND GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
-"VOLKSWAGEN TRANSPORTER T6.1" = "VOLKSWAGEN TIGUAN 2ND GEN"
-"AUDI Q2 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
-"VOLKSWAGEN TAOS 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
-"VOLKSWAGEN POLO 6TH GEN" = "VOLKSWAGEN GOLF 7TH GEN"
-"SEAT LEON 3RD GEN" = "VOLKSWAGEN GOLF 7TH GEN"
-"SEAT ATECA 1ST GEN" = "VOLKSWAGEN GOLF 7TH GEN"
+"SKODA_FABIA_MK4" = "VOLKSWAGEN_GOLF_MK7"
+"SKODA_OCTAVIA_MK3" = "SKODA_SUPERB_MK3"
+"SKODA_SCALA_MK1" = "SKODA_SUPERB_MK3"
+"SKODA_KODIAQ_MK1" = "SKODA_SUPERB_MK3"
+"SKODA_KAROQ_MK1" = "SKODA_SUPERB_MK3"
+"SKODA_KAMIQ_MK1" = "SKODA_SUPERB_MK3"
+"VOLKSWAGEN_CRAFTER_MK2" = "VOLKSWAGEN_TIGUAN_MK2"
+"VOLKSWAGEN_TROC_MK1" = "VOLKSWAGEN_TIGUAN_MK2"
+"VOLKSWAGEN_TCROSS_MK1" = "VOLKSWAGEN_TIGUAN_MK2"
+"VOLKSWAGEN_TOURAN_MK2" = "VOLKSWAGEN_TIGUAN_MK2"
+"VOLKSWAGEN_TRANSPORTER_T61" = "VOLKSWAGEN_TIGUAN_MK2"
+"AUDI_Q2_MK1" = "VOLKSWAGEN_TIGUAN_MK2"
+"VOLKSWAGEN_TAOS_MK1" = "VOLKSWAGEN_TIGUAN_MK2"
+"VOLKSWAGEN_POLO_MK6" = "VOLKSWAGEN_GOLF_MK7"
+"SEAT_LEON_MK3" = "VOLKSWAGEN_GOLF_MK7"
+"SEAT_ATECA_MK1" = "VOLKSWAGEN_GOLF_MK7"
 
-"SUBARU CROSSTREK HYBRID 2020" = "SUBARU IMPREZA SPORT 2020"
-"SUBARU FORESTER HYBRID 2020" = "SUBARU IMPREZA SPORT 2020"
-"SUBARU LEGACY 7TH GEN" = "SUBARU OUTBACK 6TH GEN"
+"SUBARU_CROSSTREK_HYBRID" = "SUBARU_IMPREZA_2020"
+"SUBARU_FORESTER_HYBRID" = "SUBARU_IMPREZA_2020"
+"SUBARU_LEGACY" = "SUBARU_OUTBACK"
 
 # Old subarus don't have much data guessing it's like low torque impreza"
-"SUBARU OUTBACK 2018 - 2019" = "SUBARU IMPREZA LIMITED 2019"
-"SUBARU OUTBACK 2015 - 2017" = "SUBARU IMPREZA LIMITED 2019"
-"SUBARU FORESTER 2017 - 2018" = "SUBARU IMPREZA LIMITED 2019"
-"SUBARU LEGACY 2015 - 2018" = "SUBARU IMPREZA LIMITED 2019"
-"SUBARU ASCENT LIMITED 2019" = "SUBARU FORESTER 2019"
+"SUBARU_OUTBACK_PREGLOBAL_2018" = "SUBARU_IMPREZA"
+"SUBARU_OUTBACK_PREGLOBAL" = "SUBARU_IMPREZA"
+"SUBARU_FORESTER_PREGLOBAL" = "SUBARU_IMPREZA"
+"SUBARU_LEGACY_PREGLOBAL" = "SUBARU_IMPREZA"
+"SUBARU_ASCENT" = "SUBARU_FORESTER"

selfdrive/car/toyota/carcontroller.py

@@ -143,7 +143,7 @@ class CarController(CarControllerBase):
         can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button))
 
     # *** hud ui ***
-    if self.CP.carFingerprint != CAR.PRIUS_V:
+    if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
       # ui mesg is at 1Hz but we send asap if:
       # - there is something to display
       # - there is something to stop displaying

selfdrive/car/toyota/carstate.py

@@ -96,7 +96,7 @@ class CarState(CarStateBase):
     ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
     ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2
 
-    if self.CP.carFingerprint != CAR.MIRAI:
+    if self.CP.carFingerprint != CAR.TOYOTA_MIRAI:
       ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"]
 
     ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
@@ -161,7 +161,7 @@ class CarState(CarStateBase):
       ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
       ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
 
-    if self.CP.carFingerprint != CAR.PRIUS_V:
+    if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
       self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
 
     if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
@@ -195,7 +195,7 @@ class CarState(CarStateBase):
       ("STEER_TORQUE_SENSOR", 50),
     ]
 
-    if CP.carFingerprint != CAR.MIRAI:
+    if CP.carFingerprint != CAR.TOYOTA_MIRAI:
       messages.append(("ENGINE_RPM", 42))
 
     if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
@@ -232,7 +232,7 @@ class CarState(CarStateBase):
   def get_cam_can_parser(CP):
     messages = []
 
-    if CP.carFingerprint != CAR.PRIUS_V:
+    if CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
       messages += [
         ("LKAS_HUD", 1),
       ]

selfdrive/car/toyota/fingerprints.py

@@ -4,7 +4,7 @@ from openpilot.selfdrive.car.toyota.values import CAR
 Ecu = car.CarParams.Ecu
 
 FW_VERSIONS = {
-  CAR.AVALON: {
+  CAR.TOYOTA_AVALON: {
     (Ecu.abs, 0x7b0, None): [
       b'F152607060\x00\x00\x00\x00\x00\x00',
     ],
@@ -30,7 +30,7 @@ FW_VERSIONS = {
       b'8646F0703000\x00\x00\x00\x00',
     ],
   },
-  CAR.AVALON_2019: {
+  CAR.TOYOTA_AVALON_2019: {
     (Ecu.abs, 0x7b0, None): [
       b'F152607110\x00\x00\x00\x00\x00\x00',
       b'F152607140\x00\x00\x00\x00\x00\x00',
@@ -71,7 +71,7 @@ FW_VERSIONS = {
       b'8646F0702100\x00\x00\x00\x00',
     ],
   },
-  CAR.AVALON_TSS2: {
+  CAR.TOYOTA_AVALON_TSS2: {
     (Ecu.abs, 0x7b0, None): [
       b'\x01F152607240\x00\x00\x00\x00\x00\x00',
       b'\x01F152607250\x00\x00\x00\x00\x00\x00',
@@ -95,7 +95,7 @@ FW_VERSIONS = {
       b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
     ],
   },
-  CAR.CAMRY: {
+  CAR.TOYOTA_CAMRY: {
     (Ecu.engine, 0x700, None): [
       b'\x018966306L3100\x00\x00\x00\x00',
       b'\x018966306L4200\x00\x00\x00\x00',
@@ -222,7 +222,7 @@ FW_VERSIONS = {
       b'8646F0607100    ',
     ],
   },
-  CAR.CAMRY_TSS2: {
+  CAR.TOYOTA_CAMRY_TSS2: {
     (Ecu.eps, 0x7a1, None): [
       b'8965B33630\x00\x00\x00\x00\x00\x00',
       b'8965B33640\x00\x00\x00\x00\x00\x00',
@@ -268,7 +268,7 @@ FW_VERSIONS = {
       b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
-  CAR.CHR: {
+  CAR.TOYOTA_CHR: {
     (Ecu.engine, 0x700, None): [
       b'\x01896631017100\x00\x00\x00\x00',
       b'\x01896631017200\x00\x00\x00\x00',
@@ -353,7 +353,7 @@ FW_VERSIONS = {
       b'8646FF407100    ',
     ],
   },
-  CAR.CHR_TSS2: {
+  CAR.TOYOTA_CHR_TSS2: {
     (Ecu.abs, 0x7b0, None): [
       b'F152610041\x00\x00\x00\x00\x00\x00',
       b'F152610260\x00\x00\x00\x00\x00\x00',
@@ -385,7 +385,7 @@ FW_VERSIONS = {
       b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00',
     ],
   },
-  CAR.COROLLA: {
+  CAR.TOYOTA_COROLLA: {
     (Ecu.engine, 0x7e0, None): [
       b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0230ZC2100\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -419,7 +419,7 @@ FW_VERSIONS = {
       b'8646F0201200\x00\x00\x00\x00',
     ],
   },
-  CAR.COROLLA_TSS2: {
+  CAR.TOYOTA_COROLLA_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630A22000\x00\x00\x00\x00',
       b'\x01896630ZG2000\x00\x00\x00\x00',
@@ -594,7 +594,7 @@ FW_VERSIONS = {
       b'\x028646F7605100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
-  CAR.HIGHLANDER: {
+  CAR.TOYOTA_HIGHLANDER: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630E09000\x00\x00\x00\x00',
       b'\x01896630E43000\x00\x00\x00\x00',
@@ -650,7 +650,7 @@ FW_VERSIONS = {
       b'8646F0E01300\x00\x00\x00\x00',
     ],
   },
-  CAR.HIGHLANDER_TSS2: {
+  CAR.TOYOTA_HIGHLANDER_TSS2: {
     (Ecu.eps, 0x7a1, None): [
       b'8965B48241\x00\x00\x00\x00\x00\x00',
       b'8965B48310\x00\x00\x00\x00\x00\x00',
@@ -796,7 +796,7 @@ FW_VERSIONS = {
       b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
-  CAR.PRIUS: {
+  CAR.TOYOTA_PRIUS: {
     (Ecu.engine, 0x700, None): [
       b'\x02896634761000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896634761100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -894,7 +894,7 @@ FW_VERSIONS = {
       b'8646F4705200\x00\x00\x00\x00',
     ],
   },
-  CAR.PRIUS_V: {
+  CAR.TOYOTA_PRIUS_V: {
     (Ecu.abs, 0x7b0, None): [
       b'F152647280\x00\x00\x00\x00\x00\x00',
     ],
@@ -911,7 +911,7 @@ FW_VERSIONS = {
       b'8646F4703300\x00\x00\x00\x00',
     ],
   },
-  CAR.RAV4: {
+  CAR.TOYOTA_RAV4: {
     (Ecu.engine, 0x7e0, None): [
       b'\x02342Q1000\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02342Q1100\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -952,7 +952,7 @@ FW_VERSIONS = {
       b'8646F4204000\x00\x00\x00\x00',
     ],
   },
-  CAR.RAV4H: {
+  CAR.TOYOTA_RAV4H: {
     (Ecu.engine, 0x7e0, None): [
       b'\x02342N9000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02342N9100\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -989,7 +989,7 @@ FW_VERSIONS = {
       b'8646F4204000\x00\x00\x00\x00',
     ],
   },
-  CAR.RAV4_TSS2: {
+  CAR.TOYOTA_RAV4_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630R58000\x00\x00\x00\x00',
       b'\x01896630R58100\x00\x00\x00\x00',
@@ -1099,7 +1099,7 @@ FW_VERSIONS = {
       b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
     ],
   },
-  CAR.RAV4_TSS2_2022: {
+  CAR.TOYOTA_RAV4_TSS2_2022: {
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15260R350\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R361\x00\x00\x00\x00\x00\x00',
@@ -1135,7 +1135,7 @@ FW_VERSIONS = {
       b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
     ],
   },
-  CAR.RAV4_TSS2_2023: {
+  CAR.TOYOTA_RAV4_TSS2_2023: {
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R51000\x00\x00\x00\x00',
@@ -1167,7 +1167,7 @@ FW_VERSIONS = {
       b'\x028646F0R11000\x00\x00\x00\x008646G0R04000\x00\x00\x00\x00',
     ],
   },
-  CAR.SIENNA: {
+  CAR.TOYOTA_SIENNA: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630832100\x00\x00\x00\x00',
       b'\x01896630832200\x00\x00\x00\x00',
@@ -1591,7 +1591,7 @@ FW_VERSIONS = {
       b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
-  CAR.PRIUS_TSS2: {
+  CAR.TOYOTA_PRIUS_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -1622,7 +1622,7 @@ FW_VERSIONS = {
       b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
     ],
   },
-  CAR.MIRAI: {
+  CAR.TOYOTA_MIRAI: {
     (Ecu.abs, 0x7d1, None): [
       b'\x01898A36203000\x00\x00\x00\x00',
     ],
@@ -1640,7 +1640,7 @@ FW_VERSIONS = {
       b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
     ],
   },
-  CAR.ALPHARD_TSS2: {
+  CAR.TOYOTA_ALPHARD_TSS2: {
     (Ecu.engine, 0x7e0, None): [
       b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',

selfdrive/car/toyota/interface.py

@@ -57,7 +57,7 @@ class CarInterface(CarInterfaceBase):
     ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
                                         and not (ret.flags & ToyotaFlags.SMART_DSU)
 
-    if candidate == CAR.PRIUS:
+    if candidate == CAR.TOYOTA_PRIUS:
       stop_and_go = True
       # Only give steer angle deadzone to for bad angle sensor prius
       for fw in car_fw:
@@ -69,12 +69,12 @@ class CarInterface(CarInterfaceBase):
       stop_and_go = True
       ret.wheelSpeedFactor = 1.035
 
-    elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2):
+    elif candidate in (CAR.TOYOTA_AVALON, CAR.TOYOTA_AVALON_2019, CAR.TOYOTA_AVALON_TSS2):
       # starting from 2019, all Avalon variants have stop and go
       # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
-      stop_and_go = candidate != CAR.AVALON
+      stop_and_go = candidate != CAR.TOYOTA_AVALON
 
-    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023):
+    elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kiBP = [0.0]
       ret.lateralTuning.pid.kpBP = [0.0]
@@ -91,7 +91,7 @@ class CarInterface(CarInterfaceBase):
           ret.lateralTuning.pid.kf = 0.00004
           break
 
-    elif candidate in (CAR.RAV4H, CAR.CHR, CAR.CAMRY, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX):
+    elif candidate in (CAR.TOYOTA_CHR, CAR.TOYOTA_CAMRY, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX):
       # TODO: Some of these platforms are not advertised to have full range ACC, are they similar to SNG_WITHOUT_DSU cars?
       stop_and_go = True
 
@@ -200,8 +200,3 @@ 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/toyota/tests/test_toyota.py

@@ -24,7 +24,7 @@ class TestToyotaInterfaces(unittest.TestCase):
 
   def test_lta_platforms(self):
     # At this time, only RAV4 2023 is expected to use LTA/angle control
-    self.assertEqual(ANGLE_CONTROL_CAR, {CAR.RAV4_TSS2_2023})
+    self.assertEqual(ANGLE_CONTROL_CAR, {CAR.TOYOTA_RAV4_TSS2_2023})
 
   def test_tss2_dbc(self):
     # We make some assumptions about TSS2 platforms,
@@ -43,13 +43,13 @@ class TestToyotaInterfaces(unittest.TestCase):
         self.assertEqual(len(missing_ecus), 0)
 
         # Some exceptions for other common ECUs
-        if car_model not in (CAR.ALPHARD_TSS2,):
+        if car_model not in (CAR.TOYOTA_ALPHARD_TSS2,):
           self.assertIn(Ecu.abs, present_ecus)
 
-        if car_model not in (CAR.MIRAI,):
+        if car_model not in (CAR.TOYOTA_MIRAI,):
           self.assertIn(Ecu.engine, present_ecus)
 
-        if car_model not in (CAR.PRIUS_V, CAR.LEXUS_CTH):
+        if car_model not in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH):
           self.assertIn(Ecu.eps, present_ecus)
 
 
@@ -85,9 +85,9 @@ class TestToyotaFingerprint(unittest.TestCase):
     for car_model, ecus in FW_VERSIONS.items():
       with self.subTest(car_model=car_model.value):
         for platform_code_ecu in PLATFORM_CODE_ECUS:
-          if platform_code_ecu == Ecu.eps and car_model in (CAR.PRIUS_V, CAR.LEXUS_CTH,):
+          if platform_code_ecu == Ecu.eps and car_model in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH,):
             continue
-          if platform_code_ecu == Ecu.abs and car_model in (CAR.ALPHARD_TSS2,):
+          if platform_code_ecu == Ecu.abs and car_model in (CAR.TOYOTA_ALPHARD_TSS2,):
             continue
           self.assertIn(platform_code_ecu, [e[0] for e in ecus])
 

selfdrive/car/toyota/values.py

@@ -85,16 +85,14 @@ class ToyotaTSS2PlatformConfig(PlatformConfig):
 
 class CAR(Platforms):
   # Toyota
-  ALPHARD_TSS2 = ToyotaTSS2PlatformConfig(
-    "TOYOTA ALPHARD 2020",
+  TOYOTA_ALPHARD_TSS2 = ToyotaTSS2PlatformConfig(
     [
       ToyotaCarDocs("Toyota Alphard 2019-20"),
       ToyotaCarDocs("Toyota Alphard Hybrid 2021"),
     ],
     CarSpecs(mass=4305. * CV.LB_TO_KG, wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444),
   )
-  AVALON = PlatformConfig(
-    "TOYOTA AVALON 2016",
+  TOYOTA_AVALON = PlatformConfig(
     [
       ToyotaCarDocs("Toyota Avalon 2016", "Toyota Safety Sense P"),
       ToyotaCarDocs("Toyota Avalon 2017-18"),
@@ -102,25 +100,22 @@ class CAR(Platforms):
     CarSpecs(mass=3505. * CV.LB_TO_KG, wheelbase=2.82, steerRatio=14.8, tireStiffnessFactor=0.7983),
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   )
-  AVALON_2019 = PlatformConfig(
-    "TOYOTA AVALON 2019",
+  TOYOTA_AVALON_2019 = PlatformConfig(
     [
       ToyotaCarDocs("Toyota Avalon 2019-21"),
       ToyotaCarDocs("Toyota Avalon Hybrid 2019-21"),
     ],
-    AVALON.specs,
+    TOYOTA_AVALON.specs,
     dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   )
-  AVALON_TSS2 = ToyotaTSS2PlatformConfig(
-    "TOYOTA AVALON 2022",  # TSS 2.5
+  TOYOTA_AVALON_TSS2 = ToyotaTSS2PlatformConfig( # TSS 2.5
     [
       ToyotaCarDocs("Toyota Avalon 2022"),
       ToyotaCarDocs("Toyota Avalon Hybrid 2022"),
     ],
-    AVALON.specs,
+    TOYOTA_AVALON.specs,
   )
-  CAMRY = PlatformConfig(
-    "TOYOTA CAMRY 2018",
+  TOYOTA_CAMRY = PlatformConfig(
     [
       ToyotaCarDocs("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
       ToyotaCarDocs("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
@@ -129,16 +124,14 @@ class CAR(Platforms):
     dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
     flags=ToyotaFlags.NO_DSU,
   )
-  CAMRY_TSS2 = ToyotaTSS2PlatformConfig(
-    "TOYOTA CAMRY 2021",  # TSS 2.5
+  TOYOTA_CAMRY_TSS2 = ToyotaTSS2PlatformConfig( # TSS 2.5
     [
       ToyotaCarDocs("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]),
       ToyotaCarDocs("Toyota Camry Hybrid 2021-24"),
     ],
-    CAMRY.specs,
+    TOYOTA_CAMRY.specs,
   )
-  CHR = PlatformConfig(
-    "TOYOTA C-HR 2018",
+  TOYOTA_CHR = PlatformConfig(
     [
       ToyotaCarDocs("Toyota C-HR 2017-20"),
       ToyotaCarDocs("Toyota C-HR Hybrid 2017-20"),
@@ -147,24 +140,21 @@ class CAR(Platforms):
     dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
     flags=ToyotaFlags.NO_DSU,
   )
-  CHR_TSS2 = ToyotaTSS2PlatformConfig(
-    "TOYOTA C-HR 2021",
+  TOYOTA_CHR_TSS2 = ToyotaTSS2PlatformConfig(
     [
       ToyotaCarDocs("Toyota C-HR 2021"),
       ToyotaCarDocs("Toyota C-HR Hybrid 2021-22"),
     ],
-    CHR.specs,
+    TOYOTA_CHR.specs,
     flags=ToyotaFlags.RADAR_ACC,
   )
-  COROLLA = PlatformConfig(
-    "TOYOTA COROLLA 2017",
+  TOYOTA_COROLLA = PlatformConfig(
     [ToyotaCarDocs("Toyota Corolla 2017-19")],
     CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444),
     dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   )
   # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
-  COROLLA_TSS2 = ToyotaTSS2PlatformConfig(
-    "TOYOTA COROLLA TSS2 2019",
+  TOYOTA_COROLLA_TSS2 = ToyotaTSS2PlatformConfig(
     [
       ToyotaCarDocs("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
       ToyotaCarDocs("Toyota Corolla Cross (Non-US only) 2020-23", min_enable_speed=7.5),
@@ -177,8 +167,7 @@ class CAR(Platforms):
     ],
     CarSpecs(mass=3060. * CV.LB_TO_KG, wheelbase=2.67, steerRatio=13.9, tireStiffnessFactor=0.444),
   )
-  HIGHLANDER = PlatformConfig(
-    "TOYOTA HIGHLANDER 2017",
+  TOYOTA_HIGHLANDER = PlatformConfig(
     [
       ToyotaCarDocs("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
       ToyotaCarDocs("Toyota Highlander Hybrid 2017-19"),
@@ -187,16 +176,14 @@ class CAR(Platforms):
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
     flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
   )
-  HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig(
-    "TOYOTA HIGHLANDER 2020",
+  TOYOTA_HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig(
     [
       ToyotaCarDocs("Toyota Highlander 2020-23"),
       ToyotaCarDocs("Toyota Highlander Hybrid 2020-23"),
     ],
-    HIGHLANDER.specs,
+    TOYOTA_HIGHLANDER.specs,
   )
-  PRIUS = PlatformConfig(
-    "TOYOTA PRIUS 2017",
+  TOYOTA_PRIUS = PlatformConfig(
     [
       ToyotaCarDocs("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
       ToyotaCarDocs("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
@@ -205,23 +192,20 @@ class CAR(Platforms):
     CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371),
     dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   )
-  PRIUS_V = PlatformConfig(
-    "TOYOTA PRIUS v 2017",
+  TOYOTA_PRIUS_V = PlatformConfig(
     [ToyotaCarDocs("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED)],
     CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533),
     dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
     flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
   )
-  PRIUS_TSS2 = ToyotaTSS2PlatformConfig(
-    "TOYOTA PRIUS TSS2 2021",
+  TOYOTA_PRIUS_TSS2 = ToyotaTSS2PlatformConfig(
     [
       ToyotaCarDocs("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
       ToyotaCarDocs("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
     ],
     CarSpecs(mass=3115. * CV.LB_TO_KG, wheelbase=2.70002, steerRatio=13.4, tireStiffnessFactor=0.6371),
   )
-  RAV4 = PlatformConfig(
-    "TOYOTA RAV4 2017",
+  TOYOTA_RAV4 = PlatformConfig(
     [
       ToyotaCarDocs("Toyota RAV4 2016", "Toyota Safety Sense P"),
       ToyotaCarDocs("Toyota RAV4 2017-18")
@@ -229,49 +213,44 @@ class CAR(Platforms):
     CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533),
     dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   )
-  RAV4H = PlatformConfig(
-    "TOYOTA RAV4 HYBRID 2017",
+  TOYOTA_RAV4H = PlatformConfig(
     [
       ToyotaCarDocs("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"),
       ToyotaCarDocs("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26")
     ],
-    RAV4.specs,
+    TOYOTA_RAV4.specs,
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.NO_STOP_TIMER,
+    # Note that the ICE RAV4 does not respect positive acceleration commands under 19 mph
+    flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
   )
-  RAV4_TSS2 = ToyotaTSS2PlatformConfig(
-    "TOYOTA RAV4 2019",
+  TOYOTA_RAV4_TSS2 = ToyotaTSS2PlatformConfig(
     [
       ToyotaCarDocs("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
       ToyotaCarDocs("Toyota RAV4 Hybrid 2019-21"),
     ],
     CarSpecs(mass=3585. * CV.LB_TO_KG, wheelbase=2.68986, steerRatio=14.3, tireStiffnessFactor=0.7933),
   )
-  RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig(
-    "TOYOTA RAV4 2022",
+  TOYOTA_RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig(
     [
       ToyotaCarDocs("Toyota RAV4 2022"),
       ToyotaCarDocs("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
     ],
-    RAV4_TSS2.specs,
+    TOYOTA_RAV4_TSS2.specs,
     flags=ToyotaFlags.RADAR_ACC,
   )
-  RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig(
-    "TOYOTA RAV4 2023",
+  TOYOTA_RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig(
     [
       ToyotaCarDocs("Toyota RAV4 2023-24"),
       ToyotaCarDocs("Toyota RAV4 Hybrid 2023-24"),
     ],
-    RAV4_TSS2.specs,
+    TOYOTA_RAV4_TSS2.specs,
     flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL,
   )
-  MIRAI = ToyotaTSS2PlatformConfig(
-    "TOYOTA MIRAI 2021",  # TSS 2.5
+  TOYOTA_MIRAI = ToyotaTSS2PlatformConfig( # TSS 2.5
     [ToyotaCarDocs("Toyota Mirai 2021")],
     CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8),
   )
-  SIENNA = PlatformConfig(
-    "TOYOTA SIENNA 2018",
+  TOYOTA_SIENNA = PlatformConfig(
     [ToyotaCarDocs("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED)],
     CarSpecs(mass=4590. * CV.LB_TO_KG, wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444),
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
@@ -280,13 +259,11 @@ class CAR(Platforms):
 
   # Lexus
   LEXUS_CTH = PlatformConfig(
-    "LEXUS CT HYBRID 2018",
     [ToyotaCarDocs("Lexus CT Hybrid 2017-18", "Lexus Safety System+")],
     CarSpecs(mass=3108. * CV.LB_TO_KG, wheelbase=2.6, steerRatio=18.6, tireStiffnessFactor=0.517),
     dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   )
   LEXUS_ES = PlatformConfig(
-    "LEXUS ES 2018",
     [
       ToyotaCarDocs("Lexus ES 2017-18"),
       ToyotaCarDocs("Lexus ES Hybrid 2017-18"),
@@ -295,7 +272,6 @@ class CAR(Platforms):
     dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   )
   LEXUS_ES_TSS2 = ToyotaTSS2PlatformConfig(
-    "LEXUS ES 2019",
     [
       ToyotaCarDocs("Lexus ES 2019-24"),
       ToyotaCarDocs("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
@@ -303,19 +279,16 @@ class CAR(Platforms):
     LEXUS_ES.specs,
   )
   LEXUS_IS = PlatformConfig(
-    "LEXUS IS 2018",
     [ToyotaCarDocs("Lexus IS 2017-19")],
     CarSpecs(mass=3736.8 * CV.LB_TO_KG, wheelbase=2.79908, steerRatio=13.3, tireStiffnessFactor=0.444),
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
     flags=ToyotaFlags.UNSUPPORTED_DSU,
   )
   LEXUS_IS_TSS2 = ToyotaTSS2PlatformConfig(
-    "LEXUS IS 2023",
     [ToyotaCarDocs("Lexus IS 2022-23")],
     LEXUS_IS.specs,
   )
   LEXUS_NX = PlatformConfig(
-    "LEXUS NX 2018",
     [
       ToyotaCarDocs("Lexus NX 2018-19"),
       ToyotaCarDocs("Lexus NX Hybrid 2018-19"),
@@ -324,7 +297,6 @@ class CAR(Platforms):
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   )
   LEXUS_NX_TSS2 = ToyotaTSS2PlatformConfig(
-    "LEXUS NX 2020",
     [
       ToyotaCarDocs("Lexus NX 2020-21"),
       ToyotaCarDocs("Lexus NX Hybrid 2020-21"),
@@ -332,19 +304,16 @@ class CAR(Platforms):
     LEXUS_NX.specs,
   )
   LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig(
-    "LEXUS LC 2024",
     [ToyotaCarDocs("Lexus LC 2024")],
     CarSpecs(mass=4500. * CV.LB_TO_KG, wheelbase=2.87, steerRatio=13.0, tireStiffnessFactor=0.444),
   )
   LEXUS_RC = PlatformConfig(
-    "LEXUS RC 2020",
     [ToyotaCarDocs("Lexus RC 2018-20")],
     LEXUS_IS.specs,
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
     flags=ToyotaFlags.UNSUPPORTED_DSU,
   )
   LEXUS_RX = PlatformConfig(
-    "LEXUS RX 2016",
     [
       ToyotaCarDocs("Lexus RX 2016", "Lexus Safety System+"),
       ToyotaCarDocs("Lexus RX 2017-19"),
@@ -356,7 +325,6 @@ class CAR(Platforms):
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   )
   LEXUS_RX_TSS2 = ToyotaTSS2PlatformConfig(
-    "LEXUS RX 2020",
     [
       ToyotaCarDocs("Lexus RX 2020-22"),
       ToyotaCarDocs("Lexus RX Hybrid 2020-22"),
@@ -364,7 +332,6 @@ class CAR(Platforms):
     LEXUS_RX.specs,
   )
   LEXUS_GS_F = PlatformConfig(
-    "LEXUS GS F 2016",
     [ToyotaCarDocs("Lexus GS F 2016")],
     CarSpecs(mass=4034. * CV.LB_TO_KG, wheelbase=2.84988, steerRatio=13.3, tireStiffnessFactor=0.444),
     dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
@@ -374,32 +341,33 @@ class CAR(Platforms):
 
 # (addr, cars, bus, 1/freq*100, vl)
 STATIC_DSU_MSGS = [
-  (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
-  (0x128, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.PRIUS_V),
+  (0x128, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON), \
+                                                                                                                      1, 3, b'\xf4\x01\x90\x83\x00\x37'),
+  (0x128, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
+  (0x141, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
+           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
+  (0x160, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
+           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
+  (0x161, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_PRIUS_V),
                                                                                                1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
-  (0X161, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
-  (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
-  (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
-  (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, (CAR.PRIUS, CAR.LEXUS_NX, CAR.HIGHLANDER), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
-  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX,
-           CAR.PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.HIGHLANDER), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
-  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V),
+  (0X161, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
+  (0x283, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
+           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
+  (0x2E6, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
+  (0x2E7, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
+  (0x33E, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
+  (0x344, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
+           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
+  (0x365, (CAR.TOYOTA_PRIUS, CAR.LEXUS_NX, CAR.TOYOTA_HIGHLANDER), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
+  (0x365, (CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX,
+           CAR.TOYOTA_PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
+  (0x366, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_HIGHLANDER), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
+  (0x366, (CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V),
           0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
-  (0x470, (CAR.PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'),
-  (0x470, (CAR.HIGHLANDER, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
+  (0x470, (CAR.TOYOTA_PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'),
+  (0x470, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_RAV4H, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
+  (0x4CB, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
+           CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 ]
 
 
@@ -547,9 +515,9 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
   non_essential_ecus={
     # FIXME: On some models, abs can sometimes be missing
-    Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS, CAR.ALPHARD_TSS2],
+    Ecu.abs: [CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_IS, CAR.TOYOTA_ALPHARD_TSS2],
     # On some models, the engine can show on two different addresses
-    Ecu.engine: [CAR.HIGHLANDER, CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS,
+    Ecu.engine: [CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_CAMRY, CAR.TOYOTA_COROLLA_TSS2, CAR.TOYOTA_CHR, CAR.TOYOTA_CHR_TSS2, CAR.LEXUS_IS,
                  CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2],
   },
   extra_ecus=[
@@ -591,7 +559,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
 STEER_THRESHOLD = 100
 
 # These cars have non-standard EPS torque scale factors. All others are 73
-EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100})
+EPS_SCALE = defaultdict(lambda: 73,
+                        {CAR.TOYOTA_PRIUS: 66, CAR.TOYOTA_COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.TOYOTA_PRIUS_V: 100})
 
 # Toyota/Lexus Safety Sense 2.0 and 2.5
 TSS2_CAR = CAR.with_flags(ToyotaFlags.TSS2)

selfdrive/car/values.py

@@ -1,4 +1,4 @@
-from typing import Any, Callable, cast
+from typing import cast
 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
@@ -17,9 +17,3 @@ Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN
 BRANDS = [BODY, CHRYSLER, FORD, GM, HONDA, HYUNDAI, MAZDA, MOCK, NISSAN, SUBARU, TESLA, TOYOTA, VOLKSWAGEN]
 
 PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in cast(list[Platform], brand)}
-
-MapFunc = Callable[[Platform], Any]
-
-
-def create_platform_map(func: MapFunc):
-  return {str(platform): func(platform) for platform in PLATFORMS.values() if func(platform) is not None}

selfdrive/car/volkswagen/carcontroller.py

@@ -18,6 +18,7 @@ class CarController(CarControllerBase):
     self.CCP = CarControllerParams(CP)
     self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
     self.packer_pt = CANPacker(dbc_name)
+    self.ext_bus = CANBUS.pt if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera else CANBUS.cam
 
     self.apply_steer_last = 0
     self.gra_acc_counter_last = None
@@ -26,7 +27,7 @@ class CarController(CarControllerBase):
     self.hca_frame_timer_running = 0
     self.hca_frame_same_torque = 0
 
-  def update(self, CC, CS, ext_bus, now_nanos):
+  def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
     can_sends = []
@@ -108,7 +109,7 @@ class CarController(CarControllerBase):
 
     gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
     if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
-      can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values,
+      can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
                                                            cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
 
     new_actuators = actuators.copy()
@@ -117,4 +118,4 @@ class CarController(CarControllerBase):
 
     self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
     self.frame += 1
-    return new_actuators, can_sends, self.eps_timer_soft_disable_alert
+    return new_actuators, can_sends

selfdrive/car/volkswagen/fingerprints.py

@@ -7,7 +7,7 @@ Ecu = car.CarParams.Ecu
 
 
 FW_VERSIONS = {
-  CAR.ARTEON_MK1: {
+  CAR.VOLKSWAGEN_ARTEON_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x873G0906259AH\xf1\x890001',
       b'\xf1\x873G0906259F \xf1\x890004',
@@ -49,7 +49,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
-  CAR.ATLAS_MK1: {
+  CAR.VOLKSWAGEN_ATLAS_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8703H906026AA\xf1\x899970',
       b'\xf1\x8703H906026AG\xf1\x899973',
@@ -101,7 +101,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572P \xf1\x890682',
     ],
   },
-  CAR.CADDY_MK3: {
+  CAR.VOLKSWAGEN_CADDY_MK3: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027T \xf1\x892363',
     ],
@@ -112,7 +112,7 @@ FW_VERSIONS = {
       b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0155',
     ],
   },
-  CAR.CRAFTER_MK2: {
+  CAR.VOLKSWAGEN_CRAFTER_MK2: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704L906056BP\xf1\x894729',
       b'\xf1\x8704L906056EK\xf1\x896391',
@@ -134,7 +134,7 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572M \xf1\x890233',
     ],
   },
-  CAR.GOLF_MK7: {
+  CAR.VOLKSWAGEN_GOLF_MK7: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906016A \xf1\x897697',
       b'\xf1\x8704E906016AD\xf1\x895758',
@@ -325,7 +325,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572S \xf1\x890780',
     ],
   },
-  CAR.JETTA_MK7: {
+  CAR.VOLKSWAGEN_JETTA_MK7: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906024AK\xf1\x899937',
       b'\xf1\x8704E906024AS\xf1\x899912',
@@ -377,7 +377,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
-  CAR.PASSAT_MK8: {
+  CAR.VOLKSWAGEN_PASSAT_MK8: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8703N906026E \xf1\x892114',
       b'\xf1\x8704E906023AH\xf1\x893379',
@@ -450,7 +450,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
-  CAR.PASSAT_NMS: {
+  CAR.VOLKSWAGEN_PASSAT_NMS: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8706K906016C \xf1\x899609',
       b'\xf1\x8706K906016E \xf1\x899830',
@@ -472,7 +472,7 @@ FW_VERSIONS = {
       b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0152',
     ],
   },
-  CAR.POLO_MK6: {
+  CAR.VOLKSWAGEN_POLO_MK6: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704C906025H \xf1\x895177',
       b'\xf1\x8705C906032J \xf1\x891702',
@@ -496,7 +496,7 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572R \xf1\x890372',
     ],
   },
-  CAR.SHARAN_MK2: {
+  CAR.VOLKSWAGEN_SHARAN_MK2: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704L906016HE\xf1\x894635',
     ],
@@ -507,7 +507,7 @@ FW_VERSIONS = {
       b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0153',
     ],
   },
-  CAR.TAOS_MK1: {
+  CAR.VOLKSWAGEN_TAOS_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906025CK\xf1\x892228',
       b'\xf1\x8704E906027NJ\xf1\x891445',
@@ -537,7 +537,7 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572T \xf1\x890383',
     ],
   },
-  CAR.TCROSS_MK1: {
+  CAR.VOLKSWAGEN_TCROSS_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704C906025AK\xf1\x897053',
     ],
@@ -554,7 +554,7 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572T \xf1\x890383',
     ],
   },
-  CAR.TIGUAN_MK2: {
+  CAR.VOLKSWAGEN_TIGUAN_MK2: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8703N906026D \xf1\x893680',
       b'\xf1\x8704E906024AP\xf1\x891461',
@@ -641,7 +641,7 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572T \xf1\x890383',
     ],
   },
-  CAR.TOURAN_MK2: {
+  CAR.VOLKSWAGEN_TOURAN_MK2: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906025BE\xf1\x890720',
       b'\xf1\x8704E906027HQ\xf1\x893746',
@@ -671,7 +671,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
-  CAR.TRANSPORTER_T61: {
+  CAR.VOLKSWAGEN_TRANSPORTER_T61: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704L906056AG\xf1\x899970',
       b'\xf1\x8704L906056AL\xf1\x899970',
@@ -703,7 +703,7 @@ FW_VERSIONS = {
       b'\xf1\x872Q0907572R \xf1\x890372',
     ],
   },
-  CAR.TROC_MK1: {
+  CAR.VOLKSWAGEN_TROC_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8705E906018AT\xf1\x899640',
       b'\xf1\x8705E906018CK\xf1\x890863',

selfdrive/car/volkswagen/interface.py

@@ -19,8 +19,6 @@ class CarInterface(CarInterfaceBase):
       self.ext_bus = CANBUS.cam
       self.cp_ext = self.cp_cam
 
-    self.eps_timer_soft_disable_alert = False
-
   @staticmethod
   def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "volkswagen"
@@ -126,13 +124,10 @@ class CarInterface(CarInterfaceBase):
       if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.speedTooLow)
 
-    if self.eps_timer_soft_disable_alert:
+    if self.CC.eps_timer_soft_disable_alert:
       events.add(EventName.steerTimeLimit)
 
     ret.events = events.to_msg()
 
     return ret
 
-  def apply(self, c, now_nanos):
-    new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos)
-    return new_actuators, can_sends

selfdrive/car/volkswagen/values.py

@@ -167,7 +167,7 @@ class VWCarDocs(CarDocs):
     if "SKODA" in CP.carFingerprint:
       self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
 
-    if CP.carFingerprint in (CAR.CRAFTER_MK2, CAR.TRANSPORTER_T61):
+    if CP.carFingerprint in (CAR.VOLKSWAGEN_CRAFTER_MK2, CAR.VOLKSWAGEN_TRANSPORTER_T61):
       self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
 
 
@@ -177,8 +177,7 @@ class VWCarDocs(CarDocs):
 # Exception: SEAT Leon and SEAT Ateca share a chassis code
 
 class CAR(Platforms):
-  ARTEON_MK1 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN ARTEON 1ST GEN",  # Chassis AN
+  VOLKSWAGEN_ARTEON_MK1 = VolkswagenMQBPlatformConfig( # Chassis AN
     [
       VWCarDocs("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"),
       VWCarDocs("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
@@ -187,8 +186,7 @@ class CAR(Platforms):
     ],
     VolkswagenCarSpecs(mass=1733, wheelbase=2.84),
   )
-  ATLAS_MK1 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN ATLAS 1ST GEN",  # Chassis CA
+  VOLKSWAGEN_ATLAS_MK1 = VolkswagenMQBPlatformConfig( # Chassis CA
     [
       VWCarDocs("Volkswagen Atlas 2018-23"),
       VWCarDocs("Volkswagen Atlas Cross Sport 2020-22"),
@@ -198,16 +196,14 @@ class CAR(Platforms):
     ],
     VolkswagenCarSpecs(mass=2011, wheelbase=2.98),
   )
-  CADDY_MK3 = VolkswagenPQPlatformConfig(
-    "VOLKSWAGEN CADDY 3RD GEN",  # Chassis 2K
+  VOLKSWAGEN_CADDY_MK3 = VolkswagenPQPlatformConfig( # Chassis 2K
     [
       VWCarDocs("Volkswagen Caddy 2019"),
       VWCarDocs("Volkswagen Caddy Maxi 2019"),
     ],
     VolkswagenCarSpecs(mass=1613, wheelbase=2.6, minSteerSpeed=21 * CV.KPH_TO_MS),
   )
-  CRAFTER_MK2 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN CRAFTER 2ND GEN",  # Chassis SY/SZ
+  VOLKSWAGEN_CRAFTER_MK2 = VolkswagenMQBPlatformConfig( # Chassis SY/SZ
     [
       VWCarDocs("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"),
       VWCarDocs("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"),
@@ -217,8 +213,7 @@ class CAR(Platforms):
     ],
     VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS),
   )
-  GOLF_MK7 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN GOLF 7TH GEN",  # Chassis 5G/AU/BA/BE
+  VOLKSWAGEN_GOLF_MK7 = VolkswagenMQBPlatformConfig( # Chassis 5G/AU/BA/BE
     [
       VWCarDocs("Volkswagen e-Golf 2014-20"),
       VWCarDocs("Volkswagen Golf 2015-20", auto_resume=False),
@@ -231,16 +226,14 @@ class CAR(Platforms):
     ],
     VolkswagenCarSpecs(mass=1397, wheelbase=2.62),
   )
-  JETTA_MK7 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN JETTA 7TH GEN",  # Chassis BU
+  VOLKSWAGEN_JETTA_MK7 = VolkswagenMQBPlatformConfig( # Chassis BU
     [
       VWCarDocs("Volkswagen Jetta 2018-24"),
       VWCarDocs("Volkswagen Jetta GLI 2021-24"),
     ],
     VolkswagenCarSpecs(mass=1328, wheelbase=2.71),
   )
-  PASSAT_MK8 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN PASSAT 8TH GEN",  # Chassis 3G
+  VOLKSWAGEN_PASSAT_MK8 = VolkswagenMQBPlatformConfig( # Chassis 3G
     [
       VWCarDocs("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]),
       VWCarDocs("Volkswagen Passat Alltrack 2015-22"),
@@ -248,65 +241,55 @@ class CAR(Platforms):
     ],
     VolkswagenCarSpecs(mass=1551, wheelbase=2.79),
   )
-  PASSAT_NMS = VolkswagenPQPlatformConfig(
-    "VOLKSWAGEN PASSAT NMS",  # Chassis A3
+  VOLKSWAGEN_PASSAT_NMS = VolkswagenPQPlatformConfig( # Chassis A3
     [VWCarDocs("Volkswagen Passat NMS 2017-22")],
     VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50*CV.KPH_TO_MS, minEnableSpeed=20*CV.KPH_TO_MS),
   )
-  POLO_MK6 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN POLO 6TH GEN",  # Chassis AW
+  VOLKSWAGEN_POLO_MK6 = VolkswagenMQBPlatformConfig( # Chassis AW
     [
       VWCarDocs("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]),
       VWCarDocs("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]),
     ],
     VolkswagenCarSpecs(mass=1230, wheelbase=2.55),
   )
-  SHARAN_MK2 = VolkswagenPQPlatformConfig(
-    "VOLKSWAGEN SHARAN 2ND GEN",  # Chassis 7N
+  VOLKSWAGEN_SHARAN_MK2 = VolkswagenPQPlatformConfig( # Chassis 7N
     [
       VWCarDocs("Volkswagen Sharan 2018-22"),
       VWCarDocs("SEAT Alhambra 2018-20"),
     ],
     VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50*CV.KPH_TO_MS),
   )
-  TAOS_MK1 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN TAOS 1ST GEN",  # Chassis B2
+  VOLKSWAGEN_TAOS_MK1 = VolkswagenMQBPlatformConfig( # Chassis B2
     [VWCarDocs("Volkswagen Taos 2022-23")],
     VolkswagenCarSpecs(mass=1498, wheelbase=2.69),
   )
-  TCROSS_MK1 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN T-CROSS 1ST GEN",  # Chassis C1
+  VOLKSWAGEN_TCROSS_MK1 = VolkswagenMQBPlatformConfig( # Chassis C1
     [VWCarDocs("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0])],
     VolkswagenCarSpecs(mass=1150, wheelbase=2.60),
   )
-  TIGUAN_MK2 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN TIGUAN 2ND GEN",  # Chassis AD/BW
+  VOLKSWAGEN_TIGUAN_MK2 = VolkswagenMQBPlatformConfig( # Chassis AD/BW
     [
       VWCarDocs("Volkswagen Tiguan 2018-24"),
       VWCarDocs("Volkswagen Tiguan eHybrid 2021-23"),
     ],
     VolkswagenCarSpecs(mass=1715, wheelbase=2.74),
   )
-  TOURAN_MK2 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN TOURAN 2ND GEN",  # Chassis 1T
+  VOLKSWAGEN_TOURAN_MK2 = VolkswagenMQBPlatformConfig( # Chassis 1T
     [VWCarDocs("Volkswagen Touran 2016-23")],
     VolkswagenCarSpecs(mass=1516, wheelbase=2.79),
   )
-  TRANSPORTER_T61 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN TRANSPORTER T6.1",  # Chassis 7H/7L
+  VOLKSWAGEN_TRANSPORTER_T61 = VolkswagenMQBPlatformConfig( # Chassis 7H/7L
     [
       VWCarDocs("Volkswagen Caravelle 2020"),
       VWCarDocs("Volkswagen California 2021-23"),
     ],
     VolkswagenCarSpecs(mass=1926, wheelbase=3.00, minSteerSpeed=14.0),
   )
-  TROC_MK1 = VolkswagenMQBPlatformConfig(
-    "VOLKSWAGEN T-ROC 1ST GEN",  # Chassis A1
+  VOLKSWAGEN_TROC_MK1 = VolkswagenMQBPlatformConfig( # Chassis A1
     [VWCarDocs("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0])],
     VolkswagenCarSpecs(mass=1413, wheelbase=2.63),
   )
-  AUDI_A3_MK3 = VolkswagenMQBPlatformConfig(
-    "AUDI A3 3RD GEN",  # Chassis 8V/FF
+  AUDI_A3_MK3 = VolkswagenMQBPlatformConfig( # Chassis 8V/FF
     [
       VWCarDocs("Audi A3 2014-19"),
       VWCarDocs("Audi A3 Sportback e-tron 2017-18"),
@@ -315,61 +298,50 @@ class CAR(Platforms):
     ],
     VolkswagenCarSpecs(mass=1335, wheelbase=2.61),
   )
-  AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig(
-    "AUDI Q2 1ST GEN",  # Chassis GA
+  AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig( # Chassis GA
     [VWCarDocs("Audi Q2 2018")],
     VolkswagenCarSpecs(mass=1205, wheelbase=2.61),
   )
-  AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig(
-    "AUDI Q3 2ND GEN",  # Chassis 8U/F3/FS
+  AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig( # Chassis 8U/F3/FS
     [VWCarDocs("Audi Q3 2019-23")],
     VolkswagenCarSpecs(mass=1623, wheelbase=2.68),
   )
-  SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig(
-    "SEAT ATECA 1ST GEN",  # Chassis 5F
+  SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig( # Chassis 5F
     [VWCarDocs("SEAT Ateca 2018")],
     VolkswagenCarSpecs(mass=1900, wheelbase=2.64),
   )
-  SEAT_LEON_MK3 = VolkswagenMQBPlatformConfig(
-    "SEAT LEON 3RD GEN",  # Chassis 5F
+  SEAT_LEON_MK3 = VolkswagenMQBPlatformConfig( # Chassis 5F
     [VWCarDocs("SEAT Leon 2014-20")],
     VolkswagenCarSpecs(mass=1227, wheelbase=2.64),
   )
-  SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig(
-    "SKODA FABIA 4TH GEN",  # Chassis PJ
+  SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig( # Chassis PJ
     [VWCarDocs("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0])],
     VolkswagenCarSpecs(mass=1266, wheelbase=2.56),
   )
-  SKODA_KAMIQ_MK1 = VolkswagenMQBPlatformConfig(
-    "SKODA KAMIQ 1ST GEN",  # Chassis NW
+  SKODA_KAMIQ_MK1 = VolkswagenMQBPlatformConfig( # Chassis NW
     [VWCarDocs("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ])],
     VolkswagenCarSpecs(mass=1265, wheelbase=2.66),
   )
-  SKODA_KAROQ_MK1 = VolkswagenMQBPlatformConfig(
-    "SKODA KAROQ 1ST GEN",  # Chassis NU
+  SKODA_KAROQ_MK1 = VolkswagenMQBPlatformConfig( # Chassis NU
     [VWCarDocs("Škoda Karoq 2019-23")],
     VolkswagenCarSpecs(mass=1278, wheelbase=2.66),
   )
-  SKODA_KODIAQ_MK1 = VolkswagenMQBPlatformConfig(
-    "SKODA KODIAQ 1ST GEN",  # Chassis NS
+  SKODA_KODIAQ_MK1 = VolkswagenMQBPlatformConfig( # Chassis NS
     [VWCarDocs("Škoda Kodiaq 2017-23")],
     VolkswagenCarSpecs(mass=1569, wheelbase=2.79),
   )
-  SKODA_OCTAVIA_MK3 = VolkswagenMQBPlatformConfig(
-    "SKODA OCTAVIA 3RD GEN",  # Chassis NE
+  SKODA_OCTAVIA_MK3 = VolkswagenMQBPlatformConfig( # Chassis NE
     [
       VWCarDocs("Škoda Octavia 2015-19"),
       VWCarDocs("Škoda Octavia RS 2016"),
     ],
     VolkswagenCarSpecs(mass=1388, wheelbase=2.68),
   )
-  SKODA_SCALA_MK1 = VolkswagenMQBPlatformConfig(
-    "SKODA SCALA 1ST GEN",  # Chassis NW
+  SKODA_SCALA_MK1 = VolkswagenMQBPlatformConfig( # Chassis NW
     [VWCarDocs("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0])],
     VolkswagenCarSpecs(mass=1192, wheelbase=2.65),
   )
-  SKODA_SUPERB_MK3 = VolkswagenMQBPlatformConfig(
-    "SKODA SUPERB 3RD GEN",  # Chassis 3V/NP
+  SKODA_SUPERB_MK3 = VolkswagenMQBPlatformConfig( # Chassis 3V/NP
     [VWCarDocs("Škoda Superb 2015-22")],
     VolkswagenCarSpecs(mass=1505, wheelbase=2.84),
   )

selfdrive/controls/controlsd.py

@@ -12,6 +12,7 @@ from cereal.visionipc import VisionIpcClient, VisionStreamType
 
 
 from openpilot.common.conversions import Conversions as CV
+from openpilot.common.git import get_short_branch
 from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
@@ -30,7 +31,6 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 
 from openpilot.system.hardware import HARDWARE
-from openpilot.system.version import get_short_branch
 
 SOFT_DISABLE_TIME = 3  # seconds
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS

selfdrive/controls/lib/events.py

@@ -7,9 +7,9 @@ from collections.abc import Callable
 from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
+from openpilot.common.git import get_short_branch
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
-from openpilot.system.version import get_short_branch
 
 AlertSize = log.ControlsState.AlertSize
 AlertStatus = log.ControlsState.AlertStatus

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -17,7 +17,7 @@ from openpilot.common.mock.generators import generate_liveLocationKalman
 
 class TestLatControl(unittest.TestCase):
 
-  @parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque),  (NISSAN.LEAF, LatControlAngle)])
+  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),  (NISSAN.NISSAN_LEAF, LatControlAngle)])
   def test_saturation(self, car_name, controller):
     CarInterface, CarController, CarState = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)

selfdrive/controls/lib/tests/test_vehicle_model.py

@@ -12,7 +12,7 @@ from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_
 
 class TestVehicleModel(unittest.TestCase):
   def setUp(self):
-    CP = CarInterface.get_non_essential_params(CAR.CIVIC)
+    CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
     self.VM = VehicleModel(CP)
 
   def test_round_trip_yaw_rate(self):

selfdrive/controls/tests/test_leads.py

@@ -25,7 +25,7 @@ class TestLeads(unittest.TestCase):
       return msgs
 
     msgs = [m for _ in range(3) for m in single_iter_pkg()]
-    out = replay_process_with_name("radard", msgs, fingerprint=TOYOTA.COROLLA_TSS2)
+    out = replay_process_with_name("radard", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
     states = [m for m in out if m.which() == "radarState"]
     failures = [not state.valid and len(state.radarState.radarErrors) for state in states]
 

selfdrive/controls/tests/test_startup.py

@@ -39,12 +39,12 @@ CX5_FW_VERSIONS = [
   # TODO: test EventName.startup for release branches
 
   # officially supported car
-  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
-  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
+  (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS, "toyota"),
+  (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS, "toyota"),
 
   # dashcamOnly car
-  (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
-  (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
+  (EventName.startupNoControl, MAZDA.MAZDA_CX5, CX5_FW_VERSIONS, "mazda"),
+  (EventName.startupNoControl, MAZDA.MAZDA_CX5, CX5_FW_VERSIONS, "mazda"),
 
   # unrecognized car with no fw
   (EventName.startupNoFw, None, None, ""),
@@ -55,8 +55,8 @@ CX5_FW_VERSIONS = [
   (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
 
   # fuzzy match
-  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
-  (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
+  (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
+  (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
 ])
 def test_startup_alert(expected_event, car_model, fw_versions, brand):
   controls_sock = messaging.sub_sock("controlsState")

selfdrive/debug/cycle_alerts.py

@@ -52,7 +52,7 @@ def cycle_alerts(duration=200, is_metric=False):
   cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
 
   CS = car.CarState.new_message()
-  CP = CarInterface.get_non_essential_params("HONDA CIVIC 2016")
+  CP = CarInterface.get_non_essential_params("CIVIC")
   sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
                             'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
                             'managerState'] + cameras)

selfdrive/manager/manager.py

@@ -16,9 +16,10 @@ from openpilot.selfdrive.manager.process import ensure_running
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.common.swaglog import cloudlog, add_file_handler
-from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
+from openpilot.common.git import get_commit, get_origin, get_short_branch, get_commit_date
+from openpilot.system.version import is_dirty, get_version, \
                            get_normalized_origin, terms_version, training_version, \
-                           is_tested_branch, is_release_branch, get_commit_date
+                           is_tested_branch, is_release_branch
 
 
 

selfdrive/modeld/models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cd4b0cc83d5ff275ee77ec430ea686603ad50fd6ad874f599ea6e95b123afc3e
-size 48193749
+oid sha256:b4fb2cec9ef759cb1164ee2d27b338338a5a9302f427ad95f9b021361b02e1a2
+size 52263406

selfdrive/sentry.py

@@ -6,9 +6,9 @@ from sentry_sdk.integrations.threading import ThreadingIntegration
 from openpilot.common.params import Params
 from openpilot.selfdrive.athena.registration import is_registered_device
 from openpilot.system.hardware import HARDWARE, PC
+from openpilot.common.git import get_commit, get_branch, get_origin
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_branch, get_commit, get_origin, get_version, \
-                              is_comma_remote, is_dirty, is_tested_branch
+from openpilot.system.version import get_version, is_comma_remote, is_dirty, is_tested_branch
 
 
 class SentryProject(Enum):

selfdrive/test/helpers.py

@@ -14,7 +14,7 @@ from openpilot.system.version import training_version, terms_version
 
 
 def set_params_enabled():
-  os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
+  os.environ['FINGERPRINT'] = "TOYOTA_COROLLA_TSS2"
   os.environ['LOGPRINT'] = "debug"
 
   params = Params()

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -50,7 +50,7 @@ class Plant:
     from openpilot.selfdrive.car.honda.values import CAR
     from openpilot.selfdrive.car.honda.interface import CarInterface
 
-    self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.CIVIC), init_v=self.speed)
+    self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_CIVIC), init_v=self.speed)
 
   @property
   def current_time(self):

selfdrive/test/process_replay/migration.py

@@ -1,6 +1,7 @@
 from collections import defaultdict
 
 from cereal import messaging
+from openpilot.selfdrive.car.fingerprints import MIGRATION
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
 from openpilot.selfdrive.car.toyota.values import EPS_SCALE
 from openpilot.selfdrive.manager.process_config import managed_processes
@@ -72,9 +73,9 @@ def migrate_pandaStates(lr):
   all_msgs = []
   # TODO: safety param migration should be handled automatically
   safety_param_migration = {
-    "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
-    "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
-    "KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
+    "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
+    "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
+    "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
   }
 
   # Migrate safety param base on carState
@@ -185,6 +186,7 @@ def migrate_carParams(lr, old_logtime=False):
       CP = messaging.new_message('carParams')
       CP.valid = True
       CP.carParams = msg.carParams.as_builder()
+      CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
       for car_fw in CP.carParams.carFw:
         car_fw.brand = CP.carParams.carName
       if old_logtime:

selfdrive/test/process_replay/model_replay.py

@@ -6,13 +6,13 @@ from collections import defaultdict
 from typing import Any
 
 import cereal.messaging as messaging
+from openpilot.common.git import get_commit
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.tools.lib.openpilotci import BASE_URL, get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
-from openpilot.system.version import get_commit
 from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.helpers import save_log

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-e8b359a82316e6dfce3b6fb0fb9684431bfa0a1b
+60b00d102b3aedcc74a91722d1210cc6905b0c8f

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-e29856a02cca7ab76461b2cc0acd25826a894667
+4e5e37be9d70450154f8b100ed88151bb3612331

selfdrive/test/process_replay/test_debayer.py

@@ -9,7 +9,7 @@ import pyopencl as cl  # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip insta
 from openpilot.system.hardware import PC, TICI
 from openpilot.common.basedir import BASEDIR
 from openpilot.tools.lib.openpilotci import BASE_URL
-from openpilot.system.version import get_commit
+from openpilot.common.git import get_commit
 from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.filereader import FileReader

selfdrive/test/process_replay/test_fuzzy.py

@@ -27,7 +27,7 @@ class TestFuzzProcesses(unittest.TestCase):
     msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True)
     lr = [log.Event.new_message(**m).as_reader() for m in msgs]
     cfg.timeout = 5
-    pr.replay_process(cfg, lr, fingerprint=TOYOTA.COROLLA_TSS2, disable_progress=True)
+    pr.replay_process(cfg, lr, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2, disable_progress=True)
 
 if __name__ == "__main__":
   unittest.main()

selfdrive/test/process_replay/test_processes.py

@@ -7,37 +7,37 @@ from collections import defaultdict
 from tqdm import tqdm
 from typing import Any
 
+from openpilot.common.git import get_commit
 from openpilot.selfdrive.car.car_helpers import interface_names
 from openpilot.tools.lib.openpilotci import get_url, upload_file
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process
-from openpilot.system.version import get_commit
 from openpilot.tools.lib.filereader import FileReader
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.helpers import save_log
 
 source_segments = [
-  ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.BODY
-  ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
-  ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.KIA_EV6 (+ QCOM GPS)
-  ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS
-  ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4
-  ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2
-  ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.CIVIC (NIDEC)
-  ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.ACCORD (BOSCH)
-  ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.PACIFICA_2018_HYBRID
-  ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"),         # CHRYSLER.RAM_1500
-  ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"),      # SUBARU.OUTBACK
-  ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.VOLT
-  ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.BOLT_EUV
-  ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.XTRAIL
-  ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"),  # VOLKSWAGEN.GOLF
-  ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"),       # MAZDA.CX9_2021
-  ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.BRONCO_SPORT_MK1
+  ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.COMMA_BODY
+  ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.HYUNDAI_SONATA
+  ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.HYUNDAI_KIA_EV6 (+ QCOM GPS)
+  ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.TOYOTA_PRIUS
+  ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.TOYOTA_RAV4
+  ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.TOYOTA_COROLLA_TSS2
+  ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.HONDA_CIVIC (NIDEC)
+  ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.HONDA_ACCORD (BOSCH)
+  ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID
+  ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"),         # CHRYSLER.RAM_1500_5TH_GEN
+  ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"),      # SUBARU.SUBARU_OUTBACK
+  ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.CHEVROLET_VOLT
+  ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.CHEVROLET_BOLT_EUV
+  ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.NISSAN_XTRAIL
+  ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"),  # VOLKSWAGEN.VOLKSWAGEN_GOLF
+  ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"),       # MAZDA.MAZDA_CX9_2021
+  ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.FORD_BRONCO_SPORT_MK1
 
   # Enable when port is tested and dashcamOnly is no longer set
-  #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"),      # TESLA.AP2_MODELS
-  #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"),  # VOLKSWAGEN.PASSAT_NMS
+  #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"),      # TESLA.TESLA_AP2_MODELS
+  #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"),  # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS
 ]
 
 segments = [

selfdrive/test/process_replay/test_regen.py

@@ -11,7 +11,7 @@ from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.framereader import FrameReader
 
 TESTED_SEGMENTS = [
-  ("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA PRIUS 2017:     NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED
+  ("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.TOYOTA_PRIUS:     NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED
   # Enable these once regen on CI becomes faster or use them for different tests running controlsd in isolation
   # ("MAZDA_C3", "bd6a637565e91581|2021-10-30--15-14-53--4"),  # MAZDA.CX9_2021:        TICI, incomplete managerState
   # ("FORD_C3", "54827bf84c38b14f|2023-01-26--21-59-07--4"),   # FORD.BRONCO_SPORT_MK1: TICI