Merge remote-tracking branch 'upstream/master' into take-steering

3 years ago · f8c41268e1
parent c239468902 ffc151ed8f
commit f8c41268e1
34 changed files with 376 additions and 84 deletions
--- a/RELEASES.md
+++ b/RELEASES.md
@ -12,6 +12,7 @@ Version 0.8.17 (2022-XX-XX)
  * Border turns grey while overriding steering
  * Added button to bookmark events while driving; view them later in comma connect
 * AGNOS 6
+* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!

 Version 0.8.16 (2022-08-26)
 ========================
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 107048c83ec2f488286a1be314e7aece0a20a6b1
+Subproject commit 1e3dd70a391bc1bbe437d3eea8be30947f929a75
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -4,7 +4,7 @@

 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.

-# 208 Supported Cars
+# 209 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
@ -18,8 +18,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
 |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
@ -32,7 +32,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
 |Genesis|G90 2017-18|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
 |GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
 |Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
 |Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
@ -100,6 +100,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
 |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
+|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
 |Kia|Telluride 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit b1ca52f86d59500c6232df6afac97a51daf7bd51
+Subproject commit 02b74fcfe19cbb000e5fb696e028f6f67690c20c
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -62,11 +62,14 @@ class CarInterface(CarInterfaceBase):
      ret.radarOffCan = True  # no radar
      ret.pcmCruise = True
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+      ret.minEnableSpeed = 5 * CV.KPH_TO_MS
    else:  # ASCM, OBD-II harness
      ret.openpilotLongitudinalControl = True
      ret.networkLocation = NetworkLocation.gateway
      ret.radarOffCan = False
      ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
+      # supports stop and go, but initial engage must (conservatively) be above 18mph
+      ret.minEnableSpeed = 18 * CV.MPH_TO_MS

    # 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
@ -90,9 +93,6 @@ class CarInterface(CarInterfaceBase):
    ret.steerLimitTimer = 0.4
    ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz

-    # supports stop and go, but initial engage must (conservatively) be above 18mph
-    ret.minEnableSpeed = 18 * CV.MPH_TO_MS
-
    if candidate == CAR.VOLT:
      ret.mass = 1607. + STD_CARGO_KG
      ret.wheelbase = 2.69
@ -153,7 +153,6 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 1.0

    elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV):
-      ret.minEnableSpeed = -1
      ret.mass = 1669. + STD_CARGO_KG
      ret.wheelbase = 2.63779
      ret.steerRatio = 16.8
@ -163,7 +162,6 @@ class CarInterface(CarInterfaceBase):
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate == CAR.SILVERADO:
-      ret.minEnableSpeed = -1
      ret.mass = 2200. + STD_CARGO_KG
      ret.wheelbase = 3.75
      ret.steerRatio = 16.3
@ -172,7 +170,6 @@ class CarInterface(CarInterfaceBase):
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate == CAR.EQUINOX:
-      ret.minEnableSpeed = -1
      ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG
      ret.wheelbase = 2.72
      ret.steerRatio = 14.4
@ -207,19 +204,16 @@ class CarInterface(CarInterfaceBase):
                                                         GearShifter.eco, GearShifter.manumatic],
                                       pcm_enable=self.CP.pcmCruise)

-    if ret.vEgo < self.CP.minEnableSpeed:
+    # Enabling at a standstill with brake is allowed
+    # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
+    if ret.vEgo < self.CP.minEnableSpeed and not (ret.standstill and ret.brake >= 20 and
+                                                  self.CP.networkLocation == NetworkLocation.fwdCamera):
      events.add(EventName.belowEngageSpeed)
    if ret.cruiseState.standstill:
      events.add(EventName.resumeRequired)
    if ret.vEgo < self.CP.minSteerSpeed:
      events.add(EventName.belowSteerSpeed)

-    if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.pcmCruise:
-      # The ECM has a higher brake pressed threshold than the camera, causing an
-      # ACC fault when you engage at a stop with your foot partially on the brake
-      if ret.vEgoRaw < 0.1 and ret.brake < 20:
-        events.add(EventName.gmAccFaultedTemp)
-
    ret.events = events.to_msg()

    return ret
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@ -105,7 +105,6 @@ class Footnote(Enum):
@dataclass
 class HondaCarInfo(CarInfo):
  package: str = "Honda Sensing"
-  min_steer_speed: float = 12. * CV.MPH_TO_MS


 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
@ -114,31 +113,31 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
  ],
  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"),
+  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"),
  CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-    HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a),
+    HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
  ],
  CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
  CAR.CIVIC_2022: [
-    HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
-    HondaCarInfo("Honda Civic Hatchback 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
+    HondaCarInfo("Honda Civic 2022", "All", harness=Harness.bosch_b),
+    HondaCarInfo("Honda Civic Hatchback 2022", "All", harness=Harness.bosch_b),
  ],
  CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec),
-  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", harness=Harness.nidec),
-  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", harness=Harness.bosch_a),
+  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
  CAR.CRV_EU: None,  # HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
-  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a),
-  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", harness=Harness.nidec),
-  CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec),
-  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec),
-  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec),
+  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", harness=Harness.nidec),
  CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
-  CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec),
+  CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", harness=Harness.nidec),
-  CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec),
-  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec),
+  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
  CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
 }
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@ -135,14 +135,17 @@ class CarController:
              self.last_button_frame = self.frame
            else:
              for _ in range(20):
-                can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
+                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.CANCEL))
              self.last_button_frame = self.frame

          # cruise standstill resume
          elif CC.cruiseControl.resume:
-            if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
+            if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
+              # TODO: resume for alt button cars
+              pass
+            else:
              for _ in range(20):
-                can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
+                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.RES_ACCEL))
              self.last_button_frame = self.frame
    else:
      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active,
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@ -3,7 +3,7 @@ from selfdrive.car.hyundai.values import HyundaiFlags

 def get_e_can_bus(CP):
  # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
-  # have a a different harness than the HDA1 and non-HDA variants in order to split
+  # have a different harness than the HDA1 and non-HDA variants in order to split
  # a different bus, since the steering is done by different ECUs.
  return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4

@ -39,13 +39,15 @@ def create_cam_0x2a4(packer, camera_values):
  })
  return packer.make_can_msg("CAM_0x2a4", 4, camera_values)

-def create_buttons(packer, cnt, btn):
+def create_buttons(packer, CP, cnt, btn):
  values = {
    "COUNTER": cnt,
    "SET_ME_1": 1,
    "CRUISE_BUTTONS": btn,
  }
-  return packer.make_can_msg("CRUISE_BUTTONS", 5, values)
+
+  bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 6
+  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)

 def create_acc_cancel(packer, CP, cruise_info_copy):
  values = cruise_info_copy
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -8,6 +8,7 @@ from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia,
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu

+Ecu = car.CarParams.Ecu
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
@ -33,8 +34,8 @@ class CarInterface(CarInterfaceBase):
    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}

    if candidate in CANFD_CAR:
-      # detect HDA2 with LKAS message
-      if 0x50 in fingerprint[6]:
+      # detect HDA2 with ADAS Driving ECU
+      if Ecu.adas in [fw.ecu for fw in car_fw]:
        ret.flags |= HyundaiFlags.CANFD_HDA2.value
      else:
        # non-HDA2
@ -247,6 +248,11 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 16.
      tire_stiffness_factor = 0.65
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
+      ret.mass = 1767. + STD_CARGO_KG  # SX Prestige trim support only
+      ret.wheelbase = 2.756
+      ret.steerRatio = 13.6
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    # Genesis
    elif candidate == CAR.GENESIS_G70:
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -36,7 +36,7 @@ class CarControllerParams:
    # If the max stock LKAS request is <384, add your car to this list.
    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
                               CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
-                               CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
+                               CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO):
      self.STEER_MAX = 255

    # Default for most HKG
@ -90,6 +90,7 @@ class CAR:
  KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
  KIA_SELTOS = "KIA SELTOS 2021"
  KIA_SORENTO = "KIA SORENTO GT LINE 2018"
+  KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
  KIA_STINGER = "KIA STINGER GT2 2018"
  KIA_CEED = "KIA CEED INTRO ED 2019"
  KIA_EV6 = "KIA EV6 2022"
@ -172,6 +173,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
    HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
  ],
+  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n),
  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
  CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
  CAR.KIA_EV6: [
@ -304,7 +306,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
    Request(
      [HYUNDAI_VERSION_REQUEST_LONG],
      [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdRadar],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar],
      bus=4,
    ),
    Request(
@ -1367,6 +1369,14 @@ FW_VERSIONS = {
      b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
    ],
  },
+  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NQ5__               1.01 1.03 99110-CH000         ',
+    ],
+  },
 }

 CHECKSUM = {
@ -1384,12 +1394,12 @@ FEATURES = {
  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
 }

-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN}

 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }

-HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN}  # these cars use a different gas signal
+HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN}  # these cars use a different gas signal
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5}

 # these cars require a special panda safety mode due to missing counters and checksums in the messages
@ -1442,4 +1452,5 @@ DBC = {
  CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
  CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),
 }
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@ -91,13 +91,14 @@ routes = [
  CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4),
  CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0),
  CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
+  CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_HYBRID_5TH_GEN),
  CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
  CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
  CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
  CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN),
  CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
  CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
-  CarTestRoute("22de8111a8c5463c|2022-07-29--13-34-49", HYUNDAI.IONIQ_5),
+  CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5),  # 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("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
@ -110,7 +111,7 @@ routes = [
  CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
  CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
  CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
-  CarTestRoute("d824e27e8c60172c|2022-05-19--16-15-28", HYUNDAI.KIA_EV6),  # HDA2
+  CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6),  # HDA2
  CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6),  # HDA1
  CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
  CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@ -45,6 +45,7 @@ class TestFwFingerprint(unittest.TestCase):
            self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}")

  def test_data_collection_ecus(self):
+    # Asserts no extra ECUs are in the fingerprinting database
    for brand, config in FW_QUERY_CONFIGS.items():
      for car_model, ecus in VERSIONS[brand].items():
        bad_ecus = set(ecus).intersection(config.extra_ecus)
@ -80,10 +81,11 @@ class TestFwFingerprint(unittest.TestCase):
  def test_fw_request_ecu_whitelist(self):
    for brand, config in FW_QUERY_CONFIGS.items():
      with self.subTest(brand=brand):
-        whitelisted_ecus = set([ecu for r in config.requests for ecu in r.whitelist_ecus])
-        brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw])
+        whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus}
+        brand_ecus = {fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw}
+        brand_ecus |= {ecu[0] for ecu in config.extra_ecus}

-        # each ecu in brand's fw versions needs to be whitelisted at least once
+        # each ecu in brand's fw versions + extra ecus needs to be whitelisted at least once
        ecus_not_whitelisted = brand_ecus - whitelisted_ecus

        ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@ -32,6 +32,7 @@ CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
 VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
 VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1]
 HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]
+KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.0]

 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@ -811,7 +811,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
    ET.NO_ENTRY: NoEntryAlert("Cruise Faulted"),
  },

-  EventName.gmAccFaultedTemp: {
+  EventName.accFaultedTemp: {
    ET.NO_ENTRY: NoEntryAlert("Cruise Temporarily Faulted"),
  },

--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@ -17,7 +17,7 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 # friction in the steering wheel that needs to be overcome to
 # move it at all, this is compensated for too.

-LOW_SPEED_FACTOR = 100
+LOW_SPEED_FACTOR = 200


 class LatControlTorque(LatControl):
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@ -22,8 +22,7 @@ LATERAL_JERK_COST = 0.05
 # TODO this cost should be lowered when low
 # speed lateral control is stable on all cars
 STEERING_RATE_COST = 800.0
-
-MIN_SPEED = .3
+MIN_SPEED = 1.5


 class LateralPlanner:
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-6bb7d8baae51d88dd61f0baf561e386664ddd266
+a87455caf93e91fae0f3704aa476e0732d066b77
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@ -18,7 +18,7 @@ from tools.lib.logreader import LogReader
 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", "d824e27e8c60172c|2022-09-13--11-26-50--2"),    # HYUNDAI.KIA_EV6
+  ("HYUNDAI2", "d545129f3ca90f28|2022-10-19--09-22-54--9"),    # HYUNDAI.KIA_EV6
  ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS (INDI)
  ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4  (LQR)
  ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2
@ -40,7 +40,7 @@ source_segments = [
 segments = [
  ("BODY", "regenFA002A80700|2022-09-27--15-37-02--0"),
  ("HYUNDAI", "regenBE53A59065B|2022-09-27--16-52-03--0"),
-  ("HYUNDAI2", "regenFA8B5CA9840|2022-10-12--21-47-06--0"),
+  ("HYUNDAI2", "d545129f3ca90f28|2022-10-19--09-22-54--9"),
  ("TOYOTA", "regen929C5790007|2022-09-27--16-27-47--0"),
  ("TOYOTA2", "regenEA3950D7F22|2022-09-27--15-43-24--0"),
  ("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"),
--- a/selfdrive/test/update_ci_routes.py
+++ b/selfdrive/test/update_ci_routes.py
@ -1,6 +1,8 @@
 #!/usr/bin/env python3
+from functools import lru_cache
 import sys
 import subprocess
+from tqdm import tqdm
 from azure.storage.blob import BlockBlobService  # pylint: disable=import-error

 from selfdrive.car.tests.routes import routes as test_car_models_routes
@ -10,11 +12,11 @@ from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DA

 SOURCES = [
  (_DATA_ACCOUNT_PRODUCTION, _DATA_BUCKET_PRODUCTION),
-  (_DATA_ACCOUNT_PRODUCTION, "preserve"),
  (_DATA_ACCOUNT_CI, "commadataci"),
 ]


+@lru_cache
 def get_azure_keys():
  dest_key = azureutil.get_user_token(_DATA_ACCOUNT_CI, "openpilotci")
  source_keys = [azureutil.get_user_token(account, bucket) for account, bucket in SOURCES]
@ -82,7 +84,7 @@ if __name__ == "__main__":
    to_sync.extend([rt.route for rt in test_car_models_routes])
    to_sync.extend([s[1].rsplit('--', 1)[0] for s in replay_segments])

-  for r in to_sync:
+  for r in tqdm(to_sync):
    if not sync_to_ci_public(r):
      failed_routes.append(r)

--- a/tools/cabana/.gitignore
+++ b/tools/cabana/.gitignore
@ -3,3 +3,5 @@ moc_*

 _cabana
 settings
+car_fingerprint_to_dbc.json
+
--- a/tools/cabana/README.md
+++ b/tools/cabana/README.md
@ -6,4 +6,19 @@ Cabana is a tool developed to view raw CAN data. One use for this is creating an

 ## Usage Instructions

+```bash
+$ ./cabana -h
+Usage: ./_cabana [options] route
+
+Options:
+  -h, --help             Displays this help.
+  --demo                 use a demo route instead of providing your own
+  --qcam                 load qcamera
+  --data_dir <data_dir>  local directory with routes
+
+Arguments:
+  route                  the drive to replay. find your drives at
+                         connect.comma.ai
+```
+
 See [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@ -12,5 +12,6 @@ else:

 qt_libs = ['qt_util', 'Qt5Charts'] + base_libs
 cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs
+qt_env.Execute('./generate_dbc_json.py --out car_fingerprint_to_dbc.json')
 qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc',
                            'canmessages.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@ -1,8 +1,11 @@
 #include "tools/cabana/binaryview.h"

 #include <QApplication>
+#include <QFontDatabase>
 #include <QHeaderView>
+#include <QMouseEvent>
 #include <QPainter>
+#include <QToolTip>

 #include "tools/cabana/canmessages.h"

@ -18,6 +21,7 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
  horizontalHeader()->hide();
  verticalHeader()->setSectionResizeMode(QHeaderView::Stretch);
  setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  setMouseTracking(true);

  // replace selection model
  auto old_model = selectionModel();
@ -29,6 +33,24 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
  });
 }

+void BinaryView::highlight(const Signal *sig) {
+  if (sig != hovered_sig) {
+    hovered_sig = sig;
+    model->dataChanged(model->index(0, 0), model->index(model->rowCount() - 1, model->columnCount() - 1));
+    emit signalHovered(hovered_sig);
+  }
+}
+
+void BinaryView::mouseMoveEvent(QMouseEvent *event) {
+  if (auto index = indexAt(event->pos()); index.isValid()) {
+    auto item = (BinaryViewModel::Item *)index.internalPointer();
+    highlight(item->sig);
+    if (item->sig)
+      QToolTip::showText(event->globalPos(), item->sig->name.c_str(), this, rect());
+  }
+  QTableView::mouseMoveEvent(event);
+}
+
 void BinaryView::mouseReleaseEvent(QMouseEvent *event) {
  QTableView::mouseReleaseEvent(event);

@ -39,6 +61,11 @@ void BinaryView::mouseReleaseEvent(QMouseEvent *event) {
  }
 }

+void BinaryView::leaveEvent(QEvent *event) {
+  highlight(nullptr);
+  QTableView::leaveEvent(event);
+}
+
 void BinaryView::setMessage(const QString &message_id) {
  msg_id = message_id;
  model->setMessage(message_id);
@ -79,7 +106,8 @@ void BinaryViewModel::setMessage(const QString &message_id) {
        } else if (j == end) {
          sig.is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true;
        }
-        items[idx].bg_color = QColor(getColor(i));
+        items[idx].bg_color = getColor(i);
+        items[idx].sig = &dbc_msg->sigs[i];
      }
    }
  }
@ -157,7 +185,8 @@ void BinarySelectionModel::select(const QItemSelection &selection, QItemSelectio
 BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) {
  // cache fonts and color
  small_font.setPointSize(6);
-  bold_font.setBold(true);
+  hex_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
+  hex_font.setBold(true);
  highlight_color = QApplication::style()->standardPalette().color(QPalette::Active, QPalette::Highlight);
 }

@ -168,11 +197,19 @@ QSize BinaryItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QMo

 void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
  auto item = (const BinaryViewModel::Item *)index.internalPointer();
+  BinaryView *bin_view = (BinaryView *)parent();
  painter->save();
-  // TODO: highlight signal cells on mouse over
-  painter->fillRect(option.rect, option.state & QStyle::State_Selected ? highlight_color : item->bg_color);
+
+  // background
+  QColor bg_color = item->sig && bin_view->hoveredSignal() == item->sig ? hoverColor(item->bg_color) : item->bg_color;
+  if (option.state & QStyle::State_Selected) {
+    bg_color = highlight_color;
+  }
+  painter->fillRect(option.rect, bg_color);
+
+  // text
  if (index.column() == 8) {
-    painter->setFont(bold_font);
+    painter->setFont(hex_font);
  }
  painter->drawText(option.rect, Qt::AlignCenter, item->val);
  if (item->is_msb || item->is_lsb) {
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@ -14,7 +14,7 @@ public:
  QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override;

 private:
-  QFont small_font, bold_font;
+  QFont small_font, hex_font;
  QColor highlight_color;
 };

@ -37,6 +37,7 @@ public:
    bool is_msb = false;
    bool is_lsb = false;
    QString val = "0";
+    const Signal *sig = nullptr;
  };

 private:
@ -59,14 +60,21 @@ class BinaryView : public QTableView {

 public:
  BinaryView(QWidget *parent = nullptr);
-  void mouseReleaseEvent(QMouseEvent *event) override;
  void setMessage(const QString &message_id);
  void updateState();
+  void highlight(const Signal *sig);
+  const Signal *hoveredSignal() const { return hovered_sig; }

 signals:
  void cellsSelected(int start_bit, int size);
+  void signalHovered(const Signal *sig);

 private:
+  void mouseMoveEvent(QMouseEvent *event) override;
+  void mouseReleaseEvent(QMouseEvent *event) override;
+  void leaveEvent(QEvent *event) override;
+
  QString msg_id;
  BinaryViewModel *model;
+  const Signal *hovered_sig = nullptr;
 };
--- a/tools/cabana/canmessages.cc
+++ b/tools/cabana/canmessages.cc
@ -3,6 +3,8 @@
 #include <QDebug>
 #include <QSettings>

+#include "tools/cabana/dbcmanager.h"
+
 Q_DECLARE_METATYPE(std::vector<CanData>);

 Settings settings;
@ -38,6 +40,33 @@ bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool
  return false;
 }

+QList<QPointF> CANMessages::findSignalValues(const QString &id, const Signal *signal, double value, FindFlags flag, int max_count) {
+  auto evts = events();
+  if (!evts) return {};
+
+  auto l = id.split(':');
+  int bus = l[0].toInt();
+  uint32_t address = l[1].toUInt(nullptr, 16);
+
+  QList<QPointF> ret;
+  ret.reserve(max_count);
+  for (auto &evt : *evts) {
+    if (evt->which != cereal::Event::Which::CAN) continue;
+
+    for (auto c : evt->event.getCan()) {
+      if (bus == c.getSrc() && address == c.getAddress()) {
+        double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *signal);
+        if ((flag == EQ && val == value) || (flag == LT && val < value) || (flag == GT && val > value)) {
+          ret.push_back({(evt->mono_time / (double)1e9) - can->routeStartTime(), val});
+        }
+        if (ret.size() >= max_count)
+          return ret;
+      }
+    }
+  }
+  return ret;
+}
+
 void CANMessages::process(QHash<QString, std::deque<CanData>> *messages) {
  for (auto it = messages->begin(); it != messages->end(); ++it) {
    ++counters[it.key()];
--- a/tools/cabana/canmessages.h
+++ b/tools/cabana/canmessages.h
@ -4,8 +4,11 @@
 #include <deque>
 #include <map>

+#include <QColor>
 #include <QHash>
+#include <QList>

+#include "opendbc/can/common_dbc.h"
 #include "tools/replay/replay.h"

 class Settings : public QObject {
@ -35,12 +38,14 @@ class CANMessages : public QObject {
  Q_OBJECT

 public:
+  enum FindFlags{ EQ, LT, GT };
  CANMessages(QObject *parent);
  ~CANMessages();
  bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam);
  void seekTo(double ts);
  void resetRange();
  void setRange(double min, double max);
+  QList<QPointF> findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count);
  bool eventFilter(const Event *event);

  inline std::pair<double, double> range() const { return {begin_sec, end_sec}; }
@ -99,6 +104,12 @@ inline const QString &getColor(int i) {
  return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)];
 }

+inline QColor hoverColor(const QColor &color) {
+  QColor c = color.convertTo(QColor::Hsv);
+  c.setHsv(color.hue(), 180, 180);
+  return c;
+}
+
 // A global pointer referring to the unique CANMessages object
 extern CANMessages *can;
 extern Settings settings;
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@ -29,6 +29,17 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) {
  title_layout->addWidget(edit_btn);
  main_layout->addLayout(title_layout);

+  // warning
+  warning_widget = new QWidget(this);
+  QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget);
+  QLabel *warning_icon =  new QLabel(this);
+  warning_icon->setPixmap(style()->standardIcon(QStyle::SP_MessageBoxWarning).pixmap({16, 16}));
+  warning_hlayout->addWidget(warning_icon);
+  warning_label = new QLabel(this);
+  warning_hlayout->addWidget(warning_label,1, Qt::AlignLeft);
+  warning_widget->hide();
+  main_layout->addWidget(warning_widget);
+
  // binary view
  binary_view = new BinaryView(this);
  main_layout->addWidget(binary_view, 0, Qt::AlignTop);
@ -64,6 +75,7 @@ void DetailWidget::setMessage(const QString &message_id) {
 void DetailWidget::dbcMsgChanged() {
  if (msg_id.isEmpty()) return;

+  warning_widget->hide();
  qDeleteAll(signals_container->findChildren<SignalEdit *>());
  QString msg_name = tr("untitled");
  if (auto msg = dbc()->msg(msg_id)) {
@ -74,8 +86,14 @@ void DetailWidget::dbcMsgChanged() {
      QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm);
      QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal);
      QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal);
+      QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight);
+      QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered);
    }
    msg_name = msg->name.c_str();
+    if (msg->size != can->lastMessage(msg_id).dat.size()) {
+      warning_label->setText(tr("Message size (%1) is incorrect!").arg(msg->size));
+      warning_widget->show();
+    }
  }
  edit_btn->setVisible(true);
  name_label->setText(msg_name);
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@ -46,7 +46,8 @@ private:
  void updateState();

  QString msg_id;
-  QLabel *name_label, *time_label;
+  QLabel *name_label, *time_label, *warning_label;
+  QWidget *warning_widget;
  QPushButton *edit_btn;
  QWidget *signals_container;
  HistoryLog *history_log;
--- a/tools/cabana/generate_dbc_json.py
+++ b/tools/cabana/generate_dbc_json.py
@ -0,0 +1,24 @@
+#!/usr/bin/env python3
+import argparse
+import json
+
+from selfdrive.car.car_helpers import get_interface_attr
+
+
+def generate_dbc_json() -> str:
+  all_cars_by_brand = get_interface_attr("CAR_INFO")
+  all_dbcs_by_brand = get_interface_attr("DBC")
+  dbc_map = {car: all_dbcs_by_brand[brand][car]['pt'] for brand, cars in all_cars_by_brand.items() for car in cars if car != 'mock'}
+  return json.dumps(dict(sorted(dbc_map.items())), indent=2)
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Generate mapping for all car fingerprints to DBC names and outputs json file",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("--out", required=True, help="Generated json filepath")
+  args = parser.parse_args()
+
+  with open(args.out, 'w') as f:
+    f.write(generate_dbc_json())
+  print(f"Generated and written to {args.out}")
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@ -70,7 +70,7 @@ HistoryLog::HistoryLog(QWidget *parent) : QWidget(parent) {
  table = new QTableView(this);
  table->setModel(model);
  table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
-  table->horizontalHeader()->setSectionResizeMode(0, QHeaderView::Fixed);
+  table->horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents);
  table->setColumnWidth(0, 60);
  table->verticalHeader()->setVisible(false);
  table->setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }");
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@ -42,6 +42,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {

  // message filter
  QLineEdit *filter = new QLineEdit(this);
+  filter->setClearButtonEnabled(true);
  filter->setPlaceholderText(tr("filter messages"));
  main_layout->addWidget(filter);

@ -67,9 +68,10 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {

  // signals/slots
  QObject::connect(filter, &QLineEdit::textChanged, proxy_model, &QSortFilterProxyModel::setFilterFixedString);
+  QObject::connect(can, &CANMessages::eventsMerged, this, &MessagesWidget::loadDBCFromFingerprint);
  QObject::connect(can, &CANMessages::updated, model, &MessageListModel::updateState);
-  QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(dbcSelectionChanged(const QString &)));
-  QObject::connect(load_from_paste, &QPushButton::clicked, this, &MessagesWidget::loadFromPaste);
+  QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(loadDBCFromName(const QString &)));
+  QObject::connect(load_from_paste, &QPushButton::clicked, this, &MessagesWidget::loadDBCFromPaste);
  QObject::connect(save_btn, &QPushButton::clicked, [=]() {
    // TODO: save DBC to file
  });
@ -79,17 +81,20 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
    }
  });

-  // For test purpose
-  dbc_combo->setCurrentText("toyota_nodsu_pt_generated");
+  QFile json_file("./car_fingerprint_to_dbc.json");
+  if(json_file.open(QIODevice::ReadOnly)) {
+    fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
+  }
 }

-void MessagesWidget::dbcSelectionChanged(const QString &dbc_file) {
-  dbc()->open(dbc_file);
-  // TODO: reset model?
-  table_widget->sortByColumn(0, Qt::AscendingOrder);
+void MessagesWidget::loadDBCFromName(const QString &name) {
+  dbc()->open(name);
+  dbc_combo->setCurrentText(name);
+  // refresh model
+  model->updateState();
 }

-void MessagesWidget::loadFromPaste() {
+void MessagesWidget::loadDBCFromPaste() {
  LoadDBCDialog dlg(this);
  if (dlg.exec()) {
    dbc()->open("from paste", dlg.dbc_edit->toPlainText());
@ -97,6 +102,16 @@ void MessagesWidget::loadFromPaste() {
  }
 }

+void MessagesWidget::loadDBCFromFingerprint() {
+  auto fingerprint = can->carFingerprint();
+  if (!fingerprint.isEmpty() && dbc()->name().isEmpty())  {
+    auto dbc_name = fingerprint_to_dbc[fingerprint];
+    if (dbc_name !=  QJsonValue::Undefined) {
+      loadDBCFromName(dbc_name.toString());
+    }
+  }
+}
+
 // MessageListModel

 QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const {
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@ -3,6 +3,7 @@
 #include <QAbstractTableModel>
 #include <QComboBox>
 #include <QDialog>
+#include <QJsonDocument>
 #include <QTableView>
 #include <QTextEdit>

@ -38,8 +39,9 @@ public:
  MessagesWidget(QWidget *parent);

 public slots:
-  void dbcSelectionChanged(const QString &dbc_file);
-  void loadFromPaste();
+  void loadDBCFromName(const QString &name);
+  void loadDBCFromFingerprint();
+  void loadDBCFromPaste();

 signals:
  void msgSelectionChanged(const QString &message_id);
@ -48,4 +50,5 @@ protected:
  QTableView *table_widget;
  QComboBox *dbc_combo;
  MessageListModel *model;
+  QJsonDocument fingerprint_to_dbc;
 };
--- a/tools/cabana/signaledit.cc
+++ b/tools/cabana/signaledit.cc
@ -3,8 +3,12 @@
 #include <QDialogButtonBox>
 #include <QFormLayout>
 #include <QHBoxLayout>
+#include <QRadioButton>
+#include <QScrollArea>
 #include <QVBoxLayout>

+#include "selfdrive/ui/qt/util.h"
+
 // SignalForm

 SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start_bit), QWidget(parent) {
@ -78,7 +82,7 @@ Signal SignalForm::getSignal() {
 // SignalEdit

 SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent)
-    : sig_name(sig.name.c_str()), QWidget(parent) {
+    : sig(&sig), form_idx(index), sig_name(sig.name.c_str()), QWidget(parent) {
  QVBoxLayout *main_layout = new QVBoxLayout(this);
  main_layout->setContentsMargins(0, 0, 0, 0);

@ -93,6 +97,12 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid
  title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index)));
  title_layout->addWidget(title, 1);

+  QPushButton *seek_btn = new QPushButton("⌕");
+  seek_btn->setStyleSheet("font-weight:bold;font-size:20px");
+  seek_btn->setToolTip(tr("Find signal values"));
+  seek_btn->setFixedSize(20, 20);
+  title_layout->addWidget(seek_btn);
+
  QPushButton *plot_btn = new QPushButton("📈");
  plot_btn->setToolTip(tr("Show Plot"));
  plot_btn->setFixedSize(20, 20);
@ -124,13 +134,17 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid
  main_layout->addWidget(hline);

  QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove);
+  QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked);
  QObject::connect(save_btn, &QPushButton::clicked, [=]() {
    QString new_name = form->getSignal().name.c_str();
    title->setText(QString("%1. %2").arg(index + 1).arg(new_name));
    emit save();
    sig_name = new_name;
  });
-  QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked);
+  QObject::connect(seek_btn, &QPushButton::clicked, [this, msg_id, s = &sig]() {
+    SignalFindDlg dlg(msg_id, s, this);
+    dlg.exec();
+  });
 }

 void SignalEdit::setFormVisible(bool visible) {
@ -138,6 +152,21 @@ void SignalEdit::setFormVisible(bool visible) {
  icon->setText(visible ? "▼" : ">");
 }

+void SignalEdit::signalHovered(const Signal *s) {
+  auto color = sig == s ? hoverColor(getColor(form_idx)) : QColor(getColor(form_idx));
+  title->setStyleSheet(QString("font-weight:bold; color:%1").arg(color.name()));
+}
+
+void SignalEdit::enterEvent(QEvent *event) {
+  emit highlight(sig);
+  QWidget::enterEvent(event);
+}
+
+void SignalEdit::leaveEvent(QEvent *event) {
+  emit highlight(nullptr);
+  QWidget::leaveEvent(event);
+}
+
 // AddSignalDialog

 AddSignalDialog::AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent) : QDialog(parent) {
@ -159,3 +188,66 @@ AddSignalDialog::AddSignalDialog(const QString &id, int start_bit, int size, QWi
  connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
  connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
 }
+
+SignalFindDlg::SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent) : QDialog(parent) {
+  setWindowTitle(tr("Find signal values"));
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+
+  QHBoxLayout *h = new QHBoxLayout();
+  h->addWidget(new QLabel(signal->name.c_str()));
+  QComboBox *comp_box = new QComboBox();
+  comp_box->addItems({">", "=", "<"});
+  h->addWidget(comp_box);
+  QLineEdit *value_edit = new QLineEdit("0", this);
+  value_edit->setValidator( new QDoubleValidator(-500000, 500000, 6, this) );
+  h->addWidget(value_edit, 1);
+  QPushButton *search_btn = new QPushButton(tr("Find"), this);
+  h->addWidget(search_btn);
+  main_layout->addLayout(h);
+
+  QWidget *container = new QWidget(this);
+  QVBoxLayout *signals_layout = new QVBoxLayout(container);
+  QScrollArea *scroll = new QScrollArea(this);
+  scroll->setWidget(container);
+  scroll->setWidgetResizable(true);
+  scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  main_layout->addWidget(scroll);
+
+  QObject::connect(search_btn, &QPushButton::clicked, [=]() {
+    clearLayout(signals_layout);
+
+    CANMessages::FindFlags comp = CANMessages::EQ;
+    if (comp_box->currentIndex() == 0) {
+      comp = CANMessages::GT;
+    } else if (comp_box->currentIndex() == 2) {
+      comp = CANMessages::LT;
+    }
+    double value = value_edit->text().toDouble();
+
+    const int limit_results = 50;
+    auto values = can->findSignalValues(id, signal, value, comp, limit_results);
+    for (auto &v : values) {
+      QHBoxLayout *item_layout = new QHBoxLayout();
+      item_layout->addWidget(new QLabel(QString::number(v.x(), 'f', 2)));
+      item_layout->addWidget(new QLabel(QString::number(v.y())));
+      item_layout->addStretch(1);
+
+      QPushButton *goto_btn = new QPushButton(tr("Goto"), this);
+      QObject::connect(goto_btn, &QPushButton::clicked, [sec = v.x()]() { can->seekTo(sec); });
+      item_layout->addWidget(goto_btn);
+      signals_layout->addLayout(item_layout);
+    }
+    if (values.size() == limit_results) {
+      QFrame *hline = new QFrame();
+      hline->setFrameShape(QFrame::HLine);
+      hline->setFrameShadow(QFrame::Sunken);
+      signals_layout->addWidget(hline);
+      QLabel *info = new QLabel(tr("Only display the first %1 results").arg(limit_results));
+      info->setAlignment(Qt::AlignCenter);
+      signals_layout->addWidget(info);
+    }
+    if (values.size() * 30 > container->height()) {
+      scroll->setFixedHeight(std::min(values.size() * 30, 300));
+    }
+  });
+}
--- a/tools/cabana/signaledit.h
+++ b/tools/cabana/signaledit.h
@ -30,17 +30,24 @@ class SignalEdit : public QWidget {
 public:
  SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent = nullptr);
  void setFormVisible(bool show);
+  void signalHovered(const Signal *sig);
  inline bool isFormVisible() const { return form_container->isVisible(); }
  QString sig_name;
  SignalForm *form;
+  int form_idx = 0;
+  const Signal *sig = nullptr;

 signals:
+  void highlight(const Signal *sig);
  void showChart();
  void showFormClicked();
  void remove();
  void save();

 protected:
+  void enterEvent(QEvent *event) override;
+  void leaveEvent(QEvent *event) override;
+
  ElidedLabel *title;
  QWidget *form_container;
  QLabel *icon;
@ -51,3 +58,10 @@ public:
  AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent);
  SignalForm *form;
 };
+
+class SignalFindDlg : public QDialog {
+  Q_OBJECT
+
+public:
+  SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent);
+};