Compile FrogPilot

This reverts commit d48819df05f43368b0fe043de4154df990008bcd.

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -0,0 +1,47 @@
+name: Bug report
+description: For issues with running openpilot on your comma device
+labels: ["bug"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
+          * If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
+          * Ensure you're running the latest openpilot release.
+          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: input
+    id: route
+    attributes:
+      label: Provide a route where the issue occurs
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
+      placeholder: 77611a1fac303767|2020-05-11--16-37-07
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version
+      description: If you're not on release, provide the commit hash
+      placeholder: 0.8.10
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/ISSUE_TEMPLATE/car_bug_report.yml

@@ -0,0 +1,53 @@
+name: Car bug report
+description: For issues with a particular car make or model
+labels: ["car", "bug"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * Ensure you're running the latest openpilot release.
+          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: input
+    id: car
+    attributes:
+      label: Which car does this affect?
+      placeholder: Toyota Prius 2017
+    validations:
+      required: true
+
+  - type: input
+    id: route
+    attributes:
+      label: Provide a route where the issue occurs
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai
+      placeholder: 77611a1fac303767|2020-05-11--16-37-07
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version
+      description: If you're not on release, provide the commit hash
+      placeholder: 0.8.10
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,14 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Report model bugs
+    url: https://github.com/commaai/openpilot/discussions/categories/model-feedback
+    about: Provide feedback for the driving or driver monitoring models
+  - name: Discussions
+    url: https://github.com/commaai/openpilot/discussions
+    about: For questions and general discussion about openpilot
+  - name: Community Wiki
+    url: https://github.com/commaai/openpilot/wiki
+    about: Check out our community wiki
+  - name: Community Discord
+    url: https://discord.comma.ai
+    about: Check out our community discord

.github/ISSUE_TEMPLATE/enhancement.md

@@ -0,0 +1,8 @@
+---
+name: Enhancement
+about: For openpilot enhancement suggestions
+title: ''
+labels: 'enhancement'
+assignees: ''
+---
+

.github/ISSUE_TEMPLATE/pc_bug_report.yml

@@ -0,0 +1,42 @@
+name: PC bug report
+description: For issues with running openpilot on PC
+labels: ["PC"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * Ensure you're running the latest openpilot release.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: input
+    id: os-version
+    attributes:
+      label: OS Version
+      placeholder: Ubuntu 20.04
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version or commit
+      placeholder: bd36f2ec8d3559909678eff2690c10a520938367
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/PULL_REQUEST_TEMPLATE/bugfix.md

@@ -0,0 +1,15 @@
+---
+name: Bug fix
+about: For openpilot bug fixes
+title: ''
+labels: 'bugfix'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the bug and the fix. Also link the issue if it exists. -->
+
+**Verification**
+
+<!-- Explain how you tested this bug fix. -->

.github/PULL_REQUEST_TEMPLATE/car_bugfix.md

@@ -0,0 +1,19 @@
+---
+name: Car Bug fix
+about: For vehicle/brand specific bug fixes
+title: ''
+labels: 'car bug fix'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the bug and the fix. Also link the issue if it exists. -->
+
+**Verification**
+
+<!-- Explain how you tested this bug fix. -->
+
+**Route**
+
+Route: [a route with the bug fix]

.github/PULL_REQUEST_TEMPLATE/car_port.md

@@ -0,0 +1,15 @@
+---
+name: Car port
+about: For new car ports
+title: ''
+labels: 'car port'
+assignees: ''
+---
+
+**Checklist**
+
+- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
+- [ ] route with openpilot:
+- [ ] route with stock system:
+- [ ] car harness used (if comma doesn't sell it, put N/A):

.github/PULL_REQUEST_TEMPLATE/fingerprint.md

@@ -0,0 +1,13 @@
+---
+name: Fingerprint
+about: For adding fingerprints to existing cars
+title: ''
+labels: 'fingerprint'
+assignees: ''
+---
+
+**Car**
+Which car (make, model, year) this fingerprint is for
+
+**Route**
+A route with the fingerprint

.github/PULL_REQUEST_TEMPLATE/refactor.md

@@ -0,0 +1,15 @@
+---
+name: Refactor
+about: For code refactors
+title: ''
+labels: 'refactor'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of the refactor, including the goals it accomplishes. -->
+
+**Verification**
+
+<!-- Explain how you tested the refactor for regressions. -->

.github/PULL_REQUEST_TEMPLATE/tuning.md

@@ -0,0 +1,31 @@
+---
+name: Tuning
+about: For openpilot tuning changes
+title: ''
+labels: 'tuning'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
+
+**Verification**
+
+<!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
+Use the PlotJuggler tuning layout to compare planned versus actual behavior.
+
+Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
+
+Longitudinal:
+* Maintaining speed at 25, 40, 65mph
+* Driving up and down hills
+* Accelerating from a stop
+* Decelerating to a stop
+* Following large changes in set speed
+* Coming to a stop behind a lead car
+
+Lateral:
+* Straight driving at ~25, ~45 and ~65mph
+* Turns driving at ~25, ~45 and ~65mph
+-->

.github/build.py

@@ -0,0 +1,30 @@
+import pathlib
+
+GITHUB_FOLDER = pathlib.Path(__file__).parent
+
+PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE")
+
+order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"]
+
+def create_pull_request_template():
+  with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f:
+    f.write("<!-- Please copy and paste the relevant template -->\n\n")
+
+    for t in order:
+      template = PULL_REQUEST_TEMPLATES / f"{t}.md"
+      text = template.read_text()
+
+      # Remove metadata for GitHub
+      start = text.find("---")
+      end = text.find("---", start+1)
+      text = text[end + 4:]
+
+      # Remove comments
+      text = text.replace("<!-- ", "").replace("-->", "")
+
+      f.write(f"<!--- ***** Template: {template.stem.replace('_', ' ').title()} *****\n")
+      f.write(text)
+      f.write("\n\n")
+      f.write("-->\n\n")
+
+create_pull_request_template()

.github/labeler.yaml

@@ -0,0 +1,79 @@
+CI / testing:
+  - changed-files:
+    - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
+
+car:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/**'
+
+body:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/body/*'
+
+chrysler:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/chrysler/*'
+
+ford:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/ford/*'
+
+gm:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/gm/*'
+
+honda:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/honda/*'
+
+hyundai:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/hyundai/*'
+
+mazda:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/mazda/*'
+
+nissan:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/nissan/*'
+
+subaru:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/subaru/*'
+
+tesla:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/telsa/*'
+
+toyota:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/toyota/*'
+
+volkswagen:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/volkswagen/*'
+
+fingerprint:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/car/*/fingerprints.py'
+
+simulation:
+  - changed-files:
+    - any-glob-to-all-files: 'tools/sim/**'
+
+ui:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/ui/**'
+
+tools:
+  - changed-files:
+    - any-glob-to-all-files: 'tools/**'
+
+multilanguage:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
+
+research:
+  - changed-files:
+    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"

.github/pull_request_template.md

@@ -0,0 +1,68 @@
+<!-- Please copy and paste the relevant template -->
+
+<!--- ***** Template: Fingerprint *****
+
+**Car**
+Which car (make, model, year) this fingerprint is for
+
+**Route**
+A route with the fingerprint
+
+-->
+
+<!--- ***** Template: Car Bugfix *****
+
+**Description**
+
+A description of the bug and the fix. Also link the issue if it exists. 
+
+**Verification**
+
+Explain how you tested this bug fix. 
+
+**Route**
+
+Route: [a route with the bug fix]
+
+
+-->
+
+<!--- ***** Template: Bugfix *****
+
+**Description**
+
+A description of the bug and the fix. Also link the issue if it exists. 
+
+**Verification**
+
+Explain how you tested this bug fix. 
+
+
+-->
+
+<!--- ***** Template: Car Port *****
+
+**Checklist**
+
+- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
+- [ ] route with openpilot:
+- [ ] route with stock system:
+- [ ] car harness used (if comma doesn't sell it, put N/A):
+
+
+-->
+
+<!--- ***** Template: Refactor *****
+
+**Description**
+
+A description of the refactor, including the goals it accomplishes. 
+
+**Verification**
+
+Explain how you tested the refactor for regressions. 
+
+
+-->
+

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

@@ -0,0 +1,49 @@
+name: 'automatically cache based on current runner'
+
+inputs:
+  path:
+    description: 'path to cache'
+    required: true
+  key:
+    description: 'key'
+    required: true
+  restore-keys:
+    description: 'restore-keys'
+    required: true
+  save:
+    description: 'whether to save the cache'
+    default: 'false'
+    required: false
+
+runs:
+  using: "composite"
+  steps:
+    - name: setup namespace cache
+      if: ${{ contains(runner.name, 'nsc') }} 
+      uses: namespacelabs/nscloud-cache-action@v1
+      with:
+        path: ${{ inputs.path }}
+
+    - name: setup github cache
+      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
+      uses: 'actions/cache@v3'
+      with:
+        path: ${{ inputs.path }}
+        key: ${{ inputs.key }}
+        restore-keys: ${{ inputs.restore-keys }}
+
+    - name: setup github cache
+      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
+      uses: 'actions/cache/restore@v3'
+      with:
+        path: ${{ inputs.path }}
+        key: ${{ inputs.key }}
+        restore-keys: ${{ inputs.restore-keys }}
+
+    # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
+    - id: scons-cache-setup
+      shell: bash
+      run: |
+        mkdir -p ${{ inputs.path }}
+        sudo chmod -R 777 ${{ inputs.path }}
+        sudo chown -R $USER ${{ inputs.path }}

.github/workflows/auto_pr_review.yaml

@@ -0,0 +1,227 @@
+name: "PR review"
+on:
+  pull_request_target:
+    types: [opened, reopened, synchronize, edited, edited]
+
+jobs:
+  labeler:
+    name: apply labels
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: false
+    - uses: actions/labeler@v5.0.0
+      with:
+        dot: true
+        configuration-path: .github/labeler.yaml
+
+  pr_branch_check:
+    name: check branch
+    runs-on: ubuntu-latest
+    if: github.repository == 'commaai/openpilot'
+    steps:
+    - uses: Vankka/pr-target-branch-action@69ab6dd5c221de3548b3b6c4d102c1f4913d3baa
+      env:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      with:
+        target: /^(?!master$).*/
+        exclude: /commaai:.*/
+        change-to: ${{ github.base_ref }}
+        already-exists-action: close_this
+        already-exists-comment: "Your PR should be made against the `master` branch"
+
+  comment:
+    runs-on: ubuntu-latest
+    steps:
+      - name: comment
+        uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
+        if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+        with:
+          message: |
+              <!-- _(run_id **${{ github.run_id }}**)_ -->
+              Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
+              * Convert your PR to a draft unless it's ready to review
+              * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
+              * Before marking as "ready for review", ensure:
+                * the goal is clearly stated in the description
+                * all the tests are passing
+                * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+                * include a route or your device' dongle ID if relevant
+          comment_tag: run_id
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+  check-pr-template:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      issues: write
+      pull-requests: write
+      actions: read
+    if: false && github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+    steps:
+      - uses: actions/github-script@v7
+        with:
+          script: |
+            // Comment to add to the PR if no template has been used
+            const NO_TEMPLATE_MESSAGE =
+              "It looks like you didn't use one of the Pull Request templates. Please check [the contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md). \
+            Also make sure that you didn't modify any of the checkboxes or headings within the template.";
+            // body data for future requests
+            const body_data = {
+              issue_number: context.issue.number,
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+            };
+
+            // Utility function to extract all headings
+            const extractHeadings = (markdown) => {
+              const headingRegex = /^(#{1,6})\s+(.+)$/gm;
+              const boldTextRegex = /^(?:\*\*|__)(.+?)(?:\*\*|__)\s*$/gm;
+              const headings = [];
+              let headingMatch;
+              while ((headingMatch = headingRegex.exec(markdown))) {
+                headings.push(headingMatch[2].trim());
+              }
+              let boldMatch;
+              while ((boldMatch = boldTextRegex.exec(markdown))) {
+                headings.push(boldMatch[1].trim());
+              }
+              return headings;
+            };
+
+            // Utility function to extract all check box descriptions
+            const extractCheckBoxTexts = (markdown) => {
+              const checkboxRegex = /^\s*-\s*\[( |x)\]\s+(.+)$/gm;
+              const checkboxes = [];
+              let match;
+              while ((match = checkboxRegex.exec(markdown))) {
+                checkboxes.push(match[2].trim());
+              }
+              return checkboxes;
+            };
+
+            // Utility function to check if a list is a subset of another list
+            isSubset = (subset, superset) => {
+              return subset.every((item) => superset.includes(item));
+            };
+
+            // Utility function to check if a list of checkboxes is a subset of another list of checkboxes
+            isCheckboxSubset = (templateCheckBoxTexts, prTextCheckBoxTexts) => {
+              // Check if each template checkbox text is a substring of at least one PR checkbox text
+              // (user should be allowed to add additional text)
+              return templateCheckBoxTexts.every((item) => prTextCheckBoxTexts.some((element) => element.includes(item)))
+            }
+
+            // Get filenames of all currently checked-in PR templates
+            const template_contents = await github.rest.repos.getContent({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              path: ".github/PULL_REQUEST_TEMPLATE",
+            });
+            var template_filenames = [];
+            for (const content of template_contents.data) {
+              template_filenames.push(content.path);
+            }
+            console.debug("Received template filenames: " + template_filenames);
+            // Retrieve templates
+            var templates = [];
+            for (const template_filename of template_filenames) {
+              const template_response = await github.rest.repos.getContent({
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                path: template_filename,
+              });
+              // Convert Base64 content back
+              const decoded_template = atob(template_response.data.content);
+              const headings = extractHeadings(decoded_template);
+              const checkboxes = extractCheckBoxTexts(decoded_template);
+              if (!headings.length && !checkboxes.length) {
+                console.warn(
+                  "Invalid template! Contains neither headings nor checkboxes, ignoring it: \n" +
+                    decoded_template
+                );
+              } else {
+                templates.push({ headings: headings, checkboxes: checkboxes });
+              }
+            }
+            // Retrieve the PR Body
+            const pull_request = await github.rest.issues.get({
+              ...body_data,
+            });
+            const pull_request_text = pull_request.data.body;
+            console.debug("Received Pull Request body: \n" + pull_request_text);
+
+            /* Check if the PR Body matches one of the templates
+            A template is defined by all headings and checkboxes it contains
+            We extract all Headings and Checkboxes from the PR text and check if any of the templates is a subset of that
+            */
+            const pr_headings = extractHeadings(pull_request_text);
+            const pr_checkboxes = extractCheckBoxTexts(pull_request_text);
+            console.debug("Found Headings in PR body:\n" + pr_headings);
+            console.debug("Found Checkboxes in PR body:\n" + pr_checkboxes);
+            var template_found = false;
+            // Iterate over each template to check if it applies
+            for (const template of templates) {
+              console.log(
+                "Checking for headings: [" +
+                  template.headings +
+                  "] and checkboxes: [" +
+                  template.checkboxes + "]"
+              );
+              if (
+                isCheckboxSubset(template.checkboxes, pr_checkboxes) &&
+                isSubset(template.headings, pr_headings)
+              ) {
+                console.debug("Found matching template!");
+                template_found = true;
+              }
+            }
+
+            // List comments from previous runs
+            var existing_comments = [];
+            const comments = await github.rest.issues.listComments({
+              ...body_data,
+            });
+            for (const comment of comments.data) {
+              if (comment.body === NO_TEMPLATE_MESSAGE) {
+                existing_comments.push(comment);
+              }
+            }
+
+            // Add a comment to the PR that it is not using a the template (but only if this comment does not exist already)
+            if (!template_found) {
+              var comment_already_sent = false;
+
+              // Add an 'in-bot-review' label since this PR doesn't have the template
+              github.rest.issues.addLabels({
+                ...body_data,
+                labels: ["in-bot-review"],
+              });
+
+              if (existing_comments.length < 1) {
+                github.rest.issues.createComment({
+                  ...body_data,
+                  body: NO_TEMPLATE_MESSAGE,
+                });
+              }
+            } else {
+              // If template has been found, delete any old comment about missing template
+              for (const existing_comment of existing_comments) {
+                github.rest.issues.deleteComment({
+                  ...body_data,
+                  comment_id: existing_comment.id,
+                });
+              }
+              // Remove the 'in-bot-review' label after the review is done and the PR has passed
+              github.rest.issues.removeLabel({
+                ...body_data,
+                name: "in-bot-review",
+              }).catch((error) => {
+                console.log("Label 'in-bot-review' not found, ignoring");
+              });
+            }
+

.github/workflows/badges.yaml

@@ -0,0 +1,37 @@
+name: badges
+on:
+  schedule:
+    - cron: '0 * * * *'
+  workflow_dispatch:
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
+
+jobs:
+  badges:
+    name: create badges
+    runs-on: ubuntu-20.04
+    if: github.repository == 'commaai/openpilot'
+    permissions:
+      contents: write
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Push badges
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
+
+        rm .gitattributes
+
+        git checkout --orphan badges
+        git rm -rf --cached .
+        git config user.email "badge-researcher@comma.ai"
+        git config user.name "Badge Researcher"
+
+        git add translation_badge.svg
+        git commit -m "Add/Update badges"
+        git push -f origin HEAD

.github/workflows/compile-openpilot/action.yaml

@@ -0,0 +1,21 @@
+name: 'compile openpilot'
+
+runs:
+  using: "composite"
+  steps:
+    - shell: bash
+      name: Build openpilot with all flags
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+        ${{ env.RUN }} "release/check-dirty.sh"
+    - shell: bash
+      name: Cleanup scons cache and rebuild
+      run: |
+          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
+                          scons -j$(nproc) --cache-populate"
+    - name: Save scons cache
+      uses: actions/cache/save@v3
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: .ci_cache/scons_cache
+        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/docs.yaml

@@ -0,0 +1,64 @@
+name: docs
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+concurrency:
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+env:
+  BASE_IMAGE: openpilot-base
+
+  BUILD: selfdrive/test/docker_build.sh base
+
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+
+jobs:
+  docs:
+    name: build docs
+    runs-on: ubuntu-20.04
+    timeout-minutes: 45
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Build docs
+      run: |
+        ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html"
+
+    - uses: actions/checkout@v4
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      with:
+        path: openpilot-docs
+        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
+        repository: commaai/openpilot-docs
+    - name: Push
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      run: |
+        set -x
+
+        source release/identity.sh
+
+        cd openpilot-docs
+
+        git checkout --orphan tmp
+        git rm -rf .
+
+        cp -r ../build/docs/html/ docs/
+        cp -r ../docs/README.md .
+        touch docs/.nojekyll
+        echo -n docs.comma.ai > docs/CNAME
+        git add -f .
+
+        git commit -m "build docs"
+
+        # docs live in different repo to not bloat openpilot's full clone size
+        git push -f origin tmp:gh-pages

.github/workflows/prebuilt.yaml

@@ -0,0 +1,39 @@
+name: prebuilt
+on:
+  schedule:
+    - cron: '0 * * * *'
+  workflow_dispatch:
+
+env:
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  BUILD: selfdrive/test/docker_build.sh prebuilt
+
+jobs:
+  build_prebuilt:
+    name: build prebuilt
+    runs-on: ubuntu-20.04
+    if: github.repository == 'commaai/openpilot'
+    env:
+      PUSH_IMAGE: true
+    permissions:
+      checks: read
+      contents: read
+      packages: write
+    steps:
+    - name: Wait for green check mark
+      if: ${{ github.event_name != 'workflow_dispatch' }}
+      uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
+      with:
+        ref: master
+        wait-interval: 30
+        running-workflow-name: 'build prebuilt'
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        check-regexp: ^((?!.*(build master-ci).*).)*$
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - run: git lfs pull
+    - name: Build and Push docker image
+      run: |
+        $DOCKER_LOGIN
+        eval "$BUILD"

.github/workflows/release.yaml

@@ -0,0 +1,54 @@
+name: release
+on:
+  schedule:
+    - cron: '0 10 * * *'
+  workflow_dispatch:
+
+jobs:
+  build_masterci:
+    name: build master-ci
+    env:
+      TARGET_DIR: /tmp/openpilot
+      ImageOS: ubuntu20
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
+    runs-on: ubuntu-20.04
+    if: github.repository == 'commaai/openpilot'
+    permissions:
+      checks: read
+      contents: write
+    steps:
+    - name: Install wait-on-check-action dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y libyaml-dev
+    - name: Wait for green check mark
+      if: ${{ github.event_name != 'workflow_dispatch' }}
+      uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
+      with:
+        ref: master
+        wait-interval: 30
+        running-workflow-name: 'build master-ci'
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        check-regexp: ^((?!.*(build prebuilt).*).)*$
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+        fetch-depth: 0
+    - name: Pull LFS
+      run: |
+        git config --global --add safe.directory '*'
+        git lfs pull
+    - name: Build master-ci
+      run: |
+        release/build_devel.sh
+    - name: Run tests
+      run: |
+        export PYTHONPATH=$TARGET_DIR
+        cd $TARGET_DIR
+        scons -j$(nproc)
+        pytest -n logical selfdrive/car/tests/test_car_interfaces.py
+    - name: Push master-ci
+      run: |
+        unset TARGET_DIR
+        BRANCH=master-ci release/build_devel.sh

.github/workflows/repo-maintenance.yaml

@@ -0,0 +1,61 @@
+name: repo maintenance
+
+on:
+  schedule:
+    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
+  workflow_dispatch:
+
+jobs:
+  bump_submodules:
+    name: bump_submodules
+    runs-on: ubuntu-20.04
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
+    if: github.repository == 'commaai/openpilot'
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - name: bump submodules
+      run: |
+        git config --global --add safe.directory '*'
+        git -c submodule."tinygrad".update=none submodule update --remote
+        git add .
+    - name: Create Pull Request
+      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      with:
+        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        commit-message: bump submodules
+        title: '[bot] Bump submodules'
+        branch: auto-bump-submodules
+        base: master
+        delete-branch: true
+        body: 'Automatic PR from repo-maintenance -> bump_submodules'
+        labels: bot
+  package_updates:
+    name: package_updates
+    runs-on: ubuntu-20.04
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
+    if: github.repository == 'commaai/openpilot'
+    steps:
+    - uses: actions/checkout@v4
+    - name: poetry lock
+      run: |
+        pip install poetry
+        poetry lock
+    - name: pre-commit autoupdate
+      run: |
+        git config --global --add safe.directory '*'
+        pre-commit autoupdate
+    - name: Create Pull Request
+      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      with:
+        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        commit-message: Update Python packages and pre-commit hooks
+        title: '[bot] Update Python packages and pre-commit hooks'
+        branch: auto-package-updates
+        base: master
+        delete-branch: true
+        body: 'Automatic PR from repo-maintenance -> package_updates'
+        labels: bot

.github/workflows/selfdrive_tests.yaml

@@ -0,0 +1,404 @@
+name: selfdrive
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+env:
+  PYTHONWARNINGS: error
+  BASE_IMAGE: openpilot-base
+  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
+
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  BUILD: selfdrive/test/docker_build.sh base
+
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+
+  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
+
+jobs:
+  build_release:
+    name: build release
+    runs-on: ubuntu-20.04
+    env:
+      STRIPPED_DIR: /tmp/releasepilot
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - run: git lfs pull
+    - name: Build devel
+      timeout-minutes: 1
+      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+    - uses: ./.github/workflows/setup-pre-commit
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Check submodules
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      timeout-minutes: 1
+      run: release/check-submodules.sh
+    - name: Build openpilot and run checks
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
+      run: |
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "python selfdrive/manager/build.py"
+    - name: Run tests
+      timeout-minutes: 3
+      run: |
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "release/check-dirty.sh && \
+                        MAX_EXAMPLES=5 $PYTEST selfdrive/car"
+    - name: pre-commit
+      timeout-minutes: 3
+      run: |
+        cd $GITHUB_WORKSPACE
+        cp .pre-commit-config.yaml $STRIPPED_DIR
+        cp pyproject.toml $STRIPPED_DIR
+        cp poetry.lock $STRIPPED_DIR
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all && chmod -R 777 /tmp/pre-commit"
+
+  build:
+    strategy:
+      matrix:
+        arch: ${{ fromJson(
+           ((github.repository == 'commaai/openpilot') &&
+              ((github.event_name != 'pull_request') || 
+               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
+    - uses: ./.github/workflows/compile-openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
+
+  docker_push:
+    name: docker push
+    strategy:
+      matrix:
+        arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - name: Setup to push to repo
+      run: |
+        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
+        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
+        $DOCKER_LOGIN
+    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
+
+  docker_push_multiarch:
+    name: docker push multiarch tag
+    runs-on: ubuntu-20.04
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    needs: [docker_push]
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: false
+    - name: Setup docker
+      run: |
+        $DOCKER_LOGIN
+    - name: Merge x64 and arm64 tags
+      run: |
+        export PUSH_IMAGE=true
+        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
+
+  static_analysis:
+    name: static analysis
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') || 
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-pre-commit
+    - uses: ./.github/workflows/setup-with-retry
+    - name: pre-commit
+      timeout-minutes: 4
+      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
+
+  valgrind:
+    name: valgrind
+    runs-on: ubuntu-20.04
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run valgrind
+      timeout-minutes: 1
+      run: |
+        ${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py"
+    - name: Print logs
+      if: always()
+      run: cat selfdrive/test/valgrind_logs.txt
+
+  unit_tests:
+    name: unit tests
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') || 
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
+    - name: Build openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
+      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run unit tests
+      timeout-minutes: 15
+      run: |
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+                        export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
+                        $PYTEST --timeout 60 -m 'not slow' && \
+                        ./selfdrive/ui/tests/create_test_translations.sh && \
+                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
+                        ./selfdrive/ui/tests/test_translations.py"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v3
+      with:
+        name: ${{ github.job }}
+      env:
+        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+
+  process_replay:
+    name: process replay
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') || 
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
+    - name: Cache test routes
+      id: dependency-cache
+      uses: actions/cache@v3
+      with:
+        path: .ci_cache/comma_download_cache
+        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run replay
+      timeout-minutes: 30
+      run: |
+        ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+                        chmod -R 777 /tmp/comma_download_cache && \
+                        coverage combine && \
+                        coverage xml"
+    - name: Print diff
+      id: print-diff
+      if: always()
+      run: cat selfdrive/test/process_replay/diff.txt
+    - uses: actions/upload-artifact@v3
+      if: always()
+      continue-on-error: true
+      with:
+        name: process_replay_diff.txt
+        path: selfdrive/test/process_replay/diff.txt
+    - name: Upload reference logs
+      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      run: |
+        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v3
+      with:
+        name: ${{ github.job }}
+      env:
+        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+
+  regen:
+    name: regen
+    runs-on: 'ubuntu-20.04'
+    steps: 
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Cache test routes
+      id: dependency-cache
+      uses: actions/cache@v3
+      with:
+        path: .ci_cache/comma_download_cache
+        key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }}
+    - name: Build base Docker image
+      run: eval "$BUILD"
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run regen
+      timeout-minutes: 30
+      run: |
+        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
+                           chmod -R 777 /tmp/comma_download_cache"
+
+  test_modeld:
+    name: model tests
+    runs-on: ubuntu-20.04
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build base Docker image
+      run: eval "$BUILD"
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
+    - name: Run model replay with ONNX
+      timeout-minutes: 4
+      run: |
+        ${{ env.RUN }} "unset PYTHONWARNINGS && \
+                           ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+                           coverage combine && \
+                           coverage xml"
+    - name: Run unit tests
+      timeout-minutes: 4
+      run: |
+        ${{ env.RUN }} "unset PYTHONWARNINGS && \
+                           $PYTEST selfdrive/modeld"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v3
+      with:
+        name: ${{ github.job }}
+      env:
+        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+
+  test_cars:
+    name: cars
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') || 
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
+    strategy:
+      fail-fast: false
+      matrix:
+        job: [0, 1, 2, 3, 4]
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Cache test routes
+      id: dependency-cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        path: .ci_cache/comma_download_cache
+        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Test car models
+      timeout-minutes: 10
+      run: |
+        ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
+                        chmod -R 777 /tmp/comma_download_cache"
+      env:
+        NUM_JOBS: 5
+        JOB_ID: ${{ matrix.job }}
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v3
+      with:
+        name: ${{ github.job }}-${{ matrix.job }}
+      env:
+        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+
+  car_docs_diff:
+    name: PR comments
+    runs-on: ubuntu-20.04
+    if: github.event_name == 'pull_request'
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+          ref: ${{ github.event.pull_request.base.ref }}
+      - run: git lfs pull
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Get base car info
+        run: |
+          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
+          sudo chown -R $USER:$USER ${{ github.workspace }}
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+          path: current
+      - run: cd current && git lfs pull
+      - name: Save car docs diff
+        id: save_diff
+        run: |
+          cd current
+          ${{ env.RUN }} "scons -j$(nproc)"
+          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info")
+          output="${output//$'\n'/'%0A'}"
+          echo "::set-output name=diff::$output"
+      - name: Find comment
+        if: ${{ env.AZURE_TOKEN != '' }}
+        uses: peter-evans/find-comment@1769778a0c5bd330272d749d12c036d65e70d39d
+        id: fc
+        with:
+          issue-number: ${{ github.event.pull_request.number }}
+          body-includes: This PR makes changes to
+      - name: Update comment
+        if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
+        uses: peter-evans/create-or-update-comment@b95e16d2859ad843a14218d1028da5b2c4cbc4b4
+        with:
+          comment-id: ${{ steps.fc.outputs.comment-id }}
+          issue-number: ${{ github.event.pull_request.number }}
+          body: "${{ steps.save_diff.outputs.diff }}"
+          edit-mode: replace
+      - name: Delete comment
+        if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
+        uses: actions/github-script@v6
+        with:
+          script: |
+            github.rest.issues.deleteComment({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              comment_id: ${{ steps.fc.outputs.comment-id }}
+            })
+
+  create_ui_report:
+    name: Create UI Report
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Build openpilot
+        run: ${{ env.RUN }} "scons -j$(nproc)"
+      - name: Create Test Report
+        run: >
+            ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
+                            source selfdrive/test/setup_xvfb.sh &&
+                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && 
+                            python selfdrive/ui/tests/test_ui/run.py"
+      - name: Upload Test Report
+        uses: actions/upload-artifact@v2
+        with:
+          name: report
+          path: selfdrive/ui/tests/test_ui/report

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

@@ -0,0 +1,12 @@
+name: 'set up pre-commit environment'
+
+runs:
+  using: "composite"
+  steps:
+    - uses: ./.github/workflows/auto-cache
+      with: 
+        path: .ci_cache/pre-commit
+        key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
+        restore-keys: |
+          pre-commit-
+        save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }}

.github/workflows/setup-with-retry/action.yaml

@@ -0,0 +1,40 @@
+name: 'openpilot env setup, with retry on failure'
+
+inputs:
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: false
+    default: ''
+  sleep_time:
+    description: 'Time to sleep between retries'
+    required: false
+    default: 30
+
+runs:
+  using: "composite"
+  steps:
+    - id: setup1
+      uses: ./.github/workflows/setup
+      continue-on-error: true
+      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        is_retried: true
+    - if: steps.setup1.outcome == 'failure'
+      shell: bash
+      run: sleep ${{ inputs.sleep_time }}
+    - id: setup2
+      if: steps.setup1.outcome == 'failure'
+      uses: ./.github/workflows/setup
+      continue-on-error: true
+      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        is_retried: true
+    - if: steps.setup2.outcome == 'failure'
+      shell: bash
+      run: sleep ${{ inputs.sleep_time }}
+    - id: setup3
+      if: steps.setup2.outcome == 'failure'
+      uses: ./.github/workflows/setup
+      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        is_retried: true

.github/workflows/setup/action.yaml

@@ -0,0 +1,63 @@
+name: 'openpilot env setup'
+
+inputs:
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: true
+    default: ''
+  is_retried:
+    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
+    required: false
+    default: 'false'
+
+runs:
+  using: "composite"
+  steps:
+    # assert that this action is retried using the setup-with-retry
+    - shell: bash
+      if: ${{ inputs.is_retried == 'false' }}
+      run: |
+        echo "You should not run this action directly. Use setup-with-retry instead"
+        exit 1
+
+    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
+    - shell: bash
+      run: git lfs pull
+
+    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
+    # https://buildjet.com/for-github-actions/docs/guides/docker
+    - shell: bash
+      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
+      run: |
+        echo "Need to set the Docker Hub PAT secret as an input to this action"
+        exit 1
+    - name: Login to Docker Hub
+      if: contains(runner.name, 'buildjet')
+      shell: bash
+      run: |
+        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
+
+    # build cache
+    - id: date
+      shell: bash
+      run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - shell: bash
+      run: echo "$CACHE_COMMIT_DATE"
+    - id: scons-cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        path: .ci_cache/scons_cache
+        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}
+    # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
+    - id: normalize-file-permissions
+      shell: bash
+      name: Normalize file permissions to ensure a consistent docker build cache
+      run: |
+        find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
+        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
+    # build our docker image
+    - shell: bash
+      run: eval ${{ env.BUILD }}

.github/workflows/stale.yaml

@@ -0,0 +1,28 @@
+name: stale
+on:
+  schedule:
+    - cron: '30 1 * * *'
+  workflow_dispatch:
+
+env:
+  DAYS_BEFORE_PR_CLOSE: 7
+  DAYS_BEFORE_PR_STALE: 30
+
+jobs:
+  stale:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/stale@v8
+        with:
+          exempt-milestones: true
+
+          # pull request config
+          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
+          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
+          exempt-pr-labels: "ignore stale,needs testing,car port" # if wip or it needs testing from the community, don't mark as stale
+          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
+          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
+
+          # issue config
+          days-before-issue-stale: -1 # ignore issues for now

.github/workflows/tools_tests.yaml

@@ -0,0 +1,102 @@
+name: tools
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+concurrency:
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+
+  BUILD: selfdrive/test/docker_build.sh base
+
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+
+
+jobs:
+  plotjuggler:
+    name: plotjuggler
+    runs-on: ubuntu-20.04
+    timeout-minutes: 45
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      timeout-minutes: 5
+      run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal"
+    - name: Test PlotJuggler
+      timeout-minutes: 2
+      run: |
+        ${{ env.RUN }} "pytest tools/plotjuggler/"
+
+  simulator:
+    name: simulator
+    runs-on: ubuntu-20.04
+    if: github.repository == 'commaai/openpilot'
+    timeout-minutes: 45
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Setup to push to repo
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      run: |
+        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
+        $DOCKER_LOGIN
+    - name: Build and push sim image
+      run: |
+        selfdrive/test/docker_build.sh sim
+
+  devcontainer:
+    name: devcontainer
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Use local image for testing devcontainer with latest base image
+      run: |
+        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
+    - name: Setup Dev Container CLI
+      run: npm install -g @devcontainers/cli
+    - name: Build dev container image
+      run: devcontainer build --workspace-folder .
+    - name: Run dev container
+      run: |
+        mkdir -p /tmp/devcontainer_scons_cache/
+        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/
+        devcontainer up --workspace-folder .
+    - name: Test environment
+      run: |
+        devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
+        devcontainer exec --workspace-folder . pip install pip-install-test
+        devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
+        devcontainer exec --workspace-folder . sudo touch /root/test.txt
+
+  notebooks:
+    name: notebooks
+    runs-on: ubuntu-20.04
+    if: false && github.repository == 'commaai/openpilot'
+    timeout-minutes: 45
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
+      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Test notebooks
+      timeout-minutes: 3
+      run: |
+        ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/"

.gitignore

@@ -10,6 +10,7 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
+.vscode*
 model2.png
 a.out
 .hypothesis
@@ -52,6 +53,7 @@ selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
+selfdrive/modeld/_navmodeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
 

Jenkinsfile

@@ -0,0 +1,252 @@
+def retryWithDelay(int maxRetries, int delay, Closure body) {
+  for (int i = 0; i < maxRetries; i++) {
+    try {
+      return body()
+    } catch (Exception e) {
+      sleep(delay)
+    }
+  }
+  throw Exception("Failed after ${maxRetries} retries")
+}
+
+def device(String ip, String step_label, String cmd) {
+  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
+    def ssh_cmd = """
+ssh -tt -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
+
+set -e
+
+shopt -s huponexit # kill all child processes when the shell exits
+
+export CI=1
+export PYTHONWARNINGS=error
+export LOGPRINT=debug
+export TEST_DIR=${env.TEST_DIR}
+export SOURCE_DIR=${env.SOURCE_DIR}
+export GIT_BRANCH=${env.GIT_BRANCH}
+export GIT_COMMIT=${env.GIT_COMMIT}
+export AZURE_TOKEN='${env.AZURE_TOKEN}'
+export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
+# only use 1 thread for tici tests since most require HIL
+export PYTEST_ADDOPTS="-n 0"
+
+
+export GIT_SSH_COMMAND="ssh -i /data/gitkey"
+
+source ~/.bash_profile
+if [ -f /TICI ]; then
+  source /etc/profile
+
+  rm -rf /tmp/tmp*
+  rm -rf ~/.commacache
+  rm -rf /dev/shm/*
+
+  if ! systemctl is-active --quiet systemd-resolved; then
+    echo "restarting resolved"
+    sudo systemctl start systemd-resolved
+    sleep 3
+  fi
+
+  # restart aux USB
+  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
+    echo "restarting aux usb"
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
+    sleep 0.5
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
+  fi
+fi
+if [ -f /data/openpilot/launch_env.sh ]; then
+  source /data/openpilot/launch_env.sh
+fi
+
+ln -snf ${env.TEST_DIR} /data/pythonpath
+
+cd ${env.TEST_DIR} || true
+${cmd}
+exit 0
+
+END"""
+
+    sh script: ssh_cmd, label: step_label
+  }
+}
+
+def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
+    }
+
+    def extra = extra_env.collect { "export ${it}" }.join('\n');
+    def branch = env.BRANCH_NAME ?: 'master';
+
+    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
+      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
+        timeout(time: 20, unit: 'MINUTES') {
+          retry (3) {
+            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+          }
+          steps.each { item ->
+            device(device_ip, item[0], item[1])
+          }
+        }
+      }
+    }
+  }
+}
+
+def pcStage(String stageName, Closure body) {
+  node {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
+    }
+
+    checkout scm
+
+    def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
+
+    def openpilot_base = retryWithDelay (3, 15) {
+      return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
+    }
+
+    lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) {
+      openpilot_base.inside(dockerArgs) {
+        timeout(time: 20, unit: 'MINUTES') {
+          try {
+            retryWithDelay (3, 15) {
+              sh "git config --global --add safe.directory '*'"
+              sh "git submodule update --init --recursive"
+              sh "git lfs pull"
+            }
+            body()
+          } finally {
+              sh "rm -rf ${env.WORKSPACE}/* || true"
+              sh "rm -rf .* || true"
+            }
+          }
+        }
+      }
+    }
+  }
+}
+
+def setupCredentials() {
+  withCredentials([
+    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
+    string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
+  ]) {
+    env.AZURE_TOKEN = "${AZURE_TOKEN}"
+    env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
+  }
+}
+
+
+node {
+  env.CI = "1"
+  env.PYTHONWARNINGS = "error"
+  env.TEST_DIR = "/data/openpilot"
+  env.SOURCE_DIR = "/data/openpilot_source/"
+  setupCredentials()
+
+  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
+  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
+
+  def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
+                         'testing-closet*', 'hotfix-*']
+  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
+
+  if (env.BRANCH_NAME != 'master') {
+    properties([
+        disableConcurrentBuilds(abortPrevious: true)
+    ])
+  }
+
+  try {
+    if (env.BRANCH_NAME == 'devel-staging') {
+      deviceStage("build release3-staging", "tici-needs-can", [], [
+        ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
+      ])
+    }
+
+    if (env.BRANCH_NAME == 'master-ci') {
+      deviceStage("build nightly", "tici-needs-can", [], [
+        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
+      ])
+    }
+
+    if (!env.BRANCH_NAME.matches(excludeRegex)) {
+    parallel (
+      // tici tests
+      'onroad tests': {
+        deviceStage("onroad", "tici-needs-can", [], [
+          // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
+          //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["check dirty", "release/check-dirty.sh"],
+          ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
+          ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
+        ])
+      },
+      'HW + Unit Tests': {
+        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
+          ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
+          ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
+          ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
+        ])
+      },
+      'loopback': {
+        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+        ])
+      },
+      'camerad': {
+        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+      },
+      'sensord': {
+        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+        ])
+        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+        ])
+      },
+      'replay': {
+        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["model replay", "selfdrive/test/process_replay/model_replay.py"],
+        ])
+      },
+      'tizi': {
+        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+          ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
+        ])
+      },
+
+    )
+    }
+  } catch (Exception e) {
+    currentBuild.result = 'FAILED'
+    throw e
+  }
+}

README.md

@@ -1,103 +1,217 @@
-# OPGM openpilot fork
+[![openpilot on the comma 3X](https://i.imgur.com/6l2qbf5.png)](https://comma.ai/shop/comma-3x)
 
-This is a fork of [openpilot](https://github.com/commaai/openpilot/), an open source driver assistance system. Please
-consult the official documentation for most questions.
+What is openpilot?
+------
 
-OPGM strives to align as closely to the official openpilot as possible, while adding functionality for GM vehicles that
-are officially unsupported. Additionally, OPGM adds some creature comforts and quality of life improvements.
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
 
-OPGM will be rebased on top of the official openpilot frequently to keep up with upstream changes. The latest sync was
-with commit [`93fa207c5c`](https://github.com/commaai/openpilot/tree/93fa207c5cafa908a15dd460025c005ee7cf1746) from the
-master branch. The latest build was done on May 15, 2024.
+<table>
+  <tr>
+    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
+    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
+    <td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
+  </tr>
+</table>
 
-## Features
-* Support for GM vehicles with LKAS but no ACC
-* Pedal interceptor support for longitudinal control
-  * Also provides full regen on GM Bolt EV/EUV with ACC (*in process of upstreaming*)
-* CC long, aka "[redneck ACC](https://www.youtube.com/watch?v=41wZ1EAmf94)" to automatically adjust nonadaptive cruise
-control
-  * > CC long is not a substitute for ACC. It is incapable of reducing the vehicle speed below 24mph.
-* Neural network steering control, credit twilsonco
-* Always On Lateral (AOL), credit pfeiferj
+What is FrogPilot? 🐸
+------
 
-## Supported vehicles list
-OPGM is capable of supportng vehicles on the Global A architecture that have factory LKAS. Currently supported vehicles
-include:
-* All vehicles supported by upstream openpilot
-* 2016-2019 Chevrolet Volt
-* 2017-2019 Chevrolet Bolt EV
-* 2020-2023 Chevrolet Bolt EV/EUV w/o ACC
-* Chevrolet Equinox/GMC Terrain w/o ACC
-* Chevrolet Tahoe/GMC Yukon w/o ACC
-* Chevrolet Suburban w/o ACC
+FrogPilot is a fully open-sourced fork of openpilot, featuring clear and focused commits aimed at benefiting the openpilot community. It thrives on contributions from both users and developers, focusing on a collaborative, community-led approach to deliver an advanced openpilot experience for all!
 
-If your vehicle is not on this list, there is a very good chance that already is or can be supported! You will need to
-collect your vehicle's fingerprint.
+------
+FrogPilot was last updated on:
 
-> At this time, Global B and VIP architectures are unsupported due to CAN bus encryption. If you have a vehicle on one
-> of these architectures and consider yourself to be a hacker/tinkerer type, we would love to hear from you!
+**March 15th, 2024**
 
-### Fingerprinting your vehicle
-Note! You likely do not have to do this. Try installing OPGM first, and only proceed with the fingerprinting process if
-it does not work out of the box.
+Features
+------
 
-You will first need to set up [SSH access](https://github.com/commaai/openpilot/wiki/SSH) to your device. Then, follow
-the fingerprinting instructions posted [here](https://github.com/commaai/openpilot/wiki/Fingerprinting#fingerprinting-10).
+FrogPilot offers a wide range of customizable features that can be easily toggled on or off to suit your preferences. Whether you want a completely stock openpilot experience or want to add some fun and personal touches, FrogPilot has you covered! Some of the features include:
 
-> You must follow the **v1.0** instructions. Fingerprint v2.0 is not yet supported for GM vehicles.
+------
+🎨 **Custom Themes:**
 
-Reach out in the [OPGM discord channel](#discussion) with questions, or after you have fingerprinted your vehicle so it
-can be added to OPGM.
+  - Themes included:
+    - 🐸 Frog theme (with a bonus 🐐 sound effect)
+    - <img src="https://images.emojiterra.com/google/noto-emoji/unicode-15/color/512px/1f1f7-1f1fa.png" width="20" height="18"> Russia / Joseph Stalin theme
+    - 🔌 Tesla theme
 
-## Installation
-### Hardware
-OPGM supports the Comma Three development platform; legacy support for Comma Two is not guaranteed. Some older development
-branches may work on Comma Two. Use at your own risk.
+  - 📢 Want to add a theme? Request one in the "feature-request" channel in the FrogPilot Discord!
+------
+🚀 **Conditional Experimental Mode:**
 
-Verify first that your vehicle has LKAS. Verify as well that it has a forward-facing camera; you can do this by removing
-the plastic cover on the windshield behind the rearview mirror. If you see a silver rectangular camera, you're good to go.
+  - Auto-activates "Experimental Mode" under several conditions, including:
+    - Approaching slower vehicles
+    - Curve and stop light/stop sign detection
+    - Driving below a set speed
+    - Turn signal activation below 55mph for turn assistance
+    - While using navigation to prepare for upcoming intersections and turns
+------
+🎮 **Custom UI:**
 
-If you have vehicle supported by upstream openpilot, buy the corresponding hardware from Comma.
+  - Road UI Customizations:
+    - Blind spot path to indicate when and where a vehicle is in your blind spot
+    - Compass that rotates according to the direction you're driving
+    - Increase or decrease the lane line, path, and road edge widths
+    - Path edge colors based on specific driving statuses
+      - 🔵 Blue - Navigation active
+      - 🟦 Light Blue - "Always On Lateral" active
+      - 🟩 Light Green - Default
+      - 🟠 Orange - Experimental Mode active
+      - 🟡 Yellow - Conditional Experimental overridden
+    - Steering wheel icons
+      📢 Request your own steering wheel icon in the "feature-request" channel!
+    - Steering wheel in the onroad UI rotates alongside your physical steering wheel
+    - "Unlimited" road UI that extends out as far as the model can see
+------
+📊 **Developer UI:**
 
-If you have a vehicle without ACC, buy the [Bolt EV/EUV kit from Comma](https://comma.ai/shop/comma-three). If you have
-a Bolt EV/EUV, it is **strongly** recommended to purchase a pedal interceptor for the best experience. (You may always
-add one later, if you want to try OPGM before committing.)
+  - Display various driving logics and device state metrics
+  - Lane detection measuring the width of the adjacent lanes
+  - Tap the "CPU"/"GPU" gauge to toggle between CPU and GPU monitoring
+  - Tap the "MEMORY" gauge to toggle between RAM and storage monitoring
+------
+🛠 **Device Behaviors:**
 
-You may buy a pedal interceptor from the following vendors:
-* [TinyBear](https://www.etsy.com/listing/952895642/openpilot-comma-pedal-non-customizable?variation0=3013902165)
+  - Adjustable screen brightness
+  - Device can operate offline indefinitely
+  - Disable uploads while onroad to help reduce data usage
+  - Easy Panda firmware flashing via a "Flash Panda" button in the "Device" menu
+  - Faster boot with prebuilt functionality
+  - Set when the device will auto-shutdown to prevent battery drain
+------
+🚘 **Driving Behaviors:**
 
-### Software
-For the latest stable build, use the install URL: `opgm.cc`
+  - Adjust the max set speed in increments of 5 or more on short presses
+  - Lateral Adjustments:
+    - Activate lateral control by simply pressing the "Cruise Control" button
+    - Lateral control won't disengage on gas or brake
+    - Nudgeless lane changes with lane detection to prevent driving into curbs or going offroad
+    - [Pfeiferj's curvature adjustment](https://github.com/commaai/openpilot/pull/28118) for smoother curve handling
+    - Precise turns by using turn desires when below the minimum lane change speed
+    - [Twilsonco's NNFF](https://github.com/twilsonco/openpilot) for improved steering controls
+  - Longitudinal Adjustments:
+    - Aggressive acceleration following a lead vehicle from a stop
+    - Enhanced stopping distances and braking behaviors
+    - "Map Turn Speed Controller" to slow down for curves based on stored map data
+    - "Speed Limit Controller" to adjust your speed to the posted speed limit
+      - With additional toggles to set offsets for the ranges of "0-34 mph", "35-54 mph", "55-64 mph", and "65-99 mph"
+    - Sport and Eco acceleration modes
+    - "Vision Turn Speed Controller" for smoother handling of curves
+      - With additional toggles to fine tune it with your desired speed and curve detection sensitivity
+  - Toggle Experimental Mode via the "Lane Departure Alert" button or by double tapping the screen
+------
+🚗 **Driving Personality Profiles:**
 
-> #### Installation troubleshooting
-> If the installation fails partway through, try moving your device closer to your WiFi router.
->   * You may plug the Comma Three into a USB power source delivering at least 2A of current.
+  - Ability to completely customize the following distance and jerk values for each profile
+  - Adjustable via the "Distance" button on the steering wheel
+    - Unsupported vehicle makes can use an Onroad UI button to switch between profiles with ease
+------
+⚡ **Model Switching:**
 
-Ensure that your car is *completely* powered off during software installation, otherwise you may get a "no panda" error.
-To be sure that your car is completely powered down:
-1. Turn the car on and off
-2. Open and close the driver's door
-3. Wait 5 minutes
+  - Select between various openpilot models to use your favorite model
+------
+🗺️ **Navigation:**
 
-## Known issues
-* Curve hugging and laneline crossing are known issues of upstream openpilot.
-* Officially supported cars (e.g. ACC Volt and Bolt) may have issues fingerprinting on OPGM. Currently, the only workaround is to hardcode your fingerprint in the `/data/openpilot/launch_openpilot.sh` file.
+  - 3D buildings in the map panel
+  - iOS shortcuts to use with setting navigation directions
+  - Navigate on openpilot without a comma prime subscription
+  - Offline maps
+  - Open Street Maps integration for speed limit control and road name view
+------
+🚙 **Vehicle Specific Additions:**
 
-## Discussion
-Come join us on the OPGM channel in the [openpilot community discord](https://discord.gg/KGWEdwSnCU)!
+  - GM Volt support
+  - Honda Clarity support
+  - Lock doors automatically when in the drive gear for Toyota/Lexus
+  - openpilot longitudinal control for GM vehicles without ACC
+  - Pedal interceptor support for GM vehicles
+  - SNG hack for Toyota's without stop and go functionality
+  - Toyota/TSS2 tuning for smooth driving
+  - ZSS support for the Toyota Prius
+------
+🚦 **Other Quality of Life Features:**
 
-## Contributing
-Feel free to open a pull request against the `dev` branch.
+  - Camera view selection to view your preferred camera (cosmetic only)
+  - Driving statistics to show how many hours and miles you've driven on the home screen
+  - Fleet Manager to easily access your driving logs and screen recordings
+  - Green light alert
+  - Hide the speed indicator by simply tapping on it
+  - Numerical temperature gauge with the ability to use Fahrenheit by simply tapping on the gauge
+  - Pause lateral control when turn signals are active
+  - Retain tethering status between reboots
+  - Screenrecorder
+  - Sidebar displays by default for easy device monitoring
+  - Silent Mode for a completely silent driving experience
 
-## Credits
-* [comma.ai](https://comma.ai) for openpilot
-* jshuler
-* nworby
-* twilsonco
-* k1mu
-* kliu
-* mochi86420
-* Many others
+How to Install
+------
 
-# License
-OPGM is under the MIT license. See [LICENSE](LICENSE) for more information.
+Easiest way to install FrogPilot is via this URL at the installation screen:
+
+```
+frogpilot.download
+```
+
+DO NOT install the "FrogPilot-Development" branch. I'm constantly breaking things on there so unless you don't want to use openpilot, NEVER install it!
+
+![](https://i.imgur.com/wxKp3JI.png)
+
+Bug reports / Feature Requests
+------
+
+If you encounter any issues or bugs while using FrogPilot, or if you have any suggestions for new features or improvements, please don't hesitate to reach out to me. I'm always looking for ways to improve the fork and provide a better experience for everyone!
+
+To report a bug or request a new feature, feel free to make a post in the respective channel on the FrogPilot Discord. Provide as much detail as possible about the issue you're experiencing or the feature you'd like to see added. Photos, videos, log files, or other relevant information are very helpful!
+
+I will do my best to respond to bug reports and feature requests in a timely manner, but please understand that I may not be able to address every request immediately. Your feedback and suggestions are valuable, and I appreciate your help in making FrogPilot the best it can be!
+
+As for feature requests, these are my guidelines:
+
+- Can I test it on my 2019 Lexus ES or are you up for testing it?
+- How maintainable is it? Or will it frequently break with future openpilot updates?
+- Is it not currently being developed by comma themselves? (i.e. Navigation)
+
+Discord
+------
+
+[Join the FrogPilot Community Discord for easy access to updates, bug reporting, feature requests, future planned updates, and other FrogPilot related discussions!](https://discord.gg/frogpilot)
+
+Credits
+------
+
+* [AlexandreSato](https://github.com/AlexandreSato)
+* [Crwusiz](https://github.com/crwusiz)
+* [DragonPilot](https://github.com/dragonpilot-community)
+* [ErichMoraga](https://github.com/ErichMoraga)
+* [Garrettpall](https://github.com/garrettpall)
+* [Henrycc](https://github.com/henryccy)
+* [KRKeegan](https://github.com/krkeegan)
+* [Mike8643](https://github.com/mike8643)
+* [Move-Fast](https://github.com/move-fast)
+* [Neokii](https://github.com/Neokii)
+* [OPGM](https://github.com/opgm)
+* [OPKR](https://github.com/openpilotkr)
+* [Pfeiferj](https://github.com/pfeiferj)
+* [ServerDummy](https://github.com/ServerDummy)
+* [Sunnyhaibin](https://github.com/sunnyhaibin)
+* [Thinkpad4by3](https://github.com/Thinkpad4by3)
+* [Twilsonco](https://github.com/twilsonco)
+
+Licensing
+------
+
+openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
+
+Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+
+**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
+YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
+NO WARRANTY EXPRESSED OR IMPLIED.**
+
+---
+
+<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
+
+![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)

RELEASES.md

@@ -1,11 +1,3 @@
-Version 0.9.7 (2024-05-XX)
-========================
-* New driving model
-* Adjust driving personality with the follow distance button
-* Support for hybrid variants of supported Ford models
-* Added toggle to enable driver monitoring even when openpilot is not engaged
-* Fingerprinting without the OBD-II port on all cars
-
 Version 0.9.6 (2024-02-27)
 ========================
 * New driving model
@@ -14,9 +6,6 @@ Version 0.9.6 (2024-02-27)
   * Directly outputs curvature for lateral control
 * New driver monitoring model
   * Trained on larger dataset
-* Model path UI
-  * Shows where driving model wants to be
-  * Shows what model is seeing more clearly, but more jittery
 * AGNOS 9
 * comma body streaming and controls over WebRTC
 * Improved fuzzy fingerprinting for many makes and models

SConstruct

@@ -70,6 +70,10 @@ AddOption('--minimal',
           default=os.path.islink(Dir('#rednose/').abspath), # minimal by default on release branch (where rednose is not a link)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
+AddOption('--nosr',
+          action='store_true',
+          help="don't build the screen recorder")
+
 ## Architecture name breakdown (arch)
 ## - larch64: linux tici aarch64
 ## - aarch64: linux pc aarch64
@@ -96,6 +100,8 @@ lenv = {
 rpath = lenv["LD_LIBRARY_PATH"].copy()
 
 if arch == "larch64":
+  lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
+
   cpppath = [
     "#third_party/opencl/include",
   ]
@@ -193,7 +199,6 @@ env = Environment(
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",
     "-Wno-error=unused-but-set-variable",
-    "-Wno-vla-cxx-extension",
   ] + cflags + ccflags,
 
   CPPPATH=cpppath + [
@@ -359,6 +364,13 @@ Export('common', 'gpucommon')
 # Build cereal and messaging
 SConscript(['cereal/SConscript'])
 
+cereal = [File('#cereal/libcereal.a')]
+messaging = [File('#cereal/libmessaging.a')]
+visionipc = [File('#cereal/libvisionipc.a')]
+messaging_python = [File('#cereal/messaging/messaging_pyx.so')]
+
+Export('cereal', 'messaging', 'messaging_python', 'visionipc')
+
 # Build other submodules
 SConscript([
   'body/board/SConscript',
@@ -377,22 +389,25 @@ SConscript([
 ])
 if arch != "Darwin":
   SConscript([
+    'system/camerad/SConscript',
     'system/sensord/SConscript',
     'system/logcatd/SConscript',
   ])
 
-if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
-
 # Build openpilot
 SConscript(['third_party/SConscript'])
 
-SConscript(['selfdrive/SConscript'])
+SConscript(['selfdrive/boardd/SConscript'])
+SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
+SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/navd/SConscript'])
+SConscript(['selfdrive/modeld/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])
 
-if Dir('#tools/cabana/').exists() and GetOption('extras'):
+if arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
-  if arch != "larch64":
-    SConscript(['tools/cabana/SConscript'])
+  SConscript(['tools/cabana/SConscript'])
 
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:

body/board/obj/gitversion.h

@@ -1 +1 @@
-const uint8_t gitversion[8] = "a984d8aa";
+const uint8_t gitversion[8] = "8a32dcfc";

cereal/SConscript

@@ -17,7 +17,7 @@ env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s
 # TODO: remove non shared cereal and messaging
 cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
 
-cereal = env.Library('cereal', cereal_objects)
+env.Library('cereal', cereal_objects)
 env.SharedLibrary('cereal_shared', cereal_objects)
 
 # Build messaging
@@ -34,13 +34,14 @@ messaging_objects = env.SharedObject([
   'messaging/socketmaster.cc',
 ])
 
-messaging = env.Library('messaging', messaging_objects)
+messaging_lib = env.Library('messaging', messaging_objects)
 Depends('messaging/impl_zmq.cc', services_h)
 
-env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging, 'zmq', common])
+env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq', common])
 Depends('messaging/bridge.cc', services_h)
 
-messaging_python = envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging, "zmq", common])
+envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq", common])
+
 
 # Build Vision IPC
 vipc_sources = [
@@ -56,11 +57,11 @@ else:
   vipc_sources += ['visionipc/visionbuf_cl.cc']
 
 vipc_objects = env.SharedObject(vipc_sources)
-visionipc = env.Library('visionipc', vipc_objects)
+vipc = env.Library('visionipc', vipc_objects)
 
 
 vipc_frameworks = []
-vipc_libs = envCython["LIBS"] + [visionipc, messaging, common, "zmq"]
+vipc_libs = envCython["LIBS"] + [vipc, messaging_lib, common, "zmq"]
 if arch == "Darwin":
   vipc_frameworks.append('OpenCL')
 else:
@@ -69,10 +70,7 @@ envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx',
                   LIBS=vipc_libs, FRAMEWORKS=vipc_frameworks)
 
 if GetOption('extras'):
-  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging, common])
+  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib, common])
 
   env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'],
               LIBS=['pthread'] + vipc_libs, FRAMEWORKS=vipc_frameworks)
-
-
-Export('cereal', 'messaging', 'messaging_python', 'visionipc')

cereal/car.capnp

@@ -96,6 +96,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     fanMalfunction @91;
     cameraMalfunction @92;
     cameraFrameRate @110;
+    gpsMalfunction @94;
     processNotRunning @95;
     dashcamMode @96;
     controlsInitializing @98;
@@ -116,7 +117,24 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     paramsdTemporaryError @50;
     paramsdPermanentError @119;
 
-    pedalInterceptorNoBrake @120;
+    # FrogPilot events
+    accel30 @120;
+    firefoxSteerSaturated @121;
+    frogSteerSaturated @122;
+    greenLight @123;
+    holidayActive @124;
+    laneChangeBlockedLoud @125;
+    leadDeparting @126;
+    noLaneAvailable @127;
+    openpilotCrashed @128;
+    openpilotCrashedRandomEvents @129;
+    pedalInterceptorNoBrake @130;
+    speedLimitChanged @131;
+    torqueNNLoad @132;
+    turningLeft @133;
+    turningRight @134;
+    vCruise69 @135;
+    yourFrogTriedToKillMe @136;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -143,7 +161,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     noTargetDEPRECATED @25;
     brakeUnavailableDEPRECATED @2;
     plannerErrorDEPRECATED @32;
-    gpsMalfunctionDEPRECATED @94;
   }
 }
 
@@ -325,12 +342,14 @@ struct CarControl {
   # Actuator commands as computed by controlsd
   actuators @6 :Actuators;
 
-  # moved to CarOutput
-  actuatorsOutputDEPRECATED @10 :Actuators;
-
   leftBlinker @15: Bool;
   rightBlinker @16: Bool;
 
+  # Any car specific rate limits or quirks applied by
+  # the CarController are reflected in actuatorsOutput
+  # and matches what is sent to the car
+  actuatorsOutput @10 :Actuators;
+
   orientationNED @13 :List(Float32);
   angularVelocity @14 :List(Float32);
 
@@ -380,7 +399,7 @@ struct CarControl {
     leftLaneVisible @7: Bool;
     rightLaneDepart @8: Bool;
     leftLaneDepart @9: Bool;
-    leadDistanceBars @10: Int8;  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
+    leadVelocity @10: Float32;
 
     enum VisualAlert {
       # these are the choices from the Honda
@@ -408,6 +427,13 @@ struct CarControl {
       prompt @6;
       promptRepeat @7;
       promptDistracted @8;
+
+      # Random Events
+      angry @9;
+      fart @10;
+      firefox @11;
+      noice @12;
+      uwu @13;
     }
   }
 
@@ -419,13 +445,6 @@ struct CarControl {
   pitchDEPRECATED @9 :Float32;
 }
 
-struct CarOutput {
-  # Any car specific rate limits or quirks applied by
-  # the CarController are reflected in actuatorsOutput
-  # and matches what is sent to the car
-  actuatorsOutput @0 :CarControl.Actuators;
-}
-
 # ****** car param ******
 
 struct CarParams {
@@ -435,6 +454,7 @@ struct CarParams {
 
   notCar @66 :Bool;  # flag for non-car robotics platforms
 
+  enableGasInterceptor @2 :Bool;
   pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
   enableDsu @5 :Bool;        # driving support unit
   enableBsm @56 :Bool;       # blind spot monitoring
@@ -604,7 +624,6 @@ struct CarParams {
     hyundaiCanfd @28;
     volkswagenMqbEvo @29;
     chryslerCusw @30;
-    psa @31;
   }
 
   enum SteerControlType {
@@ -679,7 +698,6 @@ struct CarParams {
     gateway @1;    # Integration at vehicle's CAN gateway
   }
 
-  enableGasInterceptor @2 :Bool;
   enableCameraDEPRECATED @4 :Bool;
   enableApgsDEPRECATED @6 :Bool;
   steerRateCostDEPRECATED @33 :Float32;

cereal/custom.capnp

@@ -8,16 +8,37 @@ $Cxx.namespace("cereal");
 # cereal, so use these if you want custom events in your fork.
 
 # you can rename the struct, but don't change the identifier
-struct CustomReserved0 @0x81c2f05a394cf4af {
+struct FrogPilotCarControl @0x81c2f05a394cf4af {
+  alwaysOnLateral @0 :Bool;
+  speedLimitChanged @1 :Bool;
 }
 
-struct CustomReserved1 @0xaedffd8f31e7b55d {
+struct FrogPilotDeviceState @0xaedffd8f31e7b55d {
+  freeSpace @0 :Int16;
+  usedSpace @1 :Int16;
 }
 
-struct CustomReserved2 @0xf35cc4560bbf6ec2 {
+struct FrogPilotNavigation @0xf35cc4560bbf6ec2 {
+  approachingIntersection @0 :Bool;
+  approachingTurn @1 :Bool;
 }
 
-struct CustomReserved3 @0xda96579883444c35 {
+struct FrogPilotPlan @0xda96579883444c35 {
+  adjustedCruise @0 :Float64;
+  conditionalExperimental @1 :Bool;
+  desiredFollowDistance @2 :Int16;
+  laneWidthLeft @3 :Float32;
+  laneWidthRight @4 :Float32;
+  redLight @5 :Bool;
+  safeObstacleDistance @6 :Int16;
+  safeObstacleDistanceStock @7 :Int16;
+  slcOverridden @8 :Bool;
+  slcOverriddenSpeed @9 :Float64;
+  slcSpeedLimit @10 :Float64;
+  slcSpeedLimitOffset @11 :Float32;
+  stoppedEquivalenceFactor @12 :Int16;
+  unconfirmedSlcSpeedLimit @13 :Float64;
+  vtscControllingCurve @14 :Bool;
 }
 
 struct CustomReserved4 @0x80ae746ee2596b11 {

cereal/gen/cpp/car.capnp.h

@@ -115,7 +115,7 @@ enum class EventName_baa8c5d505f727de: uint16_t {
   FAN_MALFUNCTION,
   CAMERA_MALFUNCTION,
   MODEL_LAG_WARNING_D_E_P_R_E_C_A_T_E_D,
-  GPS_MALFUNCTION_D_E_P_R_E_C_A_T_E_D,
+  GPS_MALFUNCTION,
   PROCESS_NOT_RUNNING,
   DASHCAM_MODE,
   STARTUP_FUZZY_FINGERPRINT_D_E_P_R_E_C_A_T_E_D,
@@ -141,7 +141,23 @@ enum class EventName_baa8c5d505f727de: uint16_t {
   CALIBRATION_RECALIBRATING,
   LOCATIOND_PERMANENT_ERROR,
   PARAMSD_PERMANENT_ERROR,
+  ACCEL30,
+  FIREFOX_STEER_SATURATED,
+  FROG_STEER_SATURATED,
+  GREEN_LIGHT,
+  HOLIDAY_ACTIVE,
+  LANE_CHANGE_BLOCKED_LOUD,
+  LEAD_DEPARTING,
+  NO_LANE_AVAILABLE,
+  OPENPILOT_CRASHED,
+  OPENPILOT_CRASHED_RANDOM_EVENTS,
   PEDAL_INTERCEPTOR_NO_BRAKE,
+  SPEED_LIMIT_CHANGED,
+  TORQUE_N_N_LOAD,
+  TURNING_LEFT,
+  TURNING_RIGHT,
+  V_CRUISE69,
+  YOUR_FROG_TRIED_TO_KILL_ME,
 };
 CAPNP_DECLARE_ENUM(EventName, baa8c5d505f727de);
 CAPNP_DECLARE_SCHEMA(9da4fa09e052903c);
@@ -222,9 +238,13 @@ enum class AudibleAlert_f5a5e26c954e339e: uint16_t {
   PROMPT,
   PROMPT_REPEAT,
   PROMPT_DISTRACTED,
+  ANGRY,
+  FART,
+  FIREFOX,
+  NOICE,
+  UWU,
 };
 CAPNP_DECLARE_ENUM(AudibleAlert, f5a5e26c954e339e);
-CAPNP_DECLARE_SCHEMA(d817d6655115ca85);
 CAPNP_DECLARE_SCHEMA(8c69372490aaa9da);
 CAPNP_DECLARE_SCHEMA(e836349c6056b0c9);
 CAPNP_DECLARE_SCHEMA(b581b23b1c89dda3);
@@ -266,7 +286,6 @@ enum class SafetyModel_95551e5b1edaf451: uint16_t {
   HYUNDAI_CANFD,
   VOLKSWAGEN_MQB_EVO,
   CHRYSLER_CUSW,
-  PSA,
 };
 CAPNP_DECLARE_ENUM(SafetyModel, 95551e5b1edaf451);
 CAPNP_DECLARE_SCHEMA(d661512be2def77f);
@@ -521,21 +540,6 @@ struct CarControl::HUDControl {
   };
 };
 
-struct CarOutput {
-  CarOutput() = delete;
-
-  class Reader;
-  class Builder;
-  class Pipeline;
-
-  struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(d817d6655115ca85, 0, 1)
-    #if !CAPNP_LITE
-    static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
-    #endif  // !CAPNP_LITE
-  };
-};
-
 struct CarParams {
   CarParams() = delete;
 
@@ -1713,8 +1717,8 @@ public:
 
   inline float getPitchDEPRECATED() const;
 
-  inline bool hasActuatorsOutputDEPRECATED() const;
-  inline  ::cereal::CarControl::Actuators::Reader getActuatorsOutputDEPRECATED() const;
+  inline bool hasActuatorsOutput() const;
+  inline  ::cereal::CarControl::Actuators::Reader getActuatorsOutput() const;
 
   inline bool getLatActive() const;
 
@@ -1800,12 +1804,12 @@ public:
   inline float getPitchDEPRECATED();
   inline void setPitchDEPRECATED(float value);
 
-  inline bool hasActuatorsOutputDEPRECATED();
-  inline  ::cereal::CarControl::Actuators::Builder getActuatorsOutputDEPRECATED();
-  inline void setActuatorsOutputDEPRECATED( ::cereal::CarControl::Actuators::Reader value);
-  inline  ::cereal::CarControl::Actuators::Builder initActuatorsOutputDEPRECATED();
-  inline void adoptActuatorsOutputDEPRECATED(::capnp::Orphan< ::cereal::CarControl::Actuators>&& value);
-  inline ::capnp::Orphan< ::cereal::CarControl::Actuators> disownActuatorsOutputDEPRECATED();
+  inline bool hasActuatorsOutput();
+  inline  ::cereal::CarControl::Actuators::Builder getActuatorsOutput();
+  inline void setActuatorsOutput( ::cereal::CarControl::Actuators::Reader value);
+  inline  ::cereal::CarControl::Actuators::Builder initActuatorsOutput();
+  inline void adoptActuatorsOutput(::capnp::Orphan< ::cereal::CarControl::Actuators>&& value);
+  inline ::capnp::Orphan< ::cereal::CarControl::Actuators> disownActuatorsOutput();
 
   inline bool getLatActive();
   inline void setLatActive(bool value);
@@ -1856,7 +1860,7 @@ public:
   inline  ::cereal::CarControl::CruiseControl::Pipeline getCruiseControl();
   inline  ::cereal::CarControl::HUDControl::Pipeline getHudControl();
   inline  ::cereal::CarControl::Actuators::Pipeline getActuators();
-  inline  ::cereal::CarControl::Actuators::Pipeline getActuatorsOutputDEPRECATED();
+  inline  ::cereal::CarControl::Actuators::Pipeline getActuatorsOutput();
 private:
   ::capnp::AnyPointer::Pipeline _typeless;
   friend class ::capnp::PipelineHook;
@@ -2114,7 +2118,7 @@ public:
 
   inline bool getLeftLaneDepart() const;
 
-  inline  ::int8_t getLeadDistanceBars() const;
+  inline float getLeadVelocity() const;
 
 private:
   ::capnp::_::StructReader _reader;
@@ -2174,8 +2178,8 @@ public:
   inline bool getLeftLaneDepart();
   inline void setLeftLaneDepart(bool value);
 
-  inline  ::int8_t getLeadDistanceBars();
-  inline void setLeadDistanceBars( ::int8_t value);
+  inline float getLeadVelocity();
+  inline void setLeadVelocity(float value);
 
 private:
   ::capnp::_::StructBuilder _builder;
@@ -2203,88 +2207,6 @@ private:
 };
 #endif  // !CAPNP_LITE
 
-class CarOutput::Reader {
-public:
-  typedef CarOutput Reads;
-
-  Reader() = default;
-  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
-
-  inline ::capnp::MessageSize totalSize() const {
-    return _reader.totalSize().asPublic();
-  }
-
-#if !CAPNP_LITE
-  inline ::kj::StringTree toString() const {
-    return ::capnp::_::structString(_reader, *_capnpPrivate::brand());
-  }
-#endif  // !CAPNP_LITE
-
-  inline bool hasActuatorsOutput() const;
-  inline  ::cereal::CarControl::Actuators::Reader getActuatorsOutput() const;
-
-private:
-  ::capnp::_::StructReader _reader;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::ToDynamic_;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::_::PointerHelpers;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::List;
-  friend class ::capnp::MessageBuilder;
-  friend class ::capnp::Orphanage;
-};
-
-class CarOutput::Builder {
-public:
-  typedef CarOutput Builds;
-
-  Builder() = delete;  // Deleted to discourage incorrect usage.
-                       // You can explicitly initialize to nullptr instead.
-  inline Builder(decltype(nullptr)) {}
-  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
-  inline operator Reader() const { return Reader(_builder.asReader()); }
-  inline Reader asReader() const { return *this; }
-
-  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
-#if !CAPNP_LITE
-  inline ::kj::StringTree toString() const { return asReader().toString(); }
-#endif  // !CAPNP_LITE
-
-  inline bool hasActuatorsOutput();
-  inline  ::cereal::CarControl::Actuators::Builder getActuatorsOutput();
-  inline void setActuatorsOutput( ::cereal::CarControl::Actuators::Reader value);
-  inline  ::cereal::CarControl::Actuators::Builder initActuatorsOutput();
-  inline void adoptActuatorsOutput(::capnp::Orphan< ::cereal::CarControl::Actuators>&& value);
-  inline ::capnp::Orphan< ::cereal::CarControl::Actuators> disownActuatorsOutput();
-
-private:
-  ::capnp::_::StructBuilder _builder;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::ToDynamic_;
-  friend class ::capnp::Orphanage;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::_::PointerHelpers;
-};
-
-#if !CAPNP_LITE
-class CarOutput::Pipeline {
-public:
-  typedef CarOutput Pipelines;
-
-  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
-  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
-      : _typeless(kj::mv(typeless)) {}
-
-  inline  ::cereal::CarControl::Actuators::Pipeline getActuatorsOutput();
-private:
-  ::capnp::AnyPointer::Pipeline _typeless;
-  friend class ::capnp::PipelineHook;
-  template <typename, ::capnp::Kind>
-  friend struct ::capnp::ToDynamic_;
-};
-#endif  // !CAPNP_LITE
-
 class CarParams::Reader {
 public:
   typedef CarParams Reads;
@@ -5491,41 +5413,41 @@ inline void CarControl::Builder::setPitchDEPRECATED(float value) {
       ::capnp::bounded<5>() * ::capnp::ELEMENTS, value);
 }
 
-inline bool CarControl::Reader::hasActuatorsOutputDEPRECATED() const {
+inline bool CarControl::Reader::hasActuatorsOutput() const {
   return !_reader.getPointerField(
       ::capnp::bounded<3>() * ::capnp::POINTERS).isNull();
 }
-inline bool CarControl::Builder::hasActuatorsOutputDEPRECATED() {
+inline bool CarControl::Builder::hasActuatorsOutput() {
   return !_builder.getPointerField(
       ::capnp::bounded<3>() * ::capnp::POINTERS).isNull();
 }
-inline  ::cereal::CarControl::Actuators::Reader CarControl::Reader::getActuatorsOutputDEPRECATED() const {
+inline  ::cereal::CarControl::Actuators::Reader CarControl::Reader::getActuatorsOutput() const {
   return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::get(_reader.getPointerField(
       ::capnp::bounded<3>() * ::capnp::POINTERS));
 }
-inline  ::cereal::CarControl::Actuators::Builder CarControl::Builder::getActuatorsOutputDEPRECATED() {
+inline  ::cereal::CarControl::Actuators::Builder CarControl::Builder::getActuatorsOutput() {
   return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::get(_builder.getPointerField(
       ::capnp::bounded<3>() * ::capnp::POINTERS));
 }
 #if !CAPNP_LITE
-inline  ::cereal::CarControl::Actuators::Pipeline CarControl::Pipeline::getActuatorsOutputDEPRECATED() {
+inline  ::cereal::CarControl::Actuators::Pipeline CarControl::Pipeline::getActuatorsOutput() {
   return  ::cereal::CarControl::Actuators::Pipeline(_typeless.getPointerField(3));
 }
 #endif  // !CAPNP_LITE
-inline void CarControl::Builder::setActuatorsOutputDEPRECATED( ::cereal::CarControl::Actuators::Reader value) {
+inline void CarControl::Builder::setActuatorsOutput( ::cereal::CarControl::Actuators::Reader value) {
   ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::set(_builder.getPointerField(
       ::capnp::bounded<3>() * ::capnp::POINTERS), value);
 }
-inline  ::cereal::CarControl::Actuators::Builder CarControl::Builder::initActuatorsOutputDEPRECATED() {
+inline  ::cereal::CarControl::Actuators::Builder CarControl::Builder::initActuatorsOutput() {
   return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::init(_builder.getPointerField(
       ::capnp::bounded<3>() * ::capnp::POINTERS));
 }
-inline void CarControl::Builder::adoptActuatorsOutputDEPRECATED(
+inline void CarControl::Builder::adoptActuatorsOutput(
     ::capnp::Orphan< ::cereal::CarControl::Actuators>&& value) {
   ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::adopt(_builder.getPointerField(
       ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value));
 }
-inline ::capnp::Orphan< ::cereal::CarControl::Actuators> CarControl::Builder::disownActuatorsOutputDEPRECATED() {
+inline ::capnp::Orphan< ::cereal::CarControl::Actuators> CarControl::Builder::disownActuatorsOutput() {
   return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::disown(_builder.getPointerField(
       ::capnp::bounded<3>() * ::capnp::POINTERS));
 }
@@ -5998,57 +5920,18 @@ inline void CarControl::HUDControl::Builder::setLeftLaneDepart(bool value) {
       ::capnp::bounded<6>() * ::capnp::ELEMENTS, value);
 }
 
-inline  ::int8_t CarControl::HUDControl::Reader::getLeadDistanceBars() const {
-  return _reader.getDataField< ::int8_t>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+inline float CarControl::HUDControl::Reader::getLeadVelocity() const {
+  return _reader.getDataField<float>(
+      ::capnp::bounded<3>() * ::capnp::ELEMENTS);
 }
 
-inline  ::int8_t CarControl::HUDControl::Builder::getLeadDistanceBars() {
-  return _builder.getDataField< ::int8_t>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+inline float CarControl::HUDControl::Builder::getLeadVelocity() {
+  return _builder.getDataField<float>(
+      ::capnp::bounded<3>() * ::capnp::ELEMENTS);
 }
-inline void CarControl::HUDControl::Builder::setLeadDistanceBars( ::int8_t value) {
-  _builder.setDataField< ::int8_t>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
-}
-
-inline bool CarOutput::Reader::hasActuatorsOutput() const {
-  return !_reader.getPointerField(
-      ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
-}
-inline bool CarOutput::Builder::hasActuatorsOutput() {
-  return !_builder.getPointerField(
-      ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
-}
-inline  ::cereal::CarControl::Actuators::Reader CarOutput::Reader::getActuatorsOutput() const {
-  return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::get(_reader.getPointerField(
-      ::capnp::bounded<0>() * ::capnp::POINTERS));
-}
-inline  ::cereal::CarControl::Actuators::Builder CarOutput::Builder::getActuatorsOutput() {
-  return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::get(_builder.getPointerField(
-      ::capnp::bounded<0>() * ::capnp::POINTERS));
-}
-#if !CAPNP_LITE
-inline  ::cereal::CarControl::Actuators::Pipeline CarOutput::Pipeline::getActuatorsOutput() {
-  return  ::cereal::CarControl::Actuators::Pipeline(_typeless.getPointerField(0));
-}
-#endif  // !CAPNP_LITE
-inline void CarOutput::Builder::setActuatorsOutput( ::cereal::CarControl::Actuators::Reader value) {
-  ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::set(_builder.getPointerField(
-      ::capnp::bounded<0>() * ::capnp::POINTERS), value);
-}
-inline  ::cereal::CarControl::Actuators::Builder CarOutput::Builder::initActuatorsOutput() {
-  return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::init(_builder.getPointerField(
-      ::capnp::bounded<0>() * ::capnp::POINTERS));
-}
-inline void CarOutput::Builder::adoptActuatorsOutput(
-    ::capnp::Orphan< ::cereal::CarControl::Actuators>&& value) {
-  ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::adopt(_builder.getPointerField(
-      ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value));
-}
-inline ::capnp::Orphan< ::cereal::CarControl::Actuators> CarOutput::Builder::disownActuatorsOutput() {
-  return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::disown(_builder.getPointerField(
-      ::capnp::bounded<0>() * ::capnp::POINTERS));
+inline void CarControl::HUDControl::Builder::setLeadVelocity(float value) {
+  _builder.setDataField<float>(
+      ::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
 }
 
 inline bool CarParams::Reader::hasCarName() const {

cereal/gen/cpp/custom.capnp.c++

@@ -5,108 +5,473 @@
 
 namespace capnp {
 namespace schemas {
-static const ::capnp::_::AlignedData<17> b_81c2f05a394cf4af = {
+static const ::capnp::_::AlignedData<52> b_81c2f05a394cf4af = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     175, 244,  76,  57,  90, 240, 194, 129,
-     13,   0,   0,   0,   1,   0,   0,   0,
+     13,   0,   0,   0,   1,   0,   1,   0,
      89,  10,  85,  29, 102, 186,  38, 181,
       0,   0,   7,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 234,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0,  10,   1,   0,   0,
+     37,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
+     33,   0,   0,   0, 119,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  48,   0,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
+     97, 112, 110, 112,  58,  70, 114, 111,
+    103,  80, 105, 108, 111, 116,  67,  97,
+    114,  67, 111, 110, 116, 114, 111, 108,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+      8,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   0,   0,   0, 130,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     40,   0,   0,   0,   3,   0,   1,   0,
+     52,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     49,   0,   0,   0, 146,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     52,   0,   0,   0,   3,   0,   1,   0,
+     64,   0,   0,   0,   2,   0,   1,   0,
+     97, 108, 119,  97, 121, 115,  79, 110,
+     76,  97, 116, 101, 114,  97, 108,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 112, 101, 101, 100,  76, 105, 109,
+    105, 116,  67, 104,  97, 110, 103, 101,
+    100,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
 };
 ::capnp::word const* const bp_81c2f05a394cf4af = b_81c2f05a394cf4af.words;
 #if !CAPNP_LITE
+static const uint16_t m_81c2f05a394cf4af[] = {0, 1};
+static const uint16_t i_81c2f05a394cf4af[] = {0, 1};
 const ::capnp::_::RawSchema s_81c2f05a394cf4af = {
-  0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
+  0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 52, nullptr, m_81c2f05a394cf4af,
+  0, 2, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_aedffd8f31e7b55d = {
+static const ::capnp::_::AlignedData<51> b_aedffd8f31e7b55d = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
      93, 181, 231,  49, 143, 253, 223, 174,
-     13,   0,   0,   0,   1,   0,   0,   0,
+     13,   0,   0,   0,   1,   0,   1,   0,
      89,  10,  85,  29, 102, 186,  38, 181,
       0,   0,   7,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 234,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0,  18,   1,   0,   0,
+     37,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
+     33,   0,   0,   0, 119,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  49,   0,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
+     97, 112, 110, 112,  58,  70, 114, 111,
+    103,  80, 105, 108, 111, 116,  68, 101,
+    118, 105,  99, 101,  83, 116,  97, 116,
+    101,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+      8,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   0,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     40,   0,   0,   0,   3,   0,   1,   0,
+     52,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     49,   0,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     48,   0,   0,   0,   3,   0,   1,   0,
+     60,   0,   0,   0,   2,   0,   1,   0,
+    102, 114, 101, 101,  83, 112,  97,  99,
+    101,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    117, 115, 101, 100,  83, 112,  97,  99,
+    101,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
 };
 ::capnp::word const* const bp_aedffd8f31e7b55d = b_aedffd8f31e7b55d.words;
 #if !CAPNP_LITE
+static const uint16_t m_aedffd8f31e7b55d[] = {0, 1};
+static const uint16_t i_aedffd8f31e7b55d[] = {0, 1};
 const ::capnp::_::RawSchema s_aedffd8f31e7b55d = {
-  0xaedffd8f31e7b55d, b_aedffd8f31e7b55d.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }, false
+  0xaedffd8f31e7b55d, b_aedffd8f31e7b55d.words, 51, nullptr, m_aedffd8f31e7b55d,
+  0, 2, i_aedffd8f31e7b55d, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_f35cc4560bbf6ec2 = {
+static const ::capnp::_::AlignedData<52> b_f35cc4560bbf6ec2 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     194, 110, 191,  11,  86, 196,  92, 243,
-     13,   0,   0,   0,   1,   0,   0,   0,
+     13,   0,   0,   0,   1,   0,   1,   0,
      89,  10,  85,  29, 102, 186,  38, 181,
       0,   0,   7,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 234,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
+     21,   0,   0,   0,  10,   1,   0,   0,
+     37,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
+     33,   0,   0,   0, 119,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  50,   0,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
+     97, 112, 110, 112,  58,  70, 114, 111,
+    103,  80, 105, 108, 111, 116,  78,  97,
+    118, 105, 103,  97, 116, 105, 111, 110,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+      8,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   0,   0,   0, 194,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     44,   0,   0,   0,   3,   0,   1,   0,
+     56,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     53,   0,   0,   0, 130,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     52,   0,   0,   0,   3,   0,   1,   0,
+     64,   0,   0,   0,   2,   0,   1,   0,
+     97, 112, 112, 114, 111,  97,  99, 104,
+    105, 110, 103,  73, 110, 116, 101, 114,
+    115, 101,  99, 116, 105, 111, 110,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     97, 112, 112, 114, 111,  97,  99, 104,
+    105, 110, 103,  84, 117, 114, 110,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
 };
 ::capnp::word const* const bp_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words;
 #if !CAPNP_LITE
+static const uint16_t m_f35cc4560bbf6ec2[] = {0, 1};
+static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1};
 const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = {
-  0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
+  0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 52, nullptr, m_f35cc4560bbf6ec2,
+  0, 2, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_da96579883444c35 = {
+static const ::capnp::_::AlignedData<270> b_da96579883444c35 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
      53,  76,  68, 131, 152,  87, 150, 218,
-     13,   0,   0,   0,   1,   0,   0,   0,
+     13,   0,   0,   0,   1,   0,   7,   0,
      89,  10,  85,  29, 102, 186,  38, 181,
       0,   0,   7,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 234,   0,   0,   0,
+     21,   0,   0,   0, 218,   0,   0,   0,
      33,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   0,   0,   0,  79,   3,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  51,   0,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
+     97, 112, 110, 112,  58,  70, 114, 111,
+    103,  80, 105, 108, 111, 116,  80, 108,
+     97, 110,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+     60,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    149,   1,   0,   0, 122,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    148,   1,   0,   0,   3,   0,   1,   0,
+    160,   1,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,  64,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    157,   1,   0,   0, 194,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    160,   1,   0,   0,   3,   0,   1,   0,
+    172,   1,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   5,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    169,   1,   0,   0, 178,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    172,   1,   0,   0,   3,   0,   1,   0,
+    184,   1,   0,   0,   2,   0,   1,   0,
+      3,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    181,   1,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    180,   1,   0,   0,   3,   0,   1,   0,
+    192,   1,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   4,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    189,   1,   0,   0, 122,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    188,   1,   0,   0,   3,   0,   1,   0,
+    200,   1,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,  65,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    197,   1,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    196,   1,   0,   0,   3,   0,   1,   0,
+    208,   1,   0,   0,   2,   0,   1,   0,
+      6,   0,   0,   0,  10,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    205,   1,   0,   0, 170,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    208,   1,   0,   0,   3,   0,   1,   0,
+    220,   1,   0,   0,   2,   0,   1,   0,
+      7,   0,   0,   0,  11,   0,   0,   0,
+      0,   0,   1,   0,   7,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    217,   1,   0,   0, 210,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    224,   1,   0,   0,   3,   0,   1,   0,
+    236,   1,   0,   0,   2,   0,   1,   0,
+      8,   0,   0,   0,  66,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    233,   1,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    232,   1,   0,   0,   3,   0,   1,   0,
+    244,   1,   0,   0,   2,   0,   1,   0,
+      9,   0,   0,   0,   3,   0,   0,   0,
+      0,   0,   1,   0,   9,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    241,   1,   0,   0, 154,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    244,   1,   0,   0,   3,   0,   1,   0,
+      0,   2,   0,   0,   2,   0,   1,   0,
+     10,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,  10,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    253,   1,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    252,   1,   0,   0,   3,   0,   1,   0,
+      8,   2,   0,   0,   2,   0,   1,   0,
+     11,   0,   0,   0,  10,   0,   0,   0,
+      0,   0,   1,   0,  11,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      5,   2,   0,   0, 162,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      8,   2,   0,   0,   3,   0,   1,   0,
+     20,   2,   0,   0,   2,   0,   1,   0,
+     12,   0,   0,   0,  22,   0,   0,   0,
+      0,   0,   1,   0,  12,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     17,   2,   0,   0, 202,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     24,   2,   0,   0,   3,   0,   1,   0,
+     36,   2,   0,   0,   2,   0,   1,   0,
+     13,   0,   0,   0,   6,   0,   0,   0,
+      0,   0,   1,   0,  13,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     33,   2,   0,   0, 202,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     40,   2,   0,   0,   3,   0,   1,   0,
+     52,   2,   0,   0,   2,   0,   1,   0,
+     14,   0,   0,   0,  67,   0,   0,   0,
+      0,   0,   1,   0,  14,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     49,   2,   0,   0, 170,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     52,   2,   0,   0,   3,   0,   1,   0,
+     64,   2,   0,   0,   2,   0,   1,   0,
+     97, 100, 106, 117, 115, 116, 101, 100,
+     67, 114, 117, 105, 115, 101,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99, 111, 110, 100, 105, 116, 105, 111,
+    110,  97, 108,  69, 120, 112, 101, 114,
+    105, 109, 101, 110, 116,  97, 108,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    100, 101, 115, 105, 114, 101, 100,  70,
+    111, 108, 108, 111, 119,  68, 105, 115,
+    116,  97, 110,  99, 101,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108,  97, 110, 101,  87, 105, 100, 116,
+    104,  76, 101, 102, 116,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108,  97, 110, 101,  87, 105, 100, 116,
+    104,  82, 105, 103, 104, 116,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    114, 101, 100,  76, 105, 103, 104, 116,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115,  97, 102, 101,  79,  98, 115, 116,
+     97,  99, 108, 101,  68, 105, 115, 116,
+     97, 110,  99, 101,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115,  97, 102, 101,  79,  98, 115, 116,
+     97,  99, 108, 101,  68, 105, 115, 116,
+     97, 110,  99, 101,  83, 116, 111,  99,
+    107,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 108,  99,  79, 118, 101, 114, 114,
+    105, 100, 100, 101, 110,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 108,  99,  79, 118, 101, 114, 114,
+    105, 100, 100, 101, 110,  83, 112, 101,
+    101, 100,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 108,  99,  83, 112, 101, 101, 100,
+     76, 105, 109, 105, 116,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 108,  99,  83, 112, 101, 101, 100,
+     76, 105, 109, 105, 116,  79, 102, 102,
+    115, 101, 116,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     10,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    115, 116, 111, 112, 112, 101, 100,  69,
+    113, 117, 105, 118,  97, 108, 101, 110,
+     99, 101,  70,  97,  99, 116, 111, 114,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    117, 110,  99, 111, 110, 102, 105, 114,
+    109, 101, 100,  83, 108,  99,  83, 112,
+    101, 101, 100,  76, 105, 109, 105, 116,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     11,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    118, 116, 115,  99,  67, 111, 110, 116,
+    114, 111, 108, 108, 105, 110, 103,  67,
+    117, 114, 118, 101,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
 };
 ::capnp::word const* const bp_da96579883444c35 = b_da96579883444c35.words;
 #if !CAPNP_LITE
+static const uint16_t m_da96579883444c35[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14};
+static const uint16_t i_da96579883444c35[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14};
 const ::capnp::_::RawSchema s_da96579883444c35 = {
-  0xda96579883444c35, b_da96579883444c35.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_da96579883444c35, nullptr, nullptr, 0, 0, nullptr }, false
+  0xda96579883444c35, b_da96579883444c35.words, 270, nullptr, m_da96579883444c35,
+  0, 15, i_da96579883444c35, nullptr, nullptr, { &s_da96579883444c35, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<17> b_80ae746ee2596b11 = {
@@ -272,51 +637,51 @@ const ::capnp::_::RawSchema s_a1680744031fdb2d = {
 
 namespace cereal {
 
-// CustomReserved0
+// FrogPilotCarControl
 #if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved0::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved0::_capnpPrivate::pointerCount;
+constexpr uint16_t FrogPilotCarControl::_capnpPrivate::dataWordSize;
+constexpr uint16_t FrogPilotCarControl::_capnpPrivate::pointerCount;
 #endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
 #if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved0::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved0::_capnpPrivate::schema;
+constexpr ::capnp::Kind FrogPilotCarControl::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* FrogPilotCarControl::_capnpPrivate::schema;
 #endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
-// CustomReserved1
+// FrogPilotDeviceState
 #if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved1::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved1::_capnpPrivate::pointerCount;
+constexpr uint16_t FrogPilotDeviceState::_capnpPrivate::dataWordSize;
+constexpr uint16_t FrogPilotDeviceState::_capnpPrivate::pointerCount;
 #endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
 #if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved1::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved1::_capnpPrivate::schema;
+constexpr ::capnp::Kind FrogPilotDeviceState::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* FrogPilotDeviceState::_capnpPrivate::schema;
 #endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
-// CustomReserved2
+// FrogPilotNavigation
 #if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved2::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved2::_capnpPrivate::pointerCount;
+constexpr uint16_t FrogPilotNavigation::_capnpPrivate::dataWordSize;
+constexpr uint16_t FrogPilotNavigation::_capnpPrivate::pointerCount;
 #endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
 #if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved2::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved2::_capnpPrivate::schema;
+constexpr ::capnp::Kind FrogPilotNavigation::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* FrogPilotNavigation::_capnpPrivate::schema;
 #endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
-// CustomReserved3
+// FrogPilotPlan
 #if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr uint16_t CustomReserved3::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved3::_capnpPrivate::pointerCount;
+constexpr uint16_t FrogPilotPlan::_capnpPrivate::dataWordSize;
+constexpr uint16_t FrogPilotPlan::_capnpPrivate::pointerCount;
 #endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
 #if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
-constexpr ::capnp::Kind CustomReserved3::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved3::_capnpPrivate::schema;
+constexpr ::capnp::Kind FrogPilotPlan::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* FrogPilotPlan::_capnpPrivate::schema;
 #endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 

cereal/gen/cpp/custom.capnp.h

@@ -34,60 +34,60 @@ CAPNP_DECLARE_SCHEMA(a1680744031fdb2d);
 
 namespace cereal {
 
-struct CustomReserved0 {
-  CustomReserved0() = delete;
+struct FrogPilotCarControl {
+  FrogPilotCarControl() = delete;
 
   class Reader;
   class Builder;
   class Pipeline;
 
   struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(81c2f05a394cf4af, 0, 0)
+    CAPNP_DECLARE_STRUCT_HEADER(81c2f05a394cf4af, 1, 0)
     #if !CAPNP_LITE
     static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
     #endif  // !CAPNP_LITE
   };
 };
 
-struct CustomReserved1 {
-  CustomReserved1() = delete;
+struct FrogPilotDeviceState {
+  FrogPilotDeviceState() = delete;
 
   class Reader;
   class Builder;
   class Pipeline;
 
   struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(aedffd8f31e7b55d, 0, 0)
+    CAPNP_DECLARE_STRUCT_HEADER(aedffd8f31e7b55d, 1, 0)
     #if !CAPNP_LITE
     static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
     #endif  // !CAPNP_LITE
   };
 };
 
-struct CustomReserved2 {
-  CustomReserved2() = delete;
+struct FrogPilotNavigation {
+  FrogPilotNavigation() = delete;
 
   class Reader;
   class Builder;
   class Pipeline;
 
   struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 0, 0)
+    CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 1, 0)
     #if !CAPNP_LITE
     static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
     #endif  // !CAPNP_LITE
   };
 };
 
-struct CustomReserved3 {
-  CustomReserved3() = delete;
+struct FrogPilotPlan {
+  FrogPilotPlan() = delete;
 
   class Reader;
   class Builder;
   class Pipeline;
 
   struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(da96579883444c35, 0, 0)
+    CAPNP_DECLARE_STRUCT_HEADER(da96579883444c35, 7, 0)
     #if !CAPNP_LITE
     static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
     #endif  // !CAPNP_LITE
@@ -186,9 +186,9 @@ struct CustomReserved9 {
 
 // =======================================================================================
 
-class CustomReserved0::Reader {
+class FrogPilotCarControl::Reader {
 public:
-  typedef CustomReserved0 Reads;
+  typedef FrogPilotCarControl Reads;
 
   Reader() = default;
   inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
@@ -203,6 +203,10 @@ public:
   }
 #endif  // !CAPNP_LITE
 
+  inline bool getAlwaysOnLateral() const;
+
+  inline bool getSpeedLimitChanged() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -215,9 +219,9 @@ private:
   friend class ::capnp::Orphanage;
 };
 
-class CustomReserved0::Builder {
+class FrogPilotCarControl::Builder {
 public:
-  typedef CustomReserved0 Builds;
+  typedef FrogPilotCarControl Builds;
 
   Builder() = delete;  // Deleted to discourage incorrect usage.
                        // You can explicitly initialize to nullptr instead.
@@ -231,6 +235,12 @@ public:
   inline ::kj::StringTree toString() const { return asReader().toString(); }
 #endif  // !CAPNP_LITE
 
+  inline bool getAlwaysOnLateral();
+  inline void setAlwaysOnLateral(bool value);
+
+  inline bool getSpeedLimitChanged();
+  inline void setSpeedLimitChanged(bool value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -241,9 +251,9 @@ private:
 };
 
 #if !CAPNP_LITE
-class CustomReserved0::Pipeline {
+class FrogPilotCarControl::Pipeline {
 public:
-  typedef CustomReserved0 Pipelines;
+  typedef FrogPilotCarControl Pipelines;
 
   inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
   inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
@@ -257,9 +267,9 @@ private:
 };
 #endif  // !CAPNP_LITE
 
-class CustomReserved1::Reader {
+class FrogPilotDeviceState::Reader {
 public:
-  typedef CustomReserved1 Reads;
+  typedef FrogPilotDeviceState Reads;
 
   Reader() = default;
   inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
@@ -274,6 +284,10 @@ public:
   }
 #endif  // !CAPNP_LITE
 
+  inline  ::int16_t getFreeSpace() const;
+
+  inline  ::int16_t getUsedSpace() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -286,9 +300,9 @@ private:
   friend class ::capnp::Orphanage;
 };
 
-class CustomReserved1::Builder {
+class FrogPilotDeviceState::Builder {
 public:
-  typedef CustomReserved1 Builds;
+  typedef FrogPilotDeviceState Builds;
 
   Builder() = delete;  // Deleted to discourage incorrect usage.
                        // You can explicitly initialize to nullptr instead.
@@ -302,6 +316,12 @@ public:
   inline ::kj::StringTree toString() const { return asReader().toString(); }
 #endif  // !CAPNP_LITE
 
+  inline  ::int16_t getFreeSpace();
+  inline void setFreeSpace( ::int16_t value);
+
+  inline  ::int16_t getUsedSpace();
+  inline void setUsedSpace( ::int16_t value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -312,9 +332,9 @@ private:
 };
 
 #if !CAPNP_LITE
-class CustomReserved1::Pipeline {
+class FrogPilotDeviceState::Pipeline {
 public:
-  typedef CustomReserved1 Pipelines;
+  typedef FrogPilotDeviceState Pipelines;
 
   inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
   inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
@@ -328,9 +348,9 @@ private:
 };
 #endif  // !CAPNP_LITE
 
-class CustomReserved2::Reader {
+class FrogPilotNavigation::Reader {
 public:
-  typedef CustomReserved2 Reads;
+  typedef FrogPilotNavigation Reads;
 
   Reader() = default;
   inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
@@ -345,6 +365,10 @@ public:
   }
 #endif  // !CAPNP_LITE
 
+  inline bool getApproachingIntersection() const;
+
+  inline bool getApproachingTurn() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -357,9 +381,9 @@ private:
   friend class ::capnp::Orphanage;
 };
 
-class CustomReserved2::Builder {
+class FrogPilotNavigation::Builder {
 public:
-  typedef CustomReserved2 Builds;
+  typedef FrogPilotNavigation Builds;
 
   Builder() = delete;  // Deleted to discourage incorrect usage.
                        // You can explicitly initialize to nullptr instead.
@@ -373,6 +397,12 @@ public:
   inline ::kj::StringTree toString() const { return asReader().toString(); }
 #endif  // !CAPNP_LITE
 
+  inline bool getApproachingIntersection();
+  inline void setApproachingIntersection(bool value);
+
+  inline bool getApproachingTurn();
+  inline void setApproachingTurn(bool value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -383,9 +413,9 @@ private:
 };
 
 #if !CAPNP_LITE
-class CustomReserved2::Pipeline {
+class FrogPilotNavigation::Pipeline {
 public:
-  typedef CustomReserved2 Pipelines;
+  typedef FrogPilotNavigation Pipelines;
 
   inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
   inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
@@ -399,9 +429,9 @@ private:
 };
 #endif  // !CAPNP_LITE
 
-class CustomReserved3::Reader {
+class FrogPilotPlan::Reader {
 public:
-  typedef CustomReserved3 Reads;
+  typedef FrogPilotPlan Reads;
 
   Reader() = default;
   inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
@@ -416,6 +446,36 @@ public:
   }
 #endif  // !CAPNP_LITE
 
+  inline double getAdjustedCruise() const;
+
+  inline bool getConditionalExperimental() const;
+
+  inline  ::int16_t getDesiredFollowDistance() const;
+
+  inline float getLaneWidthLeft() const;
+
+  inline float getLaneWidthRight() const;
+
+  inline bool getRedLight() const;
+
+  inline  ::int16_t getSafeObstacleDistance() const;
+
+  inline  ::int16_t getSafeObstacleDistanceStock() const;
+
+  inline bool getSlcOverridden() const;
+
+  inline double getSlcOverriddenSpeed() const;
+
+  inline double getSlcSpeedLimit() const;
+
+  inline float getSlcSpeedLimitOffset() const;
+
+  inline  ::int16_t getStoppedEquivalenceFactor() const;
+
+  inline double getUnconfirmedSlcSpeedLimit() const;
+
+  inline bool getVtscControllingCurve() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -428,9 +488,9 @@ private:
   friend class ::capnp::Orphanage;
 };
 
-class CustomReserved3::Builder {
+class FrogPilotPlan::Builder {
 public:
-  typedef CustomReserved3 Builds;
+  typedef FrogPilotPlan Builds;
 
   Builder() = delete;  // Deleted to discourage incorrect usage.
                        // You can explicitly initialize to nullptr instead.
@@ -444,6 +504,51 @@ public:
   inline ::kj::StringTree toString() const { return asReader().toString(); }
 #endif  // !CAPNP_LITE
 
+  inline double getAdjustedCruise();
+  inline void setAdjustedCruise(double value);
+
+  inline bool getConditionalExperimental();
+  inline void setConditionalExperimental(bool value);
+
+  inline  ::int16_t getDesiredFollowDistance();
+  inline void setDesiredFollowDistance( ::int16_t value);
+
+  inline float getLaneWidthLeft();
+  inline void setLaneWidthLeft(float value);
+
+  inline float getLaneWidthRight();
+  inline void setLaneWidthRight(float value);
+
+  inline bool getRedLight();
+  inline void setRedLight(bool value);
+
+  inline  ::int16_t getSafeObstacleDistance();
+  inline void setSafeObstacleDistance( ::int16_t value);
+
+  inline  ::int16_t getSafeObstacleDistanceStock();
+  inline void setSafeObstacleDistanceStock( ::int16_t value);
+
+  inline bool getSlcOverridden();
+  inline void setSlcOverridden(bool value);
+
+  inline double getSlcOverriddenSpeed();
+  inline void setSlcOverriddenSpeed(double value);
+
+  inline double getSlcSpeedLimit();
+  inline void setSlcSpeedLimit(double value);
+
+  inline float getSlcSpeedLimitOffset();
+  inline void setSlcSpeedLimitOffset(float value);
+
+  inline  ::int16_t getStoppedEquivalenceFactor();
+  inline void setStoppedEquivalenceFactor( ::int16_t value);
+
+  inline double getUnconfirmedSlcSpeedLimit();
+  inline void setUnconfirmedSlcSpeedLimit(double value);
+
+  inline bool getVtscControllingCurve();
+  inline void setVtscControllingCurve(bool value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -454,9 +559,9 @@ private:
 };
 
 #if !CAPNP_LITE
-class CustomReserved3::Pipeline {
+class FrogPilotPlan::Pipeline {
 public:
-  typedef CustomReserved3 Pipelines;
+  typedef FrogPilotPlan Pipelines;
 
   inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
   inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
@@ -898,6 +1003,300 @@ private:
 
 // =======================================================================================
 
+inline bool FrogPilotCarControl::Reader::getAlwaysOnLateral() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
+}
+
+inline bool FrogPilotCarControl::Builder::getAlwaysOnLateral() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotCarControl::Builder::setAlwaysOnLateral(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
+}
+
+inline bool FrogPilotCarControl::Reader::getSpeedLimitChanged() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+}
+
+inline bool FrogPilotCarControl::Builder::getSpeedLimitChanged() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotCarControl::Builder::setSpeedLimitChanged(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
+}
+
+inline  ::int16_t FrogPilotDeviceState::Reader::getFreeSpace() const {
+  return _reader.getDataField< ::int16_t>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
+}
+
+inline  ::int16_t FrogPilotDeviceState::Builder::getFreeSpace() {
+  return _builder.getDataField< ::int16_t>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotDeviceState::Builder::setFreeSpace( ::int16_t value) {
+  _builder.setDataField< ::int16_t>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
+}
+
+inline  ::int16_t FrogPilotDeviceState::Reader::getUsedSpace() const {
+  return _reader.getDataField< ::int16_t>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+}
+
+inline  ::int16_t FrogPilotDeviceState::Builder::getUsedSpace() {
+  return _builder.getDataField< ::int16_t>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotDeviceState::Builder::setUsedSpace( ::int16_t value) {
+  _builder.setDataField< ::int16_t>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
+}
+
+inline bool FrogPilotNavigation::Reader::getApproachingIntersection() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
+}
+
+inline bool FrogPilotNavigation::Builder::getApproachingIntersection() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotNavigation::Builder::setApproachingIntersection(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
+}
+
+inline bool FrogPilotNavigation::Reader::getApproachingTurn() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+}
+
+inline bool FrogPilotNavigation::Builder::getApproachingTurn() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotNavigation::Builder::setApproachingTurn(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
+}
+
+inline double FrogPilotPlan::Reader::getAdjustedCruise() const {
+  return _reader.getDataField<double>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
+}
+
+inline double FrogPilotPlan::Builder::getAdjustedCruise() {
+  return _builder.getDataField<double>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setAdjustedCruise(double value) {
+  _builder.setDataField<double>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
+}
+
+inline bool FrogPilotPlan::Reader::getConditionalExperimental() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<64>() * ::capnp::ELEMENTS);
+}
+
+inline bool FrogPilotPlan::Builder::getConditionalExperimental() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<64>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setConditionalExperimental(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<64>() * ::capnp::ELEMENTS, value);
+}
+
+inline  ::int16_t FrogPilotPlan::Reader::getDesiredFollowDistance() const {
+  return _reader.getDataField< ::int16_t>(
+      ::capnp::bounded<5>() * ::capnp::ELEMENTS);
+}
+
+inline  ::int16_t FrogPilotPlan::Builder::getDesiredFollowDistance() {
+  return _builder.getDataField< ::int16_t>(
+      ::capnp::bounded<5>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setDesiredFollowDistance( ::int16_t value) {
+  _builder.setDataField< ::int16_t>(
+      ::capnp::bounded<5>() * ::capnp::ELEMENTS, value);
+}
+
+inline float FrogPilotPlan::Reader::getLaneWidthLeft() const {
+  return _reader.getDataField<float>(
+      ::capnp::bounded<3>() * ::capnp::ELEMENTS);
+}
+
+inline float FrogPilotPlan::Builder::getLaneWidthLeft() {
+  return _builder.getDataField<float>(
+      ::capnp::bounded<3>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setLaneWidthLeft(float value) {
+  _builder.setDataField<float>(
+      ::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
+}
+
+inline float FrogPilotPlan::Reader::getLaneWidthRight() const {
+  return _reader.getDataField<float>(
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS);
+}
+
+inline float FrogPilotPlan::Builder::getLaneWidthRight() {
+  return _builder.getDataField<float>(
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setLaneWidthRight(float value) {
+  _builder.setDataField<float>(
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS, value);
+}
+
+inline bool FrogPilotPlan::Reader::getRedLight() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<65>() * ::capnp::ELEMENTS);
+}
+
+inline bool FrogPilotPlan::Builder::getRedLight() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<65>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setRedLight(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<65>() * ::capnp::ELEMENTS, value);
+}
+
+inline  ::int16_t FrogPilotPlan::Reader::getSafeObstacleDistance() const {
+  return _reader.getDataField< ::int16_t>(
+      ::capnp::bounded<10>() * ::capnp::ELEMENTS);
+}
+
+inline  ::int16_t FrogPilotPlan::Builder::getSafeObstacleDistance() {
+  return _builder.getDataField< ::int16_t>(
+      ::capnp::bounded<10>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setSafeObstacleDistance( ::int16_t value) {
+  _builder.setDataField< ::int16_t>(
+      ::capnp::bounded<10>() * ::capnp::ELEMENTS, value);
+}
+
+inline  ::int16_t FrogPilotPlan::Reader::getSafeObstacleDistanceStock() const {
+  return _reader.getDataField< ::int16_t>(
+      ::capnp::bounded<11>() * ::capnp::ELEMENTS);
+}
+
+inline  ::int16_t FrogPilotPlan::Builder::getSafeObstacleDistanceStock() {
+  return _builder.getDataField< ::int16_t>(
+      ::capnp::bounded<11>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setSafeObstacleDistanceStock( ::int16_t value) {
+  _builder.setDataField< ::int16_t>(
+      ::capnp::bounded<11>() * ::capnp::ELEMENTS, value);
+}
+
+inline bool FrogPilotPlan::Reader::getSlcOverridden() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<66>() * ::capnp::ELEMENTS);
+}
+
+inline bool FrogPilotPlan::Builder::getSlcOverridden() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<66>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setSlcOverridden(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<66>() * ::capnp::ELEMENTS, value);
+}
+
+inline double FrogPilotPlan::Reader::getSlcOverriddenSpeed() const {
+  return _reader.getDataField<double>(
+      ::capnp::bounded<3>() * ::capnp::ELEMENTS);
+}
+
+inline double FrogPilotPlan::Builder::getSlcOverriddenSpeed() {
+  return _builder.getDataField<double>(
+      ::capnp::bounded<3>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setSlcOverriddenSpeed(double value) {
+  _builder.setDataField<double>(
+      ::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
+}
+
+inline double FrogPilotPlan::Reader::getSlcSpeedLimit() const {
+  return _reader.getDataField<double>(
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS);
+}
+
+inline double FrogPilotPlan::Builder::getSlcSpeedLimit() {
+  return _builder.getDataField<double>(
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setSlcSpeedLimit(double value) {
+  _builder.setDataField<double>(
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS, value);
+}
+
+inline float FrogPilotPlan::Reader::getSlcSpeedLimitOffset() const {
+  return _reader.getDataField<float>(
+      ::capnp::bounded<10>() * ::capnp::ELEMENTS);
+}
+
+inline float FrogPilotPlan::Builder::getSlcSpeedLimitOffset() {
+  return _builder.getDataField<float>(
+      ::capnp::bounded<10>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setSlcSpeedLimitOffset(float value) {
+  _builder.setDataField<float>(
+      ::capnp::bounded<10>() * ::capnp::ELEMENTS, value);
+}
+
+inline  ::int16_t FrogPilotPlan::Reader::getStoppedEquivalenceFactor() const {
+  return _reader.getDataField< ::int16_t>(
+      ::capnp::bounded<22>() * ::capnp::ELEMENTS);
+}
+
+inline  ::int16_t FrogPilotPlan::Builder::getStoppedEquivalenceFactor() {
+  return _builder.getDataField< ::int16_t>(
+      ::capnp::bounded<22>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setStoppedEquivalenceFactor( ::int16_t value) {
+  _builder.setDataField< ::int16_t>(
+      ::capnp::bounded<22>() * ::capnp::ELEMENTS, value);
+}
+
+inline double FrogPilotPlan::Reader::getUnconfirmedSlcSpeedLimit() const {
+  return _reader.getDataField<double>(
+      ::capnp::bounded<6>() * ::capnp::ELEMENTS);
+}
+
+inline double FrogPilotPlan::Builder::getUnconfirmedSlcSpeedLimit() {
+  return _builder.getDataField<double>(
+      ::capnp::bounded<6>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setUnconfirmedSlcSpeedLimit(double value) {
+  _builder.setDataField<double>(
+      ::capnp::bounded<6>() * ::capnp::ELEMENTS, value);
+}
+
+inline bool FrogPilotPlan::Reader::getVtscControllingCurve() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<67>() * ::capnp::ELEMENTS);
+}
+
+inline bool FrogPilotPlan::Builder::getVtscControllingCurve() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<67>() * ::capnp::ELEMENTS);
+}
+inline void FrogPilotPlan::Builder::setVtscControllingCurve(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<67>() * ::capnp::ELEMENTS, value);
+}
+
 }  // namespace
 
 CAPNP_END_HEADER

cereal/log.capnp

@@ -57,7 +57,6 @@ struct InitData {
     tici @4;
     pc @5;
     tizi @6;
-    mici @7;
   }
 
   struct PandaInfo {
@@ -251,7 +250,7 @@ struct SensorEventData {
 
 # android struct GpsLocation
 struct GpsLocationData {
-  # Contains module-specific flags.
+  # Contains GpsLocationFlags bits.
   flags @0 :UInt16;
 
   # Represents latitude in degrees.
@@ -269,8 +268,8 @@ struct GpsLocationData {
   # Represents heading in degrees.
   bearingDeg @5 :Float32;
 
-  # Represents expected horizontal accuracy in meters.
-  horizontalAccuracy @6 :Float32;
+  # Represents expected accuracy in meters. (presumably 1 sigma?)
+  accuracy @6 :Float32;
 
   unixTimestampMillis @7 :Int64;
 
@@ -288,8 +287,6 @@ struct GpsLocationData {
   # Represents velocity accuracy in m/s. (presumably 1 sigma?)
   speedAccuracy @12 :Float32;
 
-  hasFix @13 :Bool;
-
   enum SensorSource {
     android @0;
     iOS @1;
@@ -300,7 +297,6 @@ struct GpsLocationData {
     ublox @6;
     trimble @7;
     qcomdiag @8;
-    unicore @9;
   }
 }
 
@@ -327,6 +323,12 @@ enum LaneChangeDirection {
   right @2;
 }
 
+enum TurnDirection {
+  none @0;
+  turnLeft @1;
+  turnRight @2;
+}
+
 struct CanData {
   address @0 :UInt32;
   busTime @1 :UInt16;
@@ -335,8 +337,6 @@ struct CanData {
 }
 
 struct DeviceState @0xa4d8b5af2aa492eb {
-  deviceType @45 :InitData.DeviceType;
-
   networkType @22 :NetworkType;
   networkInfo @31 :NetworkInfo;
   networkStrength @24 :NetworkStrength;
@@ -442,6 +442,7 @@ struct PandaState @0xa7649e2575e4591e {
   ignitionLine @2 :Bool;
   rxBufferOverflow @7 :UInt32;
   txBufferOverflow @8 :UInt32;
+  gmlanSendErrs @9 :UInt32;
   pandaType @10 :PandaType;
   ignitionCan @13 :Bool;
   faultStatus @15 :FaultStatus;
@@ -489,7 +490,7 @@ struct PandaState @0xa7649e2575e4591e {
     interruptRateCan2 @3;
     interruptRateCan3 @4;
     interruptRateTach @5;
-    interruptRateGmlanDEPRECATED @6;
+    interruptRateGmlan @6;
     interruptRateInterrupts @7;
     interruptRateSpiDma @8;
     interruptRateSpiCs @9;
@@ -575,7 +576,6 @@ struct PandaState @0xa7649e2575e4591e {
   gasInterceptorDetectedDEPRECATED @4 :Bool;
   startedSignalDetectedDEPRECATED @5 :Bool;
   hasGpsDEPRECATED @6 :Bool;
-  gmlanSendErrsDEPRECATED @9 :UInt32;
   fanSpeedRpmDEPRECATED @11 :UInt16;
   usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
   safetyParamDEPRECATED @20 :Int16;
@@ -687,7 +687,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   active @36 :Bool;
 
   experimentalMode @64 :Bool;
-  personality @66 :LongitudinalPersonality;
 
   longControlState @30 :Car.CarControl.Actuators.LongControlState;
   vPid @2 :Float32;
@@ -738,6 +737,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     normal @0;       # low priority alert for user's convenience
     userPrompt @1;   # mid priority alert that might require user intervention
     critical @2;     # high priority alert that needs immediate user intervention
+    frogpilot @3;    # green startup alert
   }
 
   enum AlertSize {
@@ -788,6 +788,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     saturated @7 :Bool;
     actualLateralAccel @9 :Float32;
     desiredLateralAccel @10 :Float32;
+    nnLog @11 :List(Float32);
    }
 
   struct LateralLQRState {
@@ -905,8 +906,8 @@ struct ModelDataV2 {
   # Model perceived motion
   temporalPose @21 :Pose;
 
-  navEnabledDEPRECATED @22 :Bool;
-  locationMonoTimeDEPRECATED @24 :UInt64;
+  navEnabled @22 :Bool;
+  locationMonoTime @24 :UInt64;
 
   # e2e lateral planner
   lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
@@ -950,6 +951,7 @@ struct ModelDataV2 {
     hardBrakePredicted @7 :Bool;
     laneChangeState @8 :LaneChangeState;
     laneChangeDirection @9 :LaneChangeDirection;
+    turnDirection @10 :TurnDirection;
 
 
     # deprecated
@@ -1054,6 +1056,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   jerks @34 :List(Float32);
 
   solverExecutionTime @35 :Float32;
+  personality @36 :LongitudinalPersonality;
 
   enum LongitudinalPlanSource {
     cruise @0;
@@ -1091,7 +1094,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   eventsDEPRECATED @13 :List(Car.CarEvent);
   gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
   gpsPlannerActiveDEPRECATED @19 :Bool;
-  personalityDEPRECATED @36 :LongitudinalPersonality;
 
   struct GpsTrajectory {
     x @0 :List(Float32);
@@ -2257,7 +2259,6 @@ struct Event {
     liveCalibration @19 :LiveCalibrationData;
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;
-    carOutput @127 :Car.CarOutput;
     longitudinalPlan @24 :LongitudinalPlan;
     uiPlan @106 :UiPlan;
     ubloxGnss @34 :UbloxGnss;
@@ -2276,6 +2277,7 @@ struct Event {
     liveLocationKalman @72 :LiveLocationKalman;
     modelV2 @75 :ModelDataV2;
     driverStateV2 @92 :DriverStateV2;
+    navModel @104 :NavModelData;
 
     # camera stuff, each camera state has a matching encode idx
     roadCameraState @2 :FrameData;
@@ -2329,10 +2331,10 @@ struct Event {
     customReservedRawData2 @126 :Data;
 
     # *********** Custom: reserved for forks ***********
-    customReserved0 @107 :Custom.CustomReserved0;
-    customReserved1 @108 :Custom.CustomReserved1;
-    customReserved2 @109 :Custom.CustomReserved2;
-    customReserved3 @110 :Custom.CustomReserved3;
+    frogpilotCarControl @107 :Custom.FrogPilotCarControl;
+    frogpilotDeviceState @108 :Custom.FrogPilotDeviceState;
+    frogpilotNavigation @109 :Custom.FrogPilotNavigation;
+    frogpilotPlan @110 :Custom.FrogPilotPlan;
     customReserved4 @111 :Custom.CustomReserved4;
     customReserved5 @112 :Custom.CustomReserved5;
     customReserved6 @113 :Custom.CustomReserved6;
@@ -2379,6 +2381,5 @@ struct Event {
     driverStateDEPRECATED @59 :DriverStateDEPRECATED;
     sensorEventsDEPRECATED @11 :List(SensorEventData);
     lateralPlanDEPRECATED @64 :LateralPlan;
-    navModelDEPRECATED @104 :NavModelData;
   }
 }

cereal/messaging/__init__.py

@@ -93,8 +93,20 @@ def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
 
 def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
   """Receive all message currently available on the queue"""
-  msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
-  return [log_from_bytes(m) for m in msgs]
+  ret: List[capnp.lib.capnp._DynamicStructReader] = []
+  while 1:
+    if wait_for_one and len(ret) == 0:
+      dat = sock.receive()
+    else:
+      dat = sock.receive(non_blocking=True)
+
+    if dat is None:  # Timeout hit
+      break
+
+    dat = log_from_bytes(dat)
+    ret.append(dat)
+
+  return ret
 
 
 # TODO: print when we drop packets?

cereal/services.h

@@ -30,54 +30,59 @@ static std::map<std::string, service> services = {
   { "androidLog", {"androidLog", 8024, true, 0, -1}},
   { "carState", {"carState", 8025, true, 100, 10}},
   { "carControl", {"carControl", 8026, true, 100, 10}},
-  { "carOutput", {"carOutput", 8027, true, 100, 10}},
-  { "longitudinalPlan", {"longitudinalPlan", 8028, true, 20, 5}},
-  { "procLog", {"procLog", 8029, true, 0, 15}},
-  { "gpsLocationExternal", {"gpsLocationExternal", 8030, true, 10, 10}},
-  { "gpsLocation", {"gpsLocation", 8031, true, 1, 1}},
-  { "ubloxGnss", {"ubloxGnss", 8032, true, 10, -1}},
-  { "qcomGnss", {"qcomGnss", 8033, true, 2, -1}},
-  { "gnssMeasurements", {"gnssMeasurements", 8034, true, 10, 10}},
-  { "clocks", {"clocks", 8035, true, 0, 1}},
-  { "ubloxRaw", {"ubloxRaw", 8036, true, 20, -1}},
-  { "liveLocationKalman", {"liveLocationKalman", 8037, true, 20, 5}},
-  { "liveParameters", {"liveParameters", 8038, true, 20, 5}},
-  { "cameraOdometry", {"cameraOdometry", 8039, true, 20, 5}},
-  { "thumbnail", {"thumbnail", 8040, true, 0, 1}},
-  { "onroadEvents", {"onroadEvents", 8041, true, 1, 1}},
-  { "carParams", {"carParams", 8042, true, 0, 1}},
-  { "roadCameraState", {"roadCameraState", 8043, true, 20, 20}},
-  { "driverCameraState", {"driverCameraState", 8044, true, 20, 20}},
-  { "driverEncodeIdx", {"driverEncodeIdx", 8045, false, 20, 1}},
-  { "driverStateV2", {"driverStateV2", 8046, true, 20, 10}},
-  { "driverMonitoringState", {"driverMonitoringState", 8047, true, 20, 10}},
-  { "wideRoadEncodeIdx", {"wideRoadEncodeIdx", 8048, false, 20, 1}},
-  { "wideRoadCameraState", {"wideRoadCameraState", 8049, true, 20, 20}},
-  { "modelV2", {"modelV2", 8050, true, 20, 40}},
-  { "managerState", {"managerState", 8051, true, 2, 1}},
-  { "uploaderState", {"uploaderState", 8052, true, 0, 1}},
-  { "navInstruction", {"navInstruction", 8053, true, 1, 10}},
-  { "navRoute", {"navRoute", 8054, true, 0, -1}},
-  { "navThumbnail", {"navThumbnail", 8055, true, 0, -1}},
-  { "uiPlan", {"uiPlan", 8056, true, 20, 40}},
-  { "qRoadEncodeIdx", {"qRoadEncodeIdx", 8057, false, 20, -1}},
-  { "userFlag", {"userFlag", 8058, true, 0, 1}},
-  { "microphone", {"microphone", 8059, true, 10, 10}},
-  { "uiDebug", {"uiDebug", 8060, true, 0, 1}},
-  { "testJoystick", {"testJoystick", 8061, true, 0, -1}},
-  { "roadEncodeData", {"roadEncodeData", 8062, false, 20, -1}},
-  { "driverEncodeData", {"driverEncodeData", 8063, false, 20, -1}},
-  { "wideRoadEncodeData", {"wideRoadEncodeData", 8064, false, 20, -1}},
-  { "qRoadEncodeData", {"qRoadEncodeData", 8065, false, 20, -1}},
-  { "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", 8066, false, 20, -1}},
-  { "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", 8067, false, 20, -1}},
-  { "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", 8068, false, 20, -1}},
-  { "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", 8069, false, 20, -1}},
-  { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", 8070, false, 20, -1}},
-  { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", 8071, false, 20, -1}},
-  { "customReservedRawData0", {"customReservedRawData0", 8072, true, 0, -1}},
-  { "customReservedRawData1", {"customReservedRawData1", 8073, true, 0, -1}},
-  { "customReservedRawData2", {"customReservedRawData2", 8074, true, 0, -1}},
+  { "longitudinalPlan", {"longitudinalPlan", 8027, true, 20, 5}},
+  { "procLog", {"procLog", 8028, true, 0, 15}},
+  { "gpsLocationExternal", {"gpsLocationExternal", 8029, true, 10, 10}},
+  { "gpsLocation", {"gpsLocation", 8030, true, 1, 1}},
+  { "ubloxGnss", {"ubloxGnss", 8031, true, 10, -1}},
+  { "qcomGnss", {"qcomGnss", 8032, true, 2, -1}},
+  { "gnssMeasurements", {"gnssMeasurements", 8033, true, 10, 10}},
+  { "clocks", {"clocks", 8034, true, 0, 1}},
+  { "ubloxRaw", {"ubloxRaw", 8035, true, 20, -1}},
+  { "liveLocationKalman", {"liveLocationKalman", 8036, true, 20, 5}},
+  { "liveParameters", {"liveParameters", 8037, true, 20, 5}},
+  { "cameraOdometry", {"cameraOdometry", 8038, true, 20, 5}},
+  { "thumbnail", {"thumbnail", 8039, true, 0, 1}},
+  { "onroadEvents", {"onroadEvents", 8040, true, 1, 1}},
+  { "carParams", {"carParams", 8041, true, 0, 1}},
+  { "roadCameraState", {"roadCameraState", 8042, true, 20, 20}},
+  { "driverCameraState", {"driverCameraState", 8043, true, 20, 20}},
+  { "driverEncodeIdx", {"driverEncodeIdx", 8044, false, 20, 1}},
+  { "driverStateV2", {"driverStateV2", 8045, true, 20, 10}},
+  { "driverMonitoringState", {"driverMonitoringState", 8046, true, 20, 10}},
+  { "wideRoadEncodeIdx", {"wideRoadEncodeIdx", 8047, false, 20, 1}},
+  { "wideRoadCameraState", {"wideRoadCameraState", 8048, true, 20, 20}},
+  { "modelV2", {"modelV2", 8049, true, 20, 40}},
+  { "managerState", {"managerState", 8050, true, 2, 1}},
+  { "uploaderState", {"uploaderState", 8051, true, 0, 1}},
+  { "navInstruction", {"navInstruction", 8052, true, 1, 10}},
+  { "navRoute", {"navRoute", 8053, true, 0, -1}},
+  { "navThumbnail", {"navThumbnail", 8054, true, 0, -1}},
+  { "navModel", {"navModel", 8055, true, 2, 4}},
+  { "mapRenderState", {"mapRenderState", 8056, true, 2, 1}},
+  { "uiPlan", {"uiPlan", 8057, true, 20, 40}},
+  { "qRoadEncodeIdx", {"qRoadEncodeIdx", 8058, false, 20, -1}},
+  { "userFlag", {"userFlag", 8059, true, 0, 1}},
+  { "microphone", {"microphone", 8060, true, 10, 10}},
+  { "frogpilotCarControl", {"frogpilotCarControl", 8061, true, 100, 10}},
+  { "frogpilotDeviceState", {"frogpilotDeviceState", 8062, true, 2, 1}},
+  { "frogpilotNavigation", {"frogpilotNavigation", 8063, true, 1, 10}},
+  { "frogpilotPlan", {"frogpilotPlan", 8064, true, 20, 5}},
+  { "uiDebug", {"uiDebug", 8065, true, 0, 1}},
+  { "testJoystick", {"testJoystick", 8066, true, 0, -1}},
+  { "roadEncodeData", {"roadEncodeData", 8067, false, 20, -1}},
+  { "driverEncodeData", {"driverEncodeData", 8068, false, 20, -1}},
+  { "wideRoadEncodeData", {"wideRoadEncodeData", 8069, false, 20, -1}},
+  { "qRoadEncodeData", {"qRoadEncodeData", 8070, false, 20, -1}},
+  { "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", 8071, false, 20, -1}},
+  { "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", 8072, false, 20, -1}},
+  { "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", 8073, false, 20, -1}},
+  { "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", 8074, false, 20, -1}},
+  { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", 8075, false, 20, -1}},
+  { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", 8076, false, 20, -1}},
+  { "customReservedRawData0", {"customReservedRawData0", 8077, true, 0, -1}},
+  { "customReservedRawData1", {"customReservedRawData1", 8078, true, 0, -1}},
+  { "customReservedRawData2", {"customReservedRawData2", 8079, true, 0, -1}},
 };
 #endif
 

cereal/services.py

@@ -18,7 +18,7 @@ class Service:
     self.decimation = decimation
 
 
-_services: dict[str, tuple] = {
+services: dict[str, tuple] = {
   # service: (should_log, frequency, qlog decimation (optional))
   # note: the "EncodeIdx" packets will still be in the log
   "gyroscope": (True, 104., 104),
@@ -46,7 +46,6 @@ _services: dict[str, tuple] = {
   "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
-  "carOutput": (True, 100., 10),
   "longitudinalPlan": (True, 20., 5),
   "procLog": (True, 0.5, 15),
   "gpsLocationExternal": (True, 10., 10),
@@ -75,11 +74,19 @@ _services: dict[str, tuple] = {
   "navInstruction": (True, 1., 10),
   "navRoute": (True, 0.),
   "navThumbnail": (True, 0.),
+  "navModel": (True, 2., 4.),
+  "mapRenderState": (True, 2., 1.),
   "uiPlan": (True, 20., 40.),
   "qRoadEncodeIdx": (False, 20.),
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),
 
+  # FrogPilot
+  "frogpilotCarControl": (True, 100., 10),
+  "frogpilotDeviceState": (True, 2., 1),
+  "frogpilotNavigation": (True, 1., 10),
+  "frogpilotPlan": (True, 20., 5),
+
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),
@@ -98,7 +105,7 @@ _services: dict[str, tuple] = {
   "customReservedRawData2": (True, 0.),
 }
 SERVICE_LIST = {name: Service(new_port(idx), *vals) for
-                idx, (name, vals) in enumerate(_services.items())}
+                idx, (name, vals) in enumerate(services.items())}
 
 
 def build_header():

common/conversions.py

@@ -8,6 +8,8 @@ class Conversions:
   KPH_TO_MS = 1. / MS_TO_KPH
   MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
   MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
+  METER_TO_FOOT = 3.28084
+  FOOT_TO_METER = 1 / METER_TO_FOOT
   MS_TO_KNOTS = 1.9438
   KNOTS_TO_MS = 1. / MS_TO_KNOTS
 

common/file_helpers.py

@@ -1,6 +1,7 @@
 import os
 import tempfile
 import contextlib
+from typing import Optional
 
 
 class CallbackReader:
@@ -23,7 +24,7 @@ class CallbackReader:
 
 
 @contextlib.contextmanager
-def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None,
+def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: Optional[str] = None, newline: Optional[str] = None,
                         overwrite: bool = False):
   """Write to a file atomically using a temporary file in the same directory as the destination file."""
   dir_name = os.path.dirname(path)

common/git.py

@@ -1,42 +0,0 @@
-import subprocess
-from openpilot.common.utils import cache
-from openpilot.common.run import run_cmd, run_cmd_default
-
-
-@cache
-def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
-  return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
-
-
-@cache
-def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
-  return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
-
-
-@cache
-def get_short_branch(cwd: str = None) -> str:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
-
-
-@cache
-def get_branch(cwd: str = None) -> str:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
-
-
-@cache
-def get_origin(cwd: str = None) -> str:
-  try:
-    local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
-    tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
-    return run_cmd(["git", "config", "remote." + tracking_remote + ".url"], cwd=cwd)
-  except subprocess.CalledProcessError:  # Not on a branch, fallback
-    return run_cmd_default(["git", "config", "--get", "remote.origin.url"], cwd=cwd)
-
-
-@cache
-def get_normalized_origin(cwd: str = None) -> str:
-  return get_origin(cwd) \
-    .replace("git@", "", 1) \
-    .replace(".git", "", 1) \
-    .replace("https://", "", 1) \
-    .replace(":", "/", 1)

common/gpio.py

@@ -1,5 +1,6 @@
 import os
 from functools import lru_cache
+from typing import Optional, List
 
 def gpio_init(pin: int, output: bool) -> None:
   try:
@@ -15,7 +16,7 @@ def gpio_set(pin: int, high: bool) -> None:
   except Exception as e:
     print(f"Failed to set gpio {pin} value: {e}")
 
-def gpio_read(pin: int) -> bool | None:
+def gpio_read(pin: int) -> Optional[bool]:
   val = None
   try:
     with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
@@ -36,7 +37,7 @@ def gpio_export(pin: int) -> None:
     print(f"Failed to export gpio {pin}")
 
 @lru_cache(maxsize=None)
-def get_irq_action(irq: int) -> list[str]:
+def get_irq_action(irq: int) -> List[str]:
   try:
     with open(f"/sys/kernel/irq/{irq}/actions") as f:
       actions = f.read().strip().split(',')
@@ -44,7 +45,7 @@ def get_irq_action(irq: int) -> list[str]:
   except FileNotFoundError:
     return []
 
-def get_irqs_for_action(action: str) -> list[str]:
+def get_irqs_for_action(action: str) -> List[str]:
   ret = []
   with open("/proc/interrupts") as f:
     for l in f.readlines():

common/mock/__init__.py

@@ -1,50 +0,0 @@
-"""
-Utilities for generating mock messages for testing.
-example in common/tests/test_mock.py
-"""
-
-
-import functools
-import threading
-from cereal.messaging import PubMaster
-from cereal.services import SERVICE_LIST
-from openpilot.common.mock.generators import generate_liveLocationKalman
-from openpilot.common.realtime import Ratekeeper
-
-
-MOCK_GENERATOR = {
-  "liveLocationKalman": generate_liveLocationKalman
-}
-
-
-def generate_messages_loop(services: list[str], done: threading.Event):
-  pm = PubMaster(services)
-  rk = Ratekeeper(100)
-  i = 0
-  while not done.is_set():
-    for s in services:
-      should_send = i % (100/SERVICE_LIST[s].frequency) == 0
-      if should_send:
-        message = MOCK_GENERATOR[s]()
-        pm.send(s, message)
-    i += 1
-    rk.keep_time()
-
-
-def mock_messages(services: list[str] | str):
-  if isinstance(services, str):
-    services = [services]
-
-  def decorator(func):
-    @functools.wraps(func)
-    def wrapper(*args, **kwargs):
-      done = threading.Event()
-      t = threading.Thread(target=generate_messages_loop, args=(services, done))
-      t.start()
-      try:
-        return func(*args, **kwargs)
-      finally:
-        done.set()
-        t.join()
-    return wrapper
-  return decorator

common/mock/generators.py

@@ -1,20 +0,0 @@
-from cereal import messaging
-
-
-LOCATION1 = (32.7174, -117.16277)
-LOCATION2 = (32.7558, -117.2037)
-
-LLK_DECIMATION = 10
-RENDER_FRAMES = 15
-DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
-
-
-def generate_liveLocationKalman(location=LOCATION1):
-  msg = messaging.new_message('liveLocationKalman')
-  msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.positionECEF = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.velocityCalibrated = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
-  msg.liveLocationKalman.status = 'valid'
-  msg.liveLocationKalman.gpsOK = True
-  return msg

common/params.cc

@@ -89,7 +89,6 @@ private:
 
 std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
-    {"AlwaysOnDM", PERSISTENT},
     {"ApiCache_Device", PERSISTENT},
     {"ApiCache_NavDestinations", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
@@ -172,6 +171,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
     {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
+    {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
     {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
     {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
@@ -188,7 +188,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
     {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"RouteCount", PERSISTENT},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
     {"TermsVersion", PERSISTENT},
@@ -207,6 +206,230 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
+    {"VisionRadarToggle", PERSISTENT},
+
+    // FrogPilot parameters
+    {"AccelerationPath", PERSISTENT},
+    {"AccelerationProfile", PERSISTENT},
+    {"AdjacentPath", PERSISTENT},
+    {"AdjacentPathMetrics", PERSISTENT},
+    {"AdjustablePersonalities", PERSISTENT},
+    {"AggressiveAcceleration", PERSISTENT},
+    {"AggressiveFollow", PERSISTENT},
+    {"AggressiveJerk", PERSISTENT},
+    {"AlertVolumeControl", PERSISTENT},
+    {"AlwaysOnLateral", PERSISTENT},
+    {"AlwaysOnLateralMain", PERSISTENT},
+    {"AMapKey1", PERSISTENT},
+    {"AMapKey2", PERSISTENT},
+    {"ApiCache_DriveStats", PERSISTENT},
+    {"BlindSpotPath", PERSISTENT},
+    {"CameraFPS", PERSISTENT},
+    {"CameraView", PERSISTENT},
+    {"CarMake", PERSISTENT},
+    {"CarModel", PERSISTENT},
+    {"CarSpeedLimit", PERSISTENT},
+    {"CECurves", PERSISTENT},
+    {"CECurvesLead", PERSISTENT},
+    {"CENavigation", PERSISTENT},
+    {"CENavigationIntersections", PERSISTENT},
+    {"CENavigationLead", PERSISTENT},
+    {"CENavigationTurns", PERSISTENT},
+    {"CESignal", PERSISTENT},
+    {"CESlowerLead", PERSISTENT},
+    {"CESpeed", PERSISTENT},
+    {"CESpeedLead", PERSISTENT},
+    {"CEStatus", PERSISTENT},
+    {"CEStopLights", PERSISTENT},
+    {"CEStopLightsLead", PERSISTENT},
+    {"Compass", PERSISTENT},
+    {"ConditionalExperimental", PERSISTENT},
+    {"CrosstrekTorque", PERSISTENT},
+    {"CurrentHolidayTheme", PERSISTENT},
+    {"CurrentRandomEvent", PERSISTENT},
+    {"CurveSensitivity", PERSISTENT},
+    {"CustomAlerts", PERSISTENT},
+    {"CustomColors", PERSISTENT},
+    {"CustomIcons", PERSISTENT},
+    {"CustomPersonalities", PERSISTENT},
+    {"CustomUI", PERSISTENT},
+    {"CustomSignals", PERSISTENT},
+    {"CustomSounds", PERSISTENT},
+    {"CustomTheme", PERSISTENT},
+    {"CydiaTune", PERSISTENT},
+    {"DecelerationProfile", PERSISTENT},
+    {"DeviceShutdown", PERSISTENT},
+    {"DisableMTSCSmoothing", PERSISTENT},
+    {"DisableOnroadUploads", PERSISTENT},
+    {"DisableVTSCSmoothing", PERSISTENT},
+    {"DisengageVolume", PERSISTENT},
+    {"DragonPilotTune", PERSISTENT},
+    {"DriverCamera", PERSISTENT},
+    {"DriveStats", PERSISTENT},
+    {"DynamicPathWidth", PERSISTENT},
+    {"EngageVolume", PERSISTENT},
+    {"EVTable", PERSISTENT},
+    {"ExperimentalModeActivation", PERSISTENT},
+    {"ExperimentalModeViaDistance", PERSISTENT},
+    {"ExperimentalModeViaLKAS", PERSISTENT},
+    {"ExperimentalModeViaScreen", PERSISTENT},
+    {"Fahrenheit", PERSISTENT},
+    {"FireTheBabysitter", PERSISTENT},
+    {"ForceAutoTune", PERSISTENT},
+    {"ForceFingerprint", PERSISTENT},
+    {"ForceMPHDashboard", PERSISTENT},
+    {"FPSCounter", PERSISTENT},
+    {"FrogPilotDrives", PERSISTENT},
+    {"FrogPilotKilometers", PERSISTENT},
+    {"FrogPilotMinutes", PERSISTENT},
+    {"FrogPilotTogglesUpdated", PERSISTENT},
+    {"FrogsGoMoo", PERSISTENT},
+    {"FrogsGoMooTune", PERSISTENT},
+    {"FullMap", PERSISTENT},
+    {"GasRegenCmd", PERSISTENT},
+    {"GMapKey", PERSISTENT},
+    {"GoatScream", PERSISTENT},
+    {"GreenLightAlert", PERSISTENT},
+    {"HideAlerts", PERSISTENT},
+    {"HideAOLStatusBar", PERSISTENT},
+    {"HideCEMStatusBar", PERSISTENT},
+    {"HideLeadMarker", PERSISTENT},
+    {"HideMapIcon", PERSISTENT},
+    {"HideMaxSpeed", PERSISTENT},
+    {"HideSpeed", PERSISTENT},
+    {"HideSpeedUI", PERSISTENT},
+    {"HideUIElements", PERSISTENT},
+    {"HigherBitrate", PERSISTENT},
+    {"HolidayThemes", PERSISTENT},
+    {"LaneChangeTime", PERSISTENT},
+    {"LaneDetection", PERSISTENT},
+    {"LaneDetectionWidth", PERSISTENT},
+    {"LaneLinesWidth", PERSISTENT},
+    {"LastMapsUpdate", PERSISTENT},
+    {"LateralTune", PERSISTENT},
+    {"LeadDepartingAlert", PERSISTENT},
+    {"LeadInfo", PERSISTENT},
+    {"LockDoors", PERSISTENT},
+    {"LongitudinalTune", PERSISTENT},
+    {"LongPitch", PERSISTENT},
+    {"LoudBlindspotAlert", PERSISTENT},
+    {"LowerVolt", PERSISTENT},
+    {"ManualUpdateInitiated", CLEAR_ON_MANAGER_START},
+    {"MapboxPublicKey", PERSISTENT},
+    {"MapboxSecretKey", PERSISTENT},
+    {"MapsSelected", PERSISTENT},
+    {"MapSpeedLimit", PERSISTENT},
+    {"MapSpeedLimitControl", PERSISTENT},
+    {"MapStyle", PERSISTENT},
+    {"MapTargetLatA", PERSISTENT},
+    {"MapTargetVelocities", PERSISTENT},
+    {"Model", PERSISTENT},
+    {"ModelUI", PERSISTENT},
+    {"MTSCAggressiveness", PERSISTENT},
+    {"MTSCCurvatureCheck", PERSISTENT},
+    {"MTSCEnabled", PERSISTENT},
+    {"MTSCLimit", PERSISTENT},
+    {"MuteOverheated", PERSISTENT},
+    {"NavChill", PERSISTENT},
+    {"NavEnable", PERSISTENT},
+    {"NavSpeedLimit", PERSISTENT},
+    {"NavSpeedLimitControl", PERSISTENT},
+    {"NNFF", PERSISTENT},
+    {"NNFFModelFuzzyMatch", PERSISTENT},
+    {"NNFFModelName", PERSISTENT},
+    {"NoLogging", PERSISTENT},
+    {"NoUploads", PERSISTENT},
+    {"NudgelessLaneChange", PERSISTENT},
+    {"NumericalTemp", PERSISTENT},
+    {"OfflineMode", PERSISTENT},
+    {"Offset1", PERSISTENT},
+    {"Offset2", PERSISTENT},
+    {"Offset3", PERSISTENT},
+    {"Offset4", PERSISTENT},
+    {"OneLaneChange", PERSISTENT},
+    {"OSMDownloadLocations", PERSISTENT},
+    {"OSMDownloadProgress", CLEAR_ON_MANAGER_START},
+    {"PathEdgeWidth", PERSISTENT},
+    {"PathWidth", PERSISTENT},
+    {"PauseLateralOnSignal", PERSISTENT},
+    {"PedalsOnUI", PERSISTENT},
+    {"PersonalitiesViaScreen", PERSISTENT},
+    {"PersonalitiesViaWheel", PERSISTENT},
+    {"PersonalityChangedViaUI", PERSISTENT},
+    {"PersonalityChangedViaWheel", PERSISTENT},
+    {"PreferredSchedule", PERSISTENT},
+    {"PreviousSpeedLimit", PERSISTENT},
+    {"PromptVolume", PERSISTENT},
+    {"PromptDistractedVolume", PERSISTENT},
+    {"QOLControls", PERSISTENT},
+    {"QOLVisuals", PERSISTENT},
+    {"RandomEvents", PERSISTENT},
+    {"RefuseVolume", PERSISTENT},
+    {"RelaxedFollow", PERSISTENT},
+    {"RelaxedJerk", PERSISTENT},
+    {"ReverseCruise", PERSISTENT},
+    {"ReverseCruiseUI", PERSISTENT},
+    {"RoadEdgesWidth", PERSISTENT},
+    {"RoadName", PERSISTENT},
+    {"RoadNameUI", PERSISTENT},
+    {"RotatingWheel", PERSISTENT},
+    {"SchedulePending", PERSISTENT},
+    {"ScreenBrightness", PERSISTENT},
+    {"ScreenBrightnessOnroad", PERSISTENT},
+    {"ScreenManagement", PERSISTENT},
+    {"ScreenRecorder", PERSISTENT},
+    {"ScreenTimeout", PERSISTENT},
+    {"ScreenTimeoutOnroad", PERSISTENT},
+    {"SearchInput", PERSISTENT},
+    {"SetSpeedLimit", PERSISTENT},
+    {"SetSpeedOffset", PERSISTENT},
+    {"SilentMode", PERSISTENT},
+    {"ShowCPU", PERSISTENT},
+    {"ShowGPU", PERSISTENT},
+    {"ShowIP", PERSISTENT},
+    {"ShowMemoryUsage", PERSISTENT},
+    {"ShowSLCOffset", PERSISTENT},
+    {"ShowSLCOffsetUI", PERSISTENT},
+    {"ShowStorageLeft", PERSISTENT},
+    {"ShowStorageUsed", PERSISTENT},
+    {"Sidebar", PERSISTENT},
+    {"SLCConfirmation", PERSISTENT},
+    {"SLCConfirmationLower", PERSISTENT},
+    {"SLCConfirmationHigher", PERSISTENT},
+    {"SLCConfirmed", PERSISTENT},
+    {"SLCConfirmedPressed", PERSISTENT},
+    {"SLCFallback", PERSISTENT},
+    {"SLCOverride", PERSISTENT},
+    {"SLCPriority", PERSISTENT},
+    {"SLCPriority1", PERSISTENT},
+    {"SLCPriority2", PERSISTENT},
+    {"SLCPriority3", PERSISTENT},
+    {"SmoothBraking", PERSISTENT},
+    {"SNGHack", PERSISTENT},
+    {"SpeedLimitController", PERSISTENT},
+    {"SpeedLimitChangedAlert", PERSISTENT},
+    {"StandardFollow", PERSISTENT},
+    {"StandardJerk", PERSISTENT},
+    {"StandbyMode", PERSISTENT},
+    {"SteerRatio", PERSISTENT},
+    {"SteerRatioStock", PERSISTENT},
+    {"StockTune", PERSISTENT},
+    {"StoppingDistance", PERSISTENT},
+    {"TetheringEnabled", PERSISTENT},
+    {"TurnAggressiveness", PERSISTENT},
+    {"TurnDesires", PERSISTENT},
+    {"UnlimitedLength", PERSISTENT},
+    {"Updated", PERSISTENT},
+    {"UpdateSchedule", PERSISTENT},
+    {"UpdateTime", PERSISTENT},
+    {"UseLateralJerk", PERSISTENT},
+    {"UseSI", PERSISTENT},
+    {"UseVienna", PERSISTENT},
+    {"VisionTurnControl", PERSISTENT},
+    {"WarningSoftVolume", PERSISTENT},
+    {"WarningImmediateVolume", PERSISTENT},
+    {"WheelIcon", PERSISTENT},
+    {"WheelSpeed", PERSISTENT},
 };
 
 } // namespace
@@ -273,9 +496,7 @@ int Params::put(const char* key, const char* value, size_t value_size) {
   } while (false);
 
   close(tmp_fd);
-  if (result != 0) {
-    ::unlink(tmp_path.c_str());
-  }
+  ::unlink(tmp_path.c_str());
   return result;
 }
 

common/params.h

@@ -43,6 +43,14 @@ public:
   inline bool getBool(const std::string &key, bool block = false) {
     return get(key, block) == "1";
   }
+  inline int getInt(const std::string &key, bool block = false) {
+    std::string value = get(key, block);
+    return value.empty() ? 0 : std::stoi(value);
+  }
+  inline float getFloat(const std::string &key, bool block = false) {
+    std::string value = get(key, block);
+    return value.empty() ? 0.0 : std::stof(value);
+  }
   std::map<std::string, std::string> readAll();
 
   // helpers for writing values
@@ -53,10 +61,24 @@ public:
   inline int putBool(const std::string &key, bool val) {
     return put(key.c_str(), val ? "1" : "0", 1);
   }
+  inline int putInt(const std::string &key, int val) {
+    return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size());
+  }
+  inline int putFloat(const std::string &key, float val) {
+    return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size());
+  }
   void putNonBlocking(const std::string &key, const std::string &val);
   inline void putBoolNonBlocking(const std::string &key, bool val) {
     putNonBlocking(key, val ? "1" : "0");
   }
+  void putIntNonBlocking(const std::string &key, const std::string &val);
+  inline void putIntNonBlocking(const std::string &key, int val) {
+    putNonBlocking(key, std::to_string(val));
+  }
+  void putFloatNonBlocking(const std::string &key, const std::string &val);
+  inline void putFloatNonBlocking(const std::string &key, float val) {
+    putNonBlocking(key, std::to_string(val));
+  }
 
 private:
   void asyncWriteThread();

common/params_pyx.pyx

@@ -17,11 +17,17 @@ cdef extern from "common/params.h":
     c_Params(string) except + nogil
     string get(string, bool) nogil
     bool getBool(string, bool) nogil
+    int getInt(string, bool) nogil
+    float getFloat(string, bool) nogil
     int remove(string) nogil
     int put(string, string) nogil
     void putNonBlocking(string, string) nogil
     void putBoolNonBlocking(string, bool) nogil
+    void putIntNonBlocking(string, int) nogil
+    void putFloatNonBlocking(string, float) nogil
     int putBool(string, bool) nogil
+    int putInt(string, int) nogil
+    int putFloat(string, float) nogil
     bool checkKey(string) nogil
     string getParamPath(string) nogil
     void clearAll(ParamKeyType)
@@ -77,6 +83,20 @@ cdef class Params:
       r = self.p.getBool(k, block)
     return r
 
+  def get_int(self, key, bool block=False):
+    cdef string k = self.check_key(key)
+    cdef int r
+    with nogil:
+      r = self.p.getInt(k, block)
+    return r
+
+  def get_float(self, key, bool block=False):
+    cdef string k = self.check_key(key)
+    cdef float r
+    with nogil:
+      r = self.p.getFloat(k, block)
+    return r
+
   def put(self, key, dat):
     """
     Warning: This function blocks until the param is written to disk!
@@ -94,6 +114,16 @@ cdef class Params:
     with nogil:
       self.p.putBool(k, val)
 
+  def put_int(self, key, int val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putInt(k, val)
+
+  def put_float(self, key, float val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putFloat(k, val)
+
   def put_nonblocking(self, key, dat):
     cdef string k = self.check_key(key)
     cdef string dat_bytes = ensure_bytes(dat)
@@ -105,6 +135,16 @@ cdef class Params:
     with nogil:
       self.p.putBoolNonBlocking(k, val)
 
+  def put_int_nonblocking(self, key, int val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putIntNonBlocking(k, val)
+
+  def put_float_nonblocking(self, key, float val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putFloatNonBlocking(k, val)
+
   def remove(self, key):
     cdef string k = self.check_key(key)
     with nogil:

common/prefix.py

@@ -2,14 +2,14 @@ import os
 import shutil
 import uuid
 
+from typing import Optional
 
 from openpilot.common.params import Params
-from openpilot.system.hardware import PC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
-  def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
     self.msgq_path = os.path.join('/dev/shm', self.prefix)
     self.clean_dirs_on_exit = clean_dirs_on_exit
@@ -46,8 +46,7 @@ class OpenpilotPrefix:
       shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
       os.remove(symlink_path)
     shutil.rmtree(self.msgq_path, ignore_errors=True)
-    if PC:
-      shutil.rmtree(Paths.log_root(), ignore_errors=True)
+    shutil.rmtree(Paths.log_root(), ignore_errors=True)
     if not os.environ.get("COMMA_CACHE", False):
       shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
     shutil.rmtree(Paths.comma_home(), ignore_errors=True)

common/realtime.py

@@ -3,6 +3,7 @@ import gc
 import os
 import time
 from collections import deque
+from typing import Optional, List, Union
 
 from setproctitle import getproctitle
 
@@ -32,12 +33,12 @@ def set_realtime_priority(level: int) -> None:
     os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
 
 
-def set_core_affinity(cores: list[int]) -> None:
+def set_core_affinity(cores: List[int]) -> None:
   if not PC:
     os.sched_setaffinity(0, cores)
 
 
-def config_realtime_process(cores: int | list[int], priority: int) -> None:
+def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None:
   gc.disable()
   set_realtime_priority(priority)
   c = cores if isinstance(cores, list) else [cores, ]
@@ -45,7 +46,7 @@ def config_realtime_process(cores: int | list[int], priority: int) -> None:
 
 
 class Ratekeeper:
-  def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None:
+  def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None:
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
     self._interval = 1. / rate
     self._next_frame_time = time.monotonic() + self._interval

common/run.py

@@ -1,13 +0,0 @@
-import subprocess
-
-
-def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
-  return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
-
-
-def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
-  try:
-    return run_cmd(cmd, cwd=cwd, env=env)
-  except subprocess.CalledProcessError:
-    return default
-

common/time.py

@@ -1,15 +1,6 @@
 import datetime
-from pathlib import Path
 
-_MIN_DATE = datetime.datetime(year=2024, month=3, day=30)
-
-def min_date():
-  # on systemd systems, the default time is the systemd build time
-  systemd_path = Path("/lib/systemd/systemd")
-  if systemd_path.exists():
-    d = datetime.datetime.fromtimestamp(systemd_path.stat().st_mtime)
-    return d + datetime.timedelta(days=1)
-  return _MIN_DATE
+MIN_DATE = datetime.datetime(year=2024, month=1, day=28)
 
 def system_time_valid():
-  return datetime.datetime.now() > min_date()
+  return datetime.datetime.now() > MIN_DATE

common/transformations/camera.py

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

common/transformations/model.py

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

common/transformations/orientation.py

@@ -1,5 +1,5 @@
 import numpy as np
-from collections.abc import Callable
+from typing import Callable
 
 from openpilot.common.transformations.transformations import (ecef_euler_from_ned_single,
                                                     euler2quat_single,

common/util.cc

@@ -246,13 +246,18 @@ std::string random_string(std::string::size_type length) {
   return s;
 }
 
+std::string dir_name(std::string const &path) {
+  size_t pos = path.find_last_of("/");
+  if (pos == std::string::npos) return "";
+  return path.substr(0, pos);
+}
+
 bool starts_with(const std::string &s1, const std::string &s2) {
   return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0;
 }
 
-bool ends_with(const std::string& s, const std::string& suffix) {
-  return s.size() >= suffix.size() &&
-         strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
+bool ends_with(const std::string &s1, const std::string &s2) {
+  return strcmp(s1.c_str() + (s1.size() - s2.size()), s2.c_str()) == 0;
 }
 
 std::string check_output(const std::string& command) {
@@ -271,4 +276,20 @@ std::string check_output(const std::string& command) {
   return result;
 }
 
+struct tm get_time() {
+  time_t rawtime;
+  time(&rawtime);
+
+  struct tm sys_time;
+  gmtime_r(&rawtime, &sys_time);
+
+  return sys_time;
+}
+
+bool time_valid(struct tm sys_time) {
+  int year = 1900 + sys_time.tm_year;
+  int month = 1 + sys_time.tm_mon;
+  return (year > 2023) || (year == 2023 && month >= 6);
+}
+
 }  // namespace util

common/util.h

@@ -8,6 +8,7 @@
 #include <atomic>
 #include <chrono>
 #include <csignal>
+#include <ctime>
 #include <map>
 #include <memory>
 #include <mutex>
@@ -36,6 +37,9 @@ const double MS_TO_KPH = 3.6;
 const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
 const double METER_TO_MILE = KM_TO_MILE / 1000.0;
 const double METER_TO_FOOT = 3.28084;
+const double FOOT_TO_METER = 1 / METER_TO_FOOT;
+const double CM_TO_INCH = METER_TO_FOOT / 100.0 * 12.0;
+const double INCH_TO_CM = 1.0 / CM_TO_INCH;
 
 namespace util {
 
@@ -44,6 +48,10 @@ int set_realtime_priority(int level);
 int set_core_affinity(std::vector<int> cores);
 int set_file_descriptor_limit(uint64_t limit);
 
+// ***** Time helpers *****
+struct tm get_time();
+bool time_valid(struct tm sys_time);
+
 // ***** math helpers *****
 
 // map x from [a1, a2] to [b1, b2]
@@ -70,8 +78,9 @@ int getenv(const char* key, int default_val);
 float getenv(const char* key, float default_val);
 
 std::string hexdump(const uint8_t* in, const size_t size);
+std::string dir_name(std::string const& path);
 bool starts_with(const std::string &s1, const std::string &s2);
-bool ends_with(const std::string &s, const std::string &suffix);
+bool ends_with(const std::string &s1, const std::string &s2);
 
 // ***** random helpers *****
 int random_int(int min, int max);
@@ -173,10 +182,3 @@ void update_max_atomic(std::atomic<T>& max, T const& value) {
   T prev = max;
   while (prev < value && !max.compare_exchange_weak(prev, value)) {}
 }
-
-typedef struct Rect {
-  int x;
-  int y;
-  int w;
-  int h;
-} Rect;

common/utils.py

@@ -1,23 +0,0 @@
-from collections.abc import Callable
-from functools import lru_cache
-from typing import TypeVar
-
-
-_RT = TypeVar("_RT")
-
-
-class Freezable:
-  _frozen: bool = False
-
-  def freeze(self):
-    if not self._frozen:
-      self._frozen = True
-
-  def __setattr__(self, *args, **kwargs):
-    if self._frozen:
-      raise Exception("cannot modify frozen object")
-    super().__setattr__(*args, **kwargs)
-
-
-def cache(user_function: Callable[..., _RT], /) -> Callable[..., _RT]:
-  return lru_cache(maxsize=None)(user_function)

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.7-release"
+#define COMMA_VERSION "0.9.6"

docs/CARS.md

@@ -4,24 +4,29 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 286 Supported Cars
+# 279 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
 |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
+|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
+|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
+|Cadillac|Escalade ESV 2019[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2019">Buy Here</a></sub></details>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
+|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |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)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
 |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)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
@@ -29,45 +34,36 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
-|Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
-|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Explorer 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-23">Buy Here</a></sub></details>||
-|Ford|Explorer Hybrid 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-23">Buy Here</a></sub></details>||
 |Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
-|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
 |Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
-|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
-|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
-|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
-|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
-|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
+|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023">Buy Here</a></sub></details>||
+|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
+|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
+|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
 |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
-|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
-|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
+|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
+|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
+|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
 |Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
-|Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 2017-20|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-20">Buy Here</a></sub></details>||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
 |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
@@ -83,30 +79,30 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Cruz 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
@@ -114,50 +110,49 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
 |Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
-|Hyundai|Staria 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
+|Hyundai|Staria 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
-|Hyundai|Tucson Hybrid 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
+|Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
-|Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
+|Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
+|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
-|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
 |Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
-|Kia|K8 Hybrid (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
+|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||
+|Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
 |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Hybrid 2021-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Kia|Sportage 2023-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
-|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Hybrid 2021-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
+|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
@@ -182,10 +177,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
-|Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
-|Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
@@ -193,27 +187,26 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
 |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 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 Ram 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=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
-|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B 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=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B 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=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B 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=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B 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=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru 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=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Škoda|Fabia 2022-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Škoda|Kamiq 2021-23[<sup>10,12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|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=Alphard 2019-20">Buy Here</a></sub></details>||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
 |Toyota|Avalon 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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
@@ -226,20 +219,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=C-HR 2021">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|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=Camry 2021-24">Buy Here</a></sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>9</sup>](#footnotes)|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=Camry 2021-24">Buy Here</a></sub></details>||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Camry Hybrid 2021-24|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=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
 |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
 |Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
 |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
 |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
 |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
 |Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -247,68 +240,69 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
+|Toyota|Prius v 2017|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=Prius v 2017">Buy Here</a></sub></details>||
 |Toyota|RAV4 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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
 |Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
 |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)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=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)|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 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>||
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Toyota|Sienna 2018-20|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=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Volkswagen|T-Roc 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-22">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
-<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
-<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>8</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>9</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>10</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
-<sup>12</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>13</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
+<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>9</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>10</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>11</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>12</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
+<sup>13</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>14</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
@@ -349,9 +343,7 @@ openpilot does not yet support these Toyota models due to a new message authenti
 * Toyota Venza 2021+
 * Toyota Sequoia 2023+
 * Toyota Tundra 2022+
-* Toyota Highlander 2024+
 * Toyota Corolla Cross 2022+ (only US model)
-* Toyota Camry 2025+
 * Lexus NX 2022+
 * Toyota bZ4x 2023+
 * Subaru Solterra 2023+

docs/CONTRIBUTING.md

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

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="10.1"
+  export AGNOS_VERSION="9.7"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

opendbc/acura_ilx_2016_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _community.dbc starts here";
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/acura_rdx_2018_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _community.dbc starts here";
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/can/SConscript

@@ -22,7 +22,3 @@ packer = lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
 
 lenv.Depends(parser, libdbc)
 lenv.Depends(packer, libdbc)
-
-opendbc_python = Alias("opendbc_python", [parser, packer])
-
-Export('opendbc_python')

opendbc/can/parser_pyx.pyx

@@ -5,6 +5,7 @@ from cython.operator cimport dereference as deref, preincrement as preinc
 from libcpp.pair cimport pair
 from libcpp.string cimport string
 from libcpp.vector cimport vector
+from libcpp.unordered_set cimport unordered_set
 from libc.stdint cimport uint32_t
 
 from .common cimport CANParser as cpp_CANParser
@@ -19,7 +20,6 @@ cdef class CANParser:
     cpp_CANParser *can
     const DBC *dbc
     vector[SignalValue] can_values
-    vector[uint32_t] addresses
 
   cdef readonly:
     dict vl
@@ -54,12 +54,11 @@ cdef class CANParser:
       if address not in address_to_msg_name:
         raise RuntimeError(f"could not find message {repr(c[0])} in DBC {self.dbc_name}")
       message_v.push_back((address, c[1]))
-      self.addresses.push_back(address)
 
       name = address_to_msg_name[address]
       self.vl[address] = {}
       self.vl[name] = self.vl[address]
-      self.vl_all[address] = defaultdict(list)
+      self.vl_all[address] = {}
       self.vl_all[name] = self.vl_all[address]
       self.ts_nanos[address] = {}
       self.ts_nanos[name] = self.ts_nanos[address]
@@ -72,35 +71,24 @@ cdef class CANParser:
       del self.can
 
   def update_strings(self, strings, sendcan=False):
-    for address in self.addresses:
-      self.vl_all[address].clear()
+    for v in self.vl_all.values():
+      for l in v.values():  # no-cython-lint
+        l.clear()
 
     cdef vector[SignalValue] new_vals
-    cur_address = -1
-    vl = {}
-    vl_all = {}
-    ts_nanos = {}
-    updated_addrs = set()
+    cdef unordered_set[uint32_t] updated_addrs
 
     self.can.update_strings(strings, new_vals, sendcan)
     cdef vector[SignalValue].iterator it = new_vals.begin()
     cdef SignalValue* cv
     while it != new_vals.end():
       cv = &deref(it)
-
-      # Check if the address has changed
-      if cv.address != cur_address:
-        cur_address = cv.address
-        vl = self.vl[cur_address]
-        vl_all = self.vl_all[cur_address]
-        ts_nanos = self.ts_nanos[cur_address]
-        updated_addrs.add(cur_address)
-
       # Cast char * directly to unicode
       cv_name = <unicode>cv.name
-      vl[cv_name] = cv.value
-      vl_all[cv_name] = cv.all_values
-      ts_nanos[cv_name] = cv.ts_nanos
+      self.vl[cv.address][cv_name] = cv.value
+      self.vl_all[cv.address][cv_name] = cv.all_values
+      self.ts_nanos[cv.address][cv_name] = cv.ts_nanos
+      updated_addrs.insert(cv.address)
       preinc(it)
 
     return updated_addrs

opendbc/ford_lincoln_base_pt.dbc

@@ -3608,9 +3608,6 @@ BO_ 922 DCACA_Data1_FD1: 8 GWM
  SG_ DcacClntFlw_D_Rq : 5|2@0+ (1,0) [0|3] "SED"  SOBDMC_HPCM_FD1
  SG_ CoolFanDcac_D_Rq : 7|2@0+ (1,0) [0|3] "SED"  SOBDMC_HPCM_FD1
 
-BO_ 1082 INSTRUMENT_PANEL: 8 GWM
- SG_ METRIC_UNITS : 54|1@0+ (1,0) [0|1] "SED"  IPMA,PCM,PCM_HEV
-
 BO_TX_BU_ 2612224016 : ECM_Diesel,PCM,PCM_HEV;
 BO_TX_BU_ 878 : PCM,PCM_HEV;
 BO_TX_BU_ 1085 : ECM_Diesel,PCM;

opendbc/gm_global_a_powertrain_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _community.dbc starts here";
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 NEO
  SG_ GAS_COMMAND : 7|16@0+ (0.125677,-75.909) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.251976,-76.601) [0|1] "" INTERCEPTOR
@@ -188,9 +188,6 @@ BO_ 497 BCMGeneralPlatformStatus: 8 K9_BCM
  SG_ SystemBackUpPowerMode : 5|2@0+ (1,0) [0|3] "" XXX
  SG_ ParkBrakeSwActive : 36|1@0+ (1,0) [0|3] "" XXX
 
-BO_ 500 SportMode: 6 XXX
- SG_ SportMode : 15|1@0+ (1,0) [0|1] "" XXX
-
 BO_ 501 ECMPRDNL2: 8 K20_ECM
  SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
  SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO
@@ -214,15 +211,14 @@ BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
  SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
 
 BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
- SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
- SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO
+ SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenCmd : 8|14@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] "" NEO
+ SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] "" NEO
+ SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] "" NEO
 
 BO_ 717 ASCM_2CD: 5 K124_ASCM
 

opendbc/gm_global_a_powertrain_volt.dbc

@@ -79,6 +79,10 @@ VAL_TABLE_ LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "I
 VAL_TABLE_ HandsOffSWDetectionStatus 1 "Hands On" 0 "Hands Off" ;
 VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
 
+BO_ 1 left_blindspot: 8 XXX
+ SG_ leftbsmlight : 4|1@1+ (1,0) [0|1] "" XXX
+BO_ 2 right_blindspot: 8 XXX
+ SG_ rightbsmlight : 0|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 189 EBCMRegenPaddle: 7 K17_EBCM
  SG_ RegenPaddle : 7|4@0+ (1,0) [0|0] ""  NEO
@@ -125,10 +129,6 @@ BO_ 320 BCMTurnSignals: 3 K9_BCM
  SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX
  SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 322 BCMBlindSpotMonitor: 7 K9_BCM
- SG_ LeftBSM : 6|1@0+ (1,0) [0|1] "" XXX
- SG_ RightBSM : 7|1@0+ (1,0) [0|1] "" XXX
-
 BO_ 328 PSCM_148: 1 K43_PSCM
 
 BO_ 381 ESPStatus: 6 K20_ECM
@@ -211,15 +211,14 @@ BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
  SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
 
 BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
- SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
- SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO
+ SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenCmd : 8|14@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] "" NEO
+ SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] "" NEO
+ SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] "" NEO
 
 BO_ 717 ASCM_2CD: 5 K124_ASCM
 
@@ -264,6 +263,7 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
  SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] ""  NEO
  SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] ""  NEO
  SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
+ SG_ DisplayDistance : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 967 EVDriveMode: 4 XXX
@@ -319,8 +319,6 @@ CM_ BU_ K124_ASCM "Active Safety Control Module";
 CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
 CM_ BO_ 190 "Length varies from 6 to 8 bytes by car";
 CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
-CM_ SG_ 322 LeftBSM "For some cars, this can only be when the blinker is also active";
-CM_ SG_ 322 RightBSM "For some cars, this can only be when the blinker is also active";
 CM_ SG_ 352 ImmobilizerInfo "Non-zero when ignition or accessory mode";
 CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
 CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";

opendbc/honda_civic_ex_2022_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _community.dbc starts here";
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/honda_civic_touring_2016_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _community.dbc starts here";
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/honda_clarity_hybrid_2018_can_generated.dbc

@@ -0,0 +1,405 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+
+CM_ "Imported file _comma.dbc starts here";
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _honda_common.dbc starts here";
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 316 GAS_PEDAL: 8 PCM
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+CM_ SG_ 304 "Seems to be platform-agnostic";
+CM_ SG_ 316 "Should exist on Nidec";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 780 PCM_SPEED "Used by Nidec";
+CM_ SG_ 780 PCM_GAS "Used by Nidec";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped";
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car";
+VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open";
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off";
+
+
+CM_ "Imported file _nidec_common.dbc starts here";
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 148 KINEMATICS_ALT: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
+CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec";
+CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw";
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime";
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb";
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
+
+
+CM_ "Imported file _steering_sensors_a.dbc starts here";
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+CM_ "honda_clarity_hybrid_2018_can.dbc starts here";
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 388 BRAKE_ERROR: 8 XXX
+ SG_ BRAKE_ERROR_1 : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
+ SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 545 ECON_STATUS: 6 XXX
+ SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" EON
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+
+BO_ 662 SCM_BUTTONS: 4 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 768 VEHICLE_STATE: 8 ADAS
+ SG_ SET_ME_XF9 : 7|8@0+ (1,0) [0|255] "" Vector__XXX
+ SG_ VEHICLE_SPEED : 15|8@0+ (1,0) [0|255] "kph" Vector__XXX
+ SG_ SET_ME_X8A : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_XD0 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SALTED_WITH_IDX : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 769 VEHICLE_STATE2: 8 ADAS
+ SG_ SET_ME_X5D : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X02 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X5F : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 927 RADAR_HUD: 8 ADAS
+ SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
+ SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
+ SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
+ SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 1302 XXX_27: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
+
+VAL_ 399 STEER_STATUS 5 "tmp_fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
+VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;

opendbc/honda_crv_executive_2016_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _community.dbc starts here";
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/honda_crv_touring_2016_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _community.dbc starts here";
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/honda_fit_ex_2018_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _community.dbc starts here";
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/honda_odyssey_exl_2018_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _community.dbc starts here";
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _community.dbc starts here";
+CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/hyundai_canfd.dbc

@@ -263,7 +263,7 @@ BO_ 416 SCC_CONTROL: 32 ADRV
  SG_ aReqValue : 128|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
  SG_ ZEROS_7 : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ ACCMode : 68|3@1+ (1,0) [0|7] "" XXX
- SG_ ACC_ObjRelSpd : 35|9@1+ (0.1,-16.4) [-16.4|34.7] "m/s" XXX
+ SG_ NEW_SIGNAL_12 : 35|9@1+ (0.1,0) [0|255] "" XXX
  SG_ JerkLowerLimit : 166|7@0+ (0.1,0) [0|12.7] "m/s^3" XXX
  SG_ StopReq : 184|1@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_15 : 192|11@1+ (0.1,0) [0|204.7] "m" XXX