openpilot v0.2.6 release

Added context manager to file reading

.editorconfig

@@ -1,11 +0,0 @@
-root = true
-
-[*]
-end_of_line = lf
-insert_final_newline = true
-trim_trailing_whitespace = true
-
-[*.{py,pyx,pxd}]
-charset = utf-8
-indent_style = space
-indent_size = 2

.gitattributes

@@ -1,63 +0,0 @@
-* text=auto eol=lf
-
-# Binary resources are ordinary Git blobs.
-*.onnx -text
-openpilot/selfdrive/modeld/models/big_*_tinygrad.pkl -text
-*.svg -text
-*.png -text
-*.gif -text
-*.ttf -text
-*.otf -text
-*.woff -text
-*.woff2 -text
-*.wav -text
-openpilot/starpilot/galaxy/web/vendor/vue/vue.esm-browser.js -text
-*.apk -text
-openpilot/starpilot/galaxy/bin/hev-socks5-tunnel_linux_arm64 -text
-openpilot/starpilot/soloist/pulseaudio/bin/pulseaudio -text
-openpilot/starpilot/soloist/pulseaudio/bin/pactl -text
-openpilot/starpilot/soloist/bluealsa/bin/bluealsa-aplay -text
-openpilot/starpilot/soloist/bluealsa/bin/bluealsad -text
-
-openpilot/selfdrive/car/tests/test_models_segs.txt -text
-openpilot/common/hardware/comma/updater -text
-
-# Dependency snapshots keep their own storage attributes.
-msgq_repo/** !filter !diff !merge -text
-opendbc_repo/** !filter !diff !merge -text
-panda/** !filter !diff !merge -text
-rednose_repo/** !filter !diff !merge -text
-teleoprtc_repo/** !filter !diff !merge -text
-tinygrad_repo/** !filter !diff !merge -text
-tinygrad_model_runtime/** !filter !diff !merge -text
-
-# Compiled model parts must retain exact binary bytes.
-*.pkl.chunk* -text
-*.pkl -text
-
-# Native release artifacts must retain exact binary bytes.
-*.a -text
-*.so -text
-*.so.* -text
-openpilot/selfdrive/pandad/pandad -text
-openpilot/tools/replay/replay -text
-openpilot/system/camerad/camerad -text
-openpilot/system/loggerd/bootlog -text
-openpilot/system/loggerd/encoderd -text
-openpilot/system/loggerd/loggerd -text
-openpilot/starpilot/galaxy/bin/frpc_linux_arm64 -text
-openpilot/starpilot/maps/provider/mapd -text
-openpilot/tools/arabesque_firefox/offline/*.deb -text
-openpilot/tools/arabesque_firefox/offline/*.tar.xz -text
-openpilot/selfdrive/test/process_replay/refs/starpilot/*.zst -text
-
-# Published Panda object files are AArch64 ELF, not text.
-openpilot/selfdrive/pandad/main.o -text
-openpilot/selfdrive/pandad/panda.o -text
-openpilot/selfdrive/pandad/panda_safety.o -text
-openpilot/selfdrive/pandad/panda_usb.o -text
-openpilot/selfdrive/pandad/pandad.o -text
-openpilot/selfdrive/pandad/spi.o -text
-
-# Compressed recorded regression fixture; retain exact binary bytes.
-openpilot/starpilot/tests/testdata/ford_mache_lead_departure.json.gz -text

.github/FUNDING.yml

@@ -1,6 +0,0 @@
-github: firestar5683
-patreon: firestar4430
-custom:
-  - "https://cash.app/$domkthompson"
-  - "https://account.venmo.com/u/firestar4430"
-  - "https://www.paypal.com/paypalme/firestar4430"

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -1,47 +0,0 @@
-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/config.yml

@@ -1,14 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: Car bug report
-    url: https://github.com/commaai/opendbc/issues/new
-    about: For issues with a particular car make or model
-  - name: Join the Discord
-    url: https://discord.comma.ai
-    about: The community Discord is for both openpilot development and experience discussion
-  - name: Report driving behavior feedback
-    url: https://discord.com/channels/469524606043160576/1254834193066623017
-    about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
-  - name: Community Wiki
-    url: https://github.com/commaai/openpilot/wiki
-    about: Check out our community wiki

.github/ISSUE_TEMPLATE/pc_bug_report.yml

@@ -1,42 +0,0 @@
-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 24.04
-    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/labeler.yaml

@@ -1,27 +0,0 @@
-CI / testing:
-  - changed-files:
-    - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
-
-car:
-  - changed-files:
-    - any-glob-to-all-files: '{openpilot/selfdrive/car/**,opendbc_repo}'
-
-simulation:
-  - changed-files:
-    - any-glob-to-all-files: 'openpilot/tools/sim/**'
-
-ui:
-  - changed-files:
-    - any-glob-to-all-files: '{openpilot/selfdrive/assets/**,openpilot/selfdrive/ui/**,openpilot/system/ui/**}'
-
-tools:
-  - changed-files:
-    - any-glob-to-all-files: 'openpilot/tools/**'
-
-multilanguage:
-  - changed-files:
-    - any-glob-to-all-files: 'openpilot/selfdrive/ui/translations/**'
-
-autonomy:
-  - changed-files:
-    - any-glob-to-all-files: "{openpilot/selfdrive/modeld/models/**,openpilot/selfdrive/test/process_replay/model_replay_ref_commit}"

.github/workflows/auto_pr_review.yaml

@@ -1,33 +0,0 @@
-name: "PR review"
-on:
-  pull_request_target:
-    types: [opened, reopened, synchronize, edited]
-
-jobs:
-  labeler:
-    name: review
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v7
-
-    # Label PRs
-    - uses: actions/labeler@v6
-      with:
-        dot: true
-        configuration-path: .github/labeler.yaml
-
-    # Check PR target branch
-    - name: check branch
-      uses: Vankka/pr-target-branch-action@5da68a42bcb7b43d39104295a876a6f3f8d7908b
-      if: github.repository == 'commaai/openpilot'
-      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"

.github/workflows/diff_report.yaml

@@ -1,58 +0,0 @@
-name: diff report
-
-on:
-  pull_request_target:
-    types: [opened, synchronize, reopened]
-
-jobs:
-  comment:
-    name: comment
-    runs-on: ubuntu-latest
-    timeout-minutes: 10
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-    - name: Wait for process replay
-      id: wait
-      continue-on-error: true
-      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
-      with:
-        ref: ${{ github.event.pull_request.head.sha }}
-        check-name: process replay
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        allowed-conclusions: success,failure
-        wait-interval: 20
-    - name: Get tests run ID
-      if: steps.wait.outcome == 'success'
-      id: tests-run
-      env:
-        GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      run: |
-        run_id=$(gh api \
-          "repos/${{ github.repository }}/actions/workflows/tests.yaml/runs?event=pull_request&head_sha=${{ github.event.pull_request.head.sha }}&per_page=1" \
-          --jq '.workflow_runs[0].id // empty')
-        if [ -z "$run_id" ]; then
-          echo "No tests.yaml run found for ${{ github.event.pull_request.head.sha }}" >&2
-          exit 1
-        fi
-        echo "run-id=$run_id" >> "$GITHUB_OUTPUT"
-    - name: Download diff
-      if: steps.wait.outcome == 'success'
-      continue-on-error: true
-      uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        repository: ${{ github.repository }}
-        run-id: ${{ steps.tests-run.outputs.run-id }}
-        name: diff_report_${{ github.event.number }}
-        path: .
-    - name: Comment on PR
-      if: steps.wait.outcome == 'success' && hashFiles('diff_report.txt') != ''
-      uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
-      with:
-        file-path: diff_report.txt
-        comment-tag: diff_report
-        pr-number: ${{ github.event.number }}
-        github-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/docs.yaml

@@ -1,71 +0,0 @@
-name: docs
-
-on:
-  push:
-    branches:
-      - master
-      - Domathon
-      - Dom
-  pull_request:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: false
-        type: string
-concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ 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
-
-jobs:
-  docs:
-    name: build docs
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: commaai/timeout@v1
-    - uses: actions/checkout@v7
-      with:
-        sparse-checkout: |
-          /docs/
-          /openpilot/selfdrive/assets/icons_mici/settings/comma_icon.png
-        sparse-checkout-cone-mode: false
-
-    # Build
-    - name: Build docs
-      run: python3 docs/serve.py --build
-
-    # Push to docs.comma.ai
-    - uses: actions/checkout@v7
-      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 tools/release/identity.sh
-
-        cd openpilot-docs
-        git checkout --orphan tmp
-        git rm -rf .
-
-        # copy over docs
-        cp -r ../docs/_site/ docs/
-
-        # GitHub pages config
-        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/ios-companion.yaml

@@ -1,69 +0,0 @@
-name: iOS companion
-
-on:
-  push:
-    branches: [Dom, secretgood-ios-integration]
-    paths:
-      - 'openpilot/starpilot/companion/ios/**'
-      - 'openpilot/starpilot/galaxy_bluetooth/**'
-      - '.github/workflows/ios-companion.yaml'
-  pull_request:
-    paths:
-      - 'openpilot/starpilot/companion/ios/**'
-      - 'openpilot/starpilot/galaxy_bluetooth/**'
-      - '.github/workflows/ios-companion.yaml'
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-concurrency:
-  group: ios-companion-${{ github.event.pull_request.number || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  app:
-    name: Swift tests and iOS Simulator build
-    runs-on: macos-26
-    timeout-minutes: 25
-    defaults:
-      run:
-        working-directory: openpilot/starpilot/companion/ios
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: false
-          lfs: false
-          persist-credentials: false
-      - uses: actions/setup-node@v4
-        with:
-          node-version: '22'
-      - name: Run companion regressions
-        env:
-          CI_PRIMARY_REPOSITORY_PATH: ${{ github.workspace }}/openpilot/starpilot/companion/ios
-        run: sh ci_scripts/ci_post_clone.sh
-      - name: Build for iOS Simulator
-        run: >-
-          xcodebuild -project GalaxyBluetooth.xcodeproj
-          -scheme GalaxyBluetooth -configuration Debug
-          -sdk iphonesimulator -destination 'generic/platform=iOS Simulator'
-          -derivedDataPath "$RUNNER_TEMP/galaxy-ios-build"
-          CODE_SIGNING_ALLOWED=NO build
-
-  bridge:
-    name: Comma Bluetooth bridge tests
-    runs-on: ubuntu-24.04
-    timeout-minutes: 10
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: false
-          lfs: false
-          persist-credentials: false
-      - uses: actions/setup-python@v5
-        with:
-          python-version: '3.12'
-      - name: Install bridge test dependencies
-        run: python -m pip install pycryptodome
-      - name: Run bridge regressions
-        run: python -m unittest discover -s openpilot/starpilot/galaxy_bluetooth/tests -v

.github/workflows/jenkins-pr-trigger.yaml

@@ -1,96 +0,0 @@
-name: jenkins scan
-
-on:
-  issue_comment:
-    types: [created, edited]
-
-jobs:
-  cleanup-branches:
-    runs-on: ubuntu-latest
-    permissions:
-      contents: write
-    steps:
-      - name: Delete stale Jenkins branches
-        uses: actions/github-script@v9
-        with:
-          script: |
-            const cutoff = Date.now() - 24 * 60 * 60 * 1000;
-            const prefixes = ['tmp-jenkins', '__jenkins'];
-
-            for await (const response of github.paginate.iterator(github.rest.repos.listBranches, {
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              per_page: 100,
-            })) {
-              for (const branch of response.data) {
-                if (!prefixes.some(p => branch.name.startsWith(p))) continue;
-
-                const { data: commit } = await github.rest.repos.getCommit({
-                  owner: context.repo.owner,
-                  repo: context.repo.repo,
-                  ref: branch.commit.sha,
-                });
-
-                const commitDate = new Date(commit.commit.committer.date).getTime();
-                if (commitDate < cutoff) {
-                  console.log(`Deleting branch: ${branch.name} (last commit: ${commit.commit.committer.date})`);
-                  await github.rest.git.deleteRef({
-                    owner: context.repo.owner,
-                    repo: context.repo.repo,
-                    ref: `heads/${branch.name}`,
-                  });
-                }
-              }
-            }
-
-  scan-comments:
-    runs-on: ubuntu-latest
-    if: ${{ github.event.issue.pull_request }}
-    permissions:
-      contents: write
-      issues: write
-    steps:
-    - name: Check for trigger phrase
-      id: check_comment
-      uses: actions/github-script@v9
-      with:
-        script: |
-          const triggerPhrase = "trigger-jenkins";
-          const comment = context.payload.comment.body;
-          const commenter = context.payload.comment.user.login;
-
-          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            username: commenter
-          });
-
-          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
-
-          return (hasWriteAccess && comment.includes(triggerPhrase));
-        result-encoding: json
-
-    - name: Checkout repository
-      if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v7
-      with:
-        ref: refs/pull/${{ github.event.issue.number }}/head
-
-    - name: Push to tmp-jenkins branch
-      if: steps.check_comment.outputs.result == 'true'
-      run: |
-        git config --global user.name "github-actions[bot]"
-        git config --global user.email "github-actions[bot]@users.noreply.github.com"
-        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
-        git push -f origin tmp-jenkins-${{ github.event.issue.number }}
-
-    - name: Delete trigger comment
-      if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v9
-      with:
-        script: |
-          await github.rest.issues.deleteComment({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            comment_id: context.payload.comment.id,
-          });

.github/workflows/release.yaml

@@ -1,33 +0,0 @@
-name: release
-on:
-  schedule:
-    - cron: '0 9 * * *'
-  workflow_dispatch:
-
-jobs:
-  build_masterci:
-    name: build master-ci
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    permissions:
-      checks: read
-      contents: write
-    steps:
-    - name: Wait for green check mark
-      if: ${{ github.event_name == 'schedule' }}
-      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build master-ci'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
-    - uses: actions/checkout@v4 # checkout version > v4 breaks nightly release script
-      with:
-        fetch-depth: 0
-    - run: ./tools/op.sh setup
-    - name: Push master-ci
-      run: BRANCH=__nightly tools/release/build_stripped.sh
-    - name: Push chestnut nightly
-      run: |
-        INCLUDE_BIG_MODEL=1 BRANCH=__nightly-chestnut tools/release/build_stripped.sh

.github/workflows/repo-maintenance.yaml

@@ -1,121 +0,0 @@
-name: repo maintenance
-
-on:
-  schedule:
-    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
-  pull_request:
-    types: [closed]
-  workflow_dispatch:
-
-env:
-  PYTHONPATH: ${{ github.workspace }}
-
-jobs:
-  package_updates:
-    name: package_updates
-    runs-on: ubuntu-latest
-    if: >-
-      github.repository == 'commaai/openpilot' &&
-      (github.event_name == 'schedule' || github.event_name == 'workflow_dispatch')
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: uv lock
-      run: uv lock --upgrade
-    - name: uv pip tree
-      id: pip_tree
-      run: |
-        echo 'PIP_TREE<<EOF' >> $GITHUB_OUTPUT
-        uv pip tree >> $GITHUB_OUTPUT
-        echo 'EOF' >> $GITHUB_OUTPUT
-    - name: venv size
-      id: venv_size
-      run: |
-        echo 'VENV_SIZE<<EOF' >> $GITHUB_OUTPUT
-        echo "Total: $(du -sh .venv | cut -f1)" >> $GITHUB_OUTPUT
-        echo "" >> $GITHUB_OUTPUT
-        echo "Top 10 by size:" >> $GITHUB_OUTPUT
-        du -sh .venv/lib/python*/site-packages/* 2>/dev/null \
-          | grep -v '\.dist-info' \
-          | grep -v '__pycache__' \
-          | sort -rh \
-          | head -10 \
-          | while IFS=$'\t' read size path; do echo "$size  ${path##*/}"; done >> $GITHUB_OUTPUT
-        echo 'EOF' >> $GITHUB_OUTPUT
-    - name: Check tracked dependencies
-      run: python3 tools/vendor/check.py
-    - name: update car docs
-      run: |
-        python openpilot/selfdrive/car/docs.py
-        git add docs/CARS.md
-    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@5f6978faf089d4d20b00c7766989d076bb2fc7f1
-      with:
-        author: Vehicle Researcher <user@comma.ai>
-        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: Update Python packages
-        title: '[bot] Update Python packages'
-        branch: auto-package-updates
-        base: master
-        delete-branch: true
-        body: |
-          Automatic PR from repo-maintenance -> package_updates
-
-          ```
-          $ du -sh .venv && du -sh .venv/lib/python*/site-packages/* | sort -rh | head -10
-          ${{ steps.venv_size.outputs.VENV_SIZE }}
-          ```
-
-          ```
-          $ uv pip tree
-          ${{ steps.pip_tree.outputs.PIP_TREE }}
-          ```
-        labels: bot
-
-  cleanup_closed_branches:
-    if: github.repository == 'commaai/openpilot' && github.event_name == 'pull_request'
-    runs-on: ubuntu-latest
-    permissions:
-      contents: write
-      pull-requests: read
-    steps:
-      - uses: actions/github-script@v9
-        with:
-          script: |
-            const { owner, repo } = context.repo;
-            const upstream = `${owner}/${repo}`;
-
-            const closed = context.payload.pull_request;
-            if (closed) {
-              if (closed.head.repo?.full_name === upstream) {
-                await github.rest.git.deleteRef({ owner, repo, ref: `heads/${closed.head.ref}` }).catch(console.log);
-              }
-              return;
-            }
-
-            for await (const response of github.paginate.iterator(github.rest.pulls.list, {
-              owner,
-              repo,
-              state: 'closed',
-              per_page: 100,
-            })) {
-              for (const pr of response.data) {
-                if (pr.head.repo?.full_name !== upstream) continue;
-
-                const branch = pr.head.ref;
-                try {
-                  await github.rest.git.deleteRef({
-                    owner,
-                    repo,
-                    ref: `heads/${branch}`,
-                  });
-                  console.log(`Deleted branch ${branch} (PR #${pr.number})`);
-                } catch (error) {
-                  if (error.status === 422 || error.status === 403) {
-                    console.log(`Skipping branch ${branch} (PR #${pr.number}): ${error.message}`);
-                    continue;
-                  }
-                  throw error;
-                }
-              }
-            }

.github/workflows/safety.yaml

@@ -1,32 +0,0 @@
-name: safety qualification
-
-on:
-  push:
-    branches: [master, Domathon, Dom]
-  pull_request:
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  host_gates:
-    name: ${{ matrix.gate }}
-    runs-on: ubuntu-24.04
-    timeout-minutes: 100
-    strategy:
-      fail-fast: false
-      matrix:
-        gate: [coverage, opendbc-misra, panda-misra, panda-host]
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Run isolated source-pinned gate
-      run: .venv/bin/python tools/ci/run_safety_qualification.py --gate "${{ matrix.gate }}" --output "ci-results/safety-${{ matrix.gate }}"
-    - name: Save full gate evidence
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: safety-${{ matrix.gate }}
-        path: ci-results/safety-${{ matrix.gate }}/
-        if-no-files-found: error

.github/workflows/simulator-driving.yaml

@@ -1,28 +0,0 @@
-name: simulator driving (manual)
-
-on:
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-env:
-  CI: 1
-  PYTHONPATH: ${{ github.workspace }}
-
-jobs:
-  simulator_driving:
-    name: simulator driving
-    runs-on: ubuntu-24.04
-    timeout-minutes: 30
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Build openpilot
-      run: scons
-    - name: Driving test
-      timeout-minutes: 2
-      env:
-        # MetaDrive renders offscreen through panda3d's EGL pipe on llvmpipe
-        EGL_PLATFORM: surfaceless
-      run: python openpilot/tools/sim/tests/test_metadrive_bridge.py

.github/workflows/stale.yaml

@@ -1,52 +0,0 @@
-name: stale
-on:
-  schedule:
-    - cron: '30 1 * * *'
-  workflow_dispatch:
-
-env:
-  DAYS_BEFORE_PR_CLOSE: 7
-  DAYS_BEFORE_PR_STALE: 24
-  DAYS_BEFORE_PR_STALE_DRAFT: 30
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v10
-        with:
-          exempt-all-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.'
-          stale-pr-label: stale
-          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" # 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 }}
-          exempt-draft-pr: false
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now
-
-  # same as above, but give draft PRs more time
-  stale_drafts:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v10
-        with:
-          exempt-all-milestones: true
-
-          # pull request config
-          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} 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.'
-          stale-pr-label: stale
-          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" # if wip or it needs testing from the community, don't mark as stale
-          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }}
-          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-          exempt-draft-pr: true
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now

.github/workflows/tests.yaml

@@ -1,666 +0,0 @@
-name: tests
-
-on:
-  push:
-    branches:
-      - master
-      - Domathon
-      - Dom
-  pull_request:
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: false
-        type: string
-
-concurrency:
-  group: tests-ci-run-${{ inputs.run_number }}-${{ 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
-
-permissions:
-  contents: read
-
-env:
-  CI: 1
-  PYTHONPATH: ${{ github.workspace }}
-
-jobs:
-  source_integrity:
-    name: source integrity
-    runs-on: ubuntu-24.04
-    permissions:
-      contents: read
-    steps:
-    - uses: actions/checkout@v7
-    - name: Validate published device build receipt
-      if: github.event_name == 'push' && github.ref == 'refs/heads/Dom'
-      run: python3 tools/ci/check_prebuilt_receipt.py --revision HEAD
-    - name: Check shipped device runtime dependencies
-      run: |
-        python3 -m unittest tools.laptop_device_build.tests.test_runtime_dependencies -v
-        python3 -c 'from pathlib import Path; assert b"starting pandad (comma hardware)" in Path("openpilot/selfdrive/pandad/pandad").read_bytes(), "Shipped pandad must use the comma hardware build profile"'
-    - name: Validate tracked dependencies
-      run: python3 tools/vendor/check.py --revision HEAD
-    - run: ./tools/op.sh setup
-      id: setup
-    - name: Build native dependencies for packaging tests
-      id: build
-      run: scons -j2 openpilot/common/libparams_c.so msgq_repo/msgq/_ipc.so
-    - name: Test dependency tools
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      run: python3 -m unittest discover -s tools/vendor/tests -v
-    - name: Test release packaging
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      run: python3 -m pytest -q tools/release/tests
-    - name: Test CI tools
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      run: python3 -m unittest discover -s tools/ci/tests -v
-    - name: Test updater
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      run: python3 -m unittest discover -s openpilot/system/updated/tests -v
-    - name: Check setup and release shell syntax
-      if: ${{ !cancelled() && steps.setup.outcome == 'success' }}
-      run: |
-        for script in tools/op.sh tools/release/*.sh openpilot/selfdrive/test/setup_device_ci.sh; do
-          bash -n "$script"
-        done
-
-  build_release:
-    name: build release
-    runs-on: ubuntu-24.04-arm
-    env:
-      STRIPPED_DIR: /tmp/releasepilot
-      PYTHONPATH: /tmp/releasepilot
-      STARPILOT_CI_BUILD_MANIFEST: /tmp/starpilot-release-build-${{ github.run_id }}-${{ github.run_attempt }}.json
-    steps:
-    - uses: actions/checkout@v7
-    - uses: actions/setup-go@v7
-      with:
-        go-version: '1.25.1'
-        cache-dependency-path: mapd_repo/go.sum
-    - name: Build the pinned release map provider
-      env:
-        GOTOOLCHAIN: local
-      run: |
-        sudo apt-get update && sudo apt-get install -y --no-install-recommends pkg-config zlib1g-dev
-        (cd mapd_repo && go mod download)
-        PYTHONPATH="$GITHUB_WORKSPACE" python3 -m openpilot.starpilot.maps.package_shadow
-    - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR tools/release/build_stripped.sh
-    - run: ./tools/op.sh setup
-    - name: Build openpilot and run checks
-      timeout-minutes: 30
-      working-directory: ${{ env.STRIPPED_DIR }}
-      run: python3 openpilot/system/manager/build.py
-    - name: Run tests
-      timeout-minutes: 1
-      working-directory: ${{ env.STRIPPED_DIR }}
-      run: tools/release/check-dirty.sh
-    - name: Check tracked dependencies
-      timeout-minutes: 3
-      run: python3 tools/vendor/check.py --revision HEAD
-
-  developer_commands:
-    name: developer commands (${{ matrix.os }})
-    strategy:
-      fail-fast: false
-      matrix:
-        os: [ubuntu-24.04, macos-latest]
-    runs-on: ${{ matrix.os }}
-    permissions:
-      contents: read
-    timeout-minutes: 30
-    steps:
-    - uses: actions/checkout@v7
-    - name: Install developer prerequisites
-      run: tools/setup_dependencies.sh
-    - name: Check launchers without starting tools
-      run: |
-        ./build --help
-        ./dev help
-        ./test --help
-        ./tool help
-        ./tools/host help
-        ./c3 --help
-        ./c4 --help
-        ./onroad --help
-    - name: Test commands through the isolated host environment
-      run: |
-        ./dev pytest -q tools/ci/tests/test_dev_runtime.py tools/ci/tests/test_dev_runtime_review.py tools/ci/tests/test_build_entry.py openpilot/starpilot/ui/tests/test_host_launch.py openpilot/tools/replay/tests/test_onroad_host.py openpilot/starpilot/ui/tests/test_host_window_failure.py
-    - name: Build both desktop UI entrypoints without a display
-      run: |
-        SP_C3_COMPILE_ONLY=1 ./c3
-        SP_C4_COMPILE_ONLY=1 ./c4
-
-  build_mac:
-    name: build macOS
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
-    steps:
-    - uses: actions/checkout@v7
-    - name: Remove Homebrew from environment
-      run: |
-        FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
-        echo "PATH=${FILTERED}/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin" >> $GITHUB_ENV
-    - run: ./tools/op.sh setup
-    - name: Building openpilot
-      run: scons
-
-  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'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Static analysis
-      timeout-minutes: 1
-      run: scripts/lint/lint.sh
-
-  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'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v7
-    - name: Provide JavaScript runtime for Galaxy contract tests
-      uses: actions/setup-node@v7
-      with:
-        node-version: '24'
-        package-manager-cache: false
-    - name: Provide pinned map provider toolchain
-      uses: actions/setup-go@v7
-      with:
-        go-version: '1.25.1'
-        cache-dependency-path: mapd_repo/go.sum
-    - name: Fetch pinned map provider dependencies
-      working-directory: mapd_repo
-      env:
-        GOTOOLCHAIN: local
-      run: go mod download
-    - run: ./tools/op.sh setup
-      id: setup
-    - name: Build openpilot
-      id: build
-      run: scons
-    - name: Provide H.264 encoder for Android Auto integration tests
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      run: |
-        uv pip install --python .venv/bin/python --only-binary av av==19.0.1
-        .venv/bin/python -c "import av; assert 'libx264' in av.codecs_available"
-    - name: Provide pinned OpenCV DNN for vision contract tests
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      run: |
-        uv pip install --python .venv/bin/python --no-deps --only-binary :all: opencv-python-headless==4.11.0.86
-        .venv/bin/python -c "import cv2; assert cv2.__version__ == '4.11.0'; assert callable(cv2.dnn.readNetFromONNX); assert callable(cv2.dnn.NMSBoxes)"
-    - name: Run unit tests
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
-      env:
-        RAYLIB_BACKEND: headless
-        STARPILOT_TEST_DIAGNOSTICS: ci-results/host-test-diagnostics/unittest
-      run: tools/op.sh test --json-output unit-test-results.json
-    - name: Test GM vehicle configurations and CAN behavior
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      timeout-minutes: 5
-      run: tools/op.sh test opendbc_repo/opendbc/car/gm/tests --json-output gm-test-results.json
-    - name: Test shared GM discovery, routing, and manual overrides
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      timeout-minutes: 2
-      run: >-
-        .venv/bin/python -m pytest -q --import-mode=importlib
-        opendbc_repo/opendbc/car/gm/tests/test_shared_discovery.py
-        opendbc_repo/opendbc/car/gm/tests/test_automatic_discovery.py
-        opendbc_repo/opendbc/car/gm/tests/test_bolt_vin_discovery.py
-        --junitxml=gm-discovery-results.xml
-    - name: Test native independent-axis protocol
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      run: |
-        openpilot/selfdrive/pandad/tests/test_panda_usb
-        openpilot/selfdrive/pandad/tests/test_pandad_canprotocol
-        openpilot/selfdrive/pandad/tests/test_aol_protocol
-        openpilot/selfdrive/pandad/tests/test_aol_wire
-        openpilot/selfdrive/pandad/tests/test_panda_faults
-        openpilot/selfdrive/pandad/tests/test_producer_timing
-        openpilot/selfdrive/pandad/tests/test_producer_sink
-    - name: Test map provider to host messaging
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      working-directory: mapd_repo
-      timeout-minutes: 5
-      env:
-        GOTOOLCHAIN: local
-        STARPILOT_SHADOW_IPC_REQUIRED: '1'
-        STARPILOT_SHADOW_EXEC_REQUIRED: '1'
-        STARPILOT_PYTHON: ${{ github.workspace }}/.venv/bin/python
-      run: go test -mod=readonly -race -run '^Test(MsgqNativeLayout|Shadow(GoPythonIPC|ExecutableHostGpsIPC))$' -count=1 -v
-    - name: Save complete unit test results
-      if: ${{ always() && (hashFiles('unit-test-results.json') != '' || hashFiles('gm-test-results.json') != '' || hashFiles('gm-discovery-results.xml') != '' || hashFiles('ci-results/host-test-diagnostics/**') != '') }}
-      uses: actions/upload-artifact@v4
-      with:
-        name: unit-test-results
-        path: |
-          unit-test-results.json
-          gm-test-results.json
-          gm-discovery-results.xml
-          ci-results/host-test-diagnostics/
-        if-no-files-found: error
-
-  custom_pytest:
-    name: custom pytest (${{ matrix.shard }})
-    runs-on: ubuntu-24.04
-    timeout-minutes: 35
-    permissions:
-      contents: read
-    strategy:
-      fail-fast: false
-      matrix:
-        shard: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31]
-    steps:
-    - uses: actions/checkout@v7
-    - name: Provide JavaScript runtime for Galaxy contract tests
-      uses: actions/setup-node@v7
-      with:
-        node-version: '24'
-        package-manager-cache: false
-    - name: Provide pinned map provider toolchain
-      uses: actions/setup-go@v7
-      with:
-        go-version: '1.25.1'
-        cache-dependency-path: mapd_repo/go.sum
-    - name: Fetch pinned map provider dependencies
-      working-directory: mapd_repo
-      env:
-        GOTOOLCHAIN: local
-      run: go mod download
-    - run: ./tools/op.sh setup
-      id: setup
-    - name: Build openpilot
-      id: build
-      run: scons
-    - name: Provide H.264 encoder for Android Auto integration tests
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      run: |
-        uv pip install --python .venv/bin/python --only-binary av av==19.0.1
-        .venv/bin/python -c "import av; assert 'libx264' in av.codecs_available"
-    - name: Test every assigned custom pytest node serially
-      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
-      timeout-minutes: 15
-      env:
-        RAYLIB_BACKEND: headless
-      run: .venv/bin/python -m tools.ci.custom_pytest_shards run --index "${{ matrix.shard }}" --count 32 --output "ci-results/custom-pytest-${{ matrix.shard }}"
-    - name: Save collection, every outcome, JUnit and durable worker diagnostics
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: custom-pytest-${{ matrix.shard }}
-        path: ci-results/custom-pytest-${{ matrix.shard }}/
-        if-no-files-found: error
-
-  custom_pytest_complete:
-    name: complete custom pytest catalog
-    needs: custom_pytest
-    if: ${{ always() && !cancelled() }}
-    runs-on: ubuntu-24.04
-    permissions:
-      contents: read
-    steps:
-    - uses: actions/checkout@v7
-    - uses: actions/download-artifact@v4
-      with:
-        pattern: custom-pytest-*
-        path: ci-results/custom-pytest-shards
-    - name: Require every case passed or audited capability-unavailable
-      run: python3 -m tools.ci.custom_pytest_shards aggregate --directory ci-results/custom-pytest-shards --count 32 --output ci-results/custom-pytest-complete.json
-    - name: Save complete custom catalog verdict
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: custom-pytest-complete
-        path: ci-results/custom-pytest-complete.json
-        if-no-files-found: error
-
-  aol_lifecycles:
-    name: AOL lifecycles (${{ matrix.shard }})
-    runs-on: ubuntu-24.04
-    timeout-minutes: 35
-    permissions:
-      contents: read
-    strategy:
-      fail-fast: false
-      matrix:
-        shard: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]
-    env:
-      FUZZ_SEED: '0'
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Build native host dependencies
-      run: scons
-    - name: Gate every assigned lifecycle module serially
-      timeout-minutes: 10
-      env:
-        RAYLIB_BACKEND: headless
-      run: python3 tools/ci/run_vehicle_tests.py --suite aol-lifecycle --shard-index "${{ matrix.shard }}" --shard-count 16 --output "ci-results/aol-lifecycle-${{ matrix.shard }}"
-    - name: Save every lifecycle outcome and native build
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: aol-lifecycle-${{ matrix.shard }}
-        path: ci-results/aol-lifecycle-${{ matrix.shard }}/
-        if-no-files-found: error
-
-  aol_lifecycle_complete:
-    name: complete AOL lifecycle catalog
-    needs: aol_lifecycles
-    if: ${{ always() && !cancelled() }}
-    runs-on: ubuntu-24.04
-    permissions:
-      contents: read
-    steps:
-    - uses: actions/checkout@v7
-    - uses: actions/download-artifact@v4
-      with:
-        pattern: aol-lifecycle-*
-        path: ci-results/aol-lifecycles
-    - name: Require every full-catalog case exactly once and passed
-      run: python3 tools/ci/lifecycle_shards.py ci-results/aol-lifecycles --count 16 --output ci-results/aol-lifecycle-complete.json
-    - name: Save complete catalog verdict
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: aol-lifecycle-complete
-        path: ci-results/aol-lifecycle-complete.json
-        if-no-files-found: error
-
-  map_provider:
-    name: map provider
-    runs-on: ubuntu-24.04
-    timeout-minutes: 15
-    permissions:
-      contents: read
-    steps:
-    - uses: actions/checkout@v7
-    - uses: actions/setup-go@v7
-      with:
-        go-version: '1.25.1'
-        cache-dependency-path: mapd_repo/go.sum
-    - name: Install native build dependencies
-      run: sudo apt-get update && sudo apt-get install -y --no-install-recommends pkg-config zlib1g-dev
-    - name: Test and build pinned map provider
-      run: python3 tools/ci/run_map_tests.py --output ci-results/map-provider
-    - name: Save test and build evidence
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: map-provider
-        path: ci-results/map-provider/
-        if-no-files-found: error
-
-  vehicle_contracts:
-    name: vehicle contracts (${{ matrix.suite }})
-    runs-on: ubuntu-24.04
-    timeout-minutes: 35
-    permissions:
-      contents: read
-    strategy:
-      fail-fast: false
-      matrix:
-        suite: [interfaces, safety-debug]
-    env:
-      FUZZ_SEED: '0'
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Build native host dependencies
-      run: scons
-    - name: Run explicit vehicle suite and record every result
-      timeout-minutes: 20
-      run: python3 tools/ci/run_vehicle_tests.py --suite "${{ matrix.suite }}" --output "ci-results/${{ matrix.suite }}"
-    - name: Require current complete interface regression coverage
-      if: ${{ always() && matrix.suite == 'interfaces' }}
-      run: |
-        python3 tools/ci/fleet_coverage.py --require interfaces \
-          --interface-coverage ci-results/interfaces/coverage.json \
-          --interface-results ci-results/interfaces/results.json \
-          --output ci-results/interfaces/fleet-coverage.json
-    - name: Save collection, outcomes, and native build evidence
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: vehicle-contracts-${{ matrix.suite }}
-        path: ci-results/${{ matrix.suite }}/
-        if-no-files-found: error
-
-  safety_release_contracts:
-    name: RELEASE vehicle contracts (${{ matrix.shard }})
-    runs-on: ubuntu-24.04
-    timeout-minutes: 35
-    permissions:
-      contents: read
-    strategy:
-      fail-fast: false
-      matrix:
-        shard: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]
-    env:
-      FUZZ_SEED: '0'
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Build native host dependencies
-      run: scons
-    - name: Run every assigned RELEASE target serially
-      timeout-minutes: 20
-      env:
-        RAYLIB_BACKEND: headless
-      run: python3 tools/ci/run_vehicle_tests.py --suite safety-release --shard-index "${{ matrix.shard }}" --shard-count 16 --output "ci-results/safety-release-${{ matrix.shard }}"
-    - name: Save every RELEASE outcome and native build
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: safety-release-${{ matrix.shard }}
-        path: ci-results/safety-release-${{ matrix.shard }}/
-        if-no-files-found: error
-
-  safety_release_complete:
-    name: complete RELEASE vehicle catalog
-    needs: safety_release_contracts
-    if: ${{ always() && !cancelled() }}
-    runs-on: ubuntu-24.04
-    permissions:
-      contents: read
-    steps:
-    - uses: actions/checkout@v7
-    - uses: actions/download-artifact@v4
-      with:
-        pattern: safety-release-*
-        path: ci-results/safety-release-shards
-    - name: Require every RELEASE case exactly once and passed
-      run: python3 tools/ci/lifecycle_shards.py ci-results/safety-release-shards --suite safety-release --count 16 --output ci-results/safety-release-complete.json
-    - name: Save complete RELEASE verdict
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: safety-release-complete
-        path: ci-results/safety-release-complete.json
-        if-no-files-found: error
-
-  recorded_vehicles:
-    name: recorded vehicles (${{ matrix.variant }})
-    runs-on: ubuntu-24.04
-    timeout-minutes: 30
-    permissions:
-      contents: read
-    strategy:
-      fail-fast: false
-      matrix:
-        variant: [debug, release]
-    env:
-      FUZZ_SEED: '0'
-    steps:
-    - uses: actions/checkout@v7
-    - name: Install host prerequisites
-      run: tools/setup_dependencies.sh
-    - name: Replay pinned public CAN recordings
-      timeout-minutes: 20
-      run: |
-        ./dev python tools/ci/run_recorded_vehicle_tests.py \
-          --variant "${{ matrix.variant }}" \
-          --cache "${{ runner.temp }}/recorded-fixtures" \
-          --output "$GITHUB_WORKSPACE/ci-results/recorded-${{ matrix.variant }}" \
-          --download
-    - name: Save recorded results and native build evidence
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: recorded-vehicles-${{ matrix.variant }}
-        path: ci-results/recorded-${{ matrix.variant }}/
-        if-no-files-found: error
-
-  panda_build_variants:
-    name: Panda compile (${{ matrix.variant }})
-    runs-on: ubuntu-24.04
-    timeout-minutes: 35
-    permissions:
-      contents: read
-    strategy:
-      fail-fast: false
-      matrix:
-        variant: [debug, release]
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Compile firmware with the checked-in development certificate
-      timeout-minutes: 15
-      shell: bash
-      run: |
-        set -euo pipefail
-        mkdir -p ci-results/firmware
-        if [[ "${{ matrix.variant }}" == release ]]; then
-          export RELEASE=1
-          export CERT="$PWD/panda/board/crypto/certs/debug"
-        else
-          unset RELEASE
-        fi
-        scons --verbose panda/board/obj/version panda/board/obj/panda.bin.signed panda/board/obj/bootstub.panda.bin panda/board/obj/panda_h7.bin.signed panda/board/obj/bootstub.panda_h7.bin 2>&1 | tee ci-results/firmware/build.log
-        python3 tools/ci/record_firmware.py --variant "${{ matrix.variant }}" --build-log ci-results/firmware/build.log --output ci-results/firmware/provenance.json
-    - name: Save compile evidence
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: panda-compile-${{ matrix.variant }}
-        path: ci-results/firmware/
-        if-no-files-found: error
-
-  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'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v7
-    - run: ./tools/op.sh setup
-    - name: Build openpilot
-      run: scons
-    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
-      run: openpilot/selfdrive/test/process_replay/test_processes.py -j$(nproc)
-    - name: Print diff
-      id: print-diff
-      if: ${{ always() && hashFiles('openpilot/selfdrive/test/process_replay/diff.txt') != '' }}
-      run: cat openpilot/selfdrive/test/process_replay/diff.txt
-    - name: Save process replay input coverage
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: process-replay-coverage
-        path: openpilot/selfdrive/test/process_replay/coverage.json
-        if-no-files-found: error
-    - name: Print diff report
-      if: ${{ always() && hashFiles('openpilot/selfdrive/test/process_replay/diff_report.txt') != '' }}
-      run: cat openpilot/selfdrive/test/process_replay/diff_report.txt
-    - uses: actions/upload-artifact@v7
-      if: always()
-      continue-on-error: true
-      with:
-        name: process_replay_diff.txt
-        path: openpilot/selfdrive/test/process_replay/diff.txt
-    - name: Save complete replay outputs for review
-      uses: actions/upload-artifact@v7
-      if: always()
-      with:
-        name: process-replay-outputs
-        path: |
-          openpilot/selfdrive/test/process_replay/fakedata/*.zst
-          openpilot/selfdrive/test/process_replay/coverage.json
-        if-no-files-found: error
-    - name: Upload diff report
-      uses: actions/upload-artifact@v7
-      if: always() && github.event_name == 'pull_request'
-      continue-on-error: true
-      with:
-        name: diff_report_${{ github.event.number }}
-        path: openpilot/selfdrive/test/process_replay/diff_report.txt
-    - name: Checkout ci-artifacts
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: actions/checkout@v7
-      with:
-        repository: commaai/ci-artifacts
-        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-        path: ${{ github.workspace }}/ci-artifacts
-    - name: Prepare refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      working-directory: ${{ github.workspace }}/ci-artifacts
-      run: |
-        git config user.name "GitHub Actions Bot"
-        git config user.email "<>"
-        git fetch origin process-replay || true
-        git checkout process-replay 2>/dev/null || git checkout --orphan process-replay
-        cp ${{ github.workspace }}/openpilot/selfdrive/test/process_replay/fakedata/*.zst .
-        echo "${{ github.sha }}" > ref_commit
-        git add .
-        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
-    - name: Push refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force
-
-  create_ui_report:
-    name: Create UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-      - uses: actions/checkout@v7
-      - run: ./tools/op.sh setup
-      - name: Build openpilot
-        run: scons
-      - name: Create UI Report
-        env:
-          RAYLIB_BACKEND: headless
-        run: |
-          python3 openpilot/selfdrive/ui/tests/diff/replay.py
-          python3 openpilot/selfdrive/ui/tests/diff/replay.py --big
-      - name: Upload UI Report
-        uses: actions/upload-artifact@v7
-        with:
-          name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: openpilot/selfdrive/ui/tests/diff/report

.github/workflows/ui_preview.yaml

@@ -1,174 +0,0 @@
-name: "ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'openpilot/selfdrive/assets/**'
-      - 'openpilot/selfdrive/ui/**'
-      - 'openpilot/system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-ui-preview"
-  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
-
-  # variant:video_prefix:master_branch
-  VARIANTS: "mici:mici_ui_replay:openpilot_master_ui_mici_raylib big:tizi_ui_replay:openpilot_master_ui_big_raylib"
-
-jobs:
-  preview:
-    if: false # tmp disable due to GH API rate limiting flakiness
-    #if: github.repository == 'commaai/openpilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - uses: actions/checkout@v7
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui
-        uses: dawidd6/action-download-artifact@b6e2e70617bc3265edd6dab6c906732b2f1ae151
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: ui-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting mici master ui
-        uses: actions/checkout@v7
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_mici
-          ref: openpilot_master_ui_mici_raylib
-
-      - name: Getting big master ui
-        uses: actions/checkout@v7
-        with:
-          repository: commaai/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_big
-          ref: openpilot_master_ui_big_raylib
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        run: |
-          for variant in $VARIANTS; do
-            IFS=':' read -r name video branch <<< "$variant"
-            master_dir="${{ github.workspace }}/master_${name}"
-            cd "$master_dir"
-            git checkout --orphan=new_branch
-            git rm -rf *
-            git branch -D "$branch"
-            git branch -m "$branch"
-            git config user.name "GitHub Actions Bot"
-            git config user.email "<>"
-            cp "${{ github.workspace }}/pr_ui/${video}.mp4" .
-            git add .
-            git commit -m "${name} video for commit ${{ env.SHA }}"
-            git push origin "$branch" --force
-          done
-
-      - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@178e0b4a408f06ce40d896c3cd79f50fa6f8b0c3
-
-      - name: Finding diffs
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: |
-          export PYTHONPATH=${{ github.workspace }}
-          baseurl="https://github.com/commaai/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
-
-          COMMENT=""
-          for variant in $VARIANTS; do
-            IFS=':' read -r name video _ <<< "$variant"
-            diff_name="${name}_diff"
-
-            mv "${{ github.workspace }}/pr_ui/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_proposed.mp4"
-            cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"
-
-            diff_exit_code=0
-            python3 ${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/diff.py \
-              "${{ github.workspace }}/pr_ui/${video}_master.mp4" \
-              "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
-              "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
-
-            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
-            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
-
-            REPORT_URL="https://commaai.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
-            if [ $diff_exit_code -eq 0 ]; then
-              COMMENT+="**${name}**: Videos are identical! [View Diff Report]($REPORT_URL)"$'\n'
-            else
-              COMMENT+="**${name}**: ⚠️ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"$'\n'
-            fi
-          done
-
-          {
-            echo "COMMENT<<EOF"
-            echo "$COMMENT"
-            echo "EOF"
-          } >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_mici
-        run: |
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "ui videos for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-          # Append diff reports to report files branch
-          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
-          for variant in $VARIANTS; do
-            IFS=':' read -r name _ _ <<< "$variant"
-            diff_name="${name}_diff"
-            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
-            git add "${diff_name}_pr_${{ github.event.number }}.html"
-          done
-          git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
-          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-
-      - name: Comment on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
-        with:
-          message: |
-            <!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
-            ## UI Preview
-            ${{ steps.find_diff.outputs.COMMENT }}
-          comment-tag: run_id_ui_preview
-          pr-number: ${{ github.event.number }}
-          github-token: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -1,146 +1,22 @@
-venv/
-.venv/
-.ci_cache
-.env
-.clang-format
 .DS_Store
 .tags
 .ipynb_checkpoints
-.idea
-.overlay_init
-.overlay_consistent
-.sconsign.dblite
-a.out
-.hypothesis
-.cache/
-.host_runtime/
-.comma_sysroot/
-.venv-linux-arm64/
-bin/
-!openpilot/starpilot/galaxy/bin/
-!openpilot/starpilot/soloist/pulseaudio/bin/
 
-# created at launch for comma hardware PYTHONPATH (PC uses editable installs via pyproject.toml)
-/msgq
-/opendbc
-/rednose
-/teleoprtc
-/tinygrad
-/jetlink
-
-*.mp4
-*.dylib
-*.DSYM
-*.d
-*.pem
 *.pyc
-*.pyo
 .*.swp
 .*.swo
 .*.un~
-*.tmp
 *.o
-*.o-*
-*.os
-*.os-*
+*.d
 *.so
-!openpilot/tools/replay/libmedia_mux.so
-!openpilot/starpilot/soloist/pulseaudio/lib/*.so
-!openpilot/starpilot/soloist/pulseaudio/modules/*.so
 *.a
-st[0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z]
-!/openpilot/starpilot/system/starport/
-!/openpilot/tools/starport/
-*.unchunked
 *.clb
-*.class
-*.pyxbldc
-*.vcd
-*.mo
-*_pyx.cpp
-*.stats
-*.pkl
-*.pkl*
 config.json
-compile_commands.json
-compare_runtime*.html
-openpilot/selfdrive/modeld/models/tg_input_devices.json
+clcache
 
-# build artifacts
-docs/_site/
-openpilot/selfdrive/pandad/pandad
-openpilot/selfdrive/pandad/tests/test_aol_protocol
-openpilot/selfdrive/pandad/tests/test_aol_wire
-openpilot/selfdrive/pandad/tests/test_panda_usb
-openpilot/cereal/services.h
-openpilot/cereal/gen
-openpilot/selfdrive/ui/translations/tmp
-openpilot/selfdrive/car/tests/cars_dump
-openpilot/system/camerad/camerad
-openpilot/system/camerad/test/ae_gray_test
+board/obj/
+selfdrive/boardd/boardd
+selfdrive/logcatd/logcatd
+selfdrive/sensord/sensord
+selfdrive/ui/ui
 
-.coverage*
-coverage.xml
-htmlcov
-
-# openpilot log files
-*.bz2
-*.zst
-*.rlog
-
-build/
-
-!**/.gitkeep
-
-
-### VisualStudioCode ###
-*.vsix
-.history
-.ionide
-.vscode/*
-.history/
-!.vscode/settings.json
-!.vscode/tasks.json
-!.vscode/launch.json
-!.vscode/extensions.json
-!.vscode/*.code-snippets
-
-# agents
-.claude/
-.context/
-PLAN.md
-TASK.md
-
-# Disk-backed model cache reconstructed from published numbered parts.
-openpilot/selfdrive/modeld/models/*.unchunked
-
-# Publish only small compiled model packages, never raw pickles or caches.
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9]of[0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9]of[0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9]of[0-9][0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9][0-9]of[0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9][0-9]of[0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9][0-9]of[0-9][0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9][0-9][0-9]of[0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9][0-9][0-9]of[0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunk[0-9][0-9][0-9][0-9]of[0-9][0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunkmanifest
-!openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl.chunksha256
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9]of[0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9]of[0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9]of[0-9][0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9][0-9]of[0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9][0-9]of[0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9][0-9]of[0-9][0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9][0-9][0-9]of[0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9][0-9][0-9]of[0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunk[0-9][0-9][0-9][0-9]of[0-9][0-9][0-9][0-9]
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunkmanifest
-!openpilot/selfdrive/modeld/models/rdf43_driving_tinygrad.pkl.chunksha256
-
-# Jetlink editable-install metadata.
-/jetlink_repo/jetlink.egg-info/
-
-# Local Google Play resolver build output (source and lockfile are versioned).
-
-openpilot/starpilot/flm/_primitive_walk.cpp

.python-version

@@ -1 +0,0 @@
-3.12.13

.travis.yml

@@ -0,0 +1,13 @@
+sudo: required
+
+services:
+  - docker
+
+install:
+  - docker build -t tmppilot -f Dockerfile.openpilot .
+
+script:
+  - docker run --rm
+      -v "$(pwd)"/selfdrive/test/plant/out:/tmp/openpilot/selfdrive/test/plant/out
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/plant && ./runtest.sh'
+

.vscode/extensions.json

@@ -1,8 +0,0 @@
-{
-  "recommendations": [
-    "ms-python.python",
-    "ms-vscode.cpptools",
-    "elagil.pre-commit-helper",
-    "charliermarsh.ruff",
-  ]
-}

.vscode/launch.json

@@ -1,88 +0,0 @@
-{
-  "version": "0.2.0",
-  "inputs": [
-    {
-      "id": "python_process",
-      "type": "pickString",
-      "description": "Select the process to debug",
-      "options": [
-        "openpilot/selfdrive/controls/controlsd.py",
-        "openpilot/system/timed/timed.py",
-        "openpilot/tools/sim/run_bridge.py"
-      ]
-    },
-    {
-      "id": "cpp_process",
-      "type": "pickString",
-      "description": "Select the process to debug",
-      "options": [
-        "openpilot/selfdrive/ui/ui"
-      ]
-    },
-    {
-      "id": "args",
-      "description": "Arguments to pass to the process",
-      "type": "promptString"
-    },
-    {
-      "id": "replayArg",
-      "type": "promptString",
-      "description": "Enter route or segment to replay."
-    }
-  ],
-  "configurations": [
-    {
-      "name": "Python: openpilot Process",
-      "type": "debugpy",
-      "request": "launch",
-      "program": "${input:python_process}",
-      "console": "integratedTerminal",
-      "justMyCode": true,
-      "args": "${input:args}"
-    },
-    {
-      "name": "C++: openpilot Process",
-      "type": "cppdbg",
-      "request": "launch",
-      "program": "${workspaceFolder}/${input:cpp_process}",
-      "cwd": "${workspaceFolder}"
-    },
-    {
-      "name": "Attach LLDB to Replay drive",
-      "type": "lldb",
-      "request": "attach",
-      "pid": "${command:pickMyProcess}",
-      "sourceMap": {
-        ".": "${workspaceFolder}/opendbc/safety"
-      },
-      "initCommands": [
-        "script import time; time.sleep(3)"
-      ]
-    },
-    {
-      "name": "Replay drive",
-      "type": "debugpy",
-      "request": "launch",
-      "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
-      "args": [
-        "${input:replayArg}"
-      ],
-      "console": "integratedTerminal",
-      "justMyCode": false,
-      "env": {
-        "PYTHONPATH": "${workspaceFolder}"
-      },
-      "subProcess": true,
-      "stopOnEntry": false
-    }
-  ],
-  "compounds": [
-    {
-      "name": "Replay drive + Safety LLDB",
-      "configurations": [
-        "Replay drive",
-        "Attach LLDB to Replay drive"
-      ]
-    }
-  ]
-}

.vscode/settings.json

@@ -1,21 +0,0 @@
-{
-  "editor.tabSize": 2,
-  "editor.insertSpaces": true,
-  "editor.renderWhitespace": "trailing",
-  "files.trimTrailingWhitespace": true,
-  "search.exclude": {
-    "**/.git": true,
-    "**/.venv": true,
-    "**/__pycache__": true
-  },
-  "files.exclude": {
-    "**/.git": true,
-    "**/.venv": true,
-    "**/__pycache__": true
-  },
-  "python.analysis.exclude": [
-    "**/.git",
-    "**/.venv",
-    "**/__pycache__",
-  ]
-}

CREDITS.md

@@ -1,45 +0,0 @@
-# Source provenance
-
-## Jetlink external inference
-
-The comma-side Jetlink client and USB transport in `jetlink_repo` are by Zeph Leggett and the [Jetlink contributors](https://github.com/zoompilot/jetlink). They are vendored from revision `a863c3801da6fd925d14eb1f5b1e250f8efcc649` under the MIT license, retained in [jetlink_repo/LICENSE](jetlink_repo/LICENSE). StarPilot's adapter (`openpilot/starpilot/models/jetlink_adapter.py`) builds on Jetlink's openpilot layer and owns its param names, Always On Lateral rule, model runner reset, settings and alerts. Companion applications and inference servers remain distributed by Jetlink.
-
-## MRR35 Hyundai angle and radar
-
-The four MRR35 angle platforms (2026 Genesis GV70, second-generation electrified GV70, 2025 Genesis GV80, and Hyundai Ioniq 9) adapt Hyundai CAN FD angle-control design and the MRR35 radar DBC generator from the locally frozen StarPilot source snapshot `678af783`. That snapshot traces its Hyundai extension work to sunnypilot/opendbc `hkg-angle-steering-2025` at `cc4b08625a98e94b318cab15e45e05dad58042bd`; its historical import revision is not established. The relevant upstream contributors include Haibin (Jason) Wen, Shane Smiskol, and DevTekVE. Their authorship remains attributable to the upstream history; they do not maintain or endorse this port.
-
-The copied MRR35 generator source and DBC definition are at `opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_mrr35_radar.py` and `.dbc`. The host angle adapter and native safety profile are adaptations, not copies of a generic DBC or of unrelated vehicle support. Applicable upstream notices are preserved in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
-
-## Ford support adapted from BluePilot
-
-Ford lateral control vendors [BluePilot lateral](https://github.com/BluePilotDev/bluepilot-lateral) v0.2.1 (`2b9dc6cc784faac47a1885d0bda0561f7b76f74d`), developed by Alan Polk (`alan-polk`) and the BluePilot contributors. Alan provided the [StarPilot integration in PR #269](https://github.com/StarPilotHQ/StarPilot/pull/269); his commits and authorship are retained. BluePilot maintains the library and its integration; StarPilot keeps its settings, AOL policy, packaging and integration tests separate. Complete contributor and license notices remain in [the library credits](opendbc_repo/opendbc/bluepilot_lateral/CREDITS.md) and [license](opendbc_repo/opendbc/bluepilot_lateral/LICENSE).
-
-The Ford CAN FD camera-lead radar filtering is adapted from StarPilot `2efe6017bfe14cee4807833e05f9a7f6ba255cdb`. Its lineage includes BluePilot's `bp-7.0` Ford work, principally by Alan Polk, with contributions from John Christman, Jacob Neulight, tonesto7, Haibin Wen and other sunnypilot and BluePilot contributors. The reference snapshot is [`e1d051d7ba270261b4455068bd68f1a58db15a4a`](https://github.com/BluePilotDev/bluepilot/commit/e1d051d7ba270261b4455068bd68f1a58db15a4a); the exact checkout used for the earlier StarPilot import was not recorded.
-
-The radar interface preserves that attribution while adapting to the current interfaces. Upstream contributors do not maintain or endorse this adaptation. Applicable notices are retained in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
-
-## RAV4 Continental ARS510 receiver
-
-The optional ACC-target and fused-track receivers and DBC preserve firestar5683's Dom integration from `b220a37f4bd119e402225a7aa16a7cd84878d0af` (Sea Turtles, 2026-10-13) and its ARS510 source attribution to ds-sebastian/ars510-radar `fb5b29c2b5999f34afeb6f7ac494a73949d66c67`, copyright 2026 ARS510 radar contributors. The complete MIT permission and warranty notice is retained in THIRD_PARTY_NOTICES.md. Startup/settings ownership is adapted to the current StarPilot architecture; no original firmware binaries or safety permissions are copied.
-
-## Spotify Bluetooth output
-
-Spotify's Bluetooth output binds the comma's BlueALSA A2DP source to the selected speaker through a process-local ALSA configuration, leaving the system ALSA default, soundd and the warning speaker untouched. That approach is adapted from firestar5683's RoadScore Bluetooth output (`roadscore/prototype/bluetooth_output.py`, firestar5683/StarPilot `RoadScore` at `249eb88b3a397db847e4a595d7e23b7e85d329e5`). The Soloist player itself is never included: each user downloads it from Spotify, and the PulseAudio server that carries its audio is vendored unmodified from Ubuntu (see THIRD_PARTY_NOTICES.md).
-
-## Tesla Pre-AP pedal control
-
-The Pre-AP configuration, pedal codec/feedback, VirtualDAS feedforward table, grade compensation, torque-zero estimator and vehicle-specific gains preserve firestar5683's intentional Dom work, including `7837a3c1aab`, `aed0b7fdb9e9` and pinned `b220a37f4bd119e402225a7aa16a7cd84878d0af`. Original author attribution: firestar5683 <168790843+firestar5683@users.noreply.github.com>. Startup/calibration ownership, current upstream button/PID interfaces and native command bounds are adapted to the current StarPilot architecture; the old permissive native gateway is not transplanted. Existing source/license notices remain intact.
-
-## Subaru angle steering from Jacob Waller's fork
-
-Subaru angle support includes implementation maintained and integrated by **Jacob Waller (jacobw)** in [jacobwaller/openpilot, jul-angle-based](https://github.com/jacobwaller/openpilot/tree/542816196a18dba5f6f0af093c1ece4f415b5a22), with its [opendbc implementation at 8acbeccdab45a47aa7af170d2d17b61f0eb5e4f0](https://github.com/jacobwaller/opendbc/tree/8acbeccdab45a47aa7af170d2d17b61f0eb5e4f0). Jacob authored the VehicleModel angle-limit type correction and integrated the Crosstrek support. The branch also retains the original angle implementation and follow-up work by **lukasloetkolben and elkoled**, alongside comma contributors; their authorship remains theirs.
-
-The inherited source covers Subaru angle platform/firmware definitions, `ES_Status` cruise state, angle controller/CAN integration, vehicle-model limits and native angle enforcement. StarPilot has additional platform-specific limits, driver handoff, discovery and AOL safety guards; this attribution does not claim identical tuning or complete parity with the reference fork. Original source commits, author names, emails and titles are recorded in [the Subaru origin history](opendbc_repo/opendbc/car/subaru/ORIGIN_HISTORY.tsv).
-
-The explicit StarPilot [jacobw Subaru adapter](opendbc_repo/opendbc/car/subaru/JACOBW.md) additionally integrates that branch's low-speed filter, target-first limiting and Crosstrek EPS envelope. Its preserved stricter guards and platform scope are documented alongside the code.
-
-## StarPilot Ford demand tuning
-
-The previous optional StarPilot Controller, formerly in `openpilot/starpilot/car/ford/starpilot_tuning.py`, restored demand tuning from StarPilot `8da0c9d916^`, descended from BluePilot bp-7.0 `e1d051d7ba270261b4455068bd68f1a58db15a4a` through StarPilot `2efe6017bfe14cee4807833e05f9a7f6ba255cdb`. Contributors to that lineage include Alan Polk, John Christman, Jacob Neulight, tonesto7 and Haibin Wen. The current protocol adapter is maintained by StarPilot separately from the pinned BluePilot library; this attribution does not imply BluePilot maintains or endorses the adapted tune.
-
-The current StarPilot Controller replaces that historical curvature-primary tune with a separately maintained adaptation of BluePilot v0.2.1's angle strategy (`2b9dc6cc784faac47a1885d0bda0561f7b76f74d`, `core/lateral_angle_ext.py`). Alan Polk is the principal controller author; John Christman contributed angle-mode anti-stall work, Jacob Neulight the pinion/shadow measurement, Nathan Ingraham and Praeuner high-speed damping, and other contributors are retained in the pinned library's `CREDITS.md`. StarPilot adds bounded small-signal conditioning ahead of the unchanged angle limit chain. This adaptation is not maintained or endorsed by BluePilot; the pinned library and its imported hooks are unchanged.

Dockerfile.openpilot

@@ -0,0 +1,19 @@
+FROM ubuntu:14.04
+ENV PYTHONUNBUFFERED 1
+
+RUN apt-get update && apt-get install -y build-essential screen wget bzip2 git libglib2.0-0
+
+RUN wget -nv -O /tmp/anaconda.sh https://repo.continuum.io/archive/Anaconda2-4.2.0-Linux-x86_64.sh && \
+  /bin/bash /tmp/anaconda.sh -b -p /opt/conda && \
+  rm /tmp/anaconda.sh
+
+ENV PATH /opt/conda/bin:$PATH
+
+RUN conda install numpy==1.11.2 && conda install scipy==0.18.1
+
+COPY requirements_openpilot.txt /tmp/
+RUN pip install -r /tmp/requirements_openpilot.txt
+
+ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
+
+COPY . /tmp/openpilot

Jenkinsfile

@@ -1,320 +0,0 @@
-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 -o ControlMaster=no -o ControlPath=none -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=12 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec setpriv --pdeathsig HUP /usr/bin/bash <<'END'
-
-set -e
-
-export TERM=xterm-256color
-
-trap 'kill 0' HUP # stop this process group on SSH disconnect
-
-export CI=1
-export PYTHONWARNINGS=error
-export PYTHONFAULTHANDLER=1
-export COMMA_CACHE=/data/tmp/comma_download_cache
-#export LOGPRINT=debug # this has gotten too spammy...
-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 CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
-export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
-export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread since most require real hardware that can't be shared
-export PYTEST_ADDOPTS="-n0 -s"
-
-
-export GIT_SSH_COMMAND="ssh -i /data/gitkey"
-
-source ~/.bash_profile
-if [ -f /AGNOS ]; then
-  source /etc/profile
-
-  rm -rf /tmp/tmp*
-  rm -rf ~/.commacache
-  rm -rf /dev/shm/*
-  rm -rf /dev/tmp/tmp*
-
-  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
-
-export LD_LIBRARY_PATH="\$(python -c 'import ffmpeg; print(ffmpeg.LIB_DIR)'):/usr/local/lib:\${LD_LIBRARY_PATH:-}"
-
-ln -snf ${env.TEST_DIR} /data/pythonpath
-
-cd ${env.TEST_DIR} || true
-time ( ${cmd} ) &
-wait \$!
-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
-    }
-
-    if (isReplay()) {
-      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
-    }
-
-    def extra = extra_env.collect { "export ${it}" }.join('\n');
-    def branch = env.BRANCH_NAME ?: 'master';
-    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
-
-    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: 35, unit: 'MINUTES') {
-          retry (3) {
-            def date = sh(script: 'date', returnStdout: true).trim();
-            device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("openpilot/selfdrive/test/setup_device_ci.sh"))
-          }
-          steps.each { item ->
-            def name = item[0]
-            def cmd = item[1]
-
-            def args = item[2]
-            def diffPaths = args.diffPaths ?: []
-            def cmdTimeout = args.timeout ?: 9999
-
-            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
-              println "Skipping ${name}: no changes in ${diffPaths}."
-              return
-            } else {
-              timeout(time: cmdTimeout, unit: 'SECONDS') {
-                device(device_ip, name, cmd)
-              }
-            }
-          }
-        }
-      }
-    }
-  }
-}
-
-def hasPathChanged(String gitDiff, List<String> paths) {
-  for (path in paths) {
-    if (gitDiff.contains(path)) {
-      return true
-    }
-  }
-  return false
-}
-
-def isReplay() {
-  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
-  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
-}
-
-def setupCredentials() {
-  withCredentials([
-    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
-  ]) {
-    env.AZURE_TOKEN = "${AZURE_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
-  ]) {
-    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
-  ]) {
-    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
-  }
-}
-
-def step(String name, String cmd, Map args = [:]) {
-  return [name, cmd, args]
-}
-
-def chestnutStage(String name = "chestnut") {
-  deviceStage(name, "mici-chestnut-ci", ["UNSAFE=1", "CHESTNUT=1"], [
-    step("build", "./openpilot/selfdrive/test/chestnut.sh"),
-    step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py --chestnut"),
-    step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py TestChestnutOnroad", [timeout: 120]),
-  ])
-}
-
-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
-
-  if (env.JOB_BASE_NAME == 'chestnut-stresstest') {
-    sh 'git fetch --no-tags origin nightly-chestnut'
-    env.GIT_COMMIT = sh(script: 'git show FETCH_HEAD:git_src_commit', returnStdout: true).trim()
-    if (!(env.GIT_COMMIT ==~ /[0-9a-f]{40}/)) {
-      error("invalid nightly-chestnut source commit")
-    }
-    def results = []
-    try {
-      timeout(time: 12, unit: 'HOURS') {
-        for (int run = 1; run <= 100; run++) {
-          results << "run ${run}: INCOMPLETE"
-          try {
-            chestnutStage("chestnut ${run}/100")
-            results[run - 1] = "run ${run}: PASS"
-          } catch (hudson.AbortException e) {
-            results[run - 1] = "run ${run}: FAIL"
-            echo e.toString()
-          }
-        }
-      }
-    } finally {
-      writeFile file: 'chestnut_stress_report.txt', text: "commit: ${env.GIT_COMMIT}\ncompleted: ${results.count { !it.endsWith('INCOMPLETE') }}/100\n" + results.join('\n') + '\n'
-      archiveArtifacts artifacts: 'chestnut_stress_report.txt'
-    }
-    if (results.any { !it.endsWith('PASS') }) {
-      error("chestnut stress test failed")
-    }
-    return
-  }
-
-  def excludeBranches = ['__nightly', '__nightly-chestnut', 'devel', 'devel-staging',
-                         'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
-  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
-
-  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
-    properties([
-        disableConcurrentBuilds(abortPrevious: true)
-    ])
-  }
-
-  try {
-    if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/tools/release/build_release.sh"),
-      ])
-    }
-
-    if (env.BRANCH_NAME == '__nightly') {
-      parallel (
-        'nightly': {
-          deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/tools/release/build_release.sh"),
-          ])
-        },
-        'nightly-dev': {
-          deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/tools/release/build_release.sh"),
-          ])
-        },
-      )
-    }
-
-    if (env.BRANCH_NAME == '__nightly-chestnut') {
-      parallel (
-        'nightly-chestnut': {
-          deviceStage("build nightly-chestnut", "mici-chestnut-ci", ["CHESTNUT=1"], [
-            step("build nightly-chestnut", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 RELEASE_BRANCH=nightly-chestnut $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
-          ])
-        },
-        'nightly-chestnut-dev': {
-          deviceStage("build nightly-chestnut-dev", "mici-chestnut-ci", ["CHESTNUT=1"], [
-            step("build nightly-chestnut-dev", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-chestnut-dev $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
-          ])
-        },
-      )
-    }
-
-    if (!env.BRANCH_NAME.matches(excludeRegex)) {
-    parallel (
-      'onroad tests': {
-        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
-          step("check dirty", "tools/release/check-dirty.sh"),
-          step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py", [timeout: 60]),
-        ])
-      },
-      'HW + Unit Tests': {
-        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test power draw", "./openpilot/selfdrive/test/test_power_draw.py"),
-          step("test encoder", "./openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]),
-          step("test manager", "./openpilot/system/manager/test/test_manager.py"),
-        ])
-      },
-      'camerad OX03C10': {
-        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
-        ])
-      },
-      'camerad OS04C10': {
-        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
-        ])
-      },
-      'sensord': {
-        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py"),
-          step("test sensord", "./openpilot/system/sensord/tests/test_sensord.py"),
-        ])
-      },
-      'replay': {
-        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
-        ])
-      },
-      'tizi': {
-        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
-          step("test pandad loopback", "./openpilot/selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "./openpilot/selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "./openpilot/common/hardware/comma/tests/test_amplifier.py"),
-        ])
-      },
-      'chestnut': {
-        chestnutStage()
-      },
-
-    )
-    }
-  } catch (Exception e) {
-    currentBuild.result = 'FAILED'
-    throw e
-  }
-}

LICENSE

@@ -1,7 +0,0 @@
-Copyright (c) 2018, Comma.ai, Inc.
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

LICENSE-MDI

@@ -1,202 +0,0 @@
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Makefile

@@ -0,0 +1,6 @@
+.PHONY: all
+
+# TODO: Add a global build system to openpilot
+all:
+	cd /data/openpilot/selfdrive && PYTHONPATH=/data/openpilot PREPAREONLY=1 /data/openpilot/selfdrive/manager.py
+

README.md

@@ -1,119 +1,102 @@
-# StarPilot
+Welcome to openpilot
+======
 
+[openpilot](http://github.com/commaai/openpilot) is an open source driving agent.
 
-[![Ask DeepWiki](https://img.shields.io/badge/Ask-DeepWiki-blue?logo=readthedocs&logoColor=white)](https://deepwiki.com/StarPilotHQ/StarPilot)
-[![Discord](https://img.shields.io/discord/1387432184121393333?label=Discord)](https://firestar.link/discord)
-[![Last Updated](https://img.shields.io/github/last-commit/StarPilotHQ/StarPilot/StarPilot)](https://github.com/StarPilotHQ/StarPilot)
-[![Wiki](https://img.shields.io/badge/Wiki-StarPilot-blue?logo=wiki)](https://wiki.firestar.link)
-[![iOS App Store](https://img.shields.io/badge/iOS-App_Store-black?logo=apple&logoColor=white)](https://apps.apple.com/ca/app/starpilot-bt/id6821039119)
-[![Android Beta](https://img.shields.io/badge/Android-Join_Beta-green?logo=android&logoColor=white)](https://groups.google.com/g/galaxy-starpilot-android-beta)
+Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas and Acuras. It's about on par with Tesla Autopilot at launch, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
 
-**StarPilot** is a custom fork of [comma.ai's openpilot](https://comma.ai/openpilot),
-an open source driver assistance system.
+The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
 
-**This is the StarPilot 7.0 development branch (`SecretGoodStarPilot`). Feature migration,
-vehicle qualification, and Auto Learn validation are still in progress.**
+Hardware
+------
 
-Openpilot provides
-* Automated Lane Centering
-* Adaptive Cruise Control
-* Lane Change Assist
-* Driver Monitoring *without wheel nags*
+Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. We'd like to support other platforms as well.
 
-Ford-specific lateral-control and vehicle-support work includes substantial adaptations from
-[BluePilot](https://github.com/BluePilotDev/bluepilot/tree/bp-7.0), principally developed by
-[Alan Polk](https://github.com/alan-polk) with additional BluePilot contributors. StarPilot's
-implementation has since diverged, but that does not erase its lineage. See [CREDITS.md](CREDITS.md)
-for the code-level provenance and [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md) for applicable
-upstream notices and terms. BluePilot and its contributors do not maintain or endorse StarPilot;
-please direct support requests for this adaptation to the StarPilot project.
+Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
 
-Hyundai, Kia, and Genesis angle steering and related vehicle support include substantial adaptations
-from [sunnypilot](https://github.com/sunnypilot/sunnypilot/tree/hkg-angle-steering-2025) and its
-[opendbc angle-steering branch](https://github.com/sunnypilot/opendbc/tree/hkg-angle-steering-2025).
-StarPilot's implementation has diverged significantly; the upstream contributors do not maintain
-this adaptation. Detailed code lineage is recorded in [CREDITS.md](CREDITS.md).
+Supported Cars
+------
 
-StarPilot has a vibrant, welcoming community [discord](https://firestar.link/discord).
-Stop by to chat or ask questions!
-If your car isn't driving as well as you'd like, [open a ticket so we can help](https://firestar.link/logs)!
+- Acura ILX 2016 with AcuraWatch Plus
+  - Limitations: Due to use of the cruise control for gas, it can only be enabled above 25 mph
 
-## Documentation
+- Honda Civic 2016 Touring Edition
+  - Limitations: Due to limitations in steering firmware, steering is disabled below 18 mph
 
-Please see [https://wiki.firestar.link](https://wiki.firestar.link) for hardware lists,
-installation guides, and software configuration.
+Directory structure
+------
 
-## Features
+- board         -- Code that runs on the USB interface board
+- cereal        -- The messaging spec used for all logs on the phone
+- common        -- Library like functionality we've developed here
+- dbcs          -- Files showing how to interpret data from cars
+- phonelibs     -- Libraries used on the phone
+- selfdrive     -- Code needed to drive the car
+  - assets        -- Fonts for ui
+  - boardd        -- Daemon to talk to the board
+  - calibrationd  -- Camera calibration server
+  - car           -- Code that talks to the car and implements CarInterface
+  - common        -- Shared C/C++ code for the daemons
+  - controls      -- Python controls (PID loops etc) for the car
+  - logcatd       -- Android logcat as a service
+  - loggerd       -- Logger and uploader of car data
+  - radar         -- Code that talks to the radar and implements RadarInterface
+  - sensord       -- IMU / GPS interface code
+  - test/plant    -- Car simulator running code through virtual maneuvers
+  - ui            -- The UI
+  - visiond       -- embedded vision pipeline
 
-* **Full support for Comma C3, C3X, and C4**
-* Full support for chestnut/eGPU on C3, C3X, and C4. C3/C3X may require special gps handling.
-* Model switcher with all of comma's tinygrad driving models
-* StarPilot custom torque controller
-* StarPilot custom longitudinal planner for both radar and VoACC (visual only, radar-less) vehicles
-* **Custom tuning for an expanding list of vehicles**
-* Firestar Lateral Method -
-Auto tuning system to adapt openpilot to *your* car's unique lateral characteristics.
-* Galaxy: StarPilot's portal to configure your comma device using your phone from anywhere.
-Download models, change settings, update software, diagnostics, manage dashcam video, and more.
-* Navigation - Display routes and give the driving model hints on taking exits and turns.
-* Always On Lateral (full time steering assist)
-* Lane Centering - Enable to center between detected lane lines,
-with graceful fallback to model E2E lateral outputs and safety breakout
-* Force Stop 2.0 - Better stops at stop signs and traffic lights.
-* Speed Limit Controller - Use dashboard, map data, and/or vision detection for speed limit signs
-* Curve Speed Controller - Learns from how you take curves
-* Conditional Experimental Mode (CEM)
-* Conditional Chill Mode (CCM)
-* Driving Profiles and Traffic Mode
-* Custom themes
-* Alert volume customization
-* Comma Pedal Interceptor support
-* Bluetooth support - Connect keyboards, controllers, steering wheel remotes, and more.
-* Sentry mode - Record when motion is detected while parked.
-* V-ASM - Detect vehicles in the adjacent/blind spots using the driver-facing camera.
-* Additional car support - Toyota SDSU, ZSS, CAN filter; pre-AP tesla; ford; Polestar 2; and more.
-* And more!
+To understand how the services interact, see `common/services.py`
 
+Testing on PC
+------
 
-## GM-only Features
+There is rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different scenarios.
 
-* Increased LKAS fault resiliency
-* ASCM_INT and SASCM support
-* Custom lateral torque controller, with special tuning for Bolts
-* 50% extra torque on 2017 Chevy Bolt
-* Improved lateral and longitudinal tuning
-* Dashboard cruise control display speed spoofing for vehicles with pedal interceptor
-* Extra steering wheel button functionality for vehicles with pedal interceptor
-* Optional toggle to boot comma when remote starting your vehicle
+```bash
+# Requires working docker
+./run_docker_tests.sh
+```
 
-## Development
+The results are written to `selfdrive/test/plant/out/index.html`
 
-Dependencies are included as ordinary source folders. No recursive submodule checkout is needed. [upstream-sync.json](upstream-sync.json) records the openpilot baseline and the source revisions used for vendored dependencies.
+More extensive testing infrastructure and simulation environments are coming soon.
 
-The familiar development entry points are retained:
+Adding Car Support
+------
 
-| Command | Purpose |
-| --- | --- |
-| `./build` | Build the device software using the matching AGNOS environment |
-| `./build --panda` | Build the supported Panda firmware targets |
-| `./c3` | Open the comma 3 interface on a development host |
-| `./c4` | Open the comma four interface on a development host |
-| `./onroad` | Open the onroad development view |
-| `./dev` | Use the isolated host development environment |
-| `./test` | Run local pre-push regression checks without changing device artifacts |
+It should be relatively easy to add support for the Honda CR-V Touring. The brake message is the same. Steering has a slightly different message with a different message id. Sniff CAN while using LKAS to find it.
 
-See the [build guide](docs/how-to/laptop-device-build.md) for setup, prerequisites, and target-specific behavior. The [UI guide](openpilot/starpilot/ui/README.md) describes desktop previews and their limits.
+The Honda Accord uses different signaling for the steering and probably requires new hardware.
 
-## Testing and vehicle support
+Adding other manufacturers besides Honda/Acura is doable but will be more of an undertaking.
 
-StarPilot retains upstream vehicle and Panda safety interfaces and adds regression coverage for its custom behavior. The [safety workflow](.github/workflows/safety.yaml) and feature tests cover distinct parts of the system. A passing interface test, model comparison, or bench run does not establish driving support for every configuration.
+User Data / chffr Account / Crash Reporting
+------
 
-Support depends on the vehicle configuration and enabled feature. An existing vehicle identifier or settings page does not by itself establish driving support. Model Laboratory currently exposes management controls, but paired driving inference remains unavailable pending integration and Chestnut validation.
+By default openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
 
-## Third-Party Notices
+It's open source software, so you are free to disable it if you wish. 
 
-* Portions of this software include modified versions of the Material Design Icons provided by Google under the Apache License 2.0. A copy of the license is included in the `LICENSE-MDI` file.
-* Ford support includes software adapted from BluePilot's `bp-7.0` branch. The source repository contains both a standard MIT notice and a separate custom SUNNYPILOT LLC notice; StarPilot preserves both in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
-* Hyundai, Kia, and Genesis support includes software adapted directly from sunnypilot's HKG angle-steering branch and sunnypilot/opendbc. StarPilot preserves the applicable notices in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
+It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+It does not log the user facing camera or the microphone.
 
-> This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use.
+By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
+
+Contributing
+------
+
+We welcome both pull requests and issues on
+[github](http://github.com/commaai/openpilot). See the TODO file for a list of
+good places to start.
+
+Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/hiring.html)
+
+Licensing
+------
+
+openpilot is released under the MIT license.
+
+**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.**

SAFETY.md

@@ -0,0 +1,36 @@
+openpilot Safety
+======
+
+openpilot is an Adaptive Cruise Control and Lane Keeping Assist System. Like
+other ACC and LKAS systems, openpilot requires the driver to be alert and to pay
+attention at all times. We repeat, **driver alertness is necessary, but not
+sufficient, for openpilot to be used safely**.
+
+Even with an attentive driver, we must make further efforts for the system to be
+safe. We have designed openpilot with two other safety considerations.
+
+1. The vehicle must always be controllable by the driver.
+2. The vehicle must not alter its trajectory too quickly for the driver to safely
+   react.
+
+To address these, we came up with two safety principles.
+
+1. Enforced disengagements. Step on either pedal or press the cancel button to
+   retake manual control of the car immediately.
+  - These are hard enforced by the board, and soft enforced by the software. The
+    green led on the board signifies if the board is allowing control messages.
+  - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
+    replay of the same message.
+
+2. Actuation limits. While the system is engaged, the actuators are constrained
+   to operate within reasonable limits; the same limits used by the stock system on
+   the Honda.
+  - Without an interceptor, the gas is controlled by the PCM. The PCM limits
+    acceleration to what is reasonable for a cruise control system.  With an
+    interceptor, the gas is clipped to 60% in longcontrol.py
+  - The brake is controlled by the 0x1FA CAN message. This message allows full
+    braking, although the board and the software clip it to 1/4th of the max.
+    This is around .3g of braking.
+  - Steering is controlled by the 0xE4 CAN message. The EPS controller in the
+    car limits the torque to a very small amount, so regardless of the message,
+    the controller cannot jerk the wheel.

SConstruct

@@ -1,407 +0,0 @@
-import os
-import subprocess
-import sys
-import sysconfig
-import platform
-import shlex
-import importlib
-import re
-import stat
-import numpy as np
-
-import SCons.Errors
-from SCons.Defaults import _stripixes
-
-COMMA_HARDWARE = os.path.isfile('/AGNOS')
-
-SCons.Warnings.warningAsException(True)
-
-Decider('MD5-timestamp')
-
-SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2))))
-
-AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
-AddOption('--verbose', action='store_true', default=False, help='show full build commands')
-release = os.path.exists(File('#git_src_commit').abspath)  # written by release packaging
-AddOption('--minimal',
-          action='store_false',
-          dest='extras',
-          default=(not COMMA_HARDWARE and not release),
-          help='the minimum build to run openpilot. no tests, tools, etc.')
-
-dependency_python_paths = [
-  Dir("#").abspath,
-  Dir("#msgq_repo").abspath,
-  Dir("#opendbc_repo").abspath,
-  Dir("#rednose_repo").abspath,
-  Dir("#teleoprtc_repo").abspath,
-  Dir("#tinygrad_repo").abspath,
-]
-for p in reversed(dependency_python_paths):
-  if p not in sys.path:
-    sys.path.insert(0, p)
-
-if external_pythonpath := os.environ.get("PYTHONPATH"):
-  dependency_python_paths += [p for p in external_pythonpath.split(os.pathsep) if p and p not in dependency_python_paths]
-
-# Detect platform
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-if platform.system() == "Darwin":
-  arch = "Darwin"
-elif arch == "aarch64" and COMMA_HARDWARE:
-  arch = "comma_arm64"
-assert arch in [
-  "comma_arm64",  # linux comma hardware (AGNOS) arm64
-  "aarch64",      # linux pc arm64
-  "x86_64",       # linux pc x64
-  "Darwin",       # macOS arm64 (x86 not supported)
-]
-
-pkg_names = ['acados', 'capnproto', 'ffmpeg', 'json11', 'ncurses', 'zstd']
-if arch != 'Darwin':
-  pkg_names.append('libusb')
-pkgs = [importlib.import_module(name) for name in pkg_names]
-acados = pkgs[pkg_names.index('acados')]
-ffmpeg = pkgs[pkg_names.index('ffmpeg')]
-from tools.laptop_device_build.runtime_paths import runtime_library_path
-
-build_sysroot = os.environ.get("COMMA_BUILD_SYSROOT") if arch == "comma_arm64" else None
-ffmpeg_runtime_dir = runtime_library_path(ffmpeg.LIB_DIR, sys.prefix, "/usr/local/venv" if build_sysroot else None)
-# Shared package ships .so/.dylib; older device venvs still have static .a only.
-# Keep static link deps (x264/z/va/drm) when the installed package is static so
-# COMMA_HARDWARE CI works without upgrading the device venv yet.
-# TODO: drop the static fallback once device venvs have comma-deps-ffmpeg>=7.1.0.post94
-_ffmpeg_lib_names = os.listdir(ffmpeg.LIB_DIR) if os.path.isdir(ffmpeg.LIB_DIR) else []
-ffmpeg_shared = any(
-  n.startswith('libavcodec.so') or (n.startswith('libavcodec') and n.endswith('.dylib'))
-  for n in _ffmpeg_lib_names
-)
-ffmpeg_libs = ['avformat', 'avcodec', 'swresample', 'avutil']
-if not ffmpeg_shared:
-  ffmpeg_libs += ['x264', 'z']
-  if arch != "Darwin":
-    ffmpeg_libs += ['va', 'va-drm', 'drm']
-acados_include_dirs = [
-  acados.INCLUDE_DIR,
-  os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
-  os.path.join(acados.INCLUDE_DIR, "hpipm", "include"),
-]
-
-
-# ***** enforce a whitelist of system libraries *****
-# this prevents silently relying on a 3rd party package,
-# e.g. apt-installed libusb. all libraries should either
-# be distributed with all Linux distros and macOS, or
-# vendored in commaai/dependencies.
-allowed_system_libs = {
-  "EGL", "GLESv2", "GL",
-  "dl", "drm", "gbm", "m", "pthread",
-}
-
-def _resolve_lib(env, name):
-  for d in env.Flatten(env.get('LIBPATH', [])):
-    p = Dir(str(d)).abspath
-    for ext in ('.a', '.so', '.dylib'):
-      f = File(os.path.join(p, f'lib{name}{ext}'))
-      if f.exists() or f.has_builder():
-        return name
-  if name in allowed_system_libs:
-    return name
-  raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")
-
-def _libflags(target, source, env, for_signature):
-  libs = []
-  lp = env.subst('$LIBLITERALPREFIX')
-  for lib in env.Flatten(env.get('LIBS', [])):
-    if isinstance(lib, str):
-      if os.sep in lib or lib.startswith('#'):
-        libs.append(File(lib))
-      elif lib.startswith('-') or (lp and lib.startswith(lp)):
-        libs.append(lib)
-      else:
-        libs.append(_resolve_lib(env, lib))
-    else:
-      libs.append(lib)
-  return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
-                    env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])
-
-env = Environment(
-  ENV={
-    "PATH": os.environ['PATH'],
-    "PYTHONPATH": os.pathsep.join(dependency_python_paths),
-    "ACADOS_SOURCE_DIR": acados.DIR,
-    "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
-    "TERA_PATH": acados.TERA_PATH
-  },
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-pipe",
-    "-O2",
-    "-Wunused",
-    "-Werror",
-    "-Wshadow" if arch in ("Darwin", "comma_arm64") else "-Wshadow=local",
-    "-Wno-unknown-warning-option",
-    "-Wno-inconsistent-missing-override",
-    "-Wno-c99-designator",
-    "-Wno-reorder-init-list",
-    "-Wno-vla-cxx-extension",
-  ],
-  CFLAGS=["-std=gnu11"],
-  CXXFLAGS=["-std=c++1z"],
-  CPPPATH=[
-    "#openpilot",
-    "#msgq_repo",            # #include "msgq/..."
-    "#opendbc_repo",         # #include "opendbc/..."
-    "#rednose_repo",         # #include "rednose/..."
-    "#rednose_repo/rednose", # #include "logger/..." (rednose package root)
-    "#openpilot/cereal/gen/cpp",
-    acados_include_dirs,
-    [x.INCLUDE_DIR for x in pkgs],
-    "#",
-  ],
-  LIBPATH=[
-    "#openpilot/common",
-    "#msgq_repo",
-    "#openpilot/selfdrive/pandad",
-    "#rednose_repo/rednose/helpers",
-    [x.LIB_DIR for x in pkgs],
-  ],
-  RPATH=[ffmpeg_runtime_dir] if ffmpeg_shared else [],
-  CYTHONCFILESUFFIX=".cpp",
-  COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#rednose_repo",
-  tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#rednose_repo/site_scons/site_tools"],
-)
-# SCons' Darwin linker tool doesn't define the variables used to expand RPATH.
-if arch == "Darwin":
-  env["RPATHPREFIX"] = "-Wl,-rpath,"
-  env["RPATHSUFFIX"] = ""
-  env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}"
-if arch != "comma_arm64":
-  env['_LIBFLAGS'] = _libflags
-
-# Arch-specific flags and paths
-if arch == "comma_arm64":
-  env["CC"] = "clang"
-  env["CXX"] = "clang++"
-  env.Append(LIBPATH=[
-    "/usr/lib/aarch64-linux-gnu",
-  ])
-  arch_flags = ["-D__COMMA_HARDWARE__", "-mcpu=cortex-a57"]
-  env.Append(CCFLAGS=arch_flags)
-  env.Append(CXXFLAGS=arch_flags)
-  if build_sysroot:
-    if not all(os.path.isdir(os.path.join(build_sysroot, part)) for part in ("usr/include", "usr/lib/aarch64-linux-gnu", "lib/aarch64-linux-gnu")):
-      raise SCons.Errors.UserError(f"Incomplete COMMA_BUILD_SYSROOT: {build_sysroot}")
-    # Clang's --sysroot controls the standard headers and linker startup/libs;
-    # explicit SCons paths make device libraries win over container libraries.
-    env.Prepend(CPPPATH=[os.path.join(build_sysroot, part) for part in ("usr/local/include", "usr/include")])
-    env.Prepend(LIBPATH=[os.path.join(build_sysroot, part) for part in ("usr/local/lib", "usr/lib/aarch64-linux-gnu", "lib/aarch64-linux-gnu")])
-    env.Append(CCFLAGS=[f"--sysroot={build_sysroot}"])
-    env.Append(LINKFLAGS=[f"--sysroot={build_sysroot}"])
-elif arch == "Darwin":
-  env.Append(LIBPATH=[
-    "/System/Library/Frameworks/OpenGL.framework/Libraries",
-  ])
-  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
-
-_extra_cc = shlex.split(GetOption('ccflags') or '')
-if _extra_cc:
-  env.Append(CCFLAGS=_extra_cc)
-
-# no --as-needed on mac linker
-if arch != "Darwin":
-  env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
-
-# Shorter build output: show brief descriptions instead of full commands.
-# Full command lines are still printed on failure by scons.
-if not GetOption('verbose'):
-  for action, short in (
-    ("CC",     "CC"),
-    ("CXX",    "CXX"),
-    ("LINK",   "LINK"),
-    ("SHCC",   "CC"),
-    ("SHCXX",  "CXX"),
-    ("SHLINK", "LINK"),
-    ("AR",     "AR"),
-    ("RANLIB", "RANLIB"),
-    ("AS",     "AS"),
-  ):
-    env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
-
-# ********** Cython build environment **********
-envCython = env.Clone()
-envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
-envCython["CCFLAGS"].remove("-Werror")
-
-envCython["LIBS"] = []
-if arch == "Darwin":
-  envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
-else:
-  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
-  if build_sysroot:
-    envCython.Append(LINKFLAGS=[f"--sysroot={build_sysroot}"])
-
-np_version = SCons.Script.Value(np.__version__)
-Export('envCython', 'np_version')
-
-Export('env', 'arch', 'acados', 'ffmpeg_libs')
-
-# Setup cache dir
-cache_dir = os.environ.get('SCONS_CACHE', '/data/scons_cache' if arch == "comma_arm64" else '/tmp/scons_cache')
-cache_size_limit = 4e9 if "CI" in os.environ else 2e9
-CacheDir(cache_dir)
-Clean(["."], cache_dir)
-
-def prune_cache_dir(target=None, source=None, env=None):
-  cache_files = []
-  cache_root = os.path.normpath(cache_dir)
-  for root, _, files in os.walk(cache_root):
-    shard = os.path.basename(root)
-    if os.path.dirname(root) != cache_root or re.fullmatch(r'[0-9A-Fa-f]{2}', shard) is None:
-      continue
-    for name in files:
-      if re.fullmatch(r'(?:[0-9a-f]{32}|[0-9a-f]{64})', name) is None or name[:2].lower() != shard.lower():
-        continue
-      path = os.path.join(root, name)
-      try:
-        info = os.stat(path, follow_symlinks=False)
-      except FileNotFoundError:
-        continue
-      if stat.S_ISREG(info.st_mode):
-        cache_files.append((info.st_mtime, info.st_size, path))
-  cache_files.sort()
-  cache_size = sum(size for _, size, _ in cache_files)
-  for _, size, path in cache_files:
-    if cache_size < cache_size_limit:
-      break
-    try:
-      os.unlink(path)
-    except FileNotFoundError:
-      pass
-    cache_size -= size
-
-# ********** start building stuff **********
-
-SConscript(['opendbc_repo/opendbc/can/SConscript'])
-
-# Build common module
-SConscript(['openpilot/common/SConscript'])
-Import('_common')
-common = [_common, 'json11']
-Export('common')
-
-# Build messaging (cereal + msgq + socketmaster + their dependencies)
-SConscript(['msgq_repo/SConscript'])
-
-SConscript(['openpilot/cereal/SConscript'])
-
-Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
-Export('messaging')
-
-
-# Build dependency sources
-SConscript(['panda/SConscript'])
-
-# Build rednose library
-SConscript(['rednose_repo/rednose/SConscript'])
-
-# Build system services
-SConscript([
-  'openpilot/system/loggerd/SConscript',
-])
-
-if arch == "comma_arm64":
-  SConscript(['openpilot/system/camerad/SConscript'])
-  SConscript(['openpilot/starpilot/system/starport/SConscript'])
-
-# Build selfdrive
-SConscript([
-  'openpilot/selfdrive/pandad/SConscript',
-  'openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
-  'openpilot/selfdrive/locationd/SConscript',
-  'openpilot/selfdrive/modeld/SConscript',
-  'openpilot/selfdrive/ui/SConscript',
-  'openpilot/starpilot/audio/native/SConscript',
-  'openpilot/starpilot/models/runtime_bridge/SConscript',
-  'openpilot/starpilot/ui/native/SConscript',
-  'openpilot/starpilot/flm/SConscript',
-])
-
-# Replay is also the isolated on-device viewer engine.
-if GetOption('extras') or arch == "comma_arm64":
-  SConscript(['openpilot/tools/replay/SConscript'])
-
-# Build desktop-only tools
-if GetOption('extras') and arch != "comma_arm64":
-  SConscript([
-    'openpilot/tools/cabana/SConscript',
-    'openpilot/tools/jotpluggler/SConscript',
-  ])
-
-
-env.CompilationDatabase('compile_commands.json')
-
-# progress output
-def get_scons_nodes(nodes):
-  seen = set()
-  stack = list(nodes)
-
-  while stack:
-    node = stack.pop().disambiguate()
-    if node in seen:
-      continue
-    seen.add(node)
-    # Only scan directories; generated sources are not ready yet.
-    stack += (node.prerequisites or []) + node.children(scan=isinstance(node, SCons.Node.FS.Dir))
-
-  return seen
-
-progress_interval = 5
-progress_nodes = get_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry))
-progress_total = max(1, len(progress_nodes))
-
-def progress_function(node):
-  if node not in progress_nodes:
-    return
-  progress_nodes.remove(node)
-  if len(progress_nodes) % progress_interval:
-    return
-  progress = round(100. * (1 - len(progress_nodes) / progress_total), 1)
-  sys.stderr.write("\rBuilding: %5.1f%%" % progress if sys.stderr.isatty() else "progress: %.1f\n" % progress)
-  if progress == 100. and sys.stderr.isatty():
-    sys.stderr.write("\n")
-  sys.stderr.flush()
-
-Progress(progress_function)
-AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
-
-# Release CI rebuilds tracked device outputs for the host architecture.
-if manifest_path := os.environ.get("STARPILOT_CI_BUILD_MANIFEST"):
-  from tools.release.build_manifest import capture
-  manifest_nodes = env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)
-  manifest_seen = set()
-  manifest_outputs = set()
-  while manifest_nodes:
-    manifest_node = manifest_nodes.pop().disambiguate()
-    if manifest_node in manifest_seen:
-      continue
-    manifest_seen.add(manifest_node)
-    manifest_executor = manifest_node.get_executor()
-    if manifest_executor is not None:
-      manifest_nodes += manifest_executor.get_all_prerequisites() + manifest_executor.get_all_children()
-      for target in manifest_executor.get_all_targets():
-        if target.is_derived() and hasattr(target, 'abspath'):
-          relative = os.path.relpath(target.abspath, Dir('#').abspath)
-          if not relative.startswith('../'):
-            manifest_outputs.add(relative)
-  capture(Dir('#').abspath, manifest_path, manifest_outputs,
-          {'arch': arch, 'targets': list(BUILD_TARGETS), 'extras': GetOption('extras'),
-           'ccflags': GetOption('ccflags'), 'release': release, 'arguments': dict(ARGUMENTS),
-           'toolchain': {key: str(env.get(key, '')) for key in
-                         ('CC', 'CXX', 'CCFLAGS', 'CFLAGS', 'CXXFLAGS', 'LINKFLAGS')}})

SECURITY.md

@@ -1,5 +0,0 @@
-# Security Policy
-
-## Reporting a Vulnerability
-
-Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.

THIRD_PARTY_NOTICES.md

@@ -1,153 +0,0 @@
-# Third-party notices
-
-## Arabesque Firefox
-
-The offline payload contains original Mozilla and Ubuntu archives. The pinned
-versions, upstream download URLs and hashes are listed in
-[`runtime.json`](openpilot/tools/arabesque_firefox/runtime.json). Mozilla publishes
-the [Firefox 153.6.0esr source](https://archive.mozilla.org/pub/firefox/releases/153.6.0esr/source/)
-and [Firefox notices](https://www.mozilla.org/en-US/about/legal/firefox/).
-The Ubuntu archives retain their package copyright files. The
-[Ubuntu package archive](https://ubuntu.com/project/docs/how-ubuntu-is-made/concepts/package-archive/)
-provides source packages alongside the binaries.
-
-## Jetlink
-
-Jetlink's comma client is copyright (c) 2026 Zeph Leggett and distributed under the MIT License. Its complete license and permission notice are retained in [jetlink_repo/LICENSE](jetlink_repo/LICENSE); source and revision are recorded in [CREDITS.md](CREDITS.md#jetlink-external-inference) and `upstream-sync.json`.
-
-## MRR35 Hyundai angle and radar
-
-The MRR35 radar generator and related Hyundai angle integration derive from the frozen StarPilot snapshot `678af783`, with relevant sunnypilot/opendbc angle-branch ancestry at `cc4b08625a98e94b318cab15e45e05dad58042bd`. Both upstream `LICENSE` and `LICENSE.md` were published for that source. Their scope is not unambiguous, so both applicable notices and the extension-file attribution are retained here without choosing between them. See [CREDITS.md](CREDITS.md) for the narrow source map.
-
-### Upstream `opendbc` `LICENSE` notice (MIT)
-
-Copyright (c) 2020, Comma.ai, Inc.
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
-associated documentation files (the "Software"), to deal in the Software without restriction,
-including without limitation the rights to use, copy, modify, merge, publish, distribute,
-sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all copies or
-substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT
-NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
-DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT
-OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-### Upstream extension file notice
-
-> Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
->
-> This file is part of sunnypilot and is licensed under the MIT License.
-> See the LICENSE.md file in the root directory for more details.
-
-### Upstream `LICENSE.md` notice (published as “Custom MIT License”)
-
-The following notice is reproduced verbatim from the reference branch:
-
-> # Custom MIT License
->
-> Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
->
-> Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
->
-> 1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
->
-> 2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
->    "This software is licensed under a custom license requiring permission for use."
->
-> 3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
->    "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
->
-> 4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
->
-> Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
->
-> ---
->
-> Haibin Wen, SUNNYPILOT LLC
-
-Required upstream acknowledgments:
-
-> This software is licensed under a custom license requiring permission for use.
->
-> This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use.
-
-For commercial, for-profit, or closed-source use, consult the upstream notice and obtain any
-permission it requires. The upstream repository's simultaneous publication of two differently
-scoped notices should be clarified with the relevant copyright holders before relying on one to
-the exclusion of the other.
-
-## BluePilot Ford support
-
-The Ford CAN FD camera-radar filtering includes work adapted from BluePilot's `bp-7.0` source, through StarPilot `2efe6017bfe14cee4807833e05f9a7f6ba255cdb`. See [CREDITS.md](CREDITS.md#ford-support-adapted-from-bluepilot) for contributors and source revisions. The upstream extension-file and `LICENSE.md` notices reproduced above also apply to that source; they are retained without resolving the difference between their published license descriptions.
-
-## Continental ARS510 radar
-
-The optional RAV4 radar decoders and `toyota_tss2_ars510.dbc` are adapted from
-<https://github.com/ds-sebastian/ars510-radar> at
-`fb5b29c2b5999f34afeb6f7ac494a73949d66c67`.
-
-MIT License
-
-Copyright (c) 2026 ARS510 radar contributors
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-
-## PulseAudio server for Spotify
-
-`openpilot/starpilot/soloist/pulseaudio/` contains unmodified AArch64 binaries from Ubuntu 24.04 packages: PulseAudio 16.1 (LGPL-2.1-or-later), libltdl (LGPL-2.1-or-later), libtdb (LGPL-3.0-or-later), libsoxr (LGPL-2.1-or-later), liborc and speexdsp (BSD-style). The complete copyright and license notices are in that directory's `licenses/`, package hashes in `PACKAGES.sha512`, and the corresponding source is available from Ubuntu's archive for the exact versions listed in its README. The libraries are dynamically linked and may be replaced with `update.sh`.
-
-## Galaxy Android companion tunnel
-
-`openpilot/starpilot/galaxy/bin/hev-socks5-tunnel_linux_arm64` is the upstream
-[hev-socks5-tunnel 2.18.0](https://github.com/heiher/hev-socks5-tunnel/releases/tag/2.18.0)
-static Linux ARM64 release, under the MIT license. Its notice is retained in
-`openpilot/starpilot/galaxy/bin/LICENSE.hev-socks5-tunnel`; the adjacent SHA-256
-file pins the downloaded artifact. The Android companion uses the Kotlin
-standard library (Apache-2.0) and the Gradle wrapper (Apache-2.0); no third-party
-UI framework is bundled.
-
-## Galaxy Bluetooth companion source snapshot
-
-The Galaxy Bluetooth phone bridge and iOS app from https://github.com/StarPilotHQ/StarPilot
-(natehuby76, PRs #224/#225) are included under `openpilot/starpilot/galaxy_bluetooth/`
-and `openpilot/starpilot/companion/ios/`, with their license files (`UPSTREAM-LICENSE`, `openpilot/starpilot/companion/ios/UPSTREAM-GALAXY-LICENSE`).
-The bridge runs on openpilot's Python with PyCryptodome 3.23.0 (BSD/public-domain
-components, from opendbc). Its other dependencies are vendored unmodified, as
-pure-Python sources, in `openpilot/starpilot/galaxy_bluetooth/vendor/`:
-dbus-next 0.2.3 (MIT), ifaddr 0.2.0 (MIT) and Zeroconf 0.151.3
-(LGPL-2.1-or-later). Their license texts are in `vendor/licenses/`, and
-`vendor/VENDOR.json` records each PyPI source file and its SHA-256. Zeroconf is
-kept as separate, unmodified source files that can be replaced with another
-compatible version, as the LGPL requires.
-
-## Subaru angle support from jacobw
-
-The Subaru angle implementation includes work from Jacob Waller's `jul-angle-based` openpilot/opendbc branches and their upstream contributors. See [CREDITS.md](CREDITS.md#subaru-angle-steering-from-jacob-wallers-fork) and `opendbc_repo/opendbc/car/subaru/ORIGIN_HISTORY.tsv` for pinned sources, original authors and titles. The source repositories publish the comma MIT license; the complete applicable notice remains in the project `LICENSE` and `opendbc_repo/LICENSE`. StarPilot's adaptations preserve additional native and caller safety guards.
-
-## StarPilot Ford demand tuning
-
-The historical tuning formerly in `openpilot/starpilot/car/ford/starpilot_tuning.py` included the BluePilot bp-7.0-derived work identified in [CREDITS.md](CREDITS.md#starpilot-ford-demand-tuning). The published upstream license notices retained above and in the pinned BluePilot library remain applicable to the adapted source. StarPilot's separate protocol adapter does not modify those notices or resolve their scope.
-
-The angle-primary adaptation in `openpilot/starpilot/car/ford/starpilot_controller.py` is derived from BluePilot v0.2.1. It retains the complete MIT copyright and permission notice in `opendbc_repo/opendbc/bluepilot_lateral/LICENSE`, including Comma.ai, BluePilot and StarPilot contributors. See the contributor attribution in `CREDITS.md`.

board/Makefile

@@ -0,0 +1,43 @@
+# :set noet
+PROJ_NAME = comma
+
+CFLAGS  = -g -O0 -Wall
+CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
+CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
+CFLAGS += -I inc -nostdlib
+CFLAGS += -Tstm32_flash.ld
+
+CC = arm-none-eabi-gcc
+OBJCOPY = arm-none-eabi-objcopy
+OBJDUMP = arm-none-eabi-objdump
+
+MACHINE = $(shell uname -m)
+
+all: obj/$(PROJ_NAME).bin
+	#$(OBJDUMP) -d obj/$(PROJ_NAME).elf
+	./tools/enter_download_mode.py
+	./tools/dfu-util-$(MACHINE) -a 0 -s 0x08000000 -D $<
+	./tools/dfu-util-$(MACHINE) --reset-stm32 -a 0 -s 0x08000000
+
+ifneq ($(wildcard ../.git/HEAD),) 
+obj/gitversion.h: ../.git/HEAD ../.git/index
+	echo "const uint8_t gitversion[] = \"$(shell git rev-parse HEAD)\";" > $@
+else
+obj/gitversion.h: 
+	echo "const uint8_t gitversion[] = \"RELEASE\";" > $@
+endif
+
+obj/main.o: main.c *.h obj/gitversion.h
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/startup_stm32f205xx.o: startup_stm32f205xx.s
+	mkdir -p obj
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(PROJ_NAME).bin: obj/startup_stm32f205xx.o obj/main.o
+	$(CC) $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf $@
+	
+clean:
+	rm -f obj/*
+

board/adc.h

@@ -0,0 +1,38 @@
+// ACCEL1 = ADC10
+// ACCEL2 = ADC11
+// VOLT_S = ADC12
+// CURR_S = ADC13
+
+#define ADCCHAN_ACCEL0 10
+#define ADCCHAN_ACCEL1 11
+#define ADCCHAN_VOLTAGE 12
+#define ADCCHAN_CURRENT 13
+
+void adc_init() {
+  // global setup
+  ADC->CCR = ADC_CCR_TSVREFE | ADC_CCR_VBATE;
+  //ADC1->CR2 = ADC_CR2_ADON | ADC_CR2_EOCS | ADC_CR2_DDS;
+  ADC1->CR2 = ADC_CR2_ADON;
+
+  // long
+  ADC1->SMPR1 = ADC_SMPR1_SMP10 | ADC_SMPR1_SMP11 | ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13;
+}
+
+uint32_t adc_get(int channel) {
+
+  // includes length
+  //ADC1->SQR1 = 0;
+
+  // select channel
+  ADC1->JSQR = channel << 15;
+
+  //ADC1->CR1 = ADC_CR1_DISCNUM_0;
+  //ADC1->CR1 = ADC_CR1_EOCIE;
+
+  ADC1->SR &= ~(ADC_SR_JEOC);
+  ADC1->CR2 |= ADC_CR2_JSWSTART;
+  while (!(ADC1->SR & ADC_SR_JEOC));
+
+  return ADC1->JDR1;
+}
+

board/can.h

@@ -0,0 +1,84 @@
+void can_init(CAN_TypeDef *CAN) {
+  // enable CAN busses
+  if (CAN == CAN1) {
+    // CAN1_EN
+    GPIOB->ODR |= (1 << 3);
+  } else if (CAN == CAN2) {
+    // CAN2_EN
+    GPIOB->ODR |= (1 << 4);
+  }
+
+  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
+  while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
+  puts("CAN initting\n");
+
+  // PCLK = 24000000, 500000 is 48 clocks
+  // from http://www.bittiming.can-wiki.ino/
+  CAN->BTR = 0x001c0002;
+
+  // loopback mode for debugging
+  #ifdef CAN_LOOPBACK_MODE
+    CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
+  #endif
+
+  // reset
+  CAN->MCR = CAN_MCR_TTCM;
+  while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK);
+  puts("CAN init done\n");
+
+  // accept all filter
+  CAN->FMR |= CAN_FMR_FINIT;
+
+  // no mask
+  CAN->sFilterRegister[0].FR1 = 0;
+  CAN->sFilterRegister[0].FR2 = 0;
+  CAN->sFilterRegister[14].FR1 = 0;
+  CAN->sFilterRegister[14].FR2 = 0;
+  CAN->FA1R |= 1 | (1 << 14);
+
+  CAN->FMR &= ~(CAN_FMR_FINIT);
+
+  // enable all CAN interrupts
+  CAN->IER = 0xFFFFFFFF;
+  //CAN->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_FMPIE1;
+}
+
+// CAN error
+void can_sce(CAN_TypeDef *CAN) {
+  #ifdef DEBUG
+    puts("MSR:");
+    puth(CAN->MSR);
+    puts(" TSR:");
+    puth(CAN->TSR);
+    puts(" RF0R:");
+    puth(CAN->RF0R);
+    puts(" RF1R:");
+    puth(CAN->RF1R);
+    puts(" ESR:");
+    puth(CAN->ESR);
+    puts("\n");
+  #endif
+
+  // clear
+  //CAN->sTxMailBox[0].TIR &= ~(CAN_TI0R_TXRQ);
+  CAN->TSR |= CAN_TSR_ABRQ0;
+  //CAN->ESR |= CAN_ESR_LEC;
+  //CAN->MSR &= ~(CAN_MSR_ERRI);
+  CAN->MSR = CAN->MSR;
+}
+
+int can_cksum(uint8_t *dat, int len, int addr, int idx) {
+  int i;
+  int s = 0;
+  for (i = 0; i < len; i++) {
+    s += (dat[i] >> 4);
+    s += dat[i] & 0xF;
+  }
+  s += (addr>>0)&0xF;
+  s += (addr>>4)&0xF;
+  s += (addr>>8)&0xF;
+  s += idx;
+  s = 8-s;
+  return s&0xF;
+}
+

board/dac.h

@@ -0,0 +1,16 @@
+void dac_init() {
+  // no buffers required since we have an opamp
+  //DAC->CR = DAC_CR_EN1 | DAC_CR_BOFF1 | DAC_CR_EN2 | DAC_CR_BOFF2;
+  DAC->DHR12R1 = 0;
+  DAC->DHR12R2 = 0;
+  DAC->CR = DAC_CR_EN1 | DAC_CR_EN2;
+}
+
+void dac_set(int channel, uint32_t value) {
+  if (channel == 0) {
+    DAC->DHR12R1 = value;
+  } else if (channel == 1) {
+    DAC->DHR12R2 = value;
+  }
+}
+

board/inc/core_cmFunc.h

@@ -0,0 +1,609 @@
+/**************************************************************************//**
+ * @file     core_cmFunc.h
+ * @brief    CMSIS Cortex-M Core Function Access Header File
+ * @version  V2.10
+ * @date     26. July 2011
+ *
+ * @note
+ * Copyright (C) 2009-2011 ARM Limited. All rights reserved.
+ *
+ * @par
+ * ARM Limited (ARM) is supplying this software for use with Cortex-M 
+ * processor based microcontrollers.  This file can be freely distributed 
+ * within development tools that are supporting such ARM based processors. 
+ *
+ * @par
+ * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
+ * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
+ * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
+ * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
+ *
+ ******************************************************************************/
+
+#ifndef __CORE_CMFUNC_H
+#define __CORE_CMFUNC_H
+
+
+/* ###########################  Core Function Access  ########################### */
+/** \ingroup  CMSIS_Core_FunctionInterface   
+    \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
+  @{
+ */
+
+#if   defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
+/* ARM armcc specific functions */
+
+#if (__ARMCC_VERSION < 400677)
+  #error "Please use ARM Compiler Toolchain V4.0.677 or later!"
+#endif
+
+/* intrinsic void __enable_irq();     */
+/* intrinsic void __disable_irq();    */
+
+/** \brief  Get Control Register
+
+    This function returns the content of the Control Register.
+
+    \return               Control Register value
+ */
+static __INLINE uint32_t __get_CONTROL(void)
+{
+  register uint32_t __regControl         __ASM("control");
+  return(__regControl);
+}
+
+
+/** \brief  Set Control Register
+
+    This function writes the given value to the Control Register.
+
+    \param [in]    control  Control Register value to set
+ */
+static __INLINE void __set_CONTROL(uint32_t control)
+{
+  register uint32_t __regControl         __ASM("control");
+  __regControl = control;
+}
+
+
+/** \brief  Get ISPR Register
+
+    This function returns the content of the ISPR Register.
+
+    \return               ISPR Register value
+ */
+static __INLINE uint32_t __get_IPSR(void)
+{
+  register uint32_t __regIPSR          __ASM("ipsr");
+  return(__regIPSR);
+}
+
+
+/** \brief  Get APSR Register
+
+    This function returns the content of the APSR Register.
+
+    \return               APSR Register value
+ */
+static __INLINE uint32_t __get_APSR(void)
+{
+  register uint32_t __regAPSR          __ASM("apsr");
+  return(__regAPSR);
+}
+
+
+/** \brief  Get xPSR Register
+
+    This function returns the content of the xPSR Register.
+
+    \return               xPSR Register value
+ */
+static __INLINE uint32_t __get_xPSR(void)
+{
+  register uint32_t __regXPSR          __ASM("xpsr");
+  return(__regXPSR);
+}
+
+
+/** \brief  Get Process Stack Pointer
+
+    This function returns the current value of the Process Stack Pointer (PSP).
+
+    \return               PSP Register value
+ */
+static __INLINE uint32_t __get_PSP(void)
+{
+  register uint32_t __regProcessStackPointer  __ASM("psp");
+  return(__regProcessStackPointer);
+}
+
+
+/** \brief  Set Process Stack Pointer
+
+    This function assigns the given value to the Process Stack Pointer (PSP).
+
+    \param [in]    topOfProcStack  Process Stack Pointer value to set
+ */
+static __INLINE void __set_PSP(uint32_t topOfProcStack)
+{
+  register uint32_t __regProcessStackPointer  __ASM("psp");
+  __regProcessStackPointer = topOfProcStack;
+}
+
+
+/** \brief  Get Main Stack Pointer
+
+    This function returns the current value of the Main Stack Pointer (MSP).
+
+    \return               MSP Register value
+ */
+static __INLINE uint32_t __get_MSP(void)
+{
+  register uint32_t __regMainStackPointer     __ASM("msp");
+  return(__regMainStackPointer);
+}
+
+
+/** \brief  Set Main Stack Pointer
+
+    This function assigns the given value to the Main Stack Pointer (MSP).
+
+    \param [in]    topOfMainStack  Main Stack Pointer value to set
+ */
+static __INLINE void __set_MSP(uint32_t topOfMainStack)
+{
+  register uint32_t __regMainStackPointer     __ASM("msp");
+  __regMainStackPointer = topOfMainStack;
+}
+
+
+/** \brief  Get Priority Mask
+
+    This function returns the current state of the priority mask bit from the Priority Mask Register.
+
+    \return               Priority Mask value
+ */
+static __INLINE uint32_t __get_PRIMASK(void)
+{
+  register uint32_t __regPriMask         __ASM("primask");
+  return(__regPriMask);
+}
+
+
+/** \brief  Set Priority Mask
+
+    This function assigns the given value to the Priority Mask Register.
+
+    \param [in]    priMask  Priority Mask
+ */
+static __INLINE void __set_PRIMASK(uint32_t priMask)
+{
+  register uint32_t __regPriMask         __ASM("primask");
+  __regPriMask = (priMask);
+}
+ 
+
+#if       (__CORTEX_M >= 0x03)
+
+/** \brief  Enable FIQ
+
+    This function enables FIQ interrupts by clearing the F-bit in the CPSR.
+    Can only be executed in Privileged modes.
+ */
+#define __enable_fault_irq                __enable_fiq
+
+
+/** \brief  Disable FIQ
+
+    This function disables FIQ interrupts by setting the F-bit in the CPSR.
+    Can only be executed in Privileged modes.
+ */
+#define __disable_fault_irq               __disable_fiq
+
+
+/** \brief  Get Base Priority
+
+    This function returns the current value of the Base Priority register.
+
+    \return               Base Priority register value
+ */
+static __INLINE uint32_t  __get_BASEPRI(void)
+{
+  register uint32_t __regBasePri         __ASM("basepri");
+  return(__regBasePri);
+}
+
+
+/** \brief  Set Base Priority
+
+    This function assigns the given value to the Base Priority register.
+
+    \param [in]    basePri  Base Priority value to set
+ */
+static __INLINE void __set_BASEPRI(uint32_t basePri)
+{
+  register uint32_t __regBasePri         __ASM("basepri");
+  __regBasePri = (basePri & 0xff);
+}
+ 
+
+/** \brief  Get Fault Mask
+
+    This function returns the current value of the Fault Mask register.
+
+    \return               Fault Mask register value
+ */
+static __INLINE uint32_t __get_FAULTMASK(void)
+{
+  register uint32_t __regFaultMask       __ASM("faultmask");
+  return(__regFaultMask);
+}
+
+
+/** \brief  Set Fault Mask
+
+    This function assigns the given value to the Fault Mask register.
+
+    \param [in]    faultMask  Fault Mask value to set
+ */
+static __INLINE void __set_FAULTMASK(uint32_t faultMask)
+{
+  register uint32_t __regFaultMask       __ASM("faultmask");
+  __regFaultMask = (faultMask & (uint32_t)1);
+}
+
+#endif /* (__CORTEX_M >= 0x03) */
+
+
+#if       (__CORTEX_M == 0x04)
+
+/** \brief  Get FPSCR
+
+    This function returns the current value of the Floating Point Status/Control register.
+
+    \return               Floating Point Status/Control register value
+ */
+static __INLINE uint32_t __get_FPSCR(void)
+{
+#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
+  register uint32_t __regfpscr         __ASM("fpscr");
+  return(__regfpscr);
+#else
+   return(0);
+#endif
+}
+
+
+/** \brief  Set FPSCR
+
+    This function assigns the given value to the Floating Point Status/Control register.
+
+    \param [in]    fpscr  Floating Point Status/Control value to set
+ */
+static __INLINE void __set_FPSCR(uint32_t fpscr)
+{
+#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
+  register uint32_t __regfpscr         __ASM("fpscr");
+  __regfpscr = (fpscr);
+#endif
+}
+
+#endif /* (__CORTEX_M == 0x04) */
+
+
+#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
+/* IAR iccarm specific functions */
+
+#include <cmsis_iar.h>
+
+#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
+/* GNU gcc specific functions */
+
+/** \brief  Enable IRQ Interrupts
+
+  This function enables IRQ interrupts by clearing the I-bit in the CPSR.
+  Can only be executed in Privileged modes.
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __enable_irq(void)
+{
+  __ASM volatile ("cpsie i");
+}
+
+
+/** \brief  Disable IRQ Interrupts
+
+  This function disables IRQ interrupts by setting the I-bit in the CPSR.
+  Can only be executed in Privileged modes.
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __disable_irq(void)
+{
+  __ASM volatile ("cpsid i");
+}
+
+
+/** \brief  Get Control Register
+
+    This function returns the content of the Control Register.
+
+    \return               Control Register value
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_CONTROL(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, control" : "=r" (result) );
+  return(result);
+}
+
+
+/** \brief  Set Control Register
+
+    This function writes the given value to the Control Register.
+
+    \param [in]    control  Control Register value to set
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __set_CONTROL(uint32_t control)
+{
+  __ASM volatile ("MSR control, %0" : : "r" (control) );
+}
+
+
+/** \brief  Get ISPR Register
+
+    This function returns the content of the ISPR Register.
+
+    \return               ISPR Register value
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_IPSR(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, ipsr" : "=r" (result) );
+  return(result);
+}
+
+
+/** \brief  Get APSR Register
+
+    This function returns the content of the APSR Register.
+
+    \return               APSR Register value
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_APSR(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, apsr" : "=r" (result) );
+  return(result);
+}
+
+
+/** \brief  Get xPSR Register
+
+    This function returns the content of the xPSR Register.
+
+    \return               xPSR Register value
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_xPSR(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, xpsr" : "=r" (result) );
+  return(result);
+}
+
+
+/** \brief  Get Process Stack Pointer
+
+    This function returns the current value of the Process Stack Pointer (PSP).
+
+    \return               PSP Register value
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_PSP(void)
+{
+  register uint32_t result;
+
+  __ASM volatile ("MRS %0, psp\n"  : "=r" (result) );
+  return(result);
+}
+ 
+
+/** \brief  Set Process Stack Pointer
+
+    This function assigns the given value to the Process Stack Pointer (PSP).
+
+    \param [in]    topOfProcStack  Process Stack Pointer value to set
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __set_PSP(uint32_t topOfProcStack)
+{
+  __ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) );
+}
+
+
+/** \brief  Get Main Stack Pointer
+
+    This function returns the current value of the Main Stack Pointer (MSP).
+
+    \return               MSP Register value
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_MSP(void)
+{
+  register uint32_t result;
+
+  __ASM volatile ("MRS %0, msp\n" : "=r" (result) );
+  return(result);
+}
+ 
+
+/** \brief  Set Main Stack Pointer
+
+    This function assigns the given value to the Main Stack Pointer (MSP).
+
+    \param [in]    topOfMainStack  Main Stack Pointer value to set
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __set_MSP(uint32_t topOfMainStack)
+{
+  __ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) );
+}
+
+
+/** \brief  Get Priority Mask
+
+    This function returns the current state of the priority mask bit from the Priority Mask Register.
+
+    \return               Priority Mask value
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_PRIMASK(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, primask" : "=r" (result) );
+  return(result);
+}
+
+
+/** \brief  Set Priority Mask
+
+    This function assigns the given value to the Priority Mask Register.
+
+    \param [in]    priMask  Priority Mask
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __set_PRIMASK(uint32_t priMask)
+{
+  __ASM volatile ("MSR primask, %0" : : "r" (priMask) );
+}
+ 
+
+#if       (__CORTEX_M >= 0x03)
+
+/** \brief  Enable FIQ
+
+    This function enables FIQ interrupts by clearing the F-bit in the CPSR.
+    Can only be executed in Privileged modes.
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __enable_fault_irq(void)
+{
+  __ASM volatile ("cpsie f");
+}
+
+
+/** \brief  Disable FIQ
+
+    This function disables FIQ interrupts by setting the F-bit in the CPSR.
+    Can only be executed in Privileged modes.
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __disable_fault_irq(void)
+{
+  __ASM volatile ("cpsid f");
+}
+
+
+/** \brief  Get Base Priority
+
+    This function returns the current value of the Base Priority register.
+
+    \return               Base Priority register value
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_BASEPRI(void)
+{
+  uint32_t result;
+  
+  __ASM volatile ("MRS %0, basepri_max" : "=r" (result) );
+  return(result);
+}
+
+
+/** \brief  Set Base Priority
+
+    This function assigns the given value to the Base Priority register.
+
+    \param [in]    basePri  Base Priority value to set
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __set_BASEPRI(uint32_t value)
+{
+  __ASM volatile ("MSR basepri, %0" : : "r" (value) );
+}
+
+
+/** \brief  Get Fault Mask
+
+    This function returns the current value of the Fault Mask register.
+
+    \return               Fault Mask register value
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_FAULTMASK(void)
+{
+  uint32_t result;
+  
+  __ASM volatile ("MRS %0, faultmask" : "=r" (result) );
+  return(result);
+}
+
+
+/** \brief  Set Fault Mask
+
+    This function assigns the given value to the Fault Mask register.
+
+    \param [in]    faultMask  Fault Mask value to set
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __set_FAULTMASK(uint32_t faultMask)
+{
+  __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) );
+}
+
+#endif /* (__CORTEX_M >= 0x03) */
+
+
+#if       (__CORTEX_M == 0x04)
+
+/** \brief  Get FPSCR
+
+    This function returns the current value of the Floating Point Status/Control register.
+
+    \return               Floating Point Status/Control register value
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint32_t __get_FPSCR(void)
+{
+#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
+  uint32_t result;
+
+  __ASM volatile ("VMRS %0, fpscr" : "=r" (result) );
+  return(result);
+#else
+   return(0);
+#endif
+}
+
+
+/** \brief  Set FPSCR
+
+    This function assigns the given value to the Floating Point Status/Control register.
+
+    \param [in]    fpscr  Floating Point Status/Control value to set
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __set_FPSCR(uint32_t fpscr)
+{
+#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
+  __ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) );
+#endif
+}
+
+#endif /* (__CORTEX_M == 0x04) */
+
+
+#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
+/* TASKING carm specific functions */
+
+/*
+ * The CMSIS functions have been implemented as intrinsics in the compiler.
+ * Please use "carm -?i" to get an up to date list of all instrinsics,
+ * Including the CMSIS ones.
+ */
+
+#endif
+
+/*@} end of CMSIS_Core_RegAccFunctions */
+
+
+#endif /* __CORE_CMFUNC_H */

board/inc/core_cmInstr.h

@@ -0,0 +1,585 @@
+/**************************************************************************//**
+ * @file     core_cmInstr.h
+ * @brief    CMSIS Cortex-M Core Instruction Access Header File
+ * @version  V2.10
+ * @date     19. July 2011
+ *
+ * @note
+ * Copyright (C) 2009-2011 ARM Limited. All rights reserved.
+ *
+ * @par
+ * ARM Limited (ARM) is supplying this software for use with Cortex-M 
+ * processor based microcontrollers.  This file can be freely distributed 
+ * within development tools that are supporting such ARM based processors. 
+ *
+ * @par
+ * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
+ * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
+ * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
+ * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
+ *
+ ******************************************************************************/
+
+#ifndef __CORE_CMINSTR_H
+#define __CORE_CMINSTR_H
+
+
+/* ##########################  Core Instruction Access  ######################### */
+/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
+  Access to dedicated instructions
+  @{
+*/
+
+#if   defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
+/* ARM armcc specific functions */
+
+#if (__ARMCC_VERSION < 400677)
+  #error "Please use ARM Compiler Toolchain V4.0.677 or later!"
+#endif
+
+
+/** \brief  No Operation
+
+    No Operation does nothing. This instruction can be used for code alignment purposes.
+ */
+#define __NOP                             __nop
+
+
+/** \brief  Wait For Interrupt
+
+    Wait For Interrupt is a hint instruction that suspends execution
+    until one of a number of events occurs.
+ */
+#define __WFI                             __wfi
+
+
+/** \brief  Wait For Event
+
+    Wait For Event is a hint instruction that permits the processor to enter
+    a low-power state until one of a number of events occurs.
+ */
+#define __WFE                             __wfe
+
+
+/** \brief  Send Event
+
+    Send Event is a hint instruction. It causes an event to be signaled to the CPU.
+ */
+#define __SEV                             __sev
+
+
+/** \brief  Instruction Synchronization Barrier
+
+    Instruction Synchronization Barrier flushes the pipeline in the processor, 
+    so that all instructions following the ISB are fetched from cache or 
+    memory, after the instruction has been completed.
+ */
+#define __ISB()                           __isb(0xF)
+
+
+/** \brief  Data Synchronization Barrier
+
+    This function acts as a special kind of Data Memory Barrier. 
+    It completes when all explicit memory accesses before this instruction complete.
+ */
+#define __DSB()                           __dsb(0xF)
+
+
+/** \brief  Data Memory Barrier
+
+    This function ensures the apparent order of the explicit memory operations before 
+    and after the instruction, without ensuring their completion.
+ */
+#define __DMB()                           __dmb(0xF)
+
+
+/** \brief  Reverse byte order (32 bit)
+
+    This function reverses the byte order in integer value.
+
+    \param [in]    value  Value to reverse
+    \return               Reversed value
+ */
+#define __REV                             __rev
+
+
+/** \brief  Reverse byte order (16 bit)
+
+    This function reverses the byte order in two unsigned short values.
+
+    \param [in]    value  Value to reverse
+    \return               Reversed value
+ */
+static __INLINE __ASM uint32_t __REV16(uint32_t value)
+{
+  rev16 r0, r0
+  bx lr
+}
+
+
+/** \brief  Reverse byte order in signed short value
+
+    This function reverses the byte order in a signed short value with sign extension to integer.
+
+    \param [in]    value  Value to reverse
+    \return               Reversed value
+ */
+static __INLINE __ASM int32_t __REVSH(int32_t value)
+{
+  revsh r0, r0
+  bx lr
+}
+
+
+#if       (__CORTEX_M >= 0x03)
+
+/** \brief  Reverse bit order of value
+
+    This function reverses the bit order of the given value.
+
+    \param [in]    value  Value to reverse
+    \return               Reversed value
+ */
+#define __RBIT                            __rbit
+
+
+/** \brief  LDR Exclusive (8 bit)
+
+    This function performs a exclusive LDR command for 8 bit value.
+
+    \param [in]    ptr  Pointer to data
+    \return             value of type uint8_t at (*ptr)
+ */
+#define __LDREXB(ptr)                     ((uint8_t ) __ldrex(ptr))
+
+
+/** \brief  LDR Exclusive (16 bit)
+
+    This function performs a exclusive LDR command for 16 bit values.
+
+    \param [in]    ptr  Pointer to data
+    \return        value of type uint16_t at (*ptr)
+ */
+#define __LDREXH(ptr)                     ((uint16_t) __ldrex(ptr))
+
+
+/** \brief  LDR Exclusive (32 bit)
+
+    This function performs a exclusive LDR command for 32 bit values.
+
+    \param [in]    ptr  Pointer to data
+    \return        value of type uint32_t at (*ptr)
+ */
+#define __LDREXW(ptr)                     ((uint32_t ) __ldrex(ptr))
+
+
+/** \brief  STR Exclusive (8 bit)
+
+    This function performs a exclusive STR command for 8 bit values.
+
+    \param [in]  value  Value to store
+    \param [in]    ptr  Pointer to location
+    \return          0  Function succeeded
+    \return          1  Function failed
+ */
+#define __STREXB(value, ptr)              __strex(value, ptr)
+
+
+/** \brief  STR Exclusive (16 bit)
+
+    This function performs a exclusive STR command for 16 bit values.
+
+    \param [in]  value  Value to store
+    \param [in]    ptr  Pointer to location
+    \return          0  Function succeeded
+    \return          1  Function failed
+ */
+#define __STREXH(value, ptr)              __strex(value, ptr)
+
+
+/** \brief  STR Exclusive (32 bit)
+
+    This function performs a exclusive STR command for 32 bit values.
+
+    \param [in]  value  Value to store
+    \param [in]    ptr  Pointer to location
+    \return          0  Function succeeded
+    \return          1  Function failed
+ */
+#define __STREXW(value, ptr)              __strex(value, ptr)
+
+
+/** \brief  Remove the exclusive lock
+
+    This function removes the exclusive lock which is created by LDREX.
+
+ */
+#define __CLREX                           __clrex
+
+
+/** \brief  Signed Saturate
+
+    This function saturates a signed value.
+
+    \param [in]  value  Value to be saturated
+    \param [in]    sat  Bit position to saturate to (1..32)
+    \return             Saturated value
+ */
+#define __SSAT                            __ssat
+
+
+/** \brief  Unsigned Saturate
+
+    This function saturates an unsigned value.
+
+    \param [in]  value  Value to be saturated
+    \param [in]    sat  Bit position to saturate to (0..31)
+    \return             Saturated value
+ */
+#define __USAT                            __usat
+
+
+/** \brief  Count leading zeros
+
+    This function counts the number of leading zeros of a data value.
+
+    \param [in]  value  Value to count the leading zeros
+    \return             number of leading zeros in value
+ */
+#define __CLZ                             __clz 
+
+#endif /* (__CORTEX_M >= 0x03) */
+
+
+
+#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
+/* IAR iccarm specific functions */
+
+#include <cmsis_iar.h>
+
+
+#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
+/* GNU gcc specific functions */
+
+/** \brief  No Operation
+
+    No Operation does nothing. This instruction can be used for code alignment purposes.
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __NOP(void)
+{
+  __ASM volatile ("nop");
+}
+
+
+/** \brief  Wait For Interrupt
+
+    Wait For Interrupt is a hint instruction that suspends execution
+    until one of a number of events occurs.
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __WFI(void)
+{
+  __ASM volatile ("wfi");
+}
+
+
+/** \brief  Wait For Event
+
+    Wait For Event is a hint instruction that permits the processor to enter
+    a low-power state until one of a number of events occurs.
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __WFE(void)
+{
+  __ASM volatile ("wfe");
+}
+
+
+/** \brief  Send Event
+
+    Send Event is a hint instruction. It causes an event to be signaled to the CPU.
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __SEV(void)
+{
+  __ASM volatile ("sev");
+}
+
+
+/** \brief  Instruction Synchronization Barrier
+
+    Instruction Synchronization Barrier flushes the pipeline in the processor, 
+    so that all instructions following the ISB are fetched from cache or 
+    memory, after the instruction has been completed.
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __ISB(void)
+{
+  __ASM volatile ("isb");
+}
+
+
+/** \brief  Data Synchronization Barrier
+
+    This function acts as a special kind of Data Memory Barrier. 
+    It completes when all explicit memory accesses before this instruction complete.
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __DSB(void)
+{
+  __ASM volatile ("dsb");
+}
+
+
+/** \brief  Data Memory Barrier
+
+    This function ensures the apparent order of the explicit memory operations before 
+    and after the instruction, without ensuring their completion.
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __DMB(void)
+{
+  __ASM volatile ("dmb");
+}
+
+
+/** \brief  Reverse byte order (32 bit)
+
+    This function reverses the byte order in integer value.
+
+    \param [in]    value  Value to reverse
+    \return               Reversed value
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint32_t __REV(uint32_t value)
+{
+  uint32_t result;
+  
+  __ASM volatile ("rev %0, %1" : "=r" (result) : "r" (value) );
+  return(result);
+}
+
+
+/** \brief  Reverse byte order (16 bit)
+
+    This function reverses the byte order in two unsigned short values.
+
+    \param [in]    value  Value to reverse
+    \return               Reversed value
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint32_t __REV16(uint32_t value)
+{
+  uint32_t result;
+  
+  __ASM volatile ("rev16 %0, %1" : "=r" (result) : "r" (value) );
+  return(result);
+}
+
+
+/** \brief  Reverse byte order in signed short value
+
+    This function reverses the byte order in a signed short value with sign extension to integer.
+
+    \param [in]    value  Value to reverse
+    \return               Reversed value
+ */
+__attribute__( ( always_inline ) ) static __INLINE int32_t __REVSH(int32_t value)
+{
+  uint32_t result;
+  
+  __ASM volatile ("revsh %0, %1" : "=r" (result) : "r" (value) );
+  return((int32_t)result);
+}
+
+
+#if       (__CORTEX_M >= 0x03)
+
+/** \brief  Reverse bit order of value
+
+    This function reverses the bit order of the given value.
+
+    \param [in]    value  Value to reverse
+    \return               Reversed value
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint32_t __RBIT(uint32_t value)
+{
+  uint32_t result;
+  
+   __ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) );
+   return(result);
+}
+
+
+/** \brief  LDR Exclusive (8 bit)
+
+    This function performs a exclusive LDR command for 8 bit value.
+
+    \param [in]    ptr  Pointer to data
+    \return             value of type uint8_t at (*ptr)
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint8_t __LDREXB(volatile uint8_t *addr)
+{
+    uint8_t result;
+  
+   __ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) );
+   return(result);
+}
+
+
+/** \brief  LDR Exclusive (16 bit)
+
+    This function performs a exclusive LDR command for 16 bit values.
+
+    \param [in]    ptr  Pointer to data
+    \return        value of type uint16_t at (*ptr)
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint16_t __LDREXH(volatile uint16_t *addr)
+{
+    uint16_t result;
+  
+   __ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) );
+   return(result);
+}
+
+
+/** \brief  LDR Exclusive (32 bit)
+
+    This function performs a exclusive LDR command for 32 bit values.
+
+    \param [in]    ptr  Pointer to data
+    \return        value of type uint32_t at (*ptr)
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint32_t __LDREXW(volatile uint32_t *addr)
+{
+    uint32_t result;
+  
+   __ASM volatile ("ldrex %0, [%1]" : "=r" (result) : "r" (addr) );
+   return(result);
+}
+
+
+/** \brief  STR Exclusive (8 bit)
+
+    This function performs a exclusive STR command for 8 bit values.
+
+    \param [in]  value  Value to store
+    \param [in]    ptr  Pointer to location
+    \return          0  Function succeeded
+    \return          1  Function failed
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXB(uint8_t value, volatile uint8_t *addr)
+{
+   uint32_t result;
+  
+   __ASM volatile ("strexb %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
+   return(result);
+}
+
+
+/** \brief  STR Exclusive (16 bit)
+
+    This function performs a exclusive STR command for 16 bit values.
+
+    \param [in]  value  Value to store
+    \param [in]    ptr  Pointer to location
+    \return          0  Function succeeded
+    \return          1  Function failed
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXH(uint16_t value, volatile uint16_t *addr)
+{
+   uint32_t result;
+  
+   __ASM volatile ("strexh %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
+   return(result);
+}
+
+
+/** \brief  STR Exclusive (32 bit)
+
+    This function performs a exclusive STR command for 32 bit values.
+
+    \param [in]  value  Value to store
+    \param [in]    ptr  Pointer to location
+    \return          0  Function succeeded
+    \return          1  Function failed
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint32_t __STREXW(uint32_t value, volatile uint32_t *addr)
+{
+   uint32_t result;
+  
+   __ASM volatile ("strex %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) );
+   return(result);
+}
+
+
+/** \brief  Remove the exclusive lock
+
+    This function removes the exclusive lock which is created by LDREX.
+
+ */
+__attribute__( ( always_inline ) ) static __INLINE void __CLREX(void)
+{
+  __ASM volatile ("clrex");
+}
+
+
+/** \brief  Signed Saturate
+
+    This function saturates a signed value.
+
+    \param [in]  value  Value to be saturated
+    \param [in]    sat  Bit position to saturate to (1..32)
+    \return             Saturated value
+ */
+#define __SSAT(ARG1,ARG2) \
+({                          \
+  uint32_t __RES, __ARG1 = (ARG1); \
+  __ASM ("ssat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
+  __RES; \
+ })
+
+
+/** \brief  Unsigned Saturate
+
+    This function saturates an unsigned value.
+
+    \param [in]  value  Value to be saturated
+    \param [in]    sat  Bit position to saturate to (0..31)
+    \return             Saturated value
+ */
+#define __USAT(ARG1,ARG2) \
+({                          \
+  uint32_t __RES, __ARG1 = (ARG1); \
+  __ASM ("usat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
+  __RES; \
+ })
+
+
+/** \brief  Count leading zeros
+
+    This function counts the number of leading zeros of a data value.
+
+    \param [in]  value  Value to count the leading zeros
+    \return             number of leading zeros in value
+ */
+__attribute__( ( always_inline ) ) static __INLINE uint8_t __CLZ(uint32_t value)
+{
+  uint8_t result;
+  
+  __ASM volatile ("clz %0, %1" : "=r" (result) : "r" (value) );
+  return(result);
+}
+
+#endif /* (__CORTEX_M >= 0x03) */
+
+
+
+
+#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
+/* TASKING carm specific functions */
+
+/*
+ * The CMSIS functions have been implemented as intrinsics in the compiler.
+ * Please use "carm -?i" to get an up to date list of all intrinsics,
+ * Including the CMSIS ones.
+ */
+
+#endif
+
+/*@}*/ /* end of group CMSIS_Core_InstructionInterface */
+
+#endif /* __CORE_CMINSTR_H */

board/inc/stm32f2xx.h

@@ -0,0 +1,197 @@
+/**
+  ******************************************************************************
+  * @file    stm32f2xx.h
+  * @author  MCD Application Team
+  * @version V2.0.1
+  * @date    25-March-2014
+  * @brief   CMSIS STM32F2xx Device Peripheral Access Layer Header File.
+  *
+  *          The file is the unique include file that the application programmer
+  *          is using in the C source code, usually in main.c. This file contains:
+  *           - Configuration section that allows to select:
+  *              - The STM32F2xx device used in the target application
+  *              - To use or not the peripheral's drivers in application code(i.e.
+  *                code will be based on direct access to peripheral's registers
+  *                rather than drivers API), this option is controlled by
+  *                "#define USE_HAL_DRIVER"
+  *
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/** @addtogroup CMSIS
+  * @{
+  */
+
+/** @addtogroup stm32f2xx
+  * @{
+  */
+
+#ifndef __STM32F2xx_H
+#define __STM32F2xx_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif /* __cplusplus */
+
+/** @addtogroup Library_configuration_section
+  * @{
+  */
+
+/* Uncomment the line below according to the target STM32 device used in your
+   application
+  */
+
+#if !defined (STM32F205xx) && !defined (STM32F215xx) && !defined (STM32F207xx) && !defined (STM32F217xx)
+
+  /* #define STM32F205xx */   /*!< STM32Fxx    Devices */
+  /* #define STM32F215xx */   /*!< STM32Fxx    Devices */
+  /* #define STM32F207xx */   /*!< STM32Fxx    Devices */
+  /* #define STM32F217xx */   /*!< STM32Fxx    Devices */
+
+#endif
+
+/*  Tip: To avoid modifying this file each time you need to switch between these
+        devices, you can define the device in your toolchain compiler preprocessor.
+  */
+#if !defined  (USE_HAL_DRIVER)
+/**
+ * @brief Comment the line below if you will not use the peripherals drivers.
+   In this case, these drivers will not be included and the application code will
+   be based on direct access to peripherals registers
+   */
+  /*#define USE_HAL_DRIVER */
+#endif /* USE_HAL_DRIVER */
+
+/**
+  * @brief CMSIS Device version number V2.0.1
+  */
+#define __STM32F2xx_CMSIS_DEVICE_VERSION_MAIN   (0x02) /*!< [31:24] main version */
+#define __STM32F2xx_CMSIS_DEVICE_VERSION_SUB1   (0x00) /*!< [23:16] sub1 version */
+#define __STM32F2xx_CMSIS_DEVICE_VERSION_SUB2   (0x00) /*!< [15:8]  sub2 version */
+#define __STM32F2xx_CMSIS_DEVICE_VERSION_RC     (0x00) /*!< [7:0]  release candidate */
+#define __STM32F2xx_CMSIS_DEVICE_VERSION        ((__CMSIS_DEVICE_VERSION_MAIN     << 24)\
+                                      |(__CMSIS_DEVICE_HAL_VERSION_SUB1 << 16)\
+                                      |(__CMSIS_DEVICE_HAL_VERSION_SUB2 << 8 )\
+                                      |(__CMSIS_DEVICE_HAL_VERSION_RC))
+
+/**
+  * @}
+  */
+
+/** @addtogroup Device_Included
+  * @{
+  */
+
+#if defined(STM32F205xx)
+  #include "stm32f205xx.h"
+#elif defined(STM32F215xx)
+  #include "stm32f215xx.h"
+#elif defined(STM32F207xx)
+  #include "stm32f207xx.h"
+#elif defined(STM32F217xx)
+  #include "stm32f217xx.h"
+#else
+ #error "Please select first the target STM32F2xx device used in your application (in stm32f2xx.h file)"
+#endif
+
+/**
+  * @}
+  */
+
+/** @addtogroup Exported_types
+  * @{
+  */
+typedef enum
+{
+  RESET = 0,
+  SET = !RESET
+} FlagStatus, ITStatus;
+
+typedef enum
+{
+  DISABLE = 0,
+  ENABLE = !DISABLE
+} FunctionalState;
+#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE))
+
+typedef enum
+{
+  ERROR = 0,
+  SUCCESS = !ERROR
+} ErrorStatus;
+
+/**
+  * @}
+  */
+
+
+/** @addtogroup Exported_macro
+  * @{
+  */
+#define SET_BIT(REG, BIT)     ((REG) |= (BIT))
+
+#define CLEAR_BIT(REG, BIT)   ((REG) &= ~(BIT))
+
+#define READ_BIT(REG, BIT)    ((REG) & (BIT))
+
+#define CLEAR_REG(REG)        ((REG) = (0x0))
+
+#define WRITE_REG(REG, VAL)   ((REG) = (VAL))
+
+#define READ_REG(REG)         ((REG))
+
+#define MODIFY_REG(REG, CLEARMASK, SETMASK)  WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK)))
+
+#define POSITION_VAL(VAL)     (__CLZ(__RBIT(VAL)))
+
+
+/**
+  * @}
+  */
+
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* __STM32F2xx_H */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

board/inc/stm32f2xx_hal_def.h

@@ -0,0 +1,148 @@
+/**
+  ******************************************************************************
+  * @file    stm32f2xx_hal_def.h
+  * @author  MCD Application Team
+  * @version V1.0.1
+  * @date    25-March-2014
+  * @brief   This file contains HAL common defines, enumeration, macros and 
+  *          structures definitions. 
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F2xx_HAL_DEF
+#define __STM32F2xx_HAL_DEF
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f2xx.h"
+
+/* Exported types ------------------------------------------------------------*/
+
+/** 
+  * @brief  HAL Status structures definition  
+  */  
+typedef enum 
+{
+  HAL_OK       = 0x00,
+  HAL_ERROR    = 0x01,
+  HAL_BUSY     = 0x02,
+  HAL_TIMEOUT  = 0x03
+} HAL_StatusTypeDef;
+
+/** 
+  * @brief  HAL Lock structures definition  
+  */
+typedef enum 
+{
+  HAL_UNLOCKED = 0x00,
+  HAL_LOCKED   = 0x01  
+} HAL_LockTypeDef;
+
+/* Exported macro ------------------------------------------------------------*/
+#ifndef NULL
+  #define NULL      (void *) 0
+#endif
+
+#define HAL_MAX_DELAY      0xFFFFFFFF
+
+#define HAL_IS_BIT_SET(REG, BIT)         (((REG) & (BIT)) != RESET)
+#define HAL_IS_BIT_CLR(REG, BIT)         (((REG) & (BIT)) == RESET)
+
+#define __HAL_LINKDMA(__HANDLE__, __PPP_DMA_FIELD_, __DMA_HANDLE_)               \
+                        do{                                                      \
+                              (__HANDLE__)->__PPP_DMA_FIELD_ = &(__DMA_HANDLE_); \
+                              (__DMA_HANDLE_).Parent = (__HANDLE__);             \
+                          } while(0)
+
+#if (USE_RTOS == 1)
+  /* Reserved for future use */
+#else
+  #define __HAL_LOCK(__HANDLE__)                                           \
+                                do{                                        \
+                                    if((__HANDLE__)->Lock == HAL_LOCKED)   \
+                                    {                                      \
+                                       return HAL_BUSY;                    \
+                                    }                                      \
+                                    else                                   \
+                                    {                                      \
+                                       (__HANDLE__)->Lock = HAL_LOCKED;    \
+                                    }                                      \
+                                  }while (0)
+
+  #define __HAL_UNLOCK(__HANDLE__)                                          \
+                                  do{                                       \
+                                      (__HANDLE__)->Lock = HAL_UNLOCKED;    \
+                                    }while (0)
+#endif /* USE_RTOS */
+
+#if  defined ( __GNUC__ )
+  #ifndef __weak
+    #define __weak   __attribute__((weak))
+  #endif /* __weak */
+  #ifndef __packed
+    #define __packed __attribute__((__packed__))
+  #endif /* __packed */
+#endif /* __GNUC__ */
+
+  
+/* Macro to get variable aligned on 4-bytes, for __ICCARM__ the directive "#pragma data_alignment=4" must be used instead */
+#if defined   (__GNUC__)        /* GNU Compiler */
+  #ifndef __ALIGN_END
+    #define __ALIGN_END    __attribute__ ((aligned (4)))
+  #endif /* __ALIGN_END */
+  #ifndef __ALIGN_BEGIN  
+    #define __ALIGN_BEGIN
+  #endif /* __ALIGN_BEGIN */
+#else
+  #ifndef __ALIGN_END
+    #define __ALIGN_END
+  #endif /* __ALIGN_END */
+  #ifndef __ALIGN_BEGIN      
+    #if defined   (__CC_ARM)      /* ARM Compiler */
+      #define __ALIGN_BEGIN    __align(4)  
+    #elif defined (__ICCARM__)    /* IAR Compiler */
+      #define __ALIGN_BEGIN 
+    #elif defined  (__TASKING__)  /* TASKING Compiler */
+      #define __ALIGN_BEGIN    __align(4) 
+    #endif /* __CC_ARM */
+  #endif /* __ALIGN_BEGIN */
+#endif /* __GNUC__ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ___STM32F2xx_HAL_DEF */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

board/inc/stm32f2xx_hal_gpio_ex.h

@@ -0,0 +1,236 @@
+/**
+  ******************************************************************************
+  * @file    stm32f2xx_hal_gpio_ex.h
+  * @author  MCD Application Team
+  * @version V1.0.1
+  * @date    25-March-2014
+  * @brief   Header file of GPIO HAL Extension module.
+  ******************************************************************************
+  * @attention 
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */ 
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F2xx_HAL_GPIO_EX_H
+#define __STM32F2xx_HAL_GPIO_EX_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f2xx_hal_def.h"
+
+/** @addtogroup STM32F2xx_HAL_Driver
+  * @{
+  */
+
+/** @addtogroup GPIO
+  * @{
+  */ 
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup GPIO_Exported_Constants
+  * @{
+  */ 
+  
+/** @defgroup GPIO_Alternat_function_selection 
+  * @{
+  */
+
+/** 
+  * @brief   AF 0 selection  
+  */ 
+#define GPIO_AF0_RTC_50Hz      ((uint8_t)0x00)  /* RTC_50Hz Alternate Function mapping                       */
+#define GPIO_AF0_MCO           ((uint8_t)0x00)  /* MCO (MCO1 and MCO2) Alternate Function mapping            */
+#define GPIO_AF0_TAMPER        ((uint8_t)0x00)  /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */
+#define GPIO_AF0_SWJ           ((uint8_t)0x00)  /* SWJ (SWD and JTAG) Alternate Function mapping             */
+#define GPIO_AF0_TRACE         ((uint8_t)0x00)  /* TRACE Alternate Function mapping                          */
+
+/** 
+  * @brief   AF 1 selection  
+  */ 
+#define GPIO_AF1_TIM1          ((uint8_t)0x01)  /* TIM1 Alternate Function mapping */
+#define GPIO_AF1_TIM2          ((uint8_t)0x01)  /* TIM2 Alternate Function mapping */
+
+/** 
+  * @brief   AF 2 selection  
+  */ 
+#define GPIO_AF2_TIM3          ((uint8_t)0x02)  /* TIM3 Alternate Function mapping */
+#define GPIO_AF2_TIM4          ((uint8_t)0x02)  /* TIM4 Alternate Function mapping */
+#define GPIO_AF2_TIM5          ((uint8_t)0x02)  /* TIM5 Alternate Function mapping */
+
+/** 
+  * @brief   AF 3 selection  
+  */ 
+#define GPIO_AF3_TIM8          ((uint8_t)0x03)  /* TIM8 Alternate Function mapping  */
+#define GPIO_AF3_TIM9          ((uint8_t)0x03)  /* TIM9 Alternate Function mapping  */
+#define GPIO_AF3_TIM10         ((uint8_t)0x03)  /* TIM10 Alternate Function mapping */
+#define GPIO_AF3_TIM11         ((uint8_t)0x03)  /* TIM11 Alternate Function mapping */
+
+/** 
+  * @brief   AF 4 selection  
+  */ 
+#define GPIO_AF4_I2C1          ((uint8_t)0x04)  /* I2C1 Alternate Function mapping */
+#define GPIO_AF4_I2C2          ((uint8_t)0x04)  /* I2C2 Alternate Function mapping */
+#define GPIO_AF4_I2C3          ((uint8_t)0x04)  /* I2C3 Alternate Function mapping */
+
+/** 
+  * @brief   AF 5 selection  
+  */ 
+#define GPIO_AF5_SPI1          ((uint8_t)0x05)  /* SPI1 Alternate Function mapping        */
+#define GPIO_AF5_SPI2          ((uint8_t)0x05)  /* SPI2/I2S2 Alternate Function mapping   */
+/** 
+  * @brief   AF 6 selection  
+  */ 
+#define GPIO_AF6_SPI3          ((uint8_t)0x06)  /* SPI3/I2S3 Alternate Function mapping  */
+
+/** 
+  * @brief   AF 7 selection  
+  */ 
+#define GPIO_AF7_USART1        ((uint8_t)0x07)  /* USART1 Alternate Function mapping     */
+#define GPIO_AF7_USART2        ((uint8_t)0x07)  /* USART2 Alternate Function mapping     */
+#define GPIO_AF7_USART3        ((uint8_t)0x07)  /* USART3 Alternate Function mapping     */
+
+/** 
+  * @brief   AF 8 selection  
+  */ 
+#define GPIO_AF8_UART4         ((uint8_t)0x08)  /* UART4 Alternate Function mapping  */
+#define GPIO_AF8_UART5         ((uint8_t)0x08)  /* UART5 Alternate Function mapping  */
+#define GPIO_AF8_USART6        ((uint8_t)0x08)  /* USART6 Alternate Function mapping */
+
+/** 
+  * @brief   AF 9 selection 
+  */ 
+#define GPIO_AF9_CAN1          ((uint8_t)0x09)  /* CAN1 Alternate Function mapping  */
+#define GPIO_AF9_CAN2          ((uint8_t)0x09)  /* CAN2 Alternate Function mapping  */
+#define GPIO_AF9_TIM12         ((uint8_t)0x09)  /* TIM12 Alternate Function mapping */
+#define GPIO_AF9_TIM13         ((uint8_t)0x09)  /* TIM13 Alternate Function mapping */
+#define GPIO_AF9_TIM14         ((uint8_t)0x09)  /* TIM14 Alternate Function mapping */
+
+/** 
+  * @brief   AF 10 selection  
+  */ 
+#define GPIO_AF10_OTG_FS        ((uint8_t)0xA)  /* OTG_FS Alternate Function mapping */
+#define GPIO_AF10_OTG_HS        ((uint8_t)0xA)  /* OTG_HS Alternate Function mapping */
+
+/** 
+  * @brief   AF 11 selection  
+  */ 
+#if defined(STM32F207xx) || defined(STM32F217xx)
+#define GPIO_AF11_ETH             ((uint8_t)0x0B)  /* ETHERNET Alternate Function mapping */
+#endif /* STM32F207xx || STM32F217xx */
+
+/** 
+  * @brief   AF 12 selection  
+  */ 
+#define GPIO_AF12_FSMC          ((uint8_t)0xC)  /* FSMC Alternate Function mapping                     */
+#define GPIO_AF12_OTG_HS_FS     ((uint8_t)0xC)  /* OTG HS configured in FS, Alternate Function mapping */
+#define GPIO_AF12_SDIO          ((uint8_t)0xC)  /* SDIO Alternate Function mapping                     */
+
+/** 
+  * @brief   AF 13 selection  
+  */ 
+#if defined(STM32F207xx) || defined(STM32F217xx)
+#define GPIO_AF13_DCMI          ((uint8_t)0x0D)  /* DCMI Alternate Function mapping */
+#endif /* STM32F207xx || STM32F217xx */
+
+/** 
+  * @brief   AF 15 selection  
+  */ 
+#define GPIO_AF15_EVENTOUT      ((uint8_t)0x0F)  /* EVENTOUT Alternate Function mapping */
+
+#if defined(STM32F207xx) || defined(STM32F217xx)
+#define IS_GPIO_AF(AF)   (((AF) == GPIO_AF0_RTC_50Hz)   || ((AF) == GPIO_AF9_TIM14)      || \
+                          ((AF) == GPIO_AF0_MCO)        || ((AF) == GPIO_AF0_TAMPER)     || \
+                          ((AF) == GPIO_AF0_SWJ)        || ((AF) == GPIO_AF0_TRACE)      || \
+                          ((AF) == GPIO_AF1_TIM1)       || ((AF) == GPIO_AF1_TIM2)       || \
+                          ((AF) == GPIO_AF2_TIM3)       || ((AF) == GPIO_AF2_TIM4)       || \
+                          ((AF) == GPIO_AF2_TIM5)       || ((AF) == GPIO_AF3_TIM8)       || \
+                          ((AF) == GPIO_AF4_I2C1)       || ((AF) == GPIO_AF4_I2C2)       || \
+                          ((AF) == GPIO_AF4_I2C3)       || ((AF) == GPIO_AF5_SPI1)       || \
+                          ((AF) == GPIO_AF5_SPI2)       || ((AF) == GPIO_AF9_TIM13)      || \
+                          ((AF) == GPIO_AF6_SPI3)       || ((AF) == GPIO_AF9_TIM12)      || \
+                          ((AF) == GPIO_AF7_USART1)     || ((AF) == GPIO_AF7_USART2)     || \
+                          ((AF) == GPIO_AF7_USART3)     || ((AF) == GPIO_AF8_UART4)      || \
+                          ((AF) == GPIO_AF8_UART5)      || ((AF) == GPIO_AF8_USART6)     || \
+                          ((AF) == GPIO_AF9_CAN1)       || ((AF) == GPIO_AF9_CAN2)       || \
+                          ((AF) == GPIO_AF10_OTG_FS)    || ((AF) == GPIO_AF10_OTG_HS)    || \
+                          ((AF) == GPIO_AF11_ETH)       || ((AF) == GPIO_AF12_OTG_HS_FS) || \
+                          ((AF) == GPIO_AF12_SDIO)      || ((AF) == GPIO_AF13_DCMI)      || \
+                          ((AF) == GPIO_AF12_FSMC)      || ((AF) == GPIO_AF15_EVENTOUT))
+#else /* STM32F207xx || STM32F217xx */
+#define IS_GPIO_AF(AF)   (((AF) == GPIO_AF0_RTC_50Hz)   || ((AF) == GPIO_AF9_TIM14)      || \
+                          ((AF) == GPIO_AF0_MCO)        || ((AF) == GPIO_AF0_TAMPER)     || \
+                          ((AF) == GPIO_AF0_SWJ)        || ((AF) == GPIO_AF0_TRACE)      || \
+                          ((AF) == GPIO_AF1_TIM1)       || ((AF) == GPIO_AF1_TIM2)       || \
+                          ((AF) == GPIO_AF2_TIM3)       || ((AF) == GPIO_AF2_TIM4)       || \
+                          ((AF) == GPIO_AF2_TIM5)       || ((AF) == GPIO_AF3_TIM8)       || \
+                          ((AF) == GPIO_AF4_I2C1)       || ((AF) == GPIO_AF4_I2C2)       || \
+                          ((AF) == GPIO_AF4_I2C3)       || ((AF) == GPIO_AF5_SPI1)       || \
+                          ((AF) == GPIO_AF5_SPI2)       || ((AF) == GPIO_AF9_TIM13)      || \
+                          ((AF) == GPIO_AF6_SPI3)       || ((AF) == GPIO_AF9_TIM12)      || \
+                          ((AF) == GPIO_AF7_USART1)     || ((AF) == GPIO_AF7_USART2)     || \
+                          ((AF) == GPIO_AF7_USART3)     || ((AF) == GPIO_AF8_UART4)      || \
+                          ((AF) == GPIO_AF8_UART5)      || ((AF) == GPIO_AF8_USART6)     || \
+                          ((AF) == GPIO_AF9_CAN1)       || ((AF) == GPIO_AF9_CAN2)       || \
+                          ((AF) == GPIO_AF10_OTG_FS)    || ((AF) == GPIO_AF10_OTG_HS)    || \
+                          ((AF) == GPIO_AF12_OTG_HS_FS) || ((AF) == GPIO_AF12_SDIO)      || \
+                          ((AF) == GPIO_AF12_FSMC)      || ((AF) == GPIO_AF15_EVENTOUT))
+#endif /* STM32F207xx || STM32F217xx */
+                          
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/ 
+
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+  
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F2xx_HAL_GPIO_EX_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

board/inc/system_stm32f2xx.h

@@ -0,0 +1,99 @@
+/**
+  ******************************************************************************
+  * @file    system_stm32f2xx.h
+  * @author  MCD Application Team
+  * @version V1.0.0
+  * @date    18-April-2011
+  * @brief   CMSIS Cortex-M3 Device Peripheral Access Layer System Header File.
+  ******************************************************************************  
+  * @attention
+  *
+  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
+  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
+  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
+  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
+  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
+  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
+  *
+  * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
+  ******************************************************************************  
+  */ 
+
+/** @addtogroup CMSIS
+  * @{
+  */
+
+/** @addtogroup stm32f2xx_system
+  * @{
+  */  
+  
+/**
+  * @brief Define to prevent recursive inclusion
+  */
+#ifndef __SYSTEM_STM32F2XX_H
+#define __SYSTEM_STM32F2XX_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif 
+
+/** @addtogroup STM32F2xx_System_Includes
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+
+/** @addtogroup STM32F2xx_System_Exported_types
+  * @{
+  */
+
+extern uint32_t SystemCoreClock;          /*!< System Clock Frequency (Core Clock) */
+
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32F2xx_System_Exported_Constants
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32F2xx_System_Exported_Macros
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32F2xx_System_Exported_Functions
+  * @{
+  */
+  
+extern void SystemInit(void);
+extern void SystemCoreClockUpdate(void);
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__SYSTEM_STM32F2XX_H */
+
+/**
+  * @}
+  */
+  
+/**
+  * @}
+  */  
+/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/

board/libc.h

@@ -0,0 +1,231 @@
+#define min(a,b) \
+ ({ __typeof__ (a) _a = (a); \
+     __typeof__ (b) _b = (b); \
+   _a < _b ? _a : _b; })
+
+#define max(a,b) \
+ ({ __typeof__ (a) _a = (a); \
+     __typeof__ (b) _b = (b); \
+   _a > _b ? _a : _b; })
+
+#define __DIV(_PCLK_, _BAUD_)                        (((_PCLK_)*25)/(4*(_BAUD_)))
+#define __DIVMANT(_PCLK_, _BAUD_)                    (__DIV((_PCLK_), (_BAUD_))/100)
+#define __DIVFRAQ(_PCLK_, _BAUD_)                    (((__DIV((_PCLK_), (_BAUD_)) - (__DIVMANT((_PCLK_), (_BAUD_)) * 100)) * 16 + 50) / 100)
+#define __USART_BRR(_PCLK_, _BAUD_)              ((__DIVMANT((_PCLK_), (_BAUD_)) << 4)|(__DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0F))
+
+#include "stm32f2xx_hal_gpio_ex.h"
+
+// **** shitty libc ****
+
+void clock_init() {
+  #ifdef USE_INTERNAL_OSC
+    // enable internal oscillator
+    RCC->CR |= RCC_CR_HSION;
+    while ((RCC->CR & RCC_CR_HSIRDY) == 0);
+  #else
+    // enable external oscillator
+    RCC->CR |= RCC_CR_HSEON;
+    while ((RCC->CR & RCC_CR_HSERDY) == 0);
+  #endif
+
+  // divide shit
+  RCC->CFGR = RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV4;
+  #ifdef USE_INTERNAL_OSC
+    RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
+                   RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSI;
+  #else
+    RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
+                   RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLSRC_HSE;
+  #endif
+
+  // start PLL
+  RCC->CR |= RCC_CR_PLLON;
+  while ((RCC->CR & RCC_CR_PLLRDY) == 0);
+
+  // Configure Flash prefetch, Instruction cache, Data cache and wait state
+  // *** without this, it breaks ***
+  FLASH->ACR = FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS;
+
+  // switch to PLL
+  RCC->CFGR |= RCC_CFGR_SW_PLL;
+  while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL);
+
+  // *** running on PLL ***
+
+  // enable GPIOB, UART2, CAN, USB clock
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
+
+  RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
+
+  RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
+  RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
+  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
+  RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
+  RCC->APB1ENR |= RCC_APB1ENR_DACEN;
+  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
+  //RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
+  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
+  RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
+
+  // turn on alt USB
+  RCC->AHB1ENR |= RCC_AHB1ENR_OTGHSEN;
+
+  // fix interrupt vectors
+}
+
+// board specific
+void gpio_init() {
+  // analog mode
+  GPIOC->MODER = GPIO_MODER_MODER3 | GPIO_MODER_MODER2 |
+                 GPIO_MODER_MODER1 | GPIO_MODER_MODER0;
+
+  // FAN on C9, aka TIM3_CH4
+  #ifdef OLD_BOARD
+    GPIOC->MODER |= GPIO_MODER_MODER9_1;
+    GPIOC->AFR[1] = GPIO_AF2_TIM3 << ((9-8)*4);
+  #else
+    GPIOC->MODER |= GPIO_MODER_MODER8_1;
+    GPIOC->AFR[1] = GPIO_AF2_TIM3 << ((8-8)*4);
+  #endif
+  // IGNITION on C13
+
+  // set mode for LEDs and CAN
+  GPIOB->MODER = GPIO_MODER_MODER10_0 | GPIO_MODER_MODER11_0 | GPIO_MODER_MODER12_0;
+  // CAN 2
+  GPIOB->MODER |= GPIO_MODER_MODER5_1 | GPIO_MODER_MODER6_1;
+  // CAN 1
+  GPIOB->MODER |= GPIO_MODER_MODER8_1 | GPIO_MODER_MODER9_1;
+  // CAN enables
+  GPIOB->MODER |= GPIO_MODER_MODER3_0 | GPIO_MODER_MODER4_0;
+
+  // set mode for SERIAL and USB (DAC should be configured to in)
+  GPIOA->MODER = GPIO_MODER_MODER2_1 | GPIO_MODER_MODER3_1;
+  GPIOA->AFR[0] = GPIO_AF7_USART2 << (2*4) | GPIO_AF7_USART2 << (3*4);
+
+  // GPIOC USART3
+  GPIOC->MODER |= GPIO_MODER_MODER10_1 | GPIO_MODER_MODER11_1;
+  GPIOC->AFR[1] |= GPIO_AF7_USART3 << ((10-8)*4) | GPIO_AF7_USART3 << ((11-8)*4);
+
+  if (USBx == USB_OTG_FS) {
+    GPIOA->MODER |= GPIO_MODER_MODER11_1 | GPIO_MODER_MODER12_1;
+    GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
+    GPIOA->AFR[1] = GPIO_AF10_OTG_FS << ((11-8)*4) | GPIO_AF10_OTG_FS << ((12-8)*4);
+  }
+
+  GPIOA->PUPDR = GPIO_PUPDR_PUPDR2_0 | GPIO_PUPDR_PUPDR3_0;
+
+  // setup SPI
+  GPIOA->MODER |= GPIO_MODER_MODER4_1 | GPIO_MODER_MODER5_1 |
+                  GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1;
+  GPIOA->AFR[0] |= GPIO_AF5_SPI1 << (4*4) | GPIO_AF5_SPI1 << (5*4) |
+                   GPIO_AF5_SPI1 << (6*4) | GPIO_AF5_SPI1 << (7*4);
+
+  // set mode for CAN / USB_HS pins
+  GPIOB->AFR[0] = GPIO_AF9_CAN1 << (5*4) | GPIO_AF9_CAN1 << (6*4);
+  GPIOB->AFR[1] = GPIO_AF9_CAN1 << ((8-8)*4) | GPIO_AF9_CAN1 << ((9-8)*4);
+
+  if (USBx == USB_OTG_HS) {
+    GPIOB->AFR[1] |= GPIO_AF12_OTG_HS_FS << ((15-8)*4) | GPIO_AF12_OTG_HS_FS << ((14-8)*4);
+    GPIOB->MODER |= GPIO_MODER_MODER14_1 | GPIO_MODER_MODER15_1;
+  }
+
+  GPIOB->OSPEEDR = GPIO_OSPEEDER_OSPEEDR14 | GPIO_OSPEEDER_OSPEEDR15;
+
+  // enable OTG out tied to ground
+  GPIOA->ODR = 0;
+  GPIOA->MODER |= GPIO_MODER_MODER1_0;
+
+  // enable USB power tied to +
+  GPIOA->ODR |= 1;
+  GPIOA->MODER |= GPIO_MODER_MODER0_0;
+}
+
+void uart_init() {
+  // enable uart and tx+rx mode
+  USART->CR1 = USART_CR1_UE;
+  USART->BRR = __USART_BRR(24000000, 115200);
+  USART->CR1 |= USART_CR1_TE | USART_CR1_RE;
+  USART->CR2 = USART_CR2_STOP_0 | USART_CR2_STOP_1;
+  // ** UART is ready to work **
+
+  // enable interrupts
+  USART->CR1 |= USART_CR1_RXNEIE;
+}
+
+void delay(int a) {
+  volatile int i;
+  for (i=0;i<a;i++);
+}
+
+void putch(const char a) {
+  while (!(USART->SR & USART_SR_TXE));
+  USART->DR = a;
+}
+
+int puts(const char *a) {
+  for (;*a;a++) {
+    if (*a == '\n') putch('\r');
+    putch(*a);
+  }
+  return 0;
+}
+
+void puth(unsigned int i) {
+  int pos;
+  char c[] = "0123456789abcdef";
+  for (pos = 28; pos != -4; pos -= 4) {
+    putch(c[(i >> pos) & 0xF]);
+  }
+}
+
+void puth2(unsigned int i) {
+  int pos;
+  char c[] = "0123456789abcdef";
+  for (pos = 4; pos != -4; pos -= 4) {
+    putch(c[(i >> pos) & 0xF]);
+  }
+}
+
+void hexdump(void *a, int l) {
+  int i;
+  for (i=0;i<l;i++) {
+    if (i != 0 && (i&0xf) == 0) puts("\n");
+    puth2(((unsigned char*)a)[i]);
+    puts(" ");
+  }
+  puts("\n");
+}
+
+void *memset(void *str, int c, unsigned int n) {
+  int i;
+  for (i = 0; i < n; i++) {
+    *((uint8_t*)str) = c;
+    ++str;
+  }
+  return str;
+}
+
+void *memcpy(void *dest, const void *src, unsigned int n) {
+  int i;
+  // TODO: make not slow
+  for (i = 0; i < n; i++) {
+    ((uint8_t*)dest)[i] = *(uint8_t*)src;
+    ++src;
+  }
+  return dest;
+}
+
+void set_led(int led_num, int state) {
+  if (state) {
+    // turn on
+    GPIOB->ODR &= ~(1 << (10 + led_num));
+  } else {
+    // turn off
+    GPIOB->ODR |= (1 << (10 + led_num));
+  }
+}
+

board/main.c

@@ -0,0 +1,592 @@
+//#define DEBUG
+//#define CAN_LOOPBACK_MODE
+//#define USE_INTERNAL_OSC
+//#define OLD_BOARD
+//#define ENABLE_CURRENT_SENSOR
+//#define ENABLE_SPI
+
+// choose serial port for debugging
+//#define USART USART2
+#define USART USART3
+
+#define USB_VID 0xbbaa
+#define USB_PID 0xddcc
+
+// *** end config ***
+
+#include "stm32f2xx.h"
+#include "obj/gitversion.h"
+
+#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
+uint32_t enter_bootloader_mode;
+
+USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
+
+#include "libc.h"
+#include "adc.h"
+#include "timer.h"
+#include "usb.h"
+#include "can.h"
+#include "spi.h"
+
+// debug safety check: is controls allowed?
+int controls_allowed = 0;
+int started = 0;
+int can_live = 0, pending_can_live = 0;
+
+// optional features
+int gas_interceptor_detected = 0;
+int started_signal_detected = 0;
+
+// ********************* instantiate queues *********************
+
+#define FIFO_SIZE 0x100
+typedef struct {
+  uint8_t w_ptr;
+  uint8_t r_ptr;
+  CAN_FIFOMailBox_TypeDef elems[FIFO_SIZE];
+} can_ring;
+
+can_ring can_rx_q = { .w_ptr = 0, .r_ptr = 0 };
+can_ring can_tx1_q = { .w_ptr = 0, .r_ptr = 0 };
+can_ring can_tx2_q = { .w_ptr = 0, .r_ptr = 0 };
+
+// ********************* interrupt safe queue *********************
+
+inline int pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+  if (q->w_ptr != q->r_ptr) {
+    *elem = q->elems[q->r_ptr];
+    q->r_ptr += 1;
+    return 1;
+  }
+  return 0;
+}
+
+inline int push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
+  uint8_t next_w_ptr = q->w_ptr + 1;
+  if (next_w_ptr != q->r_ptr) {
+    q->elems[q->w_ptr] = *elem;
+    q->w_ptr = next_w_ptr;
+    return 1;
+  }
+  return 0;
+}
+
+// ***************************** CAN *****************************
+
+void process_can(CAN_TypeDef *CAN, can_ring *can_q, int can_number) {
+  #ifdef DEBUG
+    puts("process CAN TX\n");
+  #endif
+
+  // add successfully transmitted message to my fifo
+  if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
+    CAN_FIFOMailBox_TypeDef to_push;
+    to_push.RIR = CAN->sTxMailBox[0].TIR;
+    to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000F) | ((can_number+2) << 4);
+    to_push.RDLR = CAN->sTxMailBox[0].TDLR;
+    to_push.RDHR = CAN->sTxMailBox[0].TDHR;
+    push(&can_rx_q, &to_push);
+  }
+
+  // check for empty mailbox
+  CAN_FIFOMailBox_TypeDef to_send;
+  if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
+    if (pop(can_q, &to_send)) {
+
+      // BRAKE: safety check
+      if ((to_send.RIR>>21) == 0x1FA) {
+        if (controls_allowed) {
+          to_send.RDLR &= 0xFFFFFF3F;
+        } else {
+          to_send.RDLR &= 0xFFFF0000;
+        }
+      }
+
+      // STEER: safety check
+      if ((to_send.RIR>>21) == 0xE4) {
+        if (controls_allowed) {
+          to_send.RDLR &= 0xFFFFFFFF;
+        } else {
+          to_send.RDLR &= 0xFFFF0000;
+        }
+      } 
+
+      // GAS: safety check
+      if ((to_send.RIR>>21) == 0x200) {
+        if (controls_allowed) {
+          to_send.RDLR &= 0xFFFFFFFF;
+        } else {
+          to_send.RDLR &= 0xFFFF0000;
+        }
+      } 
+
+      // only send if we have received a packet
+      CAN->sTxMailBox[0].TDLR = to_send.RDLR;
+      CAN->sTxMailBox[0].TDHR = to_send.RDHR;
+      CAN->sTxMailBox[0].TDTR = to_send.RDTR;
+      CAN->sTxMailBox[0].TIR = to_send.RIR;
+    }
+  }
+
+  // clear interrupt
+  CAN->TSR |= CAN_TSR_RQCP0;
+}
+
+// send more, possible for these to not trigger?
+void CAN1_TX_IRQHandler() {
+  process_can(CAN1, &can_tx1_q, 1);
+}
+
+void CAN2_TX_IRQHandler() {
+  process_can(CAN2, &can_tx2_q, 0);
+}
+
+// board enforces
+//   in-state
+//      accel set/resume
+//   out-state
+//      cancel button
+
+
+// all commands: brake and steering
+// if controls_allowed
+//     allow all commands up to limit
+// else
+//     block all commands that produce actuation
+
+// CAN receive handlers
+void can_rx(CAN_TypeDef *CAN, int can_number) {
+  while (CAN->RF0R & CAN_RF0R_FMP0) {
+    // can is live
+    pending_can_live = 1;
+
+    // add to my fifo
+    CAN_FIFOMailBox_TypeDef to_push;
+    to_push.RIR = CAN->sFIFOMailBox[0].RIR;
+    // top 16-bits is the timestamp
+    to_push.RDTR = (CAN->sFIFOMailBox[0].RDTR & 0xFFFF000F) | (can_number << 4);
+    to_push.RDLR = CAN->sFIFOMailBox[0].RDLR;
+    to_push.RDHR = CAN->sFIFOMailBox[0].RDHR;
+
+    // state machine to enter and exit controls
+    // 0x1A6 for the ILX, 0x296 for the Civic Touring
+    if ((to_push.RIR>>21) == 0x1A6 || (to_push.RIR>>21) == 0x296) {
+      int buttons = (to_push.RDLR & 0xE0) >> 5;
+      if (buttons == 4 || buttons == 3) {
+        controls_allowed = 1;
+      } else if (buttons == 2) {
+        controls_allowed = 0;
+      }
+    }
+
+    // exit controls on brake press
+    if ((to_push.RIR>>21) == 0x17C) {
+      // bit 50
+      if (to_push.RDHR & 0x200000) {
+        controls_allowed = 0;
+      }
+    }
+
+    // exit controls on gas press if interceptor
+    if ((to_push.RIR>>21) == 0x201) {
+      gas_interceptor_detected = 1;
+      int gas = ((to_push.RDLR & 0xFF) << 8) | ((to_push.RDLR & 0xFF00) >> 8);
+      if (gas > 328) {
+        controls_allowed = 0;
+      }
+    }
+
+    // exit controls on gas press if no interceptor
+    if (!gas_interceptor_detected) {
+      if ((to_push.RIR>>21) == 0x17C) {
+        if (to_push.RDLR & 0xFF) {
+          controls_allowed = 0;
+        }
+      }
+    }
+
+    push(&can_rx_q, &to_push);
+
+    // next
+    CAN->RF0R |= CAN_RF0R_RFOM0;
+  }
+}
+
+void CAN1_RX0_IRQHandler() {
+  //puts("CANRX1");
+  //delay(10000);
+  can_rx(CAN1, 1);
+}
+
+void CAN2_RX0_IRQHandler() {
+  //puts("CANRX0");
+  //delay(10000);
+  can_rx(CAN2, 0);
+}
+
+void CAN1_SCE_IRQHandler() {
+  //puts("CAN1_SCE\n");
+  can_sce(CAN1);
+}
+
+void CAN2_SCE_IRQHandler() {
+  //puts("CAN2_SCE\n");
+  can_sce(CAN2);
+}
+
+// ***************************** serial port *****************************
+
+void USART_IRQHandler(void) {
+  puts("S");
+
+  // echo characters
+  if (USART->SR & USART_SR_RXNE) {
+    char rcv = USART->DR;
+    putch(rcv);
+
+    // jump to DFU flash
+    if (rcv == 'z') {
+      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+      NVIC_SystemReset();
+    }
+  }
+}
+
+void USART2_IRQHandler(void) {
+  USART_IRQHandler();
+}
+
+void USART3_IRQHandler(void) {
+  USART_IRQHandler();
+}
+
+// ***************************** USB port *****************************
+
+int get_health_pkt(void *dat) {
+  struct {
+    uint32_t voltage;
+    uint32_t current;
+    uint8_t started;
+    uint8_t controls_allowed;
+    uint8_t gas_interceptor_detected;
+    uint8_t started_signal_detected;
+  } *health = dat;
+  health->voltage = adc_get(ADCCHAN_VOLTAGE);
+#ifdef ENABLE_CURRENT_SENSOR
+  health->current = adc_get(ADCCHAN_CURRENT);
+#else
+  health->current = 0;
+#endif
+  health->started = started;
+
+  health->controls_allowed = controls_allowed;
+
+  health->gas_interceptor_detected = gas_interceptor_detected;
+  health->started_signal_detected = started_signal_detected;
+  return sizeof(*health);
+}
+
+void set_fan_speed(int fan_speed) {
+  #ifdef OLD_BOARD
+    TIM3->CCR4 = fan_speed;
+  #else
+    TIM3->CCR3 = fan_speed;
+  #endif
+}
+
+void usb_cb_ep1_in(int len) {
+  CAN_FIFOMailBox_TypeDef reply[4];
+
+  int ilen = 0;
+  while (ilen < min(len/0x10, 4) && pop(&can_rx_q, &reply[ilen])) ilen++;
+
+  #ifdef DEBUG
+    puts("FIFO SENDING ");
+    puth(ilen);
+    puts("\n");
+  #endif
+
+  USB_WritePacket((void *)reply, ilen*0x10, 1);
+}
+
+void usb_cb_ep2_out(uint8_t *usbdata, int len) {
+}
+
+// send on CAN
+void usb_cb_ep3_out(uint8_t *usbdata, int len) {
+  int dpkt = 0;
+  for (dpkt = 0; dpkt < len; dpkt += 0x10) {
+    uint32_t *tf = (uint32_t*)(&usbdata[dpkt]);
+    
+    int flags = tf[1] >> 4;
+    CAN_TypeDef *CAN;
+    can_ring *can_q;
+    int can_number = 0;
+    if (flags & 1)  {
+      CAN=CAN1;
+      can_q = &can_tx1_q;
+      can_number = 1;
+    } else {
+      CAN=CAN2;
+      can_q = &can_tx2_q;
+    }
+
+    // add CAN packet to send queue
+    CAN_FIFOMailBox_TypeDef to_push;
+    to_push.RDHR = tf[3];
+    to_push.RDLR = tf[2];
+    to_push.RDTR = tf[1] & 0xF;
+    to_push.RIR = tf[0];
+    push(can_q, &to_push);
+
+    process_can(CAN, can_q, can_number);
+  }
+}
+
+
+void usb_cb_control_msg() {
+  uint8_t resp[0x20];
+  int resp_len;
+  switch (setup.b.bRequest) {
+    case 0xd1:
+      enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+      NVIC_SystemReset();
+      break;
+    case 0xd2:
+      resp_len = get_health_pkt(resp);
+      USB_WritePacket(resp, resp_len, 0);
+      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+      break;
+    case 0xd3:
+      set_fan_speed(setup.b.wValue.w);
+      USB_WritePacket(0, 0, 0);
+      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+      break;
+    case 0xd6: // GET_VERSION
+      USB_WritePacket(gitversion, min(sizeof(gitversion), setup.b.wLength.w), 0);
+      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+      break;
+    case 0xd8: // RESET
+      NVIC_SystemReset();
+      break;
+    default:
+      puts("NO HANDLER ");
+      puth(setup.b.bRequest);
+      puts("\n");
+      break;
+  }
+}
+
+
+void OTG_FS_IRQHandler(void) {
+  NVIC_DisableIRQ(OTG_FS_IRQn);
+  //__disable_irq();
+  usb_irqhandler();
+  //__enable_irq();
+  NVIC_EnableIRQ(OTG_FS_IRQn);
+}
+
+void OTG_HS_IRQHandler(void) {
+  //puts("HS_IRQ\n");
+  NVIC_DisableIRQ(OTG_FS_IRQn);
+  //__disable_irq();
+  usb_irqhandler();
+  //__enable_irq();
+  NVIC_EnableIRQ(OTG_FS_IRQn);
+}
+
+void ADC_IRQHandler(void) {
+  puts("ADC_IRQ\n");
+}
+
+#ifdef ENABLE_SPI
+
+#define SPI_BUF_SIZE 128
+uint8_t spi_buf[SPI_BUF_SIZE];
+int spi_buf_count = 0;
+uint8_t spi_tx_buf[0x10];
+
+void DMA2_Stream3_IRQHandler(void) {
+  #ifdef DEBUG
+    puts("DMA2\n");
+  #endif
+  DMA2->LIFCR = DMA_LIFCR_CTCIF3;
+
+  pop(&can_rx_q, spi_tx_buf);
+  spi_tx_dma(spi_tx_buf, 0x10);
+}
+
+void SPI1_IRQHandler(void) {
+  // status is 0x43
+  if (SPI1->SR & SPI_SR_RXNE) {
+    uint8_t dat = SPI1->DR;
+    /*spi_buf[spi_buf_count] = dat;
+    if (spi_buf_count < SPI_BUF_SIZE-1) {
+      spi_buf_count += 1;
+    }*/
+  }
+
+  if (SPI1->SR & SPI_SR_TXE) {
+    // all i send is U U U no matter what
+    //SPI1->DR = 'U';
+  }
+
+  int stat = SPI1->SR;
+  if (stat & ((~SPI_SR_RXNE) & (~SPI_SR_TXE) & (~SPI_SR_BSY))) {
+    puts("SPI status: ");
+    puth(stat);
+    puts("\n");
+  }
+}
+
+#endif
+
+// ***************************** main code *****************************
+
+void __initialize_hardware_early() {
+  // set USB power + and OTG mode
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
+
+  // enable OTG out tied to ground
+  GPIOA->ODR = 0;
+  GPIOA->MODER |= GPIO_MODER_MODER1_0;
+
+  // enable USB power tied to +
+  GPIOA->ODR |= 1;
+  GPIOA->MODER |= GPIO_MODER_MODER0_0;
+
+  // enable pull DOWN on OTG_FS_DP
+  // must be done a while before reading it
+  GPIOA->PUPDR = GPIO_PUPDR_PUPDR12_1;
+
+  if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
+    enter_bootloader_mode = 0;
+    void (*bootloader)(void) = (void (*)(void)) (*((uint32_t *)0x1fff0004));
+
+    // jump to bootloader
+    bootloader();
+
+    // LOOP
+    while(1);
+  }
+}
+
+int main() {
+  // init devices
+  clock_init();
+
+  gpio_init();
+  uart_init();
+  usb_init();
+  can_init(CAN1);
+  can_init(CAN2);
+  adc_init();
+
+#ifdef ENABLE_SPI
+  spi_init();
+
+  // set up DMA
+  memset(spi_tx_buf, 0, 0x10);
+  spi_tx_dma(spi_tx_buf, 0x10);
+#endif
+
+  // timer for fan PWM
+  #ifdef OLD_BOARD
+    TIM3->CCMR2 = TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1;
+    TIM3->CCER = TIM_CCER_CC4E;
+  #else
+    TIM3->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1;
+    TIM3->CCER = TIM_CCER_CC3E;
+  #endif
+
+  // max value of the timer
+  // 64 makes it above the audible range
+  //TIM3->ARR = 64;
+
+  // 10 prescale makes it below the audible range
+  timer_init(TIM3, 10);
+
+  // set PWM
+  set_fan_speed(65535);
+
+  puts("**** INTERRUPTS ON ****\n");
+  __disable_irq();
+  NVIC_EnableIRQ(USART2_IRQn);
+  NVIC_EnableIRQ(USART3_IRQn);
+  NVIC_EnableIRQ(OTG_FS_IRQn);
+  NVIC_EnableIRQ(OTG_HS_IRQn);
+  NVIC_EnableIRQ(ADC_IRQn);
+  // CAN has so many interrupts!
+
+  NVIC_EnableIRQ(CAN1_TX_IRQn);
+  NVIC_EnableIRQ(CAN1_RX0_IRQn);
+  NVIC_EnableIRQ(CAN1_SCE_IRQn);
+
+  NVIC_EnableIRQ(CAN2_TX_IRQn);
+  NVIC_EnableIRQ(CAN2_RX0_IRQn);
+  NVIC_EnableIRQ(CAN2_SCE_IRQn);
+
+#ifdef ENABLE_SPI
+  NVIC_EnableIRQ(DMA2_Stream3_IRQn);
+  NVIC_EnableIRQ(SPI1_IRQn);
+#endif
+  __enable_irq();
+
+
+  // LED should keep on blinking all the time
+  int cnt;
+  for (cnt=0;;cnt++) {
+    can_live = pending_can_live;
+
+    // reset this every 16th pass
+    if ((cnt&0xF) == 0) pending_can_live = 0;
+
+    #ifdef DEBUG
+      puts("** blink ");
+      puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts("  ");
+      puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts("  ");
+      puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
+    #endif
+
+    /*puts("voltage: "); puth(adc_get(ADCCHAN_VOLTAGE)); puts("  ");
+    puts("current: "); puth(adc_get(ADCCHAN_CURRENT)); puts("\n");*/
+
+    // set LED to be controls allowed
+    GPIOB->ODR = (GPIOB->ODR | (1 << 11)) & ~(controls_allowed << 11);
+
+    // blink the other LED if in FS mode
+    if (USBx == USB_OTG_FS) {
+      GPIOB->ODR |= (1 << 10);
+    }
+    delay(1000000);
+    GPIOB->ODR &= ~(1 << 10);
+    delay(1000000);
+
+    #ifdef ENABLE_SPI
+      if (spi_buf_count > 0) {
+        hexdump(spi_buf, spi_buf_count);
+        spi_buf_count = 0;
+      }
+    #endif
+
+    // started logic
+    int started_signal = (GPIOC->IDR & (1 << 13)) != 0;
+    if (started_signal) { started_signal_detected = 1; }
+
+    if (started_signal || (!started_signal_detected && can_live)) {
+      started = 1;
+
+      // turn on fan at half speed
+      set_fan_speed(32768);
+    } else {
+      started = 0;
+
+      // turn off fan
+      set_fan_speed(0);
+    }
+  }
+
+  return 0;
+}
+

board/spi.h

@@ -0,0 +1,23 @@
+void spi_init() {
+  puts("SPI init\n");
+  SPI1->CR1 = SPI_CR1_SPE;
+  SPI1->CR2 = SPI_CR2_RXNEIE | SPI_CR2_ERRIE | SPI_CR2_TXEIE;
+}
+
+void spi_tx_dma(void *addr, int len) {
+  // disable DMA
+  SPI1->CR2 &= ~SPI_CR2_TXDMAEN;
+  DMA2_Stream3->CR &= ~DMA_SxCR_EN;
+
+  // DMA2, stream 3, channel 3
+  DMA2_Stream3->M0AR = addr;
+  DMA2_Stream3->NDTR = len;
+  DMA2_Stream3->PAR = &(SPI1->DR);
+
+  // channel3, increment memory, memory -> periph, enable
+  DMA2_Stream3->CR = DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_EN;
+  DMA2_Stream3->CR |= DMA_SxCR_TCIE;
+
+  SPI1->CR2 |= SPI_CR2_TXDMAEN;
+}
+

board/startup_stm32f205xx.s

@@ -0,0 +1,511 @@
+/**
+  ******************************************************************************
+  * @file      startup_stm32f205xx.s
+  * @author    MCD Application Team
+  * @version   V2.0.1
+  * @date      25-March-2014
+  * @brief     STM32F205xx Devices vector table for Atollic TrueSTUDIO toolchain.
+  *            This module performs:
+  *                - Set the initial SP
+  *                - Set the initial PC == Reset_Handler,
+  *                - Set the vector table entries with the exceptions ISR address
+  *                - Branches to main in the C library (which eventually
+  *                  calls main()).
+  *            After Reset the Cortex-M3 processor is in Thread mode,
+  *            priority is Privileged, and the Stack is set to Main.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT 2014 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+
+  .syntax unified
+  .cpu cortex-m3
+  .thumb
+
+.global  g_pfnVectors
+.global  Default_Handler
+
+/* start address for the initialization values of the .data section.
+defined in linker script */
+.word  _sidata
+/* start address for the .data section. defined in linker script */
+.word  _sdata
+/* end address for the .data section. defined in linker script */
+.word  _edata
+/* start address for the .bss section. defined in linker script */
+.word  _sbss
+/* end address for the .bss section. defined in linker script */
+.word  _ebss
+/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
+
+/**
+ * @brief  This is the code that gets called when the processor first
+ *          starts execution following a reset event. Only the absolutely
+ *          necessary set is performed, after which the application
+ *          supplied main() routine is called.
+ * @param  None
+ * @retval : None
+*/
+
+    .section  .text.Reset_Handler
+  .weak  Reset_Handler
+  .type  Reset_Handler, %function
+Reset_Handler:
+  bl __initialize_hardware_early
+  ldr   sp, =_estack     /* set stack pointer */
+
+/* Copy the data segment initializers from flash to SRAM */
+  movs  r1, #0
+  b  LoopCopyDataInit
+
+CopyDataInit:
+  ldr  r3, =_sidata
+  ldr  r3, [r3, r1]
+  str  r3, [r0, r1]
+  adds  r1, r1, #4
+
+LoopCopyDataInit:
+  ldr  r0, =_sdata
+  ldr  r3, =_edata
+  adds  r2, r0, r1
+  cmp  r2, r3
+  bcc  CopyDataInit
+  ldr  r2, =_sbss
+  b  LoopFillZerobss
+/* Zero fill the bss segment. */
+FillZerobss:
+  movs  r3, #0
+  str  r3, [r2], #4
+
+LoopFillZerobss:
+  ldr  r3, = _ebss
+  cmp  r2, r3
+  bcc  FillZerobss
+
+/* Call the clock system intitialization function.*/
+  /* bl  SystemInit */
+/* Call static constructors */
+  /* bl __libc_init_array */
+/* Call the application's entry point.*/
+  bl  main
+  bx  lr
+.size  Reset_Handler, .-Reset_Handler
+
+/**
+ * @brief  This is the code that gets called when the processor receives an
+ *         unexpected interrupt.  This simply enters an infinite loop, preserving
+ *         the system state for examination by a debugger.
+ * @param  None
+ * @retval None
+*/
+    .section  .text.Default_Handler,"ax",%progbits
+Default_Handler:
+Infinite_Loop:
+  b  Infinite_Loop
+  .size  Default_Handler, .-Default_Handler
+/******************************************************************************
+*
+* The minimal vector table for a Cortex M3. Note that the proper constructs
+* must be placed on this to ensure that it ends up at physical address
+* 0x0000.0000.
+*
+*******************************************************************************/
+   .section  .isr_vector,"a",%progbits
+  .type  g_pfnVectors, %object
+  .size  g_pfnVectors, .-g_pfnVectors
+
+
+
+g_pfnVectors:
+  .word  _estack
+  .word  Reset_Handler
+
+  .word  NMI_Handler
+  .word  HardFault_Handler
+  .word  MemManage_Handler
+  .word  BusFault_Handler
+  .word  UsageFault_Handler
+  .word  0
+  .word  0
+  .word  0
+  .word  0
+  .word  SVC_Handler
+  .word  DebugMon_Handler
+  .word  0
+  .word  PendSV_Handler
+  .word  SysTick_Handler
+
+  /* External Interrupts */
+  .word     WWDG_IRQHandler                   /* Window WatchDog              */
+  .word     PVD_IRQHandler                    /* PVD through EXTI Line detection */
+  .word     TAMP_STAMP_IRQHandler             /* Tamper and TimeStamps through the EXTI line */
+  .word     RTC_WKUP_IRQHandler               /* RTC Wakeup through the EXTI line */
+  .word     FLASH_IRQHandler                  /* FLASH                        */
+  .word     RCC_IRQHandler                    /* RCC                          */
+  .word     EXTI0_IRQHandler                  /* EXTI Line0                   */
+  .word     EXTI1_IRQHandler                  /* EXTI Line1                   */
+  .word     EXTI2_IRQHandler                  /* EXTI Line2                   */
+  .word     EXTI3_IRQHandler                  /* EXTI Line3                   */
+  .word     EXTI4_IRQHandler                  /* EXTI Line4                   */
+  .word     DMA1_Stream0_IRQHandler           /* DMA1 Stream 0                */
+  .word     DMA1_Stream1_IRQHandler           /* DMA1 Stream 1                */
+  .word     DMA1_Stream2_IRQHandler           /* DMA1 Stream 2                */
+  .word     DMA1_Stream3_IRQHandler           /* DMA1 Stream 3                */
+  .word     DMA1_Stream4_IRQHandler           /* DMA1 Stream 4                */
+  .word     DMA1_Stream5_IRQHandler           /* DMA1 Stream 5                */
+  .word     DMA1_Stream6_IRQHandler           /* DMA1 Stream 6                */
+  .word     ADC_IRQHandler                    /* ADC1, ADC2 and ADC3s         */
+  .word     CAN1_TX_IRQHandler                /* CAN1 TX                      */
+  .word     CAN1_RX0_IRQHandler               /* CAN1 RX0                     */
+  .word     CAN1_RX1_IRQHandler               /* CAN1 RX1                     */
+  .word     CAN1_SCE_IRQHandler               /* CAN1 SCE                     */
+  .word     EXTI9_5_IRQHandler                /* External Line[9:5]s          */
+  .word     TIM1_BRK_TIM9_IRQHandler          /* TIM1 Break and TIM9          */
+  .word     TIM1_UP_TIM10_IRQHandler          /* TIM1 Update and TIM10        */
+  .word     TIM1_TRG_COM_TIM11_IRQHandler     /* TIM1 Trigger and Commutation and TIM11 */
+  .word     TIM1_CC_IRQHandler                /* TIM1 Capture Compare         */
+  .word     TIM2_IRQHandler                   /* TIM2                         */
+  .word     TIM3_IRQHandler                   /* TIM3                         */
+  .word     TIM4_IRQHandler                   /* TIM4                         */
+  .word     I2C1_EV_IRQHandler                /* I2C1 Event                   */
+  .word     I2C1_ER_IRQHandler                /* I2C1 Error                   */
+  .word     I2C2_EV_IRQHandler                /* I2C2 Event                   */
+  .word     I2C2_ER_IRQHandler                /* I2C2 Error                   */
+  .word     SPI1_IRQHandler                   /* SPI1                         */
+  .word     SPI2_IRQHandler                   /* SPI2                         */
+  .word     USART1_IRQHandler                 /* USART1                       */
+  .word     USART2_IRQHandler                 /* USART2                       */
+  .word     USART3_IRQHandler                 /* USART3                       */
+  .word     EXTI15_10_IRQHandler              /* External Line[15:10]s        */
+  .word     RTC_Alarm_IRQHandler              /* RTC Alarm (A and B) through EXTI Line */
+  .word     OTG_FS_WKUP_IRQHandler            /* USB OTG FS Wakeup through EXTI line */
+  .word     TIM8_BRK_TIM12_IRQHandler         /* TIM8 Break and TIM12         */
+  .word     TIM8_UP_TIM13_IRQHandler          /* TIM8 Update and TIM13        */
+  .word     TIM8_TRG_COM_TIM14_IRQHandler     /* TIM8 Trigger and Commutation and TIM14 */
+  .word     TIM8_CC_IRQHandler                /* TIM8 Capture Compare         */
+  .word     DMA1_Stream7_IRQHandler           /* DMA1 Stream7                 */
+  .word     FSMC_IRQHandler                   /* FSMC                         */
+  .word     SDIO_IRQHandler                   /* SDIO                         */
+  .word     TIM5_IRQHandler                   /* TIM5                         */
+  .word     SPI3_IRQHandler                   /* SPI3                         */
+  .word     UART4_IRQHandler                  /* UART4                        */
+  .word     UART5_IRQHandler                  /* UART5                        */
+  .word     TIM6_DAC_IRQHandler               /* TIM6 and DAC1&2 underrun errors */
+  .word     TIM7_IRQHandler                   /* TIM7                         */
+  .word     DMA2_Stream0_IRQHandler           /* DMA2 Stream 0                */
+  .word     DMA2_Stream1_IRQHandler           /* DMA2 Stream 1                */
+  .word     DMA2_Stream2_IRQHandler           /* DMA2 Stream 2                */
+  .word     DMA2_Stream3_IRQHandler           /* DMA2 Stream 3                */
+  .word     DMA2_Stream4_IRQHandler           /* DMA2 Stream 4                */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     CAN2_TX_IRQHandler                /* CAN2 TX                      */
+  .word     CAN2_RX0_IRQHandler               /* CAN2 RX0                     */
+  .word     CAN2_RX1_IRQHandler               /* CAN2 RX1                     */
+  .word     CAN2_SCE_IRQHandler               /* CAN2 SCE                     */
+  .word     OTG_FS_IRQHandler                 /* USB OTG FS                   */
+  .word     DMA2_Stream5_IRQHandler           /* DMA2 Stream 5                */
+  .word     DMA2_Stream6_IRQHandler           /* DMA2 Stream 6                */
+  .word     DMA2_Stream7_IRQHandler           /* DMA2 Stream 7                */
+  .word     USART6_IRQHandler                 /* USART6                       */
+  .word     I2C3_EV_IRQHandler                /* I2C3 event                   */
+  .word     I2C3_ER_IRQHandler                /* I2C3 error                   */
+  .word     OTG_HS_EP1_OUT_IRQHandler         /* USB OTG HS End Point 1 Out   */
+  .word     OTG_HS_EP1_IN_IRQHandler          /* USB OTG HS End Point 1 In    */
+  .word     OTG_HS_WKUP_IRQHandler            /* USB OTG HS Wakeup through EXTI */
+  .word     OTG_HS_IRQHandler                 /* USB OTG HS                   */
+  .word     0                                 /* Reserved                         */
+  .word     0                                 /* Reserved                  */
+  .word     HASH_RNG_IRQHandler               /* Hash and Rng                 */
+
+/*******************************************************************************
+*
+* Provide weak aliases for each Exception handler to the Default_Handler.
+* As they are weak aliases, any function with the same name will override
+* this definition.
+*
+*******************************************************************************/
+   .weak      NMI_Handler
+   .thumb_set NMI_Handler,Default_Handler
+
+   .weak      HardFault_Handler
+   .thumb_set HardFault_Handler,Default_Handler
+
+   .weak      MemManage_Handler
+   .thumb_set MemManage_Handler,Default_Handler
+
+   .weak      BusFault_Handler
+   .thumb_set BusFault_Handler,Default_Handler
+
+   .weak      UsageFault_Handler
+   .thumb_set UsageFault_Handler,Default_Handler
+
+   .weak      SVC_Handler
+   .thumb_set SVC_Handler,Default_Handler
+
+   .weak      DebugMon_Handler
+   .thumb_set DebugMon_Handler,Default_Handler
+
+   .weak      PendSV_Handler
+   .thumb_set PendSV_Handler,Default_Handler
+
+   .weak      SysTick_Handler
+   .thumb_set SysTick_Handler,Default_Handler
+
+   .weak      WWDG_IRQHandler
+   .thumb_set WWDG_IRQHandler,Default_Handler
+
+   .weak      PVD_IRQHandler
+   .thumb_set PVD_IRQHandler,Default_Handler
+
+   .weak      TAMP_STAMP_IRQHandler
+   .thumb_set TAMP_STAMP_IRQHandler,Default_Handler
+
+   .weak      RTC_WKUP_IRQHandler
+   .thumb_set RTC_WKUP_IRQHandler,Default_Handler
+
+   .weak      FLASH_IRQHandler
+   .thumb_set FLASH_IRQHandler,Default_Handler
+
+   .weak      RCC_IRQHandler
+   .thumb_set RCC_IRQHandler,Default_Handler
+
+   .weak      EXTI0_IRQHandler
+   .thumb_set EXTI0_IRQHandler,Default_Handler
+
+   .weak      EXTI1_IRQHandler
+   .thumb_set EXTI1_IRQHandler,Default_Handler
+
+   .weak      EXTI2_IRQHandler
+   .thumb_set EXTI2_IRQHandler,Default_Handler
+
+   .weak      EXTI3_IRQHandler
+   .thumb_set EXTI3_IRQHandler,Default_Handler
+
+   .weak      EXTI4_IRQHandler
+   .thumb_set EXTI4_IRQHandler,Default_Handler
+
+   .weak      DMA1_Stream0_IRQHandler
+   .thumb_set DMA1_Stream0_IRQHandler,Default_Handler
+
+   .weak      DMA1_Stream1_IRQHandler
+   .thumb_set DMA1_Stream1_IRQHandler,Default_Handler
+
+   .weak      DMA1_Stream2_IRQHandler
+   .thumb_set DMA1_Stream2_IRQHandler,Default_Handler
+
+   .weak      DMA1_Stream3_IRQHandler
+   .thumb_set DMA1_Stream3_IRQHandler,Default_Handler
+
+   .weak      DMA1_Stream4_IRQHandler
+   .thumb_set DMA1_Stream4_IRQHandler,Default_Handler
+
+   .weak      DMA1_Stream5_IRQHandler
+   .thumb_set DMA1_Stream5_IRQHandler,Default_Handler
+
+   .weak      DMA1_Stream6_IRQHandler
+   .thumb_set DMA1_Stream6_IRQHandler,Default_Handler
+
+   .weak      ADC_IRQHandler
+   .thumb_set ADC_IRQHandler,Default_Handler
+
+   .weak      CAN1_TX_IRQHandler
+   .thumb_set CAN1_TX_IRQHandler,Default_Handler
+
+   .weak      CAN1_RX0_IRQHandler
+   .thumb_set CAN1_RX0_IRQHandler,Default_Handler
+
+   .weak      CAN1_RX1_IRQHandler
+   .thumb_set CAN1_RX1_IRQHandler,Default_Handler
+
+   .weak      CAN1_SCE_IRQHandler
+   .thumb_set CAN1_SCE_IRQHandler,Default_Handler
+
+   .weak      EXTI9_5_IRQHandler
+   .thumb_set EXTI9_5_IRQHandler,Default_Handler
+
+   .weak      TIM1_BRK_TIM9_IRQHandler
+   .thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler
+
+   .weak      TIM1_UP_TIM10_IRQHandler
+   .thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler
+
+   .weak      TIM1_TRG_COM_TIM11_IRQHandler
+   .thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler
+
+   .weak      TIM1_CC_IRQHandler
+   .thumb_set TIM1_CC_IRQHandler,Default_Handler
+
+   .weak      TIM2_IRQHandler
+   .thumb_set TIM2_IRQHandler,Default_Handler
+
+   .weak      TIM3_IRQHandler
+   .thumb_set TIM3_IRQHandler,Default_Handler
+
+   .weak      TIM4_IRQHandler
+   .thumb_set TIM4_IRQHandler,Default_Handler
+
+   .weak      I2C1_EV_IRQHandler
+   .thumb_set I2C1_EV_IRQHandler,Default_Handler
+
+   .weak      I2C1_ER_IRQHandler
+   .thumb_set I2C1_ER_IRQHandler,Default_Handler
+
+   .weak      I2C2_EV_IRQHandler
+   .thumb_set I2C2_EV_IRQHandler,Default_Handler
+
+   .weak      I2C2_ER_IRQHandler
+   .thumb_set I2C2_ER_IRQHandler,Default_Handler
+
+   .weak      SPI1_IRQHandler
+   .thumb_set SPI1_IRQHandler,Default_Handler
+
+   .weak      SPI2_IRQHandler
+   .thumb_set SPI2_IRQHandler,Default_Handler
+
+   .weak      USART1_IRQHandler
+   .thumb_set USART1_IRQHandler,Default_Handler
+
+   .weak      USART2_IRQHandler
+   .thumb_set USART2_IRQHandler,Default_Handler
+
+   .weak      USART3_IRQHandler
+   .thumb_set USART3_IRQHandler,Default_Handler
+
+   .weak      EXTI15_10_IRQHandler
+   .thumb_set EXTI15_10_IRQHandler,Default_Handler
+
+   .weak      RTC_Alarm_IRQHandler
+   .thumb_set RTC_Alarm_IRQHandler,Default_Handler
+
+   .weak      OTG_FS_WKUP_IRQHandler
+   .thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler
+
+   .weak      TIM8_BRK_TIM12_IRQHandler
+   .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
+
+   .weak      TIM8_UP_TIM13_IRQHandler
+   .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
+
+   .weak      TIM8_TRG_COM_TIM14_IRQHandler
+   .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
+
+   .weak      TIM8_CC_IRQHandler
+   .thumb_set TIM8_CC_IRQHandler,Default_Handler
+
+   .weak      DMA1_Stream7_IRQHandler
+   .thumb_set DMA1_Stream7_IRQHandler,Default_Handler
+
+   .weak      FSMC_IRQHandler
+   .thumb_set FSMC_IRQHandler,Default_Handler
+
+   .weak      SDIO_IRQHandler
+   .thumb_set SDIO_IRQHandler,Default_Handler
+
+   .weak      TIM5_IRQHandler
+   .thumb_set TIM5_IRQHandler,Default_Handler
+
+   .weak      SPI3_IRQHandler
+   .thumb_set SPI3_IRQHandler,Default_Handler
+
+   .weak      UART4_IRQHandler
+   .thumb_set UART4_IRQHandler,Default_Handler
+
+   .weak      UART5_IRQHandler
+   .thumb_set UART5_IRQHandler,Default_Handler
+
+   .weak      TIM6_DAC_IRQHandler
+   .thumb_set TIM6_DAC_IRQHandler,Default_Handler
+
+   .weak      TIM7_IRQHandler
+   .thumb_set TIM7_IRQHandler,Default_Handler
+
+   .weak      DMA2_Stream0_IRQHandler
+   .thumb_set DMA2_Stream0_IRQHandler,Default_Handler
+
+   .weak      DMA2_Stream1_IRQHandler
+   .thumb_set DMA2_Stream1_IRQHandler,Default_Handler
+
+   .weak      DMA2_Stream2_IRQHandler
+   .thumb_set DMA2_Stream2_IRQHandler,Default_Handler
+
+   .weak      DMA2_Stream3_IRQHandler
+   .thumb_set DMA2_Stream3_IRQHandler,Default_Handler
+
+   .weak      DMA2_Stream4_IRQHandler
+   .thumb_set DMA2_Stream4_IRQHandler,Default_Handler
+
+   .weak      CAN2_TX_IRQHandler
+   .thumb_set CAN2_TX_IRQHandler,Default_Handler
+
+   .weak      CAN2_RX0_IRQHandler
+   .thumb_set CAN2_RX0_IRQHandler,Default_Handler
+
+   .weak      CAN2_RX1_IRQHandler
+   .thumb_set CAN2_RX1_IRQHandler,Default_Handler
+
+   .weak      CAN2_SCE_IRQHandler
+   .thumb_set CAN2_SCE_IRQHandler,Default_Handler
+
+   .weak      OTG_FS_IRQHandler
+   .thumb_set OTG_FS_IRQHandler,Default_Handler
+
+   .weak      DMA2_Stream5_IRQHandler
+   .thumb_set DMA2_Stream5_IRQHandler,Default_Handler
+
+   .weak      DMA2_Stream6_IRQHandler
+   .thumb_set DMA2_Stream6_IRQHandler,Default_Handler
+
+   .weak      DMA2_Stream7_IRQHandler
+   .thumb_set DMA2_Stream7_IRQHandler,Default_Handler
+
+   .weak      USART6_IRQHandler
+   .thumb_set USART6_IRQHandler,Default_Handler
+
+   .weak      I2C3_EV_IRQHandler
+   .thumb_set I2C3_EV_IRQHandler,Default_Handler
+
+   .weak      I2C3_ER_IRQHandler
+   .thumb_set I2C3_ER_IRQHandler,Default_Handler
+
+   .weak      OTG_HS_EP1_OUT_IRQHandler
+   .thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler
+
+   .weak      OTG_HS_EP1_IN_IRQHandler
+   .thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler
+
+   .weak      OTG_HS_WKUP_IRQHandler
+   .thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler
+
+   .weak      OTG_HS_IRQHandler
+   .thumb_set OTG_HS_IRQHandler,Default_Handler
+
+   .weak      HASH_RNG_IRQHandler
+   .thumb_set HASH_RNG_IRQHandler,Default_Handler
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

board/stm32_flash.ld

@@ -0,0 +1,163 @@
+/*
+*****************************************************************************
+**
+**  File        : stm32_flash.ld
+**
+**  Abstract    : Linker script for STM32F407VG Device with
+**                1024KByte FLASH, 192KByte RAM
+**
+**                Set heap size, stack size and stack location according
+**                to application requirements.
+**
+**                Set memory bank area and size if external memory is used.
+**
+**  Target      : STMicroelectronics STM32
+**
+**  Environment : Atollic TrueSTUDIO(R)
+**
+**  Distribution: The file is distributed “as is,” without any warranty
+**                of any kind.
+**
+**  (c)Copyright Atollic AB.
+**  You may use this file as-is or modify it according to the needs of your
+**  project. Distribution of this file (unmodified or modified) is not
+**  permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
+**  rights to distribute the assembled, compiled & linked contents of this
+**  file as part of an application binary file, provided that it is built
+**  using the Atollic TrueSTUDIO(R) toolchain.
+**
+*****************************************************************************
+*/
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Highest address of the user mode stack */
+_estack = 0x20020000;    /* end of 128K RAM on AHB bus*/
+
+/* Generate a link error if heap and stack don't fit into RAM */
+_Min_Heap_Size = 0;      /* required amount of heap  */
+_Min_Stack_Size = 0x400; /* required amount of stack */
+
+/* Specify the memory areas */
+MEMORY
+{
+  FLASH (rx)      : ORIGIN = 0x08000000, LENGTH = 128K
+  RAM (xrw)       : ORIGIN = 0x20000000, LENGTH = 128K
+  MEMORY_B1 (rx)  : ORIGIN = 0x60000000, LENGTH = 0K
+}
+
+/* Define output sections */
+SECTIONS
+{
+  /* The startup code goes first into FLASH */
+  .isr_vector :
+  {
+    . = ALIGN(4);
+    KEEP(*(.isr_vector)) /* Startup code */
+    . = ALIGN(4);
+  } >FLASH
+
+  /* The program code and other data goes into FLASH */
+  .text :
+  {
+    . = ALIGN(4);
+    *(.text)           /* .text sections (code) */
+    *(.text*)          /* .text* sections (code) */
+    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
+    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
+    *(.glue_7)         /* glue arm to thumb code */
+    *(.glue_7t)        /* glue thumb to arm code */
+	*(.eh_frame)
+
+    KEEP (*(.init))
+    KEEP (*(.fini))
+
+    . = ALIGN(4);
+    _etext = .;        /* define a global symbols at end of code */
+    _exit = .;
+  } >FLASH
+
+
+   .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
+    .ARM : {
+    __exidx_start = .;
+      *(.ARM.exidx*)
+      __exidx_end = .;
+    } >FLASH
+
+  .preinit_array     :
+  {
+    PROVIDE_HIDDEN (__preinit_array_start = .);
+    KEEP (*(.preinit_array*))
+    PROVIDE_HIDDEN (__preinit_array_end = .);
+  } >FLASH
+  .init_array :
+  {
+    PROVIDE_HIDDEN (__init_array_start = .);
+    KEEP (*(SORT(.init_array.*)))
+    KEEP (*(.init_array*))
+    PROVIDE_HIDDEN (__init_array_end = .);
+  } >FLASH
+  .fini_array :
+  {
+    PROVIDE_HIDDEN (__fini_array_start = .);
+    KEEP (*(.fini_array*))
+    KEEP (*(SORT(.fini_array.*)))
+    PROVIDE_HIDDEN (__fini_array_end = .);
+  } >FLASH
+
+  /* used by the startup to initialize data */
+  _sidata = .;
+
+  /* Initialized data sections goes into RAM, load LMA copy after code */
+  .data : AT ( _sidata )
+  {
+    . = ALIGN(4);
+    _sdata = .;        /* create a global symbol at data start */
+    *(.data)           /* .data sections */
+    *(.data*)          /* .data* sections */
+
+    . = ALIGN(4);
+    _edata = .;        /* define a global symbol at data end */
+  } >RAM
+
+  /* Uninitialized data section */
+  . = ALIGN(4);
+  .bss :
+  {
+    /* This is used by the startup in order to initialize the .bss secion */
+    _sbss = .;         /* define a global symbol at bss start */
+    __bss_start__ = _sbss;
+    *(.bss)
+    *(.bss*)
+    *(COMMON)
+
+    . = ALIGN(4);
+    _ebss = .;         /* define a global symbol at bss end */
+    __bss_end__ = _ebss;
+  } >RAM
+
+  /* User_heap_stack section, used to check that there is enough RAM left */
+  ._user_heap_stack :
+  {
+    . = ALIGN(4);
+    PROVIDE ( end = . );
+    PROVIDE ( _end = . );
+    . = . + _Min_Heap_Size;
+    . = . + _Min_Stack_Size;
+    . = ALIGN(4);
+  } >RAM
+
+  /* MEMORY_bank1 section, code must be located here explicitly            */
+  /* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
+  .memory_b1_text :
+  {
+    *(.mb1text)        /* .mb1text sections (code) */
+    *(.mb1text*)       /* .mb1text* sections (code)  */
+    *(.mb1rodata)      /* read-only data (constants) */
+    *(.mb1rodata*)
+  } >MEMORY_B1
+
+  .ARM.attributes 0 : { *(.ARM.attributes) }
+}

board/timer.h

@@ -0,0 +1,7 @@
+void timer_init(TIM_TypeDef *TIM, int psc) {
+  TIM->PSC = psc-1;
+  TIM->DIER = TIM_DIER_UIE;
+  TIM->CR1 = TIM_CR1_CEN;
+  TIM->SR = 0;
+}
+

board/tools/enter_download_mode.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+import usb1
+import time
+import traceback
+
+if __name__ == "__main__":
+  context = usb1.USBContext()
+
+  for device in context.getDeviceList(skip_on_error=True):
+    if device.getVendorID() == 0xbbaa and device.getProductID()&0xFF00 == 0xdd00:
+      print "found device"
+      handle = device.open()
+      handle.claimInterface(0)
+
+  try:
+    handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd1, 0, 0, '')
+  except Exception:
+    traceback.print_exc()
+    print "expected error, exiting cleanly"
+  time.sleep(1)

board/usb.h

@@ -0,0 +1,510 @@
+// **** supporting defines ****
+
+typedef struct
+{
+  __IO uint32_t HPRT;
+}
+USB_OTG_HostPortTypeDef;
+
+#define USBx_HOST       ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE))
+#define USBx_HOST_PORT  ((USB_OTG_HostPortTypeDef *)((uint32_t)USBx + USB_OTG_HOST_PORT_BASE))
+#define USBx_DEVICE     ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE))
+#define USBx_INEP(i)    ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))        
+#define USBx_OUTEP(i)   ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + (i)*USB_OTG_EP_REG_SIZE))        
+#define USBx_DFIFO(i)   *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + (i) * USB_OTG_FIFO_SIZE)
+#define USBx_PCGCCTL    *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_PCGCCTL_BASE)
+
+#define  USB_REQ_GET_STATUS                             0x00
+#define  USB_REQ_CLEAR_FEATURE                          0x01
+#define  USB_REQ_SET_FEATURE                            0x03
+#define  USB_REQ_SET_ADDRESS                            0x05
+#define  USB_REQ_GET_DESCRIPTOR                         0x06
+#define  USB_REQ_SET_DESCRIPTOR                         0x07
+#define  USB_REQ_GET_CONFIGURATION                      0x08
+#define  USB_REQ_SET_CONFIGURATION                      0x09
+#define  USB_REQ_GET_INTERFACE                          0x0A
+#define  USB_REQ_SET_INTERFACE                          0x0B
+#define  USB_REQ_SYNCH_FRAME                            0x0C
+
+#define  USB_DESC_TYPE_DEVICE                              1
+#define  USB_DESC_TYPE_CONFIGURATION                       2
+#define  USB_DESC_TYPE_STRING                              3
+#define  USB_DESC_TYPE_INTERFACE                           4
+#define  USB_DESC_TYPE_ENDPOINT                            5
+#define  USB_DESC_TYPE_DEVICE_QUALIFIER                    6
+#define  USB_DESC_TYPE_OTHER_SPEED_CONFIGURATION           7
+
+#define STS_GOUT_NAK                           1
+#define STS_DATA_UPDT                          2
+#define STS_XFER_COMP                          3
+#define STS_SETUP_COMP                         4
+#define STS_SETUP_UPDT                         6
+
+#define USBD_FS_TRDT_VALUE           5
+
+// interfaces
+void usb_cb_control_msg();
+void usb_cb_ep1_in(int len);
+void usb_cb_ep2_out(uint8_t *usbdata, int len);
+void usb_cb_ep3_out(uint8_t *usbdata, int len);
+
+uint8_t device_desc[] = {
+  0x12,0x01,0x00,0x01,
+  0xFF,0xFF,0xFF,0x40,
+  (USB_VID>>0)&0xFF,(USB_VID>>8)&0xFF,
+  (USB_PID>>0)&0xFF,(USB_PID>>8)&0xFF,
+  0x00,0x22,0x00,0x00,
+  0x00,0x01};
+
+uint8_t configuration_desc[] = {
+  0x09, 0x02, 0x27, 0x00,
+  0x01, 0x01, 0x00, 0xc0,
+  0x32,
+  // interface 0
+  0x09, 0x04, 0x00, 0x00,
+  0x03, 0xff, 0xFF, 0xFF,
+  0x00,
+  // endpoint 1, read CAN
+  0x07, 0x05, 0x81, 0x02, 0x40, 0x00, 0x00,
+  // endpoint 2, AES load
+  0x07, 0x05, 0x02, 0x02, 0x10, 0x00, 0x00,
+  // endpoint 3, send CAN
+  0x07, 0x05, 0x03, 0x02, 0x40, 0x00, 0x00,
+};
+
+typedef union
+{
+  uint16_t w;
+  struct BW
+  {
+    uint8_t msb;
+    uint8_t lsb;
+  }
+  bw; 
+}
+uint16_t_uint8_t;
+
+
+typedef union _USB_Setup
+{
+  uint32_t d8[2];
+  
+  struct _SetupPkt_Struc
+  {
+    uint8_t           bmRequestType;
+    uint8_t           bRequest;
+    uint16_t_uint8_t  wValue;
+    uint16_t_uint8_t  wIndex;
+    uint16_t_uint8_t  wLength;
+  } b;
+} 
+USB_Setup_TypeDef; 
+
+// current packet
+USB_Setup_TypeDef setup;
+uint8_t usbdata[0x100];
+
+// packet read and write
+
+void *USB_ReadPacket(void *dest, uint16_t len) {
+  uint32_t i=0; 
+  uint32_t count32b = (len + 3) / 4; 
+  
+  for ( i = 0; i < count32b; i++, dest += 4 ) {
+    // packed?
+    *(__attribute__((__packed__)) uint32_t *)dest = USBx_DFIFO(0);
+  }
+  return ((void *)dest);
+}
+
+void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
+  #ifdef DEBUG
+    puts("writing ");
+    hexdump(src, len);
+  #endif
+  uint32_t count32b = 0, i = 0;
+  count32b = (len + 3) / 4; 
+
+  // bullshit
+  USBx_INEP(ep)->DIEPTSIZ = (USB_OTG_DIEPTSIZ_PKTCNT & (1 << 19)) | (len & USB_OTG_DIEPTSIZ_XFRSIZ);
+  USBx_INEP(ep)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA);
+
+  // load the FIFO
+  for (i = 0; i < count32b; i++, src += 4) {
+    USBx_DFIFO(ep) = *((__attribute__((__packed__)) uint32_t *)src);
+  }
+}
+
+void usb_reset() {
+  // unmask endpoint interrupts, so many sets
+  USBx_DEVICE->DAINT = 0xFFFFFFFF;
+  USBx_DEVICE->DAINTMSK = 0xFFFFFFFF;
+  //USBx_DEVICE->DOEPMSK = (USB_OTG_DOEPMSK_STUPM | USB_OTG_DOEPMSK_XFRCM | USB_OTG_DOEPMSK_EPDM);
+  //USBx_DEVICE->DIEPMSK = (USB_OTG_DIEPMSK_TOM | USB_OTG_DIEPMSK_XFRCM | USB_OTG_DIEPMSK_EPDM | USB_OTG_DIEPMSK_ITTXFEMSK);
+  //USBx_DEVICE->DIEPMSK = (USB_OTG_DIEPMSK_TOM | USB_OTG_DIEPMSK_XFRCM | USB_OTG_DIEPMSK_EPDM);
+
+  // all interrupts for debugging
+  USBx_DEVICE->DIEPMSK = 0xFFFFFFFF;
+  USBx_DEVICE->DOEPMSK = 0xFFFFFFFF;
+
+  // clear interrupts
+  USBx_INEP(0)->DIEPINT = 0xFF;
+  USBx_OUTEP(0)->DOEPINT = 0xFF;
+
+  // unset the address
+  USBx_DEVICE->DCFG &= ~USB_OTG_DCFG_DAD;
+
+  // set up USB FIFOs
+  // RX start address is fixed to 0
+  USBx->GRXFSIZ = 0x40;
+
+  // 0x100 to offset past GRXFSIZ
+  USBx->DIEPTXF0_HNPTXFSIZ = (0x40 << 16) | 0x40;
+
+  // EP1, massive
+  USBx->DIEPTXF[0] = (0x40 << 16) | 0x80;
+
+  // flush TX fifo
+  USBx->GRSTCTL = USB_OTG_GRSTCTL_TXFFLSH | USB_OTG_GRSTCTL_TXFNUM_4;
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_TXFFLSH) == USB_OTG_GRSTCTL_TXFFLSH);
+  // flush RX FIFO
+  USBx->GRSTCTL = USB_OTG_GRSTCTL_RXFFLSH;
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_RXFFLSH) == USB_OTG_GRSTCTL_RXFFLSH);
+
+  // no global NAK
+  USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGINAK;
+
+  // ready to receive setup packets
+  USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (3 * 8);
+}
+
+void usb_setup() {
+  uint8_t resp[0x20];
+  // setup packet is ready
+  switch (setup.b.bRequest) {
+    case USB_REQ_SET_CONFIGURATION:
+      // enable other endpoints, has to be here?
+      USBx_INEP(1)->DIEPCTL = (0x40 & USB_OTG_DIEPCTL_MPSIZ) | (2 << 18) | (1 << 22) |
+                              USB_OTG_DIEPCTL_SD0PID_SEVNFRM | USB_OTG_DIEPCTL_USBAEP;
+      USBx_INEP(1)->DIEPINT = 0xFF;
+
+      USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x10;
+      USBx_OUTEP(2)->DOEPCTL = (0x10 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
+                               USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
+      USBx_OUTEP(2)->DOEPINT = 0xFF;
+
+      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
+      USBx_OUTEP(3)->DOEPCTL = (0x40 & USB_OTG_DOEPCTL_MPSIZ) | (2 << 18) |
+                               USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
+      USBx_OUTEP(3)->DOEPINT = 0xFF;
+
+      // mark ready to receive
+      USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
+      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
+
+      USB_WritePacket(0, 0, 0);
+      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+      break;
+    case USB_REQ_SET_ADDRESS:
+      // set now?
+      USBx_DEVICE->DCFG |= ((setup.b.wValue.w & 0x7f) << 4);
+
+      #ifdef DEBUG
+        puts(" set address\n");
+      #endif
+
+
+      USB_WritePacket(0, 0, 0);
+      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+
+      break;
+    case USB_REQ_GET_DESCRIPTOR:
+      switch (setup.b.wValue.bw.lsb) {
+        case USB_DESC_TYPE_DEVICE:
+          //puts("    writing device descriptor\n");
+
+          // setup transfer
+          USB_WritePacket(device_desc, min(sizeof(device_desc), setup.b.wLength.w), 0);
+          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+
+          //puts("D");
+          break;
+        case USB_DESC_TYPE_CONFIGURATION:
+          USB_WritePacket(configuration_desc, min(sizeof(configuration_desc), setup.b.wLength.w), 0);
+          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+          break;
+        default:
+          // nothing here?
+          USB_WritePacket(0, 0, 0);
+          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+          break;
+      }
+      break;
+    case USB_REQ_GET_STATUS:
+      // empty resp?
+      resp[0] = 0;
+      resp[1] = 0;
+      USB_WritePacket((void*)&resp, 2, 0);
+      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+      break;
+    default:
+      usb_cb_control_msg();
+  }
+}
+
+void usb_init() {
+  // internal PHY set before reset
+  USBx->GUSBCFG |= USB_OTG_GUSBCFG_PHYSEL;
+
+  // full speed PHY, do reset and remove power down
+  puth(USBx->GRSTCTL);
+  puts(" resetting PHY\n");
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0);
+  puts("AHB idle\n");
+
+  // reset PHY here?
+  USBx->GRSTCTL |= USB_OTG_GRSTCTL_CSRST;
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_CSRST) == USB_OTG_GRSTCTL_CSRST);
+  puts("reset done\n");
+
+  // power up the PHY
+  USBx->GCCFG = USB_OTG_GCCFG_PWRDWN | USB_OTG_GCCFG_NOVBUSSENS;
+
+  // be a device, slowest timings
+  //USBx->GUSBCFG = USB_OTG_GUSBCFG_FDMOD | USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
+  USBx->GUSBCFG = USB_OTG_GUSBCFG_FDMOD | USB_OTG_GUSBCFG_PHYSEL;
+  USBx->GUSBCFG |= (uint32_t)((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT);
+  //USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL;
+
+  // **** for debugging, doesn't seem to work ****
+  //USBx->GUSBCFG |= USB_OTG_GUSBCFG_CTXPKT;
+
+  // reset PHY clock
+  USBx_PCGCCTL = 0;
+
+  // enable the fancy OTG things
+  USBx->GUSBCFG |= USB_OTG_GUSBCFG_HNPCAP | USB_OTG_GUSBCFG_SRPCAP;
+
+  USBx_DEVICE->DCFG = USB_OTG_DCFG_NZLSOHSK | USB_OTG_DCFG_DSPD;
+  //USBx_DEVICE->DCFG = USB_OTG_DCFG_DSPD;
+
+  // setup USB interrupts
+  // all interrupts except TXFIFO EMPTY
+  //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
+  USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM);
+
+  USBx->GAHBCFG = USB_OTG_GAHBCFG_GINT;
+  USBx->GINTSTS = 0;
+}
+
+// ***************************** USB port *****************************
+
+void usb_irqhandler(void) {
+  USBx->GINTMSK = 0;
+
+  unsigned int gintsts = USBx->GINTSTS;
+
+  // gintsts SUSPEND? 04008428
+  #ifdef DEBUG
+    unsigned int daint = USBx_DEVICE->DAINT;
+    puth(gintsts);
+    puts(" ep ");
+    puth(daint);
+    puts(" USB interrupt!\n");
+  #endif
+
+  if (gintsts & USB_OTG_GINTSTS_ESUSP) {
+    puts("ESUSP detected\n");
+  }
+
+  if (gintsts & USB_OTG_GINTSTS_USBRST) {
+    puts("USB reset\n");
+    usb_reset();
+  }
+
+  if (gintsts & USB_OTG_GINTSTS_ENUMDNE) {
+    puts("enumeration done ");
+    // Full speed, ENUMSPD
+    puth(USBx_DEVICE->DSTS);
+    puts("\n");
+  }
+
+  if (gintsts & USB_OTG_GINTSTS_OTGINT) {
+    puts("OTG int:");
+    puth(USBx->GOTGINT);
+    puts("\n");
+
+    // getting ADTOCHG
+    USBx->GOTGINT = USBx->GOTGINT;
+  }
+
+  // RX FIFO first
+  if (gintsts & USB_OTG_GINTSTS_RXFLVL) {
+    // 1. Read the Receive status pop register
+    volatile unsigned int rxst = USBx->GRXSTSP;
+
+    #ifdef DEBUG
+      puts(" RX FIFO:");
+      puth(rxst);
+      puts(" status: ");
+      puth((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17);
+      puts(" len: ");
+      puth((rxst & USB_OTG_GRXSTSP_BCNT) >> 4);
+      puts("\n");
+    #endif
+
+
+    if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_DATA_UPDT) {
+      int endpoint = (rxst & USB_OTG_GRXSTSP_EPNUM);
+      int len = (rxst & USB_OTG_GRXSTSP_BCNT) >> 4;
+      USB_ReadPacket(&usbdata, len);
+      #ifdef DEBUG
+        puts("  data ");
+        puth(len);
+        puts("\n");
+        hexdump(&usbdata, len);
+      #endif
+
+      if (endpoint == 2) {
+        usb_cb_ep2_out(usbdata, len);
+      }
+
+      if (endpoint == 3) {
+        usb_cb_ep3_out(usbdata, len);
+      }
+    } else if (((rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_SETUP_UPDT) {
+      USB_ReadPacket(&setup, 8);
+      #ifdef DEBUG
+        puts("  setup ");
+        hexdump(&setup, 8);
+        puts("\n");
+      #endif
+    }
+  }
+
+  if (gintsts & USB_OTG_GINTSTS_HPRTINT) {
+    // host
+    puts("HPRT:");
+    puth(USBx_HOST_PORT->HPRT);
+    puts("\n");
+    if (USBx_HOST_PORT->HPRT & USB_OTG_HPRT_PCDET) {
+      USBx_HOST_PORT->HPRT |= USB_OTG_HPRT_PRST;
+      USBx_HOST_PORT->HPRT |= USB_OTG_HPRT_PCDET;
+    }
+
+  }
+
+  if (gintsts & USB_OTG_GINTSTS_BOUTNAKEFF) {
+    // no global NAK, why is this getting set?
+    #ifdef DEBUG
+      puts("GLOBAL NAK\n");
+    #endif
+    USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGONAK | USB_OTG_DCTL_CGINAK;
+  }
+
+  if (gintsts & USB_OTG_GINTSTS_SRQINT) {
+    // we want to do "A-device host negotiation protocol" since we are the A-device
+    puts("start request\n");
+    //USBx->GUSBCFG |= USB_OTG_GUSBCFG_FDMOD;
+    //USBx_HOST_PORT->HPRT = USB_OTG_HPRT_PPWR | USB_OTG_HPRT_PENA;
+  }
+
+  // out endpoint hit
+  if (gintsts & USB_OTG_GINTSTS_OEPINT) {
+    #ifdef DEBUG
+      puts("  0:");
+      puth(USBx_OUTEP(0)->DOEPINT);
+      puts(" 2:");
+      puth(USBx_OUTEP(2)->DOEPINT);
+      puts(" 3:");
+      puth(USBx_OUTEP(3)->DOEPINT);
+      puts(" ");
+      puth(USBx_OUTEP(3)->DOEPCTL);
+      puts(" 4:");
+      puth(USBx_OUTEP(4)->DOEPINT);
+      puts(" OUT ENDPOINT\n");
+    #endif
+
+    if (USBx_OUTEP(2)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
+      #ifdef DEBUG
+        puts("  OUT2 PACKET XFRC\n"); 
+      #endif
+      USBx_OUTEP(2)->DOEPTSIZ = (1 << 19) | 0x10;
+      USBx_OUTEP(2)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
+    }
+
+    if (USBx_OUTEP(3)->DOEPINT & USB_OTG_DOEPINT_XFRC) {
+      #ifdef DEBUG
+        puts("  OUT3 PACKET XFRC\n"); 
+      #endif
+      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
+      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
+    } else if (USBx_OUTEP(3)->DOEPINT & 0x2000) {
+      #ifdef DEBUG
+        puts("  OUT3 PACKET WTF\n"); 
+      #endif
+      // if NAK was set trigger this, unknown interrupt
+      USBx_OUTEP(3)->DOEPTSIZ = (1 << 19) | 0x40;
+      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+    } else if (USBx_OUTEP(3)->DOEPINT) {
+      puts("OUTEP3 error ");
+      puth(USBx_OUTEP(3)->DOEPINT);
+      puts("\n");
+    }
+
+    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DIEPINT_XFRC) {
+      // ready for next packet
+      USBx_OUTEP(0)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1 << 19)) | (1 * 8);
+    }
+
+    // respond to setup packets
+    if (USBx_OUTEP(0)->DOEPINT & USB_OTG_DOEPINT_STUP) {
+      usb_setup();
+    }
+
+    USBx_OUTEP(0)->DOEPINT = USBx_OUTEP(0)->DOEPINT;
+    USBx_OUTEP(2)->DOEPINT = USBx_OUTEP(2)->DOEPINT;
+    USBx_OUTEP(3)->DOEPINT = USBx_OUTEP(3)->DOEPINT;
+  }
+
+
+  // in endpoint hit
+  if (gintsts & USB_OTG_GINTSTS_IEPINT) {
+    #ifdef DEBUG
+      puts("  ");
+      puth(USBx_INEP(0)->DIEPINT);
+      puts(" ");
+      puth(USBx_INEP(1)->DIEPINT);
+      puts(" IN ENDPOINT\n");
+    #endif
+
+    // this happens first
+    if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPINT_XFRC) {
+      #ifdef DEBUG
+        puts("  IN PACKET SEND\n"); 
+      #endif
+      //USBx_DEVICE->DIEPEMPMSK = ~(1 << 1);
+    }
+    
+    // *** IN token received when TxFIFO is empty
+    if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
+      #ifdef DEBUG
+        puts("  IN PACKET QUEUE\n"); 
+      #endif
+      // TODO: always assuming max len, can we get the length?
+      usb_cb_ep1_in(0x40);
+    }
+
+    // clear interrupts
+    USBx_INEP(0)->DIEPINT = USBx_INEP(0)->DIEPINT;
+    USBx_INEP(1)->DIEPINT = USBx_INEP(1)->DIEPINT;
+  }
+
+
+  // clear all interrupts
+  USBx_DEVICE->DAINT = USBx_DEVICE->DAINT;
+  USBx->GINTSTS = USBx->GINTSTS;
+
+  USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
+}
+

build

@@ -1,156 +0,0 @@
-#!/usr/bin/env bash
-# Project build shortcuts. AGNOS builds natively; laptops use the ARM64 container.
-set -euo pipefail
-
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-if [[ "${1:-}" == -h || "${1:-}" == --help ]]; then
-  cat <<'EOF'
-Usage: ./build [jobs] [scons options]
-       ./build [--params] [--cereal] [--panda] [jobs] [scons options]
-       ./build --mapd
-       ./build --check-startup <Params root or namespace> <recovery storage>
-
-On AGNOS/aarch64, builds run natively. On laptops, builds use a Linux/ARM64 container.
---params builds libparams_c.so; --cereal builds cereal outputs; --panda
-builds signed panda (C3), panda_h7 and body_h7 firmware only. Numeric jobs become -jN.
-RELEASE and CERT are environment variables, not trailing SCons arguments:
-  RELEASE=1 CERT=/path/to/certificate ./build --panda 4
-CERT must name a readable certificate file. Omit RELEASE for DEBUG firmware.
---mapd explicitly packages the pinned offline Linux/ARM64 Go provider; it
-does not fetch map regions or participate in the default build.
-Run scripts/laptop_device_build.sh doctor to check local prerequisites.
-Full laptop builds require a source-matched QCOM artifact package in
-.cache/qcom-artifact-package; device builds still compile models natively.
---check-startup checks retained settings admission read-only using the local
-native developer runtime. Supply a matching Params namespace and recovery
-storage. A relocated copy can fail its path-bound profile marker.
-EOF
-  exit 0
-fi
-if [[ "${1:-}" == --check-startup ]]; then
-  if [[ $# -ne 3 ]]; then
-    echo "Usage: ./build --check-startup <Params root or namespace> <recovery storage>" >&2
-    exit 2
-  fi
-  exec "${ROOT_DIR}/dev" python "${ROOT_DIR}/tools/check_startup.py" "$2" "$3"
-fi
-for arg in "$@"; do
-  case "${arg}" in
-    RELEASE=*|CERT=*)
-      echo "ERROR: RELEASE and CERT must be environment variables, not SCons arguments." >&2
-      echo "Use: RELEASE=1 CERT=/path/to/certificate ./build --panda 4" >&2
-      exit 2
-      ;;
-  esac
-done
-
-build_helper="${ROOT_DIR}/scripts/laptop_device_build.sh"
-if [[ -f /AGNOS && "$(uname -s)" == Linux && "$(uname -m)" == aarch64 ]]; then
-  build_helper="${ROOT_DIR}/scripts/native_device_build.sh"
-fi
-if [[ $# -eq 1 && "$1" == --mapd ]]; then
-  exec "${ROOT_DIR}/scripts/build_mapd_provider.sh"
-fi
-if [[ $# -gt 0 ]]; then
-  for arg in "$@"; do
-    if [[ "$arg" == --mapd ]]; then
-      echo "ERROR: --mapd is a standalone package operation; use ./build --mapd" >&2
-      exit 2
-    fi
-  done
-fi
-shortcut_targets=()
-passthrough_args=()
-default_args=()
-jobs_arg=""
-shortcut_includes_panda=0
-panda_generated_files=(panda/board/obj/gitversion.h panda/board/obj/version)
-
-while [[ $# -gt 0 ]]; do
-  case "$1" in
-    --params|-params|-param)
-      shortcut_targets+=(openpilot/common/libparams_c.so)
-      ;;
-    --panda|-panda)
-      shortcut_includes_panda=1
-      shortcut_targets+=(panda/board/obj/panda.bin.signed panda/board/obj/panda_h7.bin.signed panda/board/obj/body_h7.bin.signed)
-      ;;
-    --cereal|-cereal)
-      shortcut_targets+=(openpilot/cereal/libcereal.a openpilot/cereal/libsocketmaster.a
-                         openpilot/cereal/services.h)
-      ;;
-    -j|--jobs)
-      passthrough_args+=("$1")
-      default_args+=("$1")
-      if [[ $# -gt 1 ]]; then
-        passthrough_args+=("$2")
-        default_args+=("$2")
-        shift
-      fi
-      ;;
-    *)
-      if [[ "$1" =~ ^[0-9]+$ ]]; then
-        if [[ "$1" =~ ^0+$ ]]; then
-          echo "ERROR: jobs must be positive" >&2
-          exit 2
-        fi
-        jobs_arg="$1"
-        passthrough_args+=("-j$1")
-      else
-        passthrough_args+=("$1")
-        default_args+=("$1")
-      fi
-      ;;
-  esac
-  shift
-done
-
-if [[ "${#shortcut_targets[@]}" -gt 0 ]]; then
-  scons_args=(--no-scrub "${shortcut_targets[@]}")
-  if [[ ${passthrough_args[0]+present} ]]; then
-    scons_args+=("${passthrough_args[@]}")
-  fi
-  if [[ "$shortcut_includes_panda" -eq 1 ]]; then
-    exec "${build_helper}" scons "${scons_args[@]}"
-  fi
-
-  # Panda/SConscript updates these even for unrelated targets. Restore their
-  # prior bytes for the non-firmware shortcuts, including on build failure.
-  tmpdir="$(mktemp -d)"
-  restore_panda_metadata() {
-    local path safe
-    for path in "${panda_generated_files[@]}"; do
-      safe="${path//\//__}"
-      if [[ -e "${tmpdir}/${safe}.missing" ]]; then
-        rm -f "${ROOT_DIR}/${path}"
-      else
-        cp -p "${tmpdir}/${safe}" "${ROOT_DIR}/${path}"
-      fi
-    done
-    rm -rf "${tmpdir}"
-  }
-  trap restore_panda_metadata EXIT
-  for path in "${panda_generated_files[@]}"; do
-    safe="${path//\//__}"
-    if [[ -e "${ROOT_DIR}/${path}" ]]; then
-      cp -p "${ROOT_DIR}/${path}" "${tmpdir}/${safe}"
-    else
-      touch "${tmpdir}/${safe}.missing"
-    fi
-  done
-  "${build_helper}" scons "${scons_args[@]}"
-  exit $?
-fi
-
-python3 "${ROOT_DIR}/tools/release/stage_mapd_provider.py" --source "${ROOT_DIR}" --require-tracked
-
-if [[ -n "${jobs_arg}" ]]; then
-  if [[ ${default_args[0]+present} ]]; then
-    exec "${build_helper}" build "${jobs_arg}" "${default_args[@]}"
-  fi
-  exec "${build_helper}" build "${jobs_arg}"
-fi
-if [[ ${default_args[0]+present} ]]; then
-  exec "${build_helper}" build "${default_args[@]}"
-fi
-exec "${build_helper}" build

c3

@@ -1,4 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "${ROOT_DIR}/scripts/host_tool_runner.sh" c3 "$@"

c4

@@ -1,4 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "${ROOT_DIR}/scripts/host_tool_runner.sh" c4 "$@"

cereal/__init__.py

@@ -0,0 +1,8 @@
+import os
+import capnp
+capnp.remove_import_hook()
+
+CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
+log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
+car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+

cereal/car.capnp

@@ -0,0 +1,172 @@
+using Cxx = import "c++.capnp";
+$Cxx.namespace("cereal");
+
+@0x8e2af1e708af8b8d;
+
+# ******* main car state @ 100hz *******
+# all speeds in m/s
+
+struct CarState {
+  errors @0: List(Error);
+
+  # car speed
+  vEgo @1 :Float32;       # best estimate of speed
+  wheelSpeeds @2 :WheelSpeeds;
+
+  # gas pedal, 0.0-1.0
+  gas @3 :Float32;        # this is user + computer
+  gasPressed @4 :Bool;    # this is user pedal only
+
+  # brake pedal, 0.0-1.0
+  brake @5 :Float32;      # this is user pedal only
+  brakePressed @6 :Bool;  # this is user pedal only
+
+  # steering wheel
+  steeringAngle @7 :Float32;   # deg
+  steeringTorque @8 :Float32;  # TODO: standardize units
+  steeringPressed @9 :Bool;    # if the user is using the steering wheel
+
+  # cruise state
+  cruiseState @10 :CruiseState;
+
+  # button presses
+  buttonEvents @11 :List(ButtonEvent);
+
+  # which packets this state came from
+  canMonoTimes @12: List(UInt64);
+
+  struct WheelSpeeds {
+    # optional wheel speeds
+    fl @0 :Float32;
+    fr @1 :Float32;
+    rl @2 :Float32;
+    rr @3 :Float32;
+  }
+
+  struct CruiseState {
+    enabled @0: Bool;
+    speed @1: Float32;
+  }
+
+  enum Error {
+    # TODO: copy from error list
+    commIssue @0;
+    steerUnavailable @1;
+    brakeUnavailable @2;
+    gasUnavailable @3;
+    wrongGear @4;
+    doorOpen @5;
+    seatbeltNotLatched @6;
+    espDisabled @7;
+    wrongCarMode @8;
+    steerTemporarilyUnavailable @9;
+    reverseGear @10;
+    # ...
+  }
+
+  # send on change
+  struct ButtonEvent {
+    pressed @0: Bool;
+    type @1: Type;
+
+    enum Type {
+      unknown @0;
+      leftBlinker @1;
+      rightBlinker @2;
+      accelCruise @3;
+      decelCruise @4;
+      cancel @5;
+      altButton1 @6;
+      altButton2 @7;
+      altButton3 @8;
+    }
+  }
+}
+
+# ******* radar state @ 20hz *******
+
+struct RadarState {
+  errors @0: List(Error);
+  points @1: List(RadarPoint);
+
+  # which packets this state came from
+  canMonoTimes @2: List(UInt64);
+
+  enum Error {
+    notValid @0;
+  }
+
+  # similar to LiveTracks
+  # is one timestamp valid for all? I think so
+  struct RadarPoint {
+    trackId @0: UInt64;  # no trackId reuse
+
+    # these 3 are the minimum required
+    dRel @1: Float32; # m from the front bumper of the car
+    yRel @2: Float32; # m
+    vRel @3: Float32; # m/s
+
+    # these are optional and valid if they are not NaN
+    aRel @4: Float32; # m/s^2
+    yvRel @5: Float32; # m/s
+  }
+}
+
+# ******* car controls @ 100hz *******
+
+struct CarControl {
+  # must be true for any actuator commands to work
+  enabled @0: Bool;
+
+  # range from 0.0 - 1.0
+  gas @1: Float32;
+  brake @2: Float32;
+
+  # range from -1.0 - 1.0
+  steeringTorque @3 :Float32;
+
+  cruiseControl @4: CruiseControl;
+  hudControl @5: HUDControl;
+
+  struct CruiseControl {
+    cancel @0: Bool;
+    override @1: Bool;
+    speedOverride @2: Float32;
+    accelOverride @3: Float32;
+  }
+
+  struct HUDControl {
+    speedVisible @0: Bool;
+    setSpeed @1: Float32;
+    lanesVisible @2: Bool;
+    leadVisible @3: Bool;
+    visualAlert @4: VisualAlert;
+    audibleAlert @5: AudibleAlert;
+
+    enum VisualAlert {
+      # these are the choices from the Honda
+      # map as good as you can for your car
+      none @0;
+      fcw @1;
+      steerRequired @2;
+      brakePressed @3;
+      wrongGear @4;
+      seatbeltUnbuckled @5;
+      speedTooHigh @6;
+    }
+
+    enum AudibleAlert {
+      # these are the choices from the Honda
+      # map as good as you can for your car
+      none @0;
+      beepSingle @1;
+      beepTriple @2;
+      beepRepeated @3;
+      chimeSingle @4;
+      chimeDouble @5;
+      chimeRepeated @6;
+      chimeContinuous @7;
+    }
+  }
+}
+

cereal/gen/c/car.capnp.c

@@ -0,0 +1,337 @@
+#include "car.capnp.h"
+/* AUTO GENERATED - DO NOT EDIT */
+
+cereal_CarState_ptr cereal_new_CarState(struct capn_segment *s) {
+	cereal_CarState_ptr p;
+	p.p = capn_new_struct(s, 24, 5);
+	return p;
+}
+cereal_CarState_list cereal_new_CarState_list(struct capn_segment *s, int len) {
+	cereal_CarState_list p;
+	p.p = capn_new_list(s, len, 24, 5);
+	return p;
+}
+void cereal_read_CarState(struct cereal_CarState *s, cereal_CarState_ptr p) {
+	capn_resolve(&p.p);
+	s->errors.p = capn_getp(p.p, 0, 0);
+	s->vEgo = capn_to_f32(capn_read32(p.p, 0));
+	s->wheelSpeeds.p = capn_getp(p.p, 1, 0);
+	s->gas = capn_to_f32(capn_read32(p.p, 4));
+	s->gasPressed = (capn_read8(p.p, 8) & 1) != 0;
+	s->brake = capn_to_f32(capn_read32(p.p, 12));
+	s->brakePressed = (capn_read8(p.p, 8) & 2) != 0;
+	s->steeringAngle = capn_to_f32(capn_read32(p.p, 16));
+	s->steeringTorque = capn_to_f32(capn_read32(p.p, 20));
+	s->steeringPressed = (capn_read8(p.p, 8) & 4) != 0;
+	s->cruiseState.p = capn_getp(p.p, 2, 0);
+	s->buttonEvents.p = capn_getp(p.p, 3, 0);
+	s->canMonoTimes.p = capn_getp(p.p, 4, 0);
+}
+void cereal_write_CarState(const struct cereal_CarState *s, cereal_CarState_ptr p) {
+	capn_resolve(&p.p);
+	capn_setp(p.p, 0, s->errors.p);
+	capn_write32(p.p, 0, capn_from_f32(s->vEgo));
+	capn_setp(p.p, 1, s->wheelSpeeds.p);
+	capn_write32(p.p, 4, capn_from_f32(s->gas));
+	capn_write1(p.p, 64, s->gasPressed != 0);
+	capn_write32(p.p, 12, capn_from_f32(s->brake));
+	capn_write1(p.p, 65, s->brakePressed != 0);
+	capn_write32(p.p, 16, capn_from_f32(s->steeringAngle));
+	capn_write32(p.p, 20, capn_from_f32(s->steeringTorque));
+	capn_write1(p.p, 66, s->steeringPressed != 0);
+	capn_setp(p.p, 2, s->cruiseState.p);
+	capn_setp(p.p, 3, s->buttonEvents.p);
+	capn_setp(p.p, 4, s->canMonoTimes.p);
+}
+void cereal_get_CarState(struct cereal_CarState *s, cereal_CarState_list l, int i) {
+	cereal_CarState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarState(s, p);
+}
+void cereal_set_CarState(const struct cereal_CarState *s, cereal_CarState_list l, int i) {
+	cereal_CarState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarState(s, p);
+}
+
+cereal_CarState_WheelSpeeds_ptr cereal_new_CarState_WheelSpeeds(struct capn_segment *s) {
+	cereal_CarState_WheelSpeeds_ptr p;
+	p.p = capn_new_struct(s, 16, 0);
+	return p;
+}
+cereal_CarState_WheelSpeeds_list cereal_new_CarState_WheelSpeeds_list(struct capn_segment *s, int len) {
+	cereal_CarState_WheelSpeeds_list p;
+	p.p = capn_new_list(s, len, 16, 0);
+	return p;
+}
+void cereal_read_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_ptr p) {
+	capn_resolve(&p.p);
+	s->fl = capn_to_f32(capn_read32(p.p, 0));
+	s->fr = capn_to_f32(capn_read32(p.p, 4));
+	s->rl = capn_to_f32(capn_read32(p.p, 8));
+	s->rr = capn_to_f32(capn_read32(p.p, 12));
+}
+void cereal_write_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_ptr p) {
+	capn_resolve(&p.p);
+	capn_write32(p.p, 0, capn_from_f32(s->fl));
+	capn_write32(p.p, 4, capn_from_f32(s->fr));
+	capn_write32(p.p, 8, capn_from_f32(s->rl));
+	capn_write32(p.p, 12, capn_from_f32(s->rr));
+}
+void cereal_get_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_list l, int i) {
+	cereal_CarState_WheelSpeeds_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarState_WheelSpeeds(s, p);
+}
+void cereal_set_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds *s, cereal_CarState_WheelSpeeds_list l, int i) {
+	cereal_CarState_WheelSpeeds_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarState_WheelSpeeds(s, p);
+}
+
+cereal_CarState_CruiseState_ptr cereal_new_CarState_CruiseState(struct capn_segment *s) {
+	cereal_CarState_CruiseState_ptr p;
+	p.p = capn_new_struct(s, 8, 0);
+	return p;
+}
+cereal_CarState_CruiseState_list cereal_new_CarState_CruiseState_list(struct capn_segment *s, int len) {
+	cereal_CarState_CruiseState_list p;
+	p.p = capn_new_list(s, len, 8, 0);
+	return p;
+}
+void cereal_read_CarState_CruiseState(struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_ptr p) {
+	capn_resolve(&p.p);
+	s->enabled = (capn_read8(p.p, 0) & 1) != 0;
+	s->speed = capn_to_f32(capn_read32(p.p, 4));
+}
+void cereal_write_CarState_CruiseState(const struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->enabled != 0);
+	capn_write32(p.p, 4, capn_from_f32(s->speed));
+}
+void cereal_get_CarState_CruiseState(struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_list l, int i) {
+	cereal_CarState_CruiseState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarState_CruiseState(s, p);
+}
+void cereal_set_CarState_CruiseState(const struct cereal_CarState_CruiseState *s, cereal_CarState_CruiseState_list l, int i) {
+	cereal_CarState_CruiseState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarState_CruiseState(s, p);
+}
+
+cereal_CarState_ButtonEvent_ptr cereal_new_CarState_ButtonEvent(struct capn_segment *s) {
+	cereal_CarState_ButtonEvent_ptr p;
+	p.p = capn_new_struct(s, 8, 0);
+	return p;
+}
+cereal_CarState_ButtonEvent_list cereal_new_CarState_ButtonEvent_list(struct capn_segment *s, int len) {
+	cereal_CarState_ButtonEvent_list p;
+	p.p = capn_new_list(s, len, 8, 0);
+	return p;
+}
+void cereal_read_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_ptr p) {
+	capn_resolve(&p.p);
+	s->pressed = (capn_read8(p.p, 0) & 1) != 0;
+	s->type = (enum cereal_CarState_ButtonEvent_Type)(int) capn_read16(p.p, 2);
+}
+void cereal_write_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->pressed != 0);
+	capn_write16(p.p, 2, (uint16_t) (s->type));
+}
+void cereal_get_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_list l, int i) {
+	cereal_CarState_ButtonEvent_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarState_ButtonEvent(s, p);
+}
+void cereal_set_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent *s, cereal_CarState_ButtonEvent_list l, int i) {
+	cereal_CarState_ButtonEvent_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarState_ButtonEvent(s, p);
+}
+
+cereal_RadarState_ptr cereal_new_RadarState(struct capn_segment *s) {
+	cereal_RadarState_ptr p;
+	p.p = capn_new_struct(s, 0, 3);
+	return p;
+}
+cereal_RadarState_list cereal_new_RadarState_list(struct capn_segment *s, int len) {
+	cereal_RadarState_list p;
+	p.p = capn_new_list(s, len, 0, 3);
+	return p;
+}
+void cereal_read_RadarState(struct cereal_RadarState *s, cereal_RadarState_ptr p) {
+	capn_resolve(&p.p);
+	s->errors.p = capn_getp(p.p, 0, 0);
+	s->points.p = capn_getp(p.p, 1, 0);
+	s->canMonoTimes.p = capn_getp(p.p, 2, 0);
+}
+void cereal_write_RadarState(const struct cereal_RadarState *s, cereal_RadarState_ptr p) {
+	capn_resolve(&p.p);
+	capn_setp(p.p, 0, s->errors.p);
+	capn_setp(p.p, 1, s->points.p);
+	capn_setp(p.p, 2, s->canMonoTimes.p);
+}
+void cereal_get_RadarState(struct cereal_RadarState *s, cereal_RadarState_list l, int i) {
+	cereal_RadarState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_RadarState(s, p);
+}
+void cereal_set_RadarState(const struct cereal_RadarState *s, cereal_RadarState_list l, int i) {
+	cereal_RadarState_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_RadarState(s, p);
+}
+
+cereal_RadarState_RadarPoint_ptr cereal_new_RadarState_RadarPoint(struct capn_segment *s) {
+	cereal_RadarState_RadarPoint_ptr p;
+	p.p = capn_new_struct(s, 32, 0);
+	return p;
+}
+cereal_RadarState_RadarPoint_list cereal_new_RadarState_RadarPoint_list(struct capn_segment *s, int len) {
+	cereal_RadarState_RadarPoint_list p;
+	p.p = capn_new_list(s, len, 32, 0);
+	return p;
+}
+void cereal_read_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_ptr p) {
+	capn_resolve(&p.p);
+	s->trackId = capn_read64(p.p, 0);
+	s->dRel = capn_to_f32(capn_read32(p.p, 8));
+	s->yRel = capn_to_f32(capn_read32(p.p, 12));
+	s->vRel = capn_to_f32(capn_read32(p.p, 16));
+	s->aRel = capn_to_f32(capn_read32(p.p, 20));
+	s->yvRel = capn_to_f32(capn_read32(p.p, 24));
+}
+void cereal_write_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_ptr p) {
+	capn_resolve(&p.p);
+	capn_write64(p.p, 0, s->trackId);
+	capn_write32(p.p, 8, capn_from_f32(s->dRel));
+	capn_write32(p.p, 12, capn_from_f32(s->yRel));
+	capn_write32(p.p, 16, capn_from_f32(s->vRel));
+	capn_write32(p.p, 20, capn_from_f32(s->aRel));
+	capn_write32(p.p, 24, capn_from_f32(s->yvRel));
+}
+void cereal_get_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_list l, int i) {
+	cereal_RadarState_RadarPoint_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_RadarState_RadarPoint(s, p);
+}
+void cereal_set_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint *s, cereal_RadarState_RadarPoint_list l, int i) {
+	cereal_RadarState_RadarPoint_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_RadarState_RadarPoint(s, p);
+}
+
+cereal_CarControl_ptr cereal_new_CarControl(struct capn_segment *s) {
+	cereal_CarControl_ptr p;
+	p.p = capn_new_struct(s, 16, 2);
+	return p;
+}
+cereal_CarControl_list cereal_new_CarControl_list(struct capn_segment *s, int len) {
+	cereal_CarControl_list p;
+	p.p = capn_new_list(s, len, 16, 2);
+	return p;
+}
+void cereal_read_CarControl(struct cereal_CarControl *s, cereal_CarControl_ptr p) {
+	capn_resolve(&p.p);
+	s->enabled = (capn_read8(p.p, 0) & 1) != 0;
+	s->gas = capn_to_f32(capn_read32(p.p, 4));
+	s->brake = capn_to_f32(capn_read32(p.p, 8));
+	s->steeringTorque = capn_to_f32(capn_read32(p.p, 12));
+	s->cruiseControl.p = capn_getp(p.p, 0, 0);
+	s->hudControl.p = capn_getp(p.p, 1, 0);
+}
+void cereal_write_CarControl(const struct cereal_CarControl *s, cereal_CarControl_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->enabled != 0);
+	capn_write32(p.p, 4, capn_from_f32(s->gas));
+	capn_write32(p.p, 8, capn_from_f32(s->brake));
+	capn_write32(p.p, 12, capn_from_f32(s->steeringTorque));
+	capn_setp(p.p, 0, s->cruiseControl.p);
+	capn_setp(p.p, 1, s->hudControl.p);
+}
+void cereal_get_CarControl(struct cereal_CarControl *s, cereal_CarControl_list l, int i) {
+	cereal_CarControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarControl(s, p);
+}
+void cereal_set_CarControl(const struct cereal_CarControl *s, cereal_CarControl_list l, int i) {
+	cereal_CarControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarControl(s, p);
+}
+
+cereal_CarControl_CruiseControl_ptr cereal_new_CarControl_CruiseControl(struct capn_segment *s) {
+	cereal_CarControl_CruiseControl_ptr p;
+	p.p = capn_new_struct(s, 16, 0);
+	return p;
+}
+cereal_CarControl_CruiseControl_list cereal_new_CarControl_CruiseControl_list(struct capn_segment *s, int len) {
+	cereal_CarControl_CruiseControl_list p;
+	p.p = capn_new_list(s, len, 16, 0);
+	return p;
+}
+void cereal_read_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_ptr p) {
+	capn_resolve(&p.p);
+	s->cancel = (capn_read8(p.p, 0) & 1) != 0;
+	s->override = (capn_read8(p.p, 0) & 2) != 0;
+	s->speedOverride = capn_to_f32(capn_read32(p.p, 4));
+	s->accelOverride = capn_to_f32(capn_read32(p.p, 8));
+}
+void cereal_write_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->cancel != 0);
+	capn_write1(p.p, 1, s->override != 0);
+	capn_write32(p.p, 4, capn_from_f32(s->speedOverride));
+	capn_write32(p.p, 8, capn_from_f32(s->accelOverride));
+}
+void cereal_get_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_list l, int i) {
+	cereal_CarControl_CruiseControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarControl_CruiseControl(s, p);
+}
+void cereal_set_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl *s, cereal_CarControl_CruiseControl_list l, int i) {
+	cereal_CarControl_CruiseControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarControl_CruiseControl(s, p);
+}
+
+cereal_CarControl_HUDControl_ptr cereal_new_CarControl_HUDControl(struct capn_segment *s) {
+	cereal_CarControl_HUDControl_ptr p;
+	p.p = capn_new_struct(s, 16, 0);
+	return p;
+}
+cereal_CarControl_HUDControl_list cereal_new_CarControl_HUDControl_list(struct capn_segment *s, int len) {
+	cereal_CarControl_HUDControl_list p;
+	p.p = capn_new_list(s, len, 16, 0);
+	return p;
+}
+void cereal_read_CarControl_HUDControl(struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_ptr p) {
+	capn_resolve(&p.p);
+	s->speedVisible = (capn_read8(p.p, 0) & 1) != 0;
+	s->setSpeed = capn_to_f32(capn_read32(p.p, 4));
+	s->lanesVisible = (capn_read8(p.p, 0) & 2) != 0;
+	s->leadVisible = (capn_read8(p.p, 0) & 4) != 0;
+	s->visualAlert = (enum cereal_CarControl_HUDControl_VisualAlert)(int) capn_read16(p.p, 2);
+	s->audibleAlert = (enum cereal_CarControl_HUDControl_AudibleAlert)(int) capn_read16(p.p, 8);
+}
+void cereal_write_CarControl_HUDControl(const struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_ptr p) {
+	capn_resolve(&p.p);
+	capn_write1(p.p, 0, s->speedVisible != 0);
+	capn_write32(p.p, 4, capn_from_f32(s->setSpeed));
+	capn_write1(p.p, 1, s->lanesVisible != 0);
+	capn_write1(p.p, 2, s->leadVisible != 0);
+	capn_write16(p.p, 2, (uint16_t) (s->visualAlert));
+	capn_write16(p.p, 8, (uint16_t) (s->audibleAlert));
+}
+void cereal_get_CarControl_HUDControl(struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_list l, int i) {
+	cereal_CarControl_HUDControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_read_CarControl_HUDControl(s, p);
+}
+void cereal_set_CarControl_HUDControl(const struct cereal_CarControl_HUDControl *s, cereal_CarControl_HUDControl_list l, int i) {
+	cereal_CarControl_HUDControl_ptr p;
+	p.p = capn_getp(l.p, i, 0);
+	cereal_write_CarControl_HUDControl(s, p);
+}

cereal/gen/c/car.capnp.h

@@ -0,0 +1,287 @@
+#ifndef CAPN_8E2AF1E78AF8B8D
+#define CAPN_8E2AF1E78AF8B8D
+/* AUTO GENERATED - DO NOT EDIT */
+#include <capnp_c.h>
+
+#if CAPN_VERSION != 1
+#error "version mismatch between capnp_c.h and generated code"
+#endif
+
+#include "c++.capnp.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct cereal_CarState;
+struct cereal_CarState_WheelSpeeds;
+struct cereal_CarState_CruiseState;
+struct cereal_CarState_ButtonEvent;
+struct cereal_RadarState;
+struct cereal_RadarState_RadarPoint;
+struct cereal_CarControl;
+struct cereal_CarControl_CruiseControl;
+struct cereal_CarControl_HUDControl;
+
+typedef struct {capn_ptr p;} cereal_CarState_ptr;
+typedef struct {capn_ptr p;} cereal_CarState_WheelSpeeds_ptr;
+typedef struct {capn_ptr p;} cereal_CarState_CruiseState_ptr;
+typedef struct {capn_ptr p;} cereal_CarState_ButtonEvent_ptr;
+typedef struct {capn_ptr p;} cereal_RadarState_ptr;
+typedef struct {capn_ptr p;} cereal_RadarState_RadarPoint_ptr;
+typedef struct {capn_ptr p;} cereal_CarControl_ptr;
+typedef struct {capn_ptr p;} cereal_CarControl_CruiseControl_ptr;
+typedef struct {capn_ptr p;} cereal_CarControl_HUDControl_ptr;
+
+typedef struct {capn_ptr p;} cereal_CarState_list;
+typedef struct {capn_ptr p;} cereal_CarState_WheelSpeeds_list;
+typedef struct {capn_ptr p;} cereal_CarState_CruiseState_list;
+typedef struct {capn_ptr p;} cereal_CarState_ButtonEvent_list;
+typedef struct {capn_ptr p;} cereal_RadarState_list;
+typedef struct {capn_ptr p;} cereal_RadarState_RadarPoint_list;
+typedef struct {capn_ptr p;} cereal_CarControl_list;
+typedef struct {capn_ptr p;} cereal_CarControl_CruiseControl_list;
+typedef struct {capn_ptr p;} cereal_CarControl_HUDControl_list;
+
+enum cereal_CarState_Error {
+	cereal_CarState_Error_commIssue = 0,
+	cereal_CarState_Error_steerUnavailable = 1,
+	cereal_CarState_Error_brakeUnavailable = 2,
+	cereal_CarState_Error_gasUnavailable = 3,
+	cereal_CarState_Error_wrongGear = 4,
+	cereal_CarState_Error_doorOpen = 5,
+	cereal_CarState_Error_seatbeltNotLatched = 6,
+	cereal_CarState_Error_espDisabled = 7,
+	cereal_CarState_Error_wrongCarMode = 8,
+	cereal_CarState_Error_steerTemporarilyUnavailable = 9,
+	cereal_CarState_Error_reverseGear = 10
+};
+
+enum cereal_CarState_ButtonEvent_Type {
+	cereal_CarState_ButtonEvent_Type_unknown = 0,
+	cereal_CarState_ButtonEvent_Type_leftBlinker = 1,
+	cereal_CarState_ButtonEvent_Type_rightBlinker = 2,
+	cereal_CarState_ButtonEvent_Type_accelCruise = 3,
+	cereal_CarState_ButtonEvent_Type_decelCruise = 4,
+	cereal_CarState_ButtonEvent_Type_cancel = 5,
+	cereal_CarState_ButtonEvent_Type_altButton1 = 6,
+	cereal_CarState_ButtonEvent_Type_altButton2 = 7,
+	cereal_CarState_ButtonEvent_Type_altButton3 = 8
+};
+
+enum cereal_RadarState_Error {
+	cereal_RadarState_Error_notValid = 0
+};
+
+enum cereal_CarControl_HUDControl_VisualAlert {
+	cereal_CarControl_HUDControl_VisualAlert_none = 0,
+	cereal_CarControl_HUDControl_VisualAlert_fcw = 1,
+	cereal_CarControl_HUDControl_VisualAlert_steerRequired = 2,
+	cereal_CarControl_HUDControl_VisualAlert_brakePressed = 3,
+	cereal_CarControl_HUDControl_VisualAlert_wrongGear = 4,
+	cereal_CarControl_HUDControl_VisualAlert_seatbeltUnbuckled = 5,
+	cereal_CarControl_HUDControl_VisualAlert_speedTooHigh = 6
+};
+
+enum cereal_CarControl_HUDControl_AudibleAlert {
+	cereal_CarControl_HUDControl_AudibleAlert_none = 0,
+	cereal_CarControl_HUDControl_AudibleAlert_beepSingle = 1,
+	cereal_CarControl_HUDControl_AudibleAlert_beepTriple = 2,
+	cereal_CarControl_HUDControl_AudibleAlert_beepRepeated = 3,
+	cereal_CarControl_HUDControl_AudibleAlert_chimeSingle = 4,
+	cereal_CarControl_HUDControl_AudibleAlert_chimeDouble = 5,
+	cereal_CarControl_HUDControl_AudibleAlert_chimeRepeated = 6,
+	cereal_CarControl_HUDControl_AudibleAlert_chimeContinuous = 7
+};
+
+struct cereal_CarState {
+	capn_list16 errors;
+	float vEgo;
+	cereal_CarState_WheelSpeeds_ptr wheelSpeeds;
+	float gas;
+	unsigned gasPressed : 1;
+	float brake;
+	unsigned brakePressed : 1;
+	float steeringAngle;
+	float steeringTorque;
+	unsigned steeringPressed : 1;
+	cereal_CarState_CruiseState_ptr cruiseState;
+	cereal_CarState_ButtonEvent_list buttonEvents;
+	capn_list64 canMonoTimes;
+};
+
+static const size_t cereal_CarState_word_count = 3;
+
+static const size_t cereal_CarState_pointer_count = 5;
+
+static const size_t cereal_CarState_struct_bytes_count = 64;
+
+struct cereal_CarState_WheelSpeeds {
+	float fl;
+	float fr;
+	float rl;
+	float rr;
+};
+
+static const size_t cereal_CarState_WheelSpeeds_word_count = 2;
+
+static const size_t cereal_CarState_WheelSpeeds_pointer_count = 0;
+
+static const size_t cereal_CarState_WheelSpeeds_struct_bytes_count = 16;
+
+struct cereal_CarState_CruiseState {
+	unsigned enabled : 1;
+	float speed;
+};
+
+static const size_t cereal_CarState_CruiseState_word_count = 1;
+
+static const size_t cereal_CarState_CruiseState_pointer_count = 0;
+
+static const size_t cereal_CarState_CruiseState_struct_bytes_count = 8;
+
+struct cereal_CarState_ButtonEvent {
+	unsigned pressed : 1;
+	enum cereal_CarState_ButtonEvent_Type type;
+};
+
+static const size_t cereal_CarState_ButtonEvent_word_count = 1;
+
+static const size_t cereal_CarState_ButtonEvent_pointer_count = 0;
+
+static const size_t cereal_CarState_ButtonEvent_struct_bytes_count = 8;
+
+struct cereal_RadarState {
+	capn_list16 errors;
+	cereal_RadarState_RadarPoint_list points;
+	capn_list64 canMonoTimes;
+};
+
+static const size_t cereal_RadarState_word_count = 0;
+
+static const size_t cereal_RadarState_pointer_count = 3;
+
+static const size_t cereal_RadarState_struct_bytes_count = 24;
+
+struct cereal_RadarState_RadarPoint {
+	uint64_t trackId;
+	float dRel;
+	float yRel;
+	float vRel;
+	float aRel;
+	float yvRel;
+};
+
+static const size_t cereal_RadarState_RadarPoint_word_count = 4;
+
+static const size_t cereal_RadarState_RadarPoint_pointer_count = 0;
+
+static const size_t cereal_RadarState_RadarPoint_struct_bytes_count = 32;
+
+struct cereal_CarControl {
+	unsigned enabled : 1;
+	float gas;
+	float brake;
+	float steeringTorque;
+	cereal_CarControl_CruiseControl_ptr cruiseControl;
+	cereal_CarControl_HUDControl_ptr hudControl;
+};
+
+static const size_t cereal_CarControl_word_count = 2;
+
+static const size_t cereal_CarControl_pointer_count = 2;
+
+static const size_t cereal_CarControl_struct_bytes_count = 32;
+
+struct cereal_CarControl_CruiseControl {
+	unsigned cancel : 1;
+	unsigned override : 1;
+	float speedOverride;
+	float accelOverride;
+};
+
+static const size_t cereal_CarControl_CruiseControl_word_count = 2;
+
+static const size_t cereal_CarControl_CruiseControl_pointer_count = 0;
+
+static const size_t cereal_CarControl_CruiseControl_struct_bytes_count = 16;
+
+struct cereal_CarControl_HUDControl {
+	unsigned speedVisible : 1;
+	float setSpeed;
+	unsigned lanesVisible : 1;
+	unsigned leadVisible : 1;
+	enum cereal_CarControl_HUDControl_VisualAlert visualAlert;
+	enum cereal_CarControl_HUDControl_AudibleAlert audibleAlert;
+};
+
+static const size_t cereal_CarControl_HUDControl_word_count = 2;
+
+static const size_t cereal_CarControl_HUDControl_pointer_count = 0;
+
+static const size_t cereal_CarControl_HUDControl_struct_bytes_count = 16;
+
+cereal_CarState_ptr cereal_new_CarState(struct capn_segment*);
+cereal_CarState_WheelSpeeds_ptr cereal_new_CarState_WheelSpeeds(struct capn_segment*);
+cereal_CarState_CruiseState_ptr cereal_new_CarState_CruiseState(struct capn_segment*);
+cereal_CarState_ButtonEvent_ptr cereal_new_CarState_ButtonEvent(struct capn_segment*);
+cereal_RadarState_ptr cereal_new_RadarState(struct capn_segment*);
+cereal_RadarState_RadarPoint_ptr cereal_new_RadarState_RadarPoint(struct capn_segment*);
+cereal_CarControl_ptr cereal_new_CarControl(struct capn_segment*);
+cereal_CarControl_CruiseControl_ptr cereal_new_CarControl_CruiseControl(struct capn_segment*);
+cereal_CarControl_HUDControl_ptr cereal_new_CarControl_HUDControl(struct capn_segment*);
+
+cereal_CarState_list cereal_new_CarState_list(struct capn_segment*, int len);
+cereal_CarState_WheelSpeeds_list cereal_new_CarState_WheelSpeeds_list(struct capn_segment*, int len);
+cereal_CarState_CruiseState_list cereal_new_CarState_CruiseState_list(struct capn_segment*, int len);
+cereal_CarState_ButtonEvent_list cereal_new_CarState_ButtonEvent_list(struct capn_segment*, int len);
+cereal_RadarState_list cereal_new_RadarState_list(struct capn_segment*, int len);
+cereal_RadarState_RadarPoint_list cereal_new_RadarState_RadarPoint_list(struct capn_segment*, int len);
+cereal_CarControl_list cereal_new_CarControl_list(struct capn_segment*, int len);
+cereal_CarControl_CruiseControl_list cereal_new_CarControl_CruiseControl_list(struct capn_segment*, int len);
+cereal_CarControl_HUDControl_list cereal_new_CarControl_HUDControl_list(struct capn_segment*, int len);
+
+void cereal_read_CarState(struct cereal_CarState*, cereal_CarState_ptr);
+void cereal_read_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_ptr);
+void cereal_read_CarState_CruiseState(struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_ptr);
+void cereal_read_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_ptr);
+void cereal_read_RadarState(struct cereal_RadarState*, cereal_RadarState_ptr);
+void cereal_read_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_ptr);
+void cereal_read_CarControl(struct cereal_CarControl*, cereal_CarControl_ptr);
+void cereal_read_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_ptr);
+void cereal_read_CarControl_HUDControl(struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_ptr);
+
+void cereal_write_CarState(const struct cereal_CarState*, cereal_CarState_ptr);
+void cereal_write_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_ptr);
+void cereal_write_CarState_CruiseState(const struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_ptr);
+void cereal_write_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_ptr);
+void cereal_write_RadarState(const struct cereal_RadarState*, cereal_RadarState_ptr);
+void cereal_write_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_ptr);
+void cereal_write_CarControl(const struct cereal_CarControl*, cereal_CarControl_ptr);
+void cereal_write_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_ptr);
+void cereal_write_CarControl_HUDControl(const struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_ptr);
+
+void cereal_get_CarState(struct cereal_CarState*, cereal_CarState_list, int i);
+void cereal_get_CarState_WheelSpeeds(struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_list, int i);
+void cereal_get_CarState_CruiseState(struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_list, int i);
+void cereal_get_CarState_ButtonEvent(struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_list, int i);
+void cereal_get_RadarState(struct cereal_RadarState*, cereal_RadarState_list, int i);
+void cereal_get_RadarState_RadarPoint(struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_list, int i);
+void cereal_get_CarControl(struct cereal_CarControl*, cereal_CarControl_list, int i);
+void cereal_get_CarControl_CruiseControl(struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_list, int i);
+void cereal_get_CarControl_HUDControl(struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_list, int i);
+
+void cereal_set_CarState(const struct cereal_CarState*, cereal_CarState_list, int i);
+void cereal_set_CarState_WheelSpeeds(const struct cereal_CarState_WheelSpeeds*, cereal_CarState_WheelSpeeds_list, int i);
+void cereal_set_CarState_CruiseState(const struct cereal_CarState_CruiseState*, cereal_CarState_CruiseState_list, int i);
+void cereal_set_CarState_ButtonEvent(const struct cereal_CarState_ButtonEvent*, cereal_CarState_ButtonEvent_list, int i);
+void cereal_set_RadarState(const struct cereal_RadarState*, cereal_RadarState_list, int i);
+void cereal_set_RadarState_RadarPoint(const struct cereal_RadarState_RadarPoint*, cereal_RadarState_RadarPoint_list, int i);
+void cereal_set_CarControl(const struct cereal_CarControl*, cereal_CarControl_list, int i);
+void cereal_set_CarControl_CruiseControl(const struct cereal_CarControl_CruiseControl*, cereal_CarControl_CruiseControl_list, int i);
+void cereal_set_CarControl_HUDControl(const struct cereal_CarControl_HUDControl*, cereal_CarControl_HUDControl_list, int i);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

cereal/gen/c/log.capnp.h

@@ -0,0 +1,709 @@
+#ifndef CAPN_F3B1F17E25A4285B
+#define CAPN_F3B1F17E25A4285B
+/* AUTO GENERATED - DO NOT EDIT */
+#include <capnp_c.h>
+
+#if CAPN_VERSION != 1
+#error "version mismatch between capnp_c.h and generated code"
+#endif
+
+#include "c++.capnp.h"
+#include "car.capnp.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct cereal_InitData;
+struct cereal_FrameData;
+struct cereal_GPSNMEAData;
+struct cereal_SensorEventData;
+struct cereal_SensorEventData_SensorVec;
+struct cereal_GpsLocationData;
+struct cereal_CanData;
+struct cereal_ThermalData;
+struct cereal_HealthData;
+struct cereal_LiveUI;
+struct cereal_Live20Data;
+struct cereal_Live20Data_LeadData;
+struct cereal_LiveCalibrationData;
+struct cereal_LiveTracks;
+struct cereal_Live100Data;
+struct cereal_LiveEventData;
+struct cereal_ModelData;
+struct cereal_ModelData_PathData;
+struct cereal_ModelData_LeadData;
+struct cereal_ModelData_ModelSettings;
+struct cereal_CalibrationFeatures;
+struct cereal_EncodeIndex;
+struct cereal_AndroidLogEntry;
+struct cereal_LogRotate;
+struct cereal_Event;
+
+typedef struct {capn_ptr p;} cereal_InitData_ptr;
+typedef struct {capn_ptr p;} cereal_FrameData_ptr;
+typedef struct {capn_ptr p;} cereal_GPSNMEAData_ptr;
+typedef struct {capn_ptr p;} cereal_SensorEventData_ptr;
+typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_ptr;
+typedef struct {capn_ptr p;} cereal_GpsLocationData_ptr;
+typedef struct {capn_ptr p;} cereal_CanData_ptr;
+typedef struct {capn_ptr p;} cereal_ThermalData_ptr;
+typedef struct {capn_ptr p;} cereal_HealthData_ptr;
+typedef struct {capn_ptr p;} cereal_LiveUI_ptr;
+typedef struct {capn_ptr p;} cereal_Live20Data_ptr;
+typedef struct {capn_ptr p;} cereal_Live20Data_LeadData_ptr;
+typedef struct {capn_ptr p;} cereal_LiveCalibrationData_ptr;
+typedef struct {capn_ptr p;} cereal_LiveTracks_ptr;
+typedef struct {capn_ptr p;} cereal_Live100Data_ptr;
+typedef struct {capn_ptr p;} cereal_LiveEventData_ptr;
+typedef struct {capn_ptr p;} cereal_ModelData_ptr;
+typedef struct {capn_ptr p;} cereal_ModelData_PathData_ptr;
+typedef struct {capn_ptr p;} cereal_ModelData_LeadData_ptr;
+typedef struct {capn_ptr p;} cereal_ModelData_ModelSettings_ptr;
+typedef struct {capn_ptr p;} cereal_CalibrationFeatures_ptr;
+typedef struct {capn_ptr p;} cereal_EncodeIndex_ptr;
+typedef struct {capn_ptr p;} cereal_AndroidLogEntry_ptr;
+typedef struct {capn_ptr p;} cereal_LogRotate_ptr;
+typedef struct {capn_ptr p;} cereal_Event_ptr;
+
+typedef struct {capn_ptr p;} cereal_InitData_list;
+typedef struct {capn_ptr p;} cereal_FrameData_list;
+typedef struct {capn_ptr p;} cereal_GPSNMEAData_list;
+typedef struct {capn_ptr p;} cereal_SensorEventData_list;
+typedef struct {capn_ptr p;} cereal_SensorEventData_SensorVec_list;
+typedef struct {capn_ptr p;} cereal_GpsLocationData_list;
+typedef struct {capn_ptr p;} cereal_CanData_list;
+typedef struct {capn_ptr p;} cereal_ThermalData_list;
+typedef struct {capn_ptr p;} cereal_HealthData_list;
+typedef struct {capn_ptr p;} cereal_LiveUI_list;
+typedef struct {capn_ptr p;} cereal_Live20Data_list;
+typedef struct {capn_ptr p;} cereal_Live20Data_LeadData_list;
+typedef struct {capn_ptr p;} cereal_LiveCalibrationData_list;
+typedef struct {capn_ptr p;} cereal_LiveTracks_list;
+typedef struct {capn_ptr p;} cereal_Live100Data_list;
+typedef struct {capn_ptr p;} cereal_LiveEventData_list;
+typedef struct {capn_ptr p;} cereal_ModelData_list;
+typedef struct {capn_ptr p;} cereal_ModelData_PathData_list;
+typedef struct {capn_ptr p;} cereal_ModelData_LeadData_list;
+typedef struct {capn_ptr p;} cereal_ModelData_ModelSettings_list;
+typedef struct {capn_ptr p;} cereal_CalibrationFeatures_list;
+typedef struct {capn_ptr p;} cereal_EncodeIndex_list;
+typedef struct {capn_ptr p;} cereal_AndroidLogEntry_list;
+typedef struct {capn_ptr p;} cereal_LogRotate_list;
+typedef struct {capn_ptr p;} cereal_Event_list;
+
+enum cereal_SensorEventData_SensorSource {
+	cereal_SensorEventData_SensorSource_android = 0,
+	cereal_SensorEventData_SensorSource_iOS = 1,
+	cereal_SensorEventData_SensorSource_fiber = 2,
+	cereal_SensorEventData_SensorSource_velodyne = 3
+};
+
+enum cereal_EncodeIndex_Type {
+	cereal_EncodeIndex_Type_bigBoxLossless = 0,
+	cereal_EncodeIndex_Type_fullHEVC = 1,
+	cereal_EncodeIndex_Type_bigBoxHEVC = 2
+};
+extern int32_t cereal_logVersion;
+
+struct cereal_InitData {
+	capn_ptr kernelArgs;
+	capn_text gctx;
+	capn_text dongleId;
+};
+
+static const size_t cereal_InitData_word_count = 0;
+
+static const size_t cereal_InitData_pointer_count = 3;
+
+static const size_t cereal_InitData_struct_bytes_count = 24;
+
+struct cereal_FrameData {
+	uint32_t frameId;
+	uint32_t encodeId;
+	uint64_t timestampEof;
+	int32_t frameLength;
+	int32_t integLines;
+	int32_t globalGain;
+	capn_data image;
+};
+
+static const size_t cereal_FrameData_word_count = 4;
+
+static const size_t cereal_FrameData_pointer_count = 1;
+
+static const size_t cereal_FrameData_struct_bytes_count = 40;
+
+struct cereal_GPSNMEAData {
+	int64_t timestamp;
+	uint64_t localWallTime;
+	capn_text nmea;
+};
+
+static const size_t cereal_GPSNMEAData_word_count = 2;
+
+static const size_t cereal_GPSNMEAData_pointer_count = 1;
+
+static const size_t cereal_GPSNMEAData_struct_bytes_count = 24;
+enum cereal_SensorEventData_which {
+	cereal_SensorEventData_acceleration = 0,
+	cereal_SensorEventData_magnetic = 1,
+	cereal_SensorEventData_orientation = 2,
+	cereal_SensorEventData_gyro = 3
+};
+
+struct cereal_SensorEventData {
+	int32_t version;
+	int32_t sensor;
+	int32_t type;
+	int64_t timestamp;
+	enum cereal_SensorEventData_which which;
+	union {
+		cereal_SensorEventData_SensorVec_ptr acceleration;
+		cereal_SensorEventData_SensorVec_ptr magnetic;
+		cereal_SensorEventData_SensorVec_ptr orientation;
+		cereal_SensorEventData_SensorVec_ptr gyro;
+	};
+	enum cereal_SensorEventData_SensorSource source;
+};
+
+static const size_t cereal_SensorEventData_word_count = 3;
+
+static const size_t cereal_SensorEventData_pointer_count = 1;
+
+static const size_t cereal_SensorEventData_struct_bytes_count = 32;
+
+struct cereal_SensorEventData_SensorVec {
+	capn_list32 v;
+	int8_t status;
+};
+
+static const size_t cereal_SensorEventData_SensorVec_word_count = 1;
+
+static const size_t cereal_SensorEventData_SensorVec_pointer_count = 1;
+
+static const size_t cereal_SensorEventData_SensorVec_struct_bytes_count = 16;
+
+struct cereal_GpsLocationData {
+	uint16_t flags;
+	double latitude;
+	double longitude;
+	double altitude;
+	float speed;
+	float bearing;
+	float accuracy;
+	int64_t timestamp;
+};
+
+static const size_t cereal_GpsLocationData_word_count = 6;
+
+static const size_t cereal_GpsLocationData_pointer_count = 0;
+
+static const size_t cereal_GpsLocationData_struct_bytes_count = 48;
+
+struct cereal_CanData {
+	uint32_t address;
+	uint16_t busTime;
+	capn_data dat;
+	int8_t src;
+};
+
+static const size_t cereal_CanData_word_count = 1;
+
+static const size_t cereal_CanData_pointer_count = 1;
+
+static const size_t cereal_CanData_struct_bytes_count = 16;
+
+struct cereal_ThermalData {
+	uint16_t cpu0;
+	uint16_t cpu1;
+	uint16_t cpu2;
+	uint16_t cpu3;
+	uint16_t mem;
+	uint16_t gpu;
+	uint32_t bat;
+	float freeSpace;
+	int16_t batteryPercent;
+};
+
+static const size_t cereal_ThermalData_word_count = 3;
+
+static const size_t cereal_ThermalData_pointer_count = 0;
+
+static const size_t cereal_ThermalData_struct_bytes_count = 24;
+
+struct cereal_HealthData {
+	uint32_t voltage;
+	uint32_t current;
+	unsigned started : 1;
+	unsigned controlsAllowed : 1;
+	unsigned gasInterceptorDetected : 1;
+	unsigned startedSignalDetected : 1;
+};
+
+static const size_t cereal_HealthData_word_count = 2;
+
+static const size_t cereal_HealthData_pointer_count = 0;
+
+static const size_t cereal_HealthData_struct_bytes_count = 16;
+
+struct cereal_LiveUI {
+	unsigned rearViewCam : 1;
+	capn_text alertText1;
+	capn_text alertText2;
+	float awarenessStatus;
+};
+
+static const size_t cereal_LiveUI_word_count = 1;
+
+static const size_t cereal_LiveUI_pointer_count = 2;
+
+static const size_t cereal_LiveUI_struct_bytes_count = 24;
+
+struct cereal_Live20Data {
+	capn_list64 canMonoTimes;
+	uint64_t mdMonoTime;
+	uint64_t ftMonoTime;
+	capn_list32 warpMatrixDEPRECATED;
+	float angleOffsetDEPRECATED;
+	int8_t calStatusDEPRECATED;
+	int32_t calCycleDEPRECATED;
+	int8_t calPercDEPRECATED;
+	cereal_Live20Data_LeadData_ptr leadOne;
+	cereal_Live20Data_LeadData_ptr leadTwo;
+	float cumLagMs;
+};
+
+static const size_t cereal_Live20Data_word_count = 4;
+
+static const size_t cereal_Live20Data_pointer_count = 4;
+
+static const size_t cereal_Live20Data_struct_bytes_count = 64;
+
+struct cereal_Live20Data_LeadData {
+	float dRel;
+	float yRel;
+	float vRel;
+	float aRel;
+	float vLead;
+	float aLead;
+	float dPath;
+	float vLat;
+	float vLeadK;
+	float aLeadK;
+	unsigned fcw : 1;
+	unsigned status : 1;
+};
+
+static const size_t cereal_Live20Data_LeadData_word_count = 6;
+
+static const size_t cereal_Live20Data_LeadData_pointer_count = 0;
+
+static const size_t cereal_Live20Data_LeadData_struct_bytes_count = 48;
+
+struct cereal_LiveCalibrationData {
+	capn_list32 warpMatrix;
+	int8_t calStatus;
+	int32_t calCycle;
+	int8_t calPerc;
+};
+
+static const size_t cereal_LiveCalibrationData_word_count = 1;
+
+static const size_t cereal_LiveCalibrationData_pointer_count = 1;
+
+static const size_t cereal_LiveCalibrationData_struct_bytes_count = 16;
+
+struct cereal_LiveTracks {
+	int32_t trackId;
+	float dRel;
+	float yRel;
+	float vRel;
+	float aRel;
+	float timeStamp;
+	float status;
+	float currentTime;
+	unsigned stationary : 1;
+	unsigned oncoming : 1;
+};
+
+static const size_t cereal_LiveTracks_word_count = 5;
+
+static const size_t cereal_LiveTracks_pointer_count = 0;
+
+static const size_t cereal_LiveTracks_struct_bytes_count = 40;
+
+struct cereal_Live100Data {
+	uint64_t canMonoTime;
+	capn_list64 canMonoTimes;
+	uint64_t l20MonoTime;
+	uint64_t mdMonoTime;
+	float vEgo;
+	float aEgoDEPRECATED;
+	float vPid;
+	float vTargetLead;
+	float upAccelCmd;
+	float uiAccelCmd;
+	float yActual;
+	float yDes;
+	float upSteer;
+	float uiSteer;
+	float aTargetMin;
+	float aTargetMax;
+	float jerkFactor;
+	float angleSteers;
+	int32_t hudLeadDEPRECATED;
+	float cumLagMs;
+	unsigned enabled : 1;
+	unsigned steerOverride : 1;
+	float vCruise;
+	unsigned rearViewCam : 1;
+	capn_text alertText1;
+	capn_text alertText2;
+	float awarenessStatus;
+};
+
+static const size_t cereal_Live100Data_word_count = 13;
+
+static const size_t cereal_Live100Data_pointer_count = 3;
+
+static const size_t cereal_Live100Data_struct_bytes_count = 128;
+
+struct cereal_LiveEventData {
+	capn_text name;
+	int32_t value;
+};
+
+static const size_t cereal_LiveEventData_word_count = 1;
+
+static const size_t cereal_LiveEventData_pointer_count = 1;
+
+static const size_t cereal_LiveEventData_struct_bytes_count = 16;
+
+struct cereal_ModelData {
+	uint32_t frameId;
+	cereal_ModelData_PathData_ptr path;
+	cereal_ModelData_PathData_ptr leftLane;
+	cereal_ModelData_PathData_ptr rightLane;
+	cereal_ModelData_LeadData_ptr lead;
+	cereal_ModelData_ModelSettings_ptr settings;
+};
+
+static const size_t cereal_ModelData_word_count = 1;
+
+static const size_t cereal_ModelData_pointer_count = 5;
+
+static const size_t cereal_ModelData_struct_bytes_count = 48;
+
+struct cereal_ModelData_PathData {
+	capn_list32 points;
+	float prob;
+	float std;
+};
+
+static const size_t cereal_ModelData_PathData_word_count = 1;
+
+static const size_t cereal_ModelData_PathData_pointer_count = 1;
+
+static const size_t cereal_ModelData_PathData_struct_bytes_count = 16;
+
+struct cereal_ModelData_LeadData {
+	float dist;
+	float prob;
+	float std;
+};
+
+static const size_t cereal_ModelData_LeadData_word_count = 2;
+
+static const size_t cereal_ModelData_LeadData_pointer_count = 0;
+
+static const size_t cereal_ModelData_LeadData_struct_bytes_count = 16;
+
+struct cereal_ModelData_ModelSettings {
+	uint16_t bigBoxX;
+	uint16_t bigBoxY;
+	uint16_t bigBoxWidth;
+	uint16_t bigBoxHeight;
+	capn_list32 boxProjection;
+	capn_list32 yuvCorrection;
+};
+
+static const size_t cereal_ModelData_ModelSettings_word_count = 1;
+
+static const size_t cereal_ModelData_ModelSettings_pointer_count = 2;
+
+static const size_t cereal_ModelData_ModelSettings_struct_bytes_count = 24;
+
+struct cereal_CalibrationFeatures {
+	uint32_t frameId;
+	capn_list32 p0;
+	capn_list32 p1;
+	capn_list8 status;
+};
+
+static const size_t cereal_CalibrationFeatures_word_count = 1;
+
+static const size_t cereal_CalibrationFeatures_pointer_count = 3;
+
+static const size_t cereal_CalibrationFeatures_struct_bytes_count = 32;
+
+struct cereal_EncodeIndex {
+	uint32_t frameId;
+	enum cereal_EncodeIndex_Type type;
+	uint32_t encodeId;
+	int32_t segmentNum;
+	uint32_t segmentId;
+};
+
+static const size_t cereal_EncodeIndex_word_count = 3;
+
+static const size_t cereal_EncodeIndex_pointer_count = 0;
+
+static const size_t cereal_EncodeIndex_struct_bytes_count = 24;
+
+struct cereal_AndroidLogEntry {
+	uint8_t id;
+	uint64_t ts;
+	uint8_t priority;
+	int32_t pid;
+	int32_t tid;
+	capn_text tag;
+	capn_text message;
+};
+
+static const size_t cereal_AndroidLogEntry_word_count = 3;
+
+static const size_t cereal_AndroidLogEntry_pointer_count = 2;
+
+static const size_t cereal_AndroidLogEntry_struct_bytes_count = 40;
+
+struct cereal_LogRotate {
+	int32_t segmentNum;
+	capn_text path;
+};
+
+static const size_t cereal_LogRotate_word_count = 1;
+
+static const size_t cereal_LogRotate_pointer_count = 1;
+
+static const size_t cereal_LogRotate_struct_bytes_count = 16;
+enum cereal_Event_which {
+	cereal_Event_initData = 0,
+	cereal_Event_frame = 1,
+	cereal_Event_gpsNMEA = 2,
+	cereal_Event_sensorEventDEPRECATED = 3,
+	cereal_Event_can = 4,
+	cereal_Event_thermal = 5,
+	cereal_Event_live100 = 6,
+	cereal_Event_liveEventDEPRECATED = 7,
+	cereal_Event_model = 8,
+	cereal_Event_features = 9,
+	cereal_Event_sensorEvents = 10,
+	cereal_Event_health = 11,
+	cereal_Event_live20 = 12,
+	cereal_Event_liveUIDEPRECATED = 13,
+	cereal_Event_encodeIdx = 14,
+	cereal_Event_liveTracks = 15,
+	cereal_Event_sendcan = 16,
+	cereal_Event_logMessage = 17,
+	cereal_Event_liveCalibration = 18,
+	cereal_Event_androidLogEntry = 19,
+	cereal_Event_gpsLocation = 20,
+	cereal_Event_carState = 21
+};
+
+struct cereal_Event {
+	uint64_t logMonoTime;
+	enum cereal_Event_which which;
+	union {
+		cereal_InitData_ptr initData;
+		cereal_FrameData_ptr frame;
+		cereal_GPSNMEAData_ptr gpsNMEA;
+		cereal_SensorEventData_ptr sensorEventDEPRECATED;
+		cereal_CanData_list can;
+		cereal_ThermalData_ptr thermal;
+		cereal_Live100Data_ptr live100;
+		cereal_LiveEventData_list liveEventDEPRECATED;
+		cereal_ModelData_ptr model;
+		cereal_CalibrationFeatures_ptr features;
+		cereal_SensorEventData_list sensorEvents;
+		cereal_HealthData_ptr health;
+		cereal_Live20Data_ptr live20;
+		cereal_LiveUI_ptr liveUIDEPRECATED;
+		cereal_EncodeIndex_ptr encodeIdx;
+		cereal_LiveTracks_list liveTracks;
+		cereal_CanData_list sendcan;
+		capn_text logMessage;
+		cereal_LiveCalibrationData_ptr liveCalibration;
+		cereal_AndroidLogEntry_ptr androidLogEntry;
+		cereal_GpsLocationData_ptr gpsLocation;
+		cereal_CarState_ptr carState;
+	};
+};
+
+static const size_t cereal_Event_word_count = 2;
+
+static const size_t cereal_Event_pointer_count = 1;
+
+static const size_t cereal_Event_struct_bytes_count = 24;
+
+cereal_InitData_ptr cereal_new_InitData(struct capn_segment*);
+cereal_FrameData_ptr cereal_new_FrameData(struct capn_segment*);
+cereal_GPSNMEAData_ptr cereal_new_GPSNMEAData(struct capn_segment*);
+cereal_SensorEventData_ptr cereal_new_SensorEventData(struct capn_segment*);
+cereal_SensorEventData_SensorVec_ptr cereal_new_SensorEventData_SensorVec(struct capn_segment*);
+cereal_GpsLocationData_ptr cereal_new_GpsLocationData(struct capn_segment*);
+cereal_CanData_ptr cereal_new_CanData(struct capn_segment*);
+cereal_ThermalData_ptr cereal_new_ThermalData(struct capn_segment*);
+cereal_HealthData_ptr cereal_new_HealthData(struct capn_segment*);
+cereal_LiveUI_ptr cereal_new_LiveUI(struct capn_segment*);
+cereal_Live20Data_ptr cereal_new_Live20Data(struct capn_segment*);
+cereal_Live20Data_LeadData_ptr cereal_new_Live20Data_LeadData(struct capn_segment*);
+cereal_LiveCalibrationData_ptr cereal_new_LiveCalibrationData(struct capn_segment*);
+cereal_LiveTracks_ptr cereal_new_LiveTracks(struct capn_segment*);
+cereal_Live100Data_ptr cereal_new_Live100Data(struct capn_segment*);
+cereal_LiveEventData_ptr cereal_new_LiveEventData(struct capn_segment*);
+cereal_ModelData_ptr cereal_new_ModelData(struct capn_segment*);
+cereal_ModelData_PathData_ptr cereal_new_ModelData_PathData(struct capn_segment*);
+cereal_ModelData_LeadData_ptr cereal_new_ModelData_LeadData(struct capn_segment*);
+cereal_ModelData_ModelSettings_ptr cereal_new_ModelData_ModelSettings(struct capn_segment*);
+cereal_CalibrationFeatures_ptr cereal_new_CalibrationFeatures(struct capn_segment*);
+cereal_EncodeIndex_ptr cereal_new_EncodeIndex(struct capn_segment*);
+cereal_AndroidLogEntry_ptr cereal_new_AndroidLogEntry(struct capn_segment*);
+cereal_LogRotate_ptr cereal_new_LogRotate(struct capn_segment*);
+cereal_Event_ptr cereal_new_Event(struct capn_segment*);
+
+cereal_InitData_list cereal_new_InitData_list(struct capn_segment*, int len);
+cereal_FrameData_list cereal_new_FrameData_list(struct capn_segment*, int len);
+cereal_GPSNMEAData_list cereal_new_GPSNMEAData_list(struct capn_segment*, int len);
+cereal_SensorEventData_list cereal_new_SensorEventData_list(struct capn_segment*, int len);
+cereal_SensorEventData_SensorVec_list cereal_new_SensorEventData_SensorVec_list(struct capn_segment*, int len);
+cereal_GpsLocationData_list cereal_new_GpsLocationData_list(struct capn_segment*, int len);
+cereal_CanData_list cereal_new_CanData_list(struct capn_segment*, int len);
+cereal_ThermalData_list cereal_new_ThermalData_list(struct capn_segment*, int len);
+cereal_HealthData_list cereal_new_HealthData_list(struct capn_segment*, int len);
+cereal_LiveUI_list cereal_new_LiveUI_list(struct capn_segment*, int len);
+cereal_Live20Data_list cereal_new_Live20Data_list(struct capn_segment*, int len);
+cereal_Live20Data_LeadData_list cereal_new_Live20Data_LeadData_list(struct capn_segment*, int len);
+cereal_LiveCalibrationData_list cereal_new_LiveCalibrationData_list(struct capn_segment*, int len);
+cereal_LiveTracks_list cereal_new_LiveTracks_list(struct capn_segment*, int len);
+cereal_Live100Data_list cereal_new_Live100Data_list(struct capn_segment*, int len);
+cereal_LiveEventData_list cereal_new_LiveEventData_list(struct capn_segment*, int len);
+cereal_ModelData_list cereal_new_ModelData_list(struct capn_segment*, int len);
+cereal_ModelData_PathData_list cereal_new_ModelData_PathData_list(struct capn_segment*, int len);
+cereal_ModelData_LeadData_list cereal_new_ModelData_LeadData_list(struct capn_segment*, int len);
+cereal_ModelData_ModelSettings_list cereal_new_ModelData_ModelSettings_list(struct capn_segment*, int len);
+cereal_CalibrationFeatures_list cereal_new_CalibrationFeatures_list(struct capn_segment*, int len);
+cereal_EncodeIndex_list cereal_new_EncodeIndex_list(struct capn_segment*, int len);
+cereal_AndroidLogEntry_list cereal_new_AndroidLogEntry_list(struct capn_segment*, int len);
+cereal_LogRotate_list cereal_new_LogRotate_list(struct capn_segment*, int len);
+cereal_Event_list cereal_new_Event_list(struct capn_segment*, int len);
+
+void cereal_read_InitData(struct cereal_InitData*, cereal_InitData_ptr);
+void cereal_read_FrameData(struct cereal_FrameData*, cereal_FrameData_ptr);
+void cereal_read_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
+void cereal_read_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
+void cereal_read_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
+void cereal_read_GpsLocationData(struct cereal_GpsLocationData*, cereal_GpsLocationData_ptr);
+void cereal_read_CanData(struct cereal_CanData*, cereal_CanData_ptr);
+void cereal_read_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_ptr);
+void cereal_read_HealthData(struct cereal_HealthData*, cereal_HealthData_ptr);
+void cereal_read_LiveUI(struct cereal_LiveUI*, cereal_LiveUI_ptr);
+void cereal_read_Live20Data(struct cereal_Live20Data*, cereal_Live20Data_ptr);
+void cereal_read_Live20Data_LeadData(struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_ptr);
+void cereal_read_LiveCalibrationData(struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_ptr);
+void cereal_read_LiveTracks(struct cereal_LiveTracks*, cereal_LiveTracks_ptr);
+void cereal_read_Live100Data(struct cereal_Live100Data*, cereal_Live100Data_ptr);
+void cereal_read_LiveEventData(struct cereal_LiveEventData*, cereal_LiveEventData_ptr);
+void cereal_read_ModelData(struct cereal_ModelData*, cereal_ModelData_ptr);
+void cereal_read_ModelData_PathData(struct cereal_ModelData_PathData*, cereal_ModelData_PathData_ptr);
+void cereal_read_ModelData_LeadData(struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_ptr);
+void cereal_read_ModelData_ModelSettings(struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_ptr);
+void cereal_read_CalibrationFeatures(struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_ptr);
+void cereal_read_EncodeIndex(struct cereal_EncodeIndex*, cereal_EncodeIndex_ptr);
+void cereal_read_AndroidLogEntry(struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_ptr);
+void cereal_read_LogRotate(struct cereal_LogRotate*, cereal_LogRotate_ptr);
+void cereal_read_Event(struct cereal_Event*, cereal_Event_ptr);
+
+void cereal_write_InitData(const struct cereal_InitData*, cereal_InitData_ptr);
+void cereal_write_FrameData(const struct cereal_FrameData*, cereal_FrameData_ptr);
+void cereal_write_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_ptr);
+void cereal_write_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_ptr);
+void cereal_write_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_ptr);
+void cereal_write_GpsLocationData(const struct cereal_GpsLocationData*, cereal_GpsLocationData_ptr);
+void cereal_write_CanData(const struct cereal_CanData*, cereal_CanData_ptr);
+void cereal_write_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_ptr);
+void cereal_write_HealthData(const struct cereal_HealthData*, cereal_HealthData_ptr);
+void cereal_write_LiveUI(const struct cereal_LiveUI*, cereal_LiveUI_ptr);
+void cereal_write_Live20Data(const struct cereal_Live20Data*, cereal_Live20Data_ptr);
+void cereal_write_Live20Data_LeadData(const struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_ptr);
+void cereal_write_LiveCalibrationData(const struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_ptr);
+void cereal_write_LiveTracks(const struct cereal_LiveTracks*, cereal_LiveTracks_ptr);
+void cereal_write_Live100Data(const struct cereal_Live100Data*, cereal_Live100Data_ptr);
+void cereal_write_LiveEventData(const struct cereal_LiveEventData*, cereal_LiveEventData_ptr);
+void cereal_write_ModelData(const struct cereal_ModelData*, cereal_ModelData_ptr);
+void cereal_write_ModelData_PathData(const struct cereal_ModelData_PathData*, cereal_ModelData_PathData_ptr);
+void cereal_write_ModelData_LeadData(const struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_ptr);
+void cereal_write_ModelData_ModelSettings(const struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_ptr);
+void cereal_write_CalibrationFeatures(const struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_ptr);
+void cereal_write_EncodeIndex(const struct cereal_EncodeIndex*, cereal_EncodeIndex_ptr);
+void cereal_write_AndroidLogEntry(const struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_ptr);
+void cereal_write_LogRotate(const struct cereal_LogRotate*, cereal_LogRotate_ptr);
+void cereal_write_Event(const struct cereal_Event*, cereal_Event_ptr);
+
+void cereal_get_InitData(struct cereal_InitData*, cereal_InitData_list, int i);
+void cereal_get_FrameData(struct cereal_FrameData*, cereal_FrameData_list, int i);
+void cereal_get_GPSNMEAData(struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
+void cereal_get_SensorEventData(struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
+void cereal_get_SensorEventData_SensorVec(struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
+void cereal_get_GpsLocationData(struct cereal_GpsLocationData*, cereal_GpsLocationData_list, int i);
+void cereal_get_CanData(struct cereal_CanData*, cereal_CanData_list, int i);
+void cereal_get_ThermalData(struct cereal_ThermalData*, cereal_ThermalData_list, int i);
+void cereal_get_HealthData(struct cereal_HealthData*, cereal_HealthData_list, int i);
+void cereal_get_LiveUI(struct cereal_LiveUI*, cereal_LiveUI_list, int i);
+void cereal_get_Live20Data(struct cereal_Live20Data*, cereal_Live20Data_list, int i);
+void cereal_get_Live20Data_LeadData(struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_list, int i);
+void cereal_get_LiveCalibrationData(struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_list, int i);
+void cereal_get_LiveTracks(struct cereal_LiveTracks*, cereal_LiveTracks_list, int i);
+void cereal_get_Live100Data(struct cereal_Live100Data*, cereal_Live100Data_list, int i);
+void cereal_get_LiveEventData(struct cereal_LiveEventData*, cereal_LiveEventData_list, int i);
+void cereal_get_ModelData(struct cereal_ModelData*, cereal_ModelData_list, int i);
+void cereal_get_ModelData_PathData(struct cereal_ModelData_PathData*, cereal_ModelData_PathData_list, int i);
+void cereal_get_ModelData_LeadData(struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_list, int i);
+void cereal_get_ModelData_ModelSettings(struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_list, int i);
+void cereal_get_CalibrationFeatures(struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_list, int i);
+void cereal_get_EncodeIndex(struct cereal_EncodeIndex*, cereal_EncodeIndex_list, int i);
+void cereal_get_AndroidLogEntry(struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_list, int i);
+void cereal_get_LogRotate(struct cereal_LogRotate*, cereal_LogRotate_list, int i);
+void cereal_get_Event(struct cereal_Event*, cereal_Event_list, int i);
+
+void cereal_set_InitData(const struct cereal_InitData*, cereal_InitData_list, int i);
+void cereal_set_FrameData(const struct cereal_FrameData*, cereal_FrameData_list, int i);
+void cereal_set_GPSNMEAData(const struct cereal_GPSNMEAData*, cereal_GPSNMEAData_list, int i);
+void cereal_set_SensorEventData(const struct cereal_SensorEventData*, cereal_SensorEventData_list, int i);
+void cereal_set_SensorEventData_SensorVec(const struct cereal_SensorEventData_SensorVec*, cereal_SensorEventData_SensorVec_list, int i);
+void cereal_set_GpsLocationData(const struct cereal_GpsLocationData*, cereal_GpsLocationData_list, int i);
+void cereal_set_CanData(const struct cereal_CanData*, cereal_CanData_list, int i);
+void cereal_set_ThermalData(const struct cereal_ThermalData*, cereal_ThermalData_list, int i);
+void cereal_set_HealthData(const struct cereal_HealthData*, cereal_HealthData_list, int i);
+void cereal_set_LiveUI(const struct cereal_LiveUI*, cereal_LiveUI_list, int i);
+void cereal_set_Live20Data(const struct cereal_Live20Data*, cereal_Live20Data_list, int i);
+void cereal_set_Live20Data_LeadData(const struct cereal_Live20Data_LeadData*, cereal_Live20Data_LeadData_list, int i);
+void cereal_set_LiveCalibrationData(const struct cereal_LiveCalibrationData*, cereal_LiveCalibrationData_list, int i);
+void cereal_set_LiveTracks(const struct cereal_LiveTracks*, cereal_LiveTracks_list, int i);
+void cereal_set_Live100Data(const struct cereal_Live100Data*, cereal_Live100Data_list, int i);
+void cereal_set_LiveEventData(const struct cereal_LiveEventData*, cereal_LiveEventData_list, int i);
+void cereal_set_ModelData(const struct cereal_ModelData*, cereal_ModelData_list, int i);
+void cereal_set_ModelData_PathData(const struct cereal_ModelData_PathData*, cereal_ModelData_PathData_list, int i);
+void cereal_set_ModelData_LeadData(const struct cereal_ModelData_LeadData*, cereal_ModelData_LeadData_list, int i);
+void cereal_set_ModelData_ModelSettings(const struct cereal_ModelData_ModelSettings*, cereal_ModelData_ModelSettings_list, int i);
+void cereal_set_CalibrationFeatures(const struct cereal_CalibrationFeatures*, cereal_CalibrationFeatures_list, int i);
+void cereal_set_EncodeIndex(const struct cereal_EncodeIndex*, cereal_EncodeIndex_list, int i);
+void cereal_set_AndroidLogEntry(const struct cereal_AndroidLogEntry*, cereal_AndroidLogEntry_list, int i);
+void cereal_set_LogRotate(const struct cereal_LogRotate*, cereal_LogRotate_list, int i);
+void cereal_set_Event(const struct cereal_Event*, cereal_Event_list, int i);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

cereal/log.capnp

@@ -0,0 +1,317 @@
+using Cxx = import "c++.capnp";
+$Cxx.namespace("cereal");
+
+using Car = import "car.capnp";
+
+@0xf3b1f17e25a4285b;
+
+const logVersion :Int32 = 1;
+
+struct InitData {
+  kernelArgs @0 :List(Text);
+  gctx @1 :Text;
+  dongleId @2 :Text;
+}
+
+struct FrameData {
+  frameId @0 :UInt32;
+  encodeId @1 :UInt32; # DEPRECATED
+  timestampEof @2 :UInt64;
+  frameLength @3 :Int32;
+  integLines @4 :Int32;
+  globalGain @5 :Int32;
+  image @6 :Data;
+}
+
+struct GPSNMEAData {
+  timestamp @0 :Int64;
+  localWallTime @1 :UInt64;
+  nmea @2 :Text;
+}
+
+# android sensor_event_t
+struct SensorEventData {
+  version @0 :Int32;
+  sensor @1 :Int32;
+  type @2 :Int32;
+  timestamp @3 :Int64;
+  union {
+    acceleration @4 :SensorVec;
+    magnetic @5 :SensorVec;
+    orientation @6 :SensorVec;
+    gyro @7 :SensorVec;
+  }
+  source @8 :SensorSource;
+
+  struct SensorVec {
+    v @0 :List(Float32);
+    status @1 :Int8;
+  }
+
+  enum SensorSource {
+    android @0;
+    iOS @1;
+    fiber @2;
+    velodyne @3;  # Velodyne IMU
+  }
+}
+
+# android struct GpsLocation
+struct GpsLocationData {
+  # Contains GpsLocationFlags bits.
+  flags @0 :UInt16;
+
+  # Represents latitude in degrees.
+  latitude @1 :Float64;
+
+  # Represents longitude in degrees.
+  longitude @2 :Float64;
+
+  # Represents altitude in meters above the WGS 84 reference ellipsoid.
+  altitude @3 :Float64;
+
+  # Represents speed in meters per second.
+  speed @4 :Float32;
+
+  # Represents heading in degrees.
+  bearing @5 :Float32;
+
+  # Represents expected accuracy in meters.
+  accuracy @6 :Float32;
+
+  # Timestamp for the location fix.
+  # Milliseconds since January 1, 1970.
+  timestamp @7 :Int64;
+}
+
+struct CanData {
+  address @0 :UInt32;
+  busTime @1 :UInt16;
+  dat     @2 :Data;
+  src     @3 :Int8;
+}
+
+struct ThermalData {
+  cpu0 @0 :UInt16;
+  cpu1 @1 :UInt16;
+  cpu2 @2 :UInt16;
+  cpu3 @3 :UInt16;
+  mem @4 :UInt16;
+  gpu @5 :UInt16;
+  bat @6 :UInt32;
+
+  # not thermal
+  freeSpace @7 :Float32;
+  batteryPercent @8 :Int16;
+}
+
+struct HealthData {
+  # from can health
+  voltage @0 :UInt32;
+  current @1 :UInt32;
+  started @2 :Bool;
+  controlsAllowed @3 :Bool;
+  gasInterceptorDetected @4 :Bool;
+  startedSignalDetected @5 :Bool;
+}
+
+struct LiveUI {
+  rearViewCam @0 :Bool;
+  alertText1 @1 :Text; 
+  alertText2 @2 :Text; 
+  awarenessStatus @3 :Float32;
+}
+
+struct Live20Data {
+  canMonoTimes @10 :List(UInt64);
+  mdMonoTime @6 :UInt64;
+  ftMonoTime @7 :UInt64;
+
+  # all deprecated
+  warpMatrixDEPRECATED @0 :List(Float32);
+  angleOffsetDEPRECATED @1 :Float32;
+  calStatusDEPRECATED @2 :Int8;
+  calCycleDEPRECATED @8 :Int32;
+  calPercDEPRECATED @9 :Int8;
+
+  leadOne @3 :LeadData;
+  leadTwo @4 :LeadData;
+  cumLagMs @5 :Float32;
+
+  struct LeadData {
+    dRel @0 :Float32;
+    yRel @1 :Float32;
+    vRel @2 :Float32;
+    aRel @3 :Float32;
+    vLead @4 :Float32;
+    aLead @5 :Float32;
+    dPath @6 :Float32;
+    vLat @7 :Float32;
+    vLeadK @8 :Float32;
+    aLeadK @9 :Float32;
+    fcw @10 :Bool;
+    status @11 :Bool;
+  }
+}
+
+struct LiveCalibrationData {
+  warpMatrix @0 :List(Float32);
+  calStatus @1 :Int8;
+  calCycle @2 :Int32;
+  calPerc @3 :Int8;
+}
+
+struct LiveTracks {
+  trackId @0 :Int32;
+  dRel @1 :Float32;
+  yRel @2 :Float32;
+  vRel @3 :Float32;
+  aRel @4 :Float32;
+  timeStamp @5 :Float32;
+  status @6 :Float32;
+  currentTime @7 :Float32;
+  stationary @8 :Bool;
+  oncoming @9 :Bool;
+}
+
+struct Live100Data {
+  canMonoTime @16 :UInt64;
+  canMonoTimes @21 :List(UInt64);
+  l20MonoTime @17 :UInt64;
+  mdMonoTime @18 :UInt64;
+
+  vEgo @0 :Float32;
+  aEgoDEPRECATED @1 :Float32;
+  vPid @2 :Float32;
+  vTargetLead @3 :Float32;
+  upAccelCmd @4 :Float32;
+  uiAccelCmd @5 :Float32;
+  yActual @6 :Float32;
+  yDes @7 :Float32;
+  upSteer @8 :Float32;
+  uiSteer @9 :Float32;
+  aTargetMin @10 :Float32;
+  aTargetMax @11 :Float32;
+  jerkFactor @12 :Float32;
+  angleSteers @13 :Float32;
+  hudLeadDEPRECATED @14 :Int32;
+  cumLagMs @15 :Float32;
+
+  enabled @19: Bool;
+  steerOverride @20: Bool;
+
+  vCruise @22: Float32;
+
+  rearViewCam @23 :Bool;
+  alertText1 @24 :Text; 
+  alertText2 @25 :Text; 
+  awarenessStatus @26 :Float32;
+}
+
+struct LiveEventData {
+  name @0 :Text;
+  value @1 :Int32;
+}
+
+struct ModelData {
+  frameId @0 :UInt32;
+
+  path @1 :PathData;
+  leftLane @2 :PathData;
+  rightLane @3 :PathData;
+  lead @4 :LeadData;
+
+  settings @5 :ModelSettings;
+
+  struct PathData {
+    points @0 :List(Float32);
+    prob @1 :Float32;
+    std @2 :Float32;
+  }
+
+  struct LeadData {
+    dist @0 :Float32;
+    prob @1 :Float32;
+    std @2 :Float32;
+  }
+
+  struct ModelSettings {
+    bigBoxX @0 :UInt16;
+    bigBoxY @1 :UInt16;
+    bigBoxWidth @2 :UInt16;
+    bigBoxHeight @3 :UInt16;
+    boxProjection @4 :List(Float32);
+    yuvCorrection @5 :List(Float32);
+  }
+}
+
+struct CalibrationFeatures {
+  frameId @0 :UInt32;
+
+  p0 @1 :List(Float32);
+  p1 @2 :List(Float32);
+  status @3 :List(Int8);
+}
+
+struct EncodeIndex {
+  # picture from camera 
+  frameId @0 :UInt32;
+  type @1 :Type;
+  # index of encoder from start of route
+  encodeId @2 :UInt32;
+  # minute long segment this frame is in
+  segmentNum @3 :Int32;
+  # index into camera file in segment from 0
+  segmentId @4 :UInt32;
+
+  enum Type {
+    bigBoxLossless @0;   # rcamera.mkv
+    fullHEVC @1;         # fcamera.hevc
+    bigBoxHEVC @2;       # bcamera.hevc
+  }
+}
+
+struct AndroidLogEntry {
+  id @0 :UInt8;
+  ts @1 :UInt64;
+  priority @2 :UInt8;
+  pid @3 :Int32;
+  tid @4 :Int32;
+  tag @5 :Text;
+  message @6 :Text;
+}
+
+struct LogRotate {
+  segmentNum @0 :Int32;
+  path @1 :Text;
+}
+
+
+struct Event {
+  logMonoTime @0 :UInt64;
+
+  union {
+    initData @1 :InitData;
+    frame @2 :FrameData;
+    gpsNMEA @3 :GPSNMEAData;
+    sensorEventDEPRECATED @4 :SensorEventData;
+    can @5 :List(CanData);
+    thermal @6 :ThermalData;
+    live100 @7 :Live100Data;
+    liveEventDEPRECATED @8 :List(LiveEventData);
+    model @9 :ModelData;
+    features @10 :CalibrationFeatures;
+    sensorEvents @11 :List(SensorEventData);
+    health @12 : HealthData;
+    live20 @13 :Live20Data;
+    liveUIDEPRECATED @14 :LiveUI;
+    encodeIdx @15 :EncodeIndex;
+    liveTracks @16 :List(LiveTracks);
+    sendcan @17 :List(CanData);
+    logMessage @18 :Text;
+    liveCalibration @19 :LiveCalibrationData;
+    androidLogEntry @20 :AndroidLogEntry;
+    gpsLocation @21 :GpsLocationData;
+    carState @22 :Car.CarState;
+  }
+}

common/api/__init__.py

@@ -0,0 +1,8 @@
+import requests
+
+def api_get(endpoint, method='GET', timeout=None, **params):
+  backend = "https://api.commadotai.com/"
+
+  params['_version'] = "OPENPILOTv0.2"
+
+  return requests.request(method, backend+endpoint, timeout=timeout, params=params)

common/crash.py

@@ -0,0 +1,31 @@
+"""Install exception handler for process crash."""
+import os
+import sys
+
+if os.getenv("NOLOG"):
+  def capture_exception(*exc_info):
+    pass
+  def bind_user(**kwargs):
+    pass
+  def install():
+    pass
+else:
+  from raven import Client
+  from raven.transport.http import HTTPTransport
+
+  client = Client('https://1994756b5e6f41cf939a4c65de45f4f2:cefebaf3a8aa40d182609785f7189bd7@app.getsentry.com/77924',
+                  install_sys_hook=False, transport=HTTPTransport)
+
+  capture_exception = client.captureException
+
+  def bind_user(**kwargs):
+    client.user_context(kwargs)
+
+  def install():
+    # installs a sys.excepthook
+    __excepthook__ = sys.excepthook
+    def handle_exception(*exc_info):
+      if exc_info[0] not in (KeyboardInterrupt, SystemExit):
+        client.captureException(exc_info=exc_info)
+      __excepthook__(*exc_info)
+    sys.excepthook = handle_exception

common/dbc.py

@@ -0,0 +1,184 @@
+import re
+import bitstring
+from binascii import hexlify
+from collections import namedtuple
+
+def int_or_float(s):
+  # return number, trying to maintain int format
+  try:
+    return int(s)
+  except ValueError:
+    return float(s)
+
+DBCSignal = namedtuple(
+  "DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
+                "factor", "offset", "tmin", "tmax", "units"])
+
+class dbc(object):
+  def __init__(self, fn):
+    with open(fn) as f:
+      self.txt = f.read().split("\n")
+    self._warned_addresses = set()
+
+    # regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
+    bo_regexp = re.compile("^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
+    sg_regexp = re.compile("^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
+    sgm_regexp = re.compile("^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
+
+    # A dictionary which maps message ids to tuples ((name, size), signals).
+    #   name is the ASCII name of the message.
+    #   size is the size of the message in bytes.
+    #   signals is a list signals contained in the message.
+    # signals is a list of DBCSignal in order of increasing start_bit.
+    self.msgs = {}
+
+    self.bits = []
+    for i in range(0, 64, 8):
+      for j in range(7, -1, -1):
+        self.bits.append(i+j)
+
+    for l in self.txt:
+      l = l.strip()
+
+      if l.startswith("BO_ "):
+        # new group
+        dat = bo_regexp.match(l)
+
+        if dat is None:
+          print "bad BO", l
+        name = dat.group(2)
+        size = int(dat.group(3))
+        ids = int(dat.group(1), 0) # could be hex
+
+        self.msgs[ids] = ((name, size), [])
+
+      if l.startswith("SG_ "):
+        # new signal
+        dat = sg_regexp.match(l)
+        go = 0
+        if dat is None:
+          dat = sgm_regexp.match(l)
+          go = 1
+        if dat is None:
+          print "bad SG", l
+
+        sgname = dat.group(1)
+        start_bit = int(dat.group(go+2))
+        signal_size = int(dat.group(go+3))
+        is_little_endian = int(dat.group(go+4))==1
+        is_signed = dat.group(go+5)=='-'
+        factor = int_or_float(dat.group(go+6))
+        offset = int_or_float(dat.group(go+7))
+        tmin = int_or_float(dat.group(go+8))
+        tmax = int_or_float(dat.group(go+9))
+        units = dat.group(go+10)
+
+        self.msgs[ids][1].append(
+          DBCSignal(sgname, start_bit, signal_size, is_little_endian,
+                    is_signed, factor, offset, tmin, tmax, units))
+
+    for msg in self.msgs.viewvalues():
+      msg[1].sort(key=lambda x: x.start_bit)
+
+  def encode(self, msg_id, dd):
+    """Encode a CAN message using the dbc.
+
+       Inputs:
+        msg_id: The message ID.
+        dd: A dictionary mapping signal name to signal data.
+    """
+    # TODO: Stop using bitstring, which is super slow.
+    msg_def = self.msgs[msg_id]
+    size = msg_def[0][1]
+
+    bsf = bitstring.Bits(hex="00"*size)
+    for s in msg_def[1]:
+      ival = dd.get(s.name)
+      if ival is not None:
+        ival = (ival / s.factor) - s.offset
+        ival = int(round(ival))
+
+        # should pack this
+        if s.is_little_endian:
+          ss = s.start_bit
+        else:
+          ss = self.bits.index(s.start_bit)
+
+
+        if s.is_signed:
+          tbs = bitstring.Bits(int=ival, length=s.size)
+        else:
+          tbs = bitstring.Bits(uint=ival, length=s.size)
+
+        lpad = bitstring.Bits(bin="0b"+"0"*ss)
+        rpad = bitstring.Bits(bin="0b"+"0"*(8*size-(ss+s.size)))
+        tbs = lpad+tbs+rpad
+
+        bsf |= tbs
+    return bsf.tobytes()
+
+  def decode(self, x, arr=None, debug=False):
+    """Decode a CAN message using the dbc.
+
+       Inputs:
+        x: A collection with elements (address, time, data), where address is
+           the CAN address, time is the bus time, and data is the CAN data as a
+           hex string.
+        arr: Optional list of signals which should be decoded and returned.
+        debug: True to print debugging statements.
+
+       Returns:
+        A tuple (name, data), where name is the name of the CAN message and data
+        is the decoded result. If arr is None, data is a dict of properties.
+        Otherwise data is a list of the same length as arr.
+
+        Returns (None, None) if the message could not be decoded.
+    """
+    if arr is None:
+      out = {}
+    else:
+      out = [None]*len(arr)
+
+    msg = self.msgs.get(x[0])
+    if msg is None:
+      if x[0] not in self._warned_addresses:
+        print("WARNING: Unknown message address {}".format(x[0]))
+        self._warned_addresses.add(x[0])
+      return None, None
+
+    name = msg[0][0]
+    if debug:
+      print name
+
+    blen = 8*len(x[2])
+    x2_int = int(hexlify(x[2]), 16)
+
+    for s in msg[1]:
+      if arr is not None and s[0] not in arr:
+        continue
+
+      # big or little endian?
+      #   see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
+      if s[3] is False:
+        ss = self.bits.index(s[1])
+      else:
+        ss = s[1]
+
+      data_bit_pos = (blen - (ss + s[2]))
+      if data_bit_pos < 0:
+        continue
+      ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)
+
+      if s[4] and (ival & (1<<(s[2]-1))): # signed
+        ival -= (1<<s[2])
+
+      # control the offset
+      ival = (ival + s[6])*s[5]
+      if debug:
+        print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], ival, s[-1])
+
+      if arr is None:
+        out[s[0]] = ival
+      else:
+        out[arr.index(s[0])] = ival
+    return name, out

common/filters.py

@@ -0,0 +1,17 @@
+"""Classes for filtering discrete time signals."""
+import numpy as np
+
+
+class FirstOrderLowpassFilter(object):
+  def __init__(self, fc, dt, x1=0):
+    self.kf = 2 * np.pi * fc * dt / (1 + 2 * np.pi * fc * dt)
+    self.x1 = x1
+
+  def __call__(self, x):
+    self.x1 = (1 - self.kf) * self.x1 + self.kf * x
+
+    # If previous or current is NaN, reset filter.
+    if np.isnan(self.x1):
+      self.x1 = x
+
+    return self.x1

common/kalman/ekf.py

@@ -0,0 +1,300 @@
+import abc
+import numpy as np
+import numpy.matlib
+
+# The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
+# A subclass must implement:
+#   1) calc_transfer_fun(); see bottom of file for more info.
+#   2) __init__() to initialize self.state, self.covar, and self.process_noise appropriately
+
+# Alternatively, the existing implementations of EKF can be used (e.g. EKF2D)
+
+# Sensor classes are optionally used to pass measurement information into the EKF, to keep
+#   sensor parameters and processing methods for a each sensor together.
+# Sensor classes have a read() method which takes raw sensor data and returns
+#   a SensorReading object, which can be passed to the EKF update() method.
+
+# For usage, see run_ekf1d.py in selfdrive/new for a simple example.
+# ekf.predict(dt) should be called between update cycles with the time since it was last called.
+# Ideally, predict(dt) should be called at a relatively constant rate.
+# update() should be called once per sensor, and can be called multiple times between predict steps.
+# Access and set the state of the filter directly with ekf.state and ekf.covar.
+
+class SensorReading:
+  # Given a perfect model and no noise, data = obs_model * state
+  def __init__(self, data, covar, obs_model):
+    self.data = data
+    self.obs_model = obs_model
+    self.covar = covar
+
+  def __repr__(self):
+    return "SensorReading(data={}, covar={}, obs_model={})".format(
+      repr(self.data), repr(self.covar), repr(self.obs_model))
+
+
+# A generic sensor class that does no pre-processing of data
+class SimpleSensor:
+  # obs_model can be 
+  #   a full obesrvation model matrix, or
+  #   an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
+  # covar can be
+  #   a full covariance matrix
+  #   a float or tuple of individual covars for each component of the sensor reading
+  # dims is the number of states in the EKF
+  def __init__(self, obs_model, covar, dims):
+    # Allow for integer covar/obs_model
+    if not hasattr(obs_model, "__len__"):
+      obs_model = (obs_model, )
+    if not hasattr(covar, "__len__"):
+      covar = (covar, )
+
+    # Full observation model passed
+    if dims in np.array(obs_model).shape:
+      self.obs_model = np.asmatrix(obs_model)
+      self.covar = np.asmatrix(covar)
+    # Indices of unit observations passed
+    else:
+      self.obs_model = np.matlib.zeros((len(obs_model), dims))
+      self.obs_model[:, list(obs_model)] = np.identity(len(obs_model))
+      if np.asarray(covar).ndim == 2:
+        self.covar = np.asmatrix(covar)
+      elif len(covar) == len(obs_model):
+        self.covar = np.matlib.diag(covar)
+      else:
+        self.covar = np.matlib.identity(len(obs_model)) * covar
+
+  def read(self, data, covar=None):
+    if covar:
+      self.covar = covar
+    return SensorReading(data, self.covar, self.obs_model)
+
+class GPS:
+  earth_r = 6371e3  # m, average earth radius
+
+  def __init__(self, xy_idx=(0, 1), dims=2, var=1e4):
+    self.obs_model = np.matlib.zeros((2, dims))
+    self.obs_model[:, tuple(xy_idx)] = np.matlib.identity(2)
+    self.covar = np.matlib.identity(2) * var
+
+  # [lat, lon] in decimal degrees
+  def init_pos(self, latlon):
+    self.init_lat, self.init_lon = np.radians(np.asarray(latlon[:2]))
+
+  # Compute straight-line distance, in meters, between two lat/long coordinates
+  # Input in radians
+  def haversine(self, lat1, lon1, lat2, lon2):
+    lat_diff = lat2 - lat1
+    lon_diff = lon2 - lon1
+    d = np.sin(lat_diff * 0.5)**2 + np.cos(lat1) * np.cos(lat2) * np.sin(
+      lon_diff * 0.5)**2
+    h = 2 * GPS.earth_r * np.arcsin(np.sqrt(d))
+    return h
+
+  # Convert decimal degrees into meters
+  def convert_deg2m(self, lat, lon):
+    lat, lon = np.radians([lat, lon])
+
+    xs = (lon - self.init_lon) * np.cos(self.init_lat) * GPS.earth_r
+    ys = (lat - self.init_lat) * GPS.earth_r
+
+    return xs, ys
+
+  # Convert meters into decimal degrees
+  def convert_m2deg(self, xs, ys):
+    lat = ys / GPS.earth_r + self.init_lat
+    lon = xs / (GPS.earth_r * np.cos(self.init_lat)) + self.init_lon
+
+    return np.degrees(lat), np.degrees(lon)
+
+  # latlon is [lat, long,] as decimal degrees
+  # accuracy is as given by Android location service: radius of 68% confidence
+  def read(self, latlon, accuracy=None):
+    x_dist, y_dist = self.convert_deg2m(latlon[0], latlon[1])
+    if not accuracy:
+      covar = self.covar
+    else:
+      covar = np.matlib.identity(2) * accuracy**2
+
+    return SensorReading(
+      np.asmatrix([x_dist, y_dist]).T, covar, self.obs_model)
+
+class EKF:
+  __metaclass__ = abc.ABCMeta
+
+  def __init__(self, debug=False):
+    self.DEBUG = debug
+
+
+  def __str__(self):
+    return "EKF(state={}, covar={})".format(self.state, self.covar)
+
+  # Measurement update
+  # Reading should be a SensorReading object with data, covar, and obs_model attributes
+  def update(self, reading):
+    # Potential improvements:
+    # deal with negative covars
+    # add noise to really low covars to ensure stability
+    # use mahalanobis distance to reject outliers
+    # wrap angles after state updates and innovation
+
+    # y = z - H*x
+    innovation = reading.data - reading.obs_model * self.state
+
+    if self.DEBUG:
+      print "reading:\n",reading.data
+      print "innovation:\n",innovation
+
+    # S = H*P*H' + R
+    innovation_covar = reading.obs_model * self.covar * reading.obs_model.T + reading.covar
+
+    # K = P*H'*S^-1
+    kalman_gain = self.covar * reading.obs_model.T * np.linalg.inv(
+      innovation_covar)
+
+    if self.DEBUG:
+      print "gain:\n", kalman_gain
+      print "innovation_covar:\n", innovation_covar
+      print "innovation: ", innovation
+      print "test: ", self.covar * reading.obs_model.T * (
+        reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
+        0).I
+
+    # x = x + K*y
+    self.state += kalman_gain*innovation
+
+    # print "covar", np.diag(self.covar)
+    #self.state[(roll_vel, yaw_vel, pitch_vel),:] = reading.data
+
+    # Standard form: P = (I - K*H)*P
+    # self.covar = (self.identity - kalman_gain*reading.obs_model) * self.covar
+
+    # Use the Joseph form for numerical stability: P = (I-K*H)*P*(I - K*H)' + K*R*K'
+    aux_mtrx = (self.identity - kalman_gain * reading.obs_model)
+    self.covar = aux_mtrx * self.covar * aux_mtrx.T + kalman_gain * reading.covar * kalman_gain.T
+
+    if self.DEBUG:
+      print "After update"
+      print "state\n", self.state
+      print "covar:\n",self.covar
+
+  def update_scalar(self, reading):
+    # like update but knowing that measurment is a scalar
+    # this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
+
+    # innovation = reading.data - np.matmul(reading.obs_model, self.state)   
+    # innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar    
+    # kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar   
+    # self.state += np.matmul(kalman_gain, innovation)   
+    # aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)    
+    # self.covar =  np.matmul(aux_mtrx, np.matmul(self.covar, aux_mtrx.T)) + np.matmul(kalman_gain, np.matmul(reading.covar, kalman_gain.T))
+
+    # written without np.matmul
+    es = np.einsum
+    ABC_T = "ij,jk,lk->il"
+    AB_T = "ij,kj->ik"
+    AB = "ij,jk->ik"
+    innovation = reading.data - es(AB, reading.obs_model, self.state)
+    innovation_covar = es(ABC_T, reading.obs_model, self.covar,
+                          reading.obs_model) + reading.covar
+    kalman_gain = es(AB_T, self.covar, reading.obs_model) / innovation_covar
+
+    self.state += es(AB, kalman_gain, innovation)
+    aux_mtrx = self.identity - es(AB, kalman_gain, reading.obs_model)
+    self.covar = es(ABC_T, aux_mtrx, self.covar, aux_mtrx) + \
+                 es(ABC_T, kalman_gain, reading.covar, kalman_gain)
+
+  # Prediction update
+  def predict(self, dt):
+    es = np.einsum
+    ABC_T = "ij,jk,lk->il"
+    AB = "ij,jk->ik"
+
+    # State update
+    transfer_fun, transfer_fun_jacobian = self.calc_transfer_fun(dt)
+
+    # self.state = np.matmul(transfer_fun, self.state)
+    # self.covar = np.matmul(np.matmul(transfer_fun_jacobian, self.covar), transfer_fun_jacobian.T) + self.process_noise * dt
+
+    # x = f(x, u), written in the form x = A(x, u)*x
+    self.state = es(AB, transfer_fun, self.state)
+
+    # P = J*P*J' + Q
+    self.covar = es(ABC_T, transfer_fun_jacobian, self.covar,
+                    transfer_fun_jacobian) + self.process_noise * dt  #!dt
+
+    #! Clip covariance to avoid explosions
+    self.covar = np.clip(self.covar,-1e10,1e10)
+
+  @abc.abstractmethod
+  def calc_transfer_fun(self, dt):
+    """Return a tuple with the transfer function and transfer function jacobian
+    The transfer function and jacobian should both be a numpy matrix of size DIMSxDIMS
+
+    The transfer function matrix A should satisfy the state-update equation
+      x_(k+1) = A * x_k
+
+    The jacobian J is the direct jacobian A*x_k. For linear systems J=A.
+
+    Current implementations calculate A and J as functions of state. Control input
+      can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
+      and using it during calcualtion of A and J
+    """
+
+class FastEKF1D(EKF):
+  """Fast version of EKF for 1D problems with scalar readings."""
+
+  def __init__(self, dt, var_init, Q):
+    super(FastEKF1D, self).__init__(False)
+    self.state = [0, 0]
+    self.covar = [var_init, var_init, 0]
+
+    # Process Noise
+    self.dtQ0 = dt * Q[0]
+    self.dtQ1 = dt * Q[1]
+
+  def update(self, reading):
+    raise NotImplementedError
+
+  def update_scalar(self, reading):
+    # TODO(mgraczyk): Delete this for speed.
+    # assert np.all(reading.obs_model == [1, 0])
+
+    rcov = reading.covar[0, 0]
+
+    x = self.state
+    S = self.covar
+
+    innovation = reading.data - x[0]
+    innovation_covar = S[0] + rcov
+
+    k0 = S[0] / innovation_covar
+    k1 = S[2] / innovation_covar
+
+    x[0] += k0 * innovation
+    x[1] += k1 * innovation
+
+    mk = 1 - k0
+    S[1] += k1 * (k1 * (S[0] + rcov) - 2 * S[2])
+    S[2] = mk * (S[2] - k1 * S[0]) + rcov * k0 * k1
+    S[0] = mk * mk * S[0] + rcov * k0 * k0
+
+  def predict(self, dt):
+    # State update
+    x = self.state
+
+    x[0] += dt * x[1]
+
+    # P = J*P*J' + Q
+    S = self.covar
+    S[0] += dt * (2 * S[2] + dt * S[1]) + self.dtQ0
+    S[2] += dt * S[1]
+    S[1] += self.dtQ1
+
+    # Clip covariance to avoid explosions
+    S = max(-1e10, min(S, 1e10))
+
+  def calc_transfer_fun(self, dt):
+    tf = np.identity(2)
+    tf[0, 1] = dt
+    tfj = tf
+    return tf, tfj

common/logging_extra.py

@@ -0,0 +1,134 @@
+import os
+import sys
+import copy
+import json
+import socket
+import logging
+from threading import local
+from collections import OrderedDict
+from contextlib import contextmanager
+
+class SwagFormatter(logging.Formatter):
+  def __init__(self, swaglogger):
+    logging.Formatter.__init__(self, None, '%a %b %d %H:%M:%S %Z %Y')
+
+    self.swaglogger = swaglogger
+    self.host = socket.gethostname()
+
+  def json_handler(self, obj):
+    # if isinstance(obj, (datetime.date, datetime.time)):
+    #   return obj.isoformat()
+    return repr(obj)
+
+  def format(self, record):
+    record_dict = OrderedDict()
+
+    if isinstance(record.msg, dict):
+      record_dict['msg'] = record.msg
+    else:
+      try:
+        record_dict['msg'] = record.getMessage()
+      except (ValueError, TypeError):
+        record_dict['msg'] = [record.msg]+record.args
+
+    record_dict['ctx'] = self.swaglogger.get_ctx()
+
+    if record.exc_info:
+      record_dict['exc_info'] = self.formatException(record.exc_info)
+
+    record_dict['level'] = record.levelname
+    record_dict['levelnum'] = record.levelno
+    record_dict['name'] = record.name
+    record_dict['filename'] = record.filename
+    record_dict['lineno'] = record.lineno
+    record_dict['pathname'] = record.pathname
+    record_dict['module'] = record.module
+    record_dict['funcName'] = record.funcName
+    record_dict['host'] = self.host
+    record_dict['process'] = record.process
+    record_dict['thread'] = record.thread
+    record_dict['threadName'] = record.threadName
+    record_dict['created'] = record.created
+
+    # asctime = self.formatTime(record, self.datefmt)
+
+    return json.dumps(record_dict, default=self.json_handler)
+
+_tmpfunc = lambda: 0
+_srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
+
+class SwagLogger(logging.Logger):
+  def __init__(self):
+    logging.Logger.__init__(self, "swaglog")
+
+    self.global_ctx = {}
+
+    self.log_local = local()
+    self.log_local.ctx = {}
+
+  def findCaller(self):
+    """
+      Find the stack frame of the caller so that we can note the source
+      file name, line number and function name.
+      """
+    # f = currentframe()
+    f = sys._getframe(3)
+    #On some versions of IronPython, currentframe() returns None if
+    #IronPython isn't run with -X:Frames.
+    if f is not None:
+      f = f.f_back
+    rv = "(unknown file)", 0, "(unknown function)"
+    while hasattr(f, "f_code"):
+      co = f.f_code
+      filename = os.path.normcase(co.co_filename)
+      if filename in (logging._srcfile, _srcfile):
+        f = f.f_back
+        continue
+      rv = (co.co_filename, f.f_lineno, co.co_name)
+      break
+    return rv
+
+  def local_ctx(self):
+    try:
+      return self.log_local.ctx
+    except AttributeError:
+      self.log_local.ctx = {}
+      return self.log_local.ctx
+
+  def get_ctx(self):
+    return dict(self.local_ctx(), **self.global_ctx)
+
+  @contextmanager
+  def ctx(self, **kwargs):
+    old_ctx = self.local_ctx()
+    self.log_local.ctx = copy.copy(old_ctx) or {}
+    self.log_local.ctx.update(kwargs)
+    try:
+      yield
+    finally:
+      self.log_local.ctx = old_ctx
+
+  def bind(self, **kwargs):
+    self.local_ctx().update(kwargs)
+
+  def bind_global(self, **kwargs):
+    self.global_ctx.update(kwargs)
+
+  def event(self, event_name, *args, **kwargs):
+    evt = OrderedDict()
+    evt['event'] = event_name
+    if args:
+      evt['args'] = args
+    evt.update(kwargs)
+    self.info(evt)
+
+if __name__ == "__main__":
+  log = SwagLogger()
+
+  log.info("asdasd %s", "a")
+  log.info({'wut': 1})
+
+  with log.ctx():
+    log.bind(user="some user")
+    log.info("in req")
+    log.event("do_req")

common/numpy_fast.py

@@ -0,0 +1,25 @@
+def clip(x, lo, hi):
+  return max(lo, min(hi, x))
+
+
+def interp(x, xp, fp):
+  N = len(xp)
+  if not hasattr(x, '__iter__'):
+    hi = 0
+    while hi < N and x > xp[hi]:
+      hi += 1
+    low = hi - 1
+    return fp[-1] if hi == N and x > xp[low] else (
+      fp[0] if hi == 0 else
+      (x - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
+
+  result = []
+  for v in x:
+    hi = 0
+    while hi < N and v > xp[hi]:
+      hi += 1
+    low = hi - 1
+    result.append(fp[-1] if hi == N and v > xp[low] else (fp[
+      0] if hi == 0 else (v - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]
+                                                               ) + fp[low]))
+  return result

common/profiler.py

@@ -0,0 +1,26 @@
+from common.realtime import sec_since_boot
+
+class Profiler(object):
+  def __init__(self, enabled=False):
+    self.enabled = enabled
+    self.cp = []
+    self.start_time = sec_since_boot()
+    self.last_time = self.start_time
+
+  def checkpoint(self, name):
+    if not self.enabled:
+      return
+    tt = sec_since_boot()
+    self.cp.append((name, tt - self.last_time))
+    self.last_time = tt
+
+  def display(self):
+    if not self.enabled:
+      return
+    print "******* Profiling *******"
+    tot = 0.0
+    for n, ms in self.cp:
+      print "%30s: %7.2f" % (n, ms*1000.0)
+      tot += ms
+    print "    TOTAL: %7.2f" % (tot*1000.0)
+

common/realtime.py

@@ -0,0 +1,103 @@
+"""Utilities for reading real time clocks and keeping soft real time constraints."""
+import time
+import ctypes
+import platform
+import subprocess
+import multiprocessing
+import os
+
+from ctypes.util import find_library
+
+
+CLOCK_MONOTONIC_RAW = 4 # see <linux/time.h>
+CLOCK_BOOTTIME = 7
+
+class timespec(ctypes.Structure):
+  _fields_ = [
+    ('tv_sec', ctypes.c_long),
+    ('tv_nsec', ctypes.c_long),
+  ]
+
+libc_name = find_library('c')
+if libc_name is None:
+  platform_name = platform.system()
+  if platform_name.startswith('linux'):
+    libc_name = 'libc.so.6'
+  if platform_name.startswith(('freebsd', 'netbsd')):
+    libc_name = 'libc.so'
+  elif platform_name.lower() == 'darwin':
+    libc_name = 'libc.dylib'
+
+try:
+  libc = ctypes.CDLL(libc_name, use_errno=True)
+except OSError:
+  libc = None
+
+if libc is not None:
+  libc.clock_gettime.argtypes = [ctypes.c_int, ctypes.POINTER(timespec)]
+
+def clock_gettime(clk_id):
+  t = timespec()
+  if libc.clock_gettime(clk_id, ctypes.pointer(t)) != 0:
+    errno_ = ctypes.get_errno()
+    raise OSError(errno_, os.strerror(errno_))
+  return t.tv_sec + t.tv_nsec * 1e-9
+
+def monotonic_time():
+  return clock_gettime(CLOCK_MONOTONIC_RAW)
+
+def sec_since_boot():
+  return clock_gettime(CLOCK_BOOTTIME)
+
+
+def set_realtime_priority(level):
+  if os.getuid() != 0:
+    print("not setting priority, not root")
+    return
+  if platform.machine() == "x86_64":
+    NR_gettid = 186
+  elif platform.machine() == "aarch64":
+    NR_gettid = 178
+  else:
+    raise NotImplementedError
+
+  tid = libc.syscall(NR_gettid)
+  return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])
+
+
+class Ratekeeper(object):
+  def __init__(self, rate, print_delay_threshold=0.):
+    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
+    self._interval = 1. / rate
+    self._next_frame_time = sec_since_boot() + self._interval
+    self._print_delay_threshold = print_delay_threshold
+    self._frame = 0
+    self._remaining = 0
+    self._process_name = multiprocessing.current_process().name
+
+  @property
+  def frame(self):
+    return self._frame
+
+  @property
+  def remaining(self):
+    return self._remaining
+
+  # Maintain loop rate by calling this at the end of each loop
+  def keep_time(self):
+    lagged = self.monitor_time()
+    if self._remaining > 0:
+      time.sleep(self._remaining)
+    return lagged
+
+  # this only monitor the cumulative lag, but does not enforce a rate
+  def monitor_time(self):
+    lagged = False
+    remaining = self._next_frame_time - sec_since_boot()
+    self._next_frame_time += self._interval
+    if remaining < -self._print_delay_threshold:
+      print(self._process_name, "lagging by", round(-remaining * 1000, 2), "ms")
+      lagged = True
+    self._frame += 1
+    self._remaining = remaining
+    return lagged

common/services.py

@@ -0,0 +1,88 @@
+# TODO: these port numbers are hardcoded in c, fix this
+
+# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
+
+class Service(object):
+  def __init__(self, port, should_log):
+    self.port = port
+    self.should_log = should_log
+
+# all ZMQ pub sub
+service_list = {
+  # frame syncing packet
+  "frame": Service(8002, True),
+  # accel, gyro, and compass
+  "sensorEvents": Service(8003, True),
+  # GPS data, also global timestamp
+  "gpsNMEA": Service(8004, True),
+  # CPU+MEM+GPU+BAT temps
+  "thermal": Service(8005, True),
+  # List(CanData), list of can messages
+  "can": Service(8006, True),
+  "live100": Service(8007, True),
+  # random events we want to log
+  #"liveEvent": Service(8008, True),
+  "model": Service(8009, True),
+  "features": Service(8010, True),
+  "health": Service(8011, True),
+  "live20": Service(8012, True),
+  #"liveUI": Service(8014, True),
+  "encodeIdx": Service(8015, True),
+  "liveTracks": Service(8016, True),
+  "sendcan": Service(8017, True),
+  "logMessage": Service(8018, True),
+  "liveCalibration": Service(8019, True),
+  "androidLog": Service(8020, True),
+  "carState": Service(8021, True),
+}
+
+# manager -- base process to manage starting and stopping of all others
+#   subscribes: health
+#   publishes:  thermal
+
+# **** processes that communicate with the outside world ****
+
+# boardd -- communicates with the car
+#   subscribes: sendcan
+#   publishes:  can, health
+
+# sensord -- publishes the IMU and GPS
+#   publishes:  sensorEvents, gpsNMEA
+
+# visiond -- talks to the cameras, runs the model, saves the videos
+#   subscribes: liveCalibration, sensorEvents
+#   publishes:  frame, encodeIdx, model, features
+
+# **** stateful data transformers ****
+
+# controlsd -- actually drives the car
+#   subscribes: can, thermal, model, live20
+#   publishes:  carState, sendcan, live100
+
+# radard -- processes the radar data
+#   subscribes: can, live100, model
+#   publishes:  live20, liveTracks
+
+# calibrationd -- places the camera box
+#   subscribes: features, live100
+#   publishes:  liveCalibration
+
+# **** LOGGING SERVICE ****
+
+# loggerd
+#   subscribes: EVERYTHING
+
+# **** NON VITAL SERVICES ****
+
+# ui
+#   subscribes: live100, live20, liveCalibration, model, (raw frames)
+
+# uploader
+#   communicates through file system with loggerd
+
+# logmessaged -- central logging service, can log to cloud
+#   publishes:  logMessage
+
+# logcatd -- fetches logcat info from android
+#   publishes:  androidLog
+

dbcs/__init__.py

@@ -0,0 +1,2 @@
+import os
+DBC_PATH = os.path.dirname(os.path.abspath(__file__))

dbcs/acura_ilx_2016_can.dbc

@@ -0,0 +1,324 @@
+VERSION ""
+
+
+NS_ : 
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BS_:
+
+BU_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX
+
+
+BO_ 57 XXX_1: 3 XXX
+
+BO_ 145 XXX_2: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2"  NEO
+
+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 : 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|3] ""  EPS
+
+BO_ 304 GAS_PEDAL2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm"  NEO
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm"  NEO
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
+
+BO_ 316 GAS_PEDAL: 8 PCM
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg"  NEO
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s"  NEO
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 344 POWERTRAIN_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 380 POWERTRAIN_DATA2: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] ""  NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BRAKE_LIGHTS_ON : 32|1@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] ""  NEO
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 398 XXX_3: 3 XXX
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd"  NEO
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd"  NEO
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] ""  NEO
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|256] ""  NEO
+ SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-103) [0|1000] ""  NEO
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] ""  NEO
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] ""  NEO
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 428 XXX_4: 8 XXX
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] ""  NEO
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 476 XXX_5: 4 XXX
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2"  NEO
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] ""  EBCM
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] ""  EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_BOH3 : 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_2 : 16|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_BOH4 : 31|8@0+ (1,0) [0|1] ""  EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_BOH5 : 38|7@0+ (1,0) [0|1] ""  EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] ""  EBCM
+ SG_ CRUISE_BOH6 : 44|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] ""  EBCM
+ SG_ CRUISE_BOH7 : 41|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|3] ""  EBCM
+
+BO_ 512 GAS_COMMAND: 3 NEO
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-328) [0|1] ""  INTERCEPTOR
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] ""  INTERCEPTOR
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] ""  INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-328) [0|1] ""  NEO
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-656) [0|1] ""  NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 542 XXX_6: 7 XXX
+
+BO_ 545 XXX_7: 4 XXX
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] ""  NEO
+ SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] ""  NEO
+
+BO_ 660 SCM_COMMANDS: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] ""  NEO
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] ""  NEO
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] ""  NEO
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 777 XXX_8: 8 XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002763889,0) [0|100] "m/s"  BDY
+ SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] ""  BDY
+ SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] ""  BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] ""  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 : 36|1@0+ (1,0) [0|1] ""  BDY
+ SG_ BOH_2 : 35|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_ SET_ME_X03 : 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_ HUD_DISTANCE_3 : 52|1@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_ 800 XXX_9: 8 XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] ""  NEO
+ SG_ BOH : 15|8@0+ (1,0) [0|255] ""  NEO
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] ""  NEO
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] ""  NEO
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] ""  NEO
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 808 XXX_10: 8 XXX
+
+BO_ 819 XXX_11: 7 XXX
+
+BO_ 821 XXX_12: 5 XXX
+
+BO_ 829 LKAS_HUD_2: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  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 : 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|3] ""  BDY
+
+BO_ 882 XXX_13: 2 XXX
+
+BO_ 884 XXX_14: 7 XXX
+
+BO_ 887 XXX_15: 8 XXX
+
+BO_ 888 XXX_16: 8 XXX
+
+BO_ 892 XXX_17: 8 XXX
+
+BO_ 923 XXX_18: 2 XXX
+
+BO_ 929 XXX_19: 4 XXX
+
+BO_ 983 XXX_20: 8 XXX
+
+BO_ 985 XXX_21: 3 XXX
+
+BO_ 1024 XXX_22: 5 XXX
+
+BO_ 1027 XXX_23: 5 XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 1030 XXX_24: 5 VSA
+
+BO_ 1034 XXX_25: 5 XXX
+
+BO_ 1036 XXX_26: 8 XXX
+
+BO_ 1039 XXX_27: 8 XXX
+
+BO_ 1057 XXX_28: 5 EPS
+
+BO_ 1064 XXX_29: 7 XXX
+
+BO_ 1108 XXX_30: 8 XXX
+
+BO_ 1365 XXX_31: 5 XXX
+
+BO_ 1600 XXX_32: 5 XXX
+
+BO_ 1601 XXX_33: 8 XXX
+
+BO_TX_BU_ 228 : NEO,ADAS;
+BO_TX_BU_ 506 : NEO,ADAS;
+BO_TX_BU_ 780 : NEO,ADAS;
+BO_TX_BU_ 829 : NEO,ADAS;
+
+
+CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+VAL_ 399 STEER_STATUS 5 "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_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+

dbcs/acura_ilx_2016_nidec.dbc

@@ -1,185 +1,183 @@
-VERSION ""
-
-
-NS_ : 
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BS_:
-
-BU_: ADAS RADAR NEO XXX
-
-
-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
-
-BO_ 769 VEHICLE_STATE2: 8 ADAS
- SG_ SET_ME_0F18510 : 7|28@0+ (1,0) [0|268435455] "" Vector__XXX
- SG_ SET_ME_25A0000 : 27|28@0+ (1,0) [0|268435455] "" Vector__XXX
-
-BO_ 1024 RADAR_DIAGNOSTIC: 8 RADAR
- SG_ RADAR_STATE : 7|8@0+ (1,0) [0|255] "" NEO
-
-BO_ 1040 XXX_101: 8 RADAR
-
-BO_ 1041 XXX_102: 8 RADAR
-
-BO_ 1042 XXX_103: 8 RADAR
-
-BO_ 1043 XXX_104: 8 RADAR
-
-BO_ 1044 XXX_105: 8 RADAR
-
-BO_ 1045 XXX_106: 8 RADAR
-
-BO_ 1046 XXX_107: 8 RADAR
-
-BO_ 1047 XXX_108: 8 RADAR
-
-BO_ 1056 XXX_109: 8 RADAR
-
-BO_ 1057 XXX_110: 8 RADAR
-
-BO_ 1058 XXX_111: 8 RADAR
-
-BO_ 1059 XXX_112: 8 RADAR
-
-BO_ 1060 XXX_113: 8 RADAR
-
-BO_ 1072 TRACK_0: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1073 TRACK_1: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1074 TRACK_2: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1075 TRACK_3: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1076 TRACK_4: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1077 TRACK_5: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1078 TRACK_6: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1079 TRACK_7: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1080 TRACK_8: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1081 TRACK_9: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1088 TRACK_10: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1089 TRACK_11: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1090 TRACK_12: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1091 TRACK_13: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1092 TRACK_14: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1093 TRACK_15: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1279 XXX_114: 8 RADAR
-
-BO_ 1280 XXX_115: 8 RADAR
-
-BO_ 1296 XXX_116: 8 RADAR
-
-BO_ 1297 XXX_117: 8 RADAR
-
-BO_TX_BU_ 768 : NEO,ADAS;
-BO_TX_BU_ 769 : NEO,ADAS;
-
-
-CM_ SG_ 1024 RADAR_STATE "need to find out more diagnostic values";
-VAL_ 1024 RADAR_STATE 121 "ok" 110 "faulted" 105 "wrong_config";
+VERSION ""
+
+
+NS_ : 
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BS_:
+
+BU_: ADAS RADAR NEO XXX
+
+
+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
+
+BO_ 769 VEHICLE_STATE2: 8 ADAS
+ SG_ SET_ME_0F18510 : 7|28@0+ (1,0) [0|268435455] "" Vector__XXX
+ SG_ SET_ME_25A0000 : 27|28@0+ (1,0) [0|268435455] "" Vector__XXX
+
+BO_ 1024 XXX_100: 8 RADAR
+
+BO_ 1040 XXX_101: 8 RADAR
+
+BO_ 1041 XXX_102: 8 RADAR
+
+BO_ 1042 XXX_103: 8 RADAR
+
+BO_ 1043 XXX_104: 8 RADAR
+
+BO_ 1044 XXX_105: 8 RADAR
+
+BO_ 1045 XXX_106: 8 RADAR
+
+BO_ 1046 XXX_107: 8 RADAR
+
+BO_ 1047 XXX_108: 8 RADAR
+
+BO_ 1056 XXX_109: 8 RADAR
+
+BO_ 1057 XXX_110: 8 RADAR
+
+BO_ 1058 XXX_111: 8 RADAR
+
+BO_ 1059 XXX_112: 8 RADAR
+
+BO_ 1060 XXX_113: 8 RADAR
+
+BO_ 1072 TRACK_0: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1073 TRACK_1: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1074 TRACK_2: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1075 TRACK_3: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1076 TRACK_4: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1077 TRACK_5: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1078 TRACK_6: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1079 TRACK_7: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1080 TRACK_8: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1081 TRACK_9: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1088 TRACK_10: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1089 TRACK_11: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1090 TRACK_12: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1091 TRACK_13: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1092 TRACK_14: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1093 TRACK_15: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1279 XXX_114: 8 RADAR
+
+BO_ 1280 XXX_115: 8 RADAR
+
+BO_ 1296 XXX_116: 8 RADAR
+
+BO_ 1297 XXX_117: 8 RADAR
+
+BO_TX_BU_ 768 : NEO,ADAS;
+BO_TX_BU_ 769 : NEO,ADAS;
+
+
+

dbcs/honda_civic_touring_2016_can.dbc

@@ -0,0 +1,343 @@
+VERSION ""
+
+
+NS_ : 
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BS_:
+
+BU_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX EPB
+
+
+BO_ 57 XXX_1: 3 XXX
+
+BO_ 148 XXX_2: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2"  NEO
+ SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2"  NEO
+
+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_ CHECKSUM : 39|4@0+ (1,0) [0|15] ""  EPS
+ SG_ COUNTER : 33|2@0+ (1,0) [0|3] ""  EPS
+
+BO_ 304 GAS_PEDAL2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm"  NEO
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm"  NEO
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg"  NEO
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s"  NEO
+ SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg"  NEO
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg"  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 344 POWERTRAIN_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 380 POWERTRAIN_DATA2: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] ""  NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BRAKE_LIGHTS_ON : 32|1@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] ""  NEO
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm"  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd"  NEO
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd"  NEO
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] ""  NEO
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] ""  NEO
+ SG_ GEAR : 35|4@0+ (1,0) [0|15] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-103) [0|1000] ""  NEO
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 427 XXX_3: 3 VSA
+
+BO_ 428 XXX_4: 8 XXX
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] ""  NEO
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 450 XXX_5: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] ""  NEO
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] ""  NEO
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 470 XXX_6: 2 VSA
+
+BO_ 476 XXX_7: 7 XXX
+
+BO_ 487 XXX_8: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] ""  NEO
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] ""  NEO
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2"  NEO
+
+BO_ 493 XXX_9: 5 VSA
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] ""  EBCM
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] ""  EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ CRUISE_BOH3 : 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_2 : 16|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] ""  EBCM
+ 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_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] ""  EBCM
+ SG_ FCW : 43|1@0+ (1,0) [0|3] ""  EBCM
+ SG_ ZEROS_BOH3 : 42|2@0+ (1,0) [0|0] ""  EBCM
+ SG_ FCW2 : 40|1@0+ (1,0) [0|0] ""  EBCM
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] ""  EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  EBCM
+
+BO_ 512 GAS_COMMAND: 3 NEO
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-328) [0|1] ""  INTERCEPTOR
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] ""  INTERCEPTOR
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] ""  INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-328) [0|1] ""  NEO
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-656) [0|1] ""  NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 545 XXX_10: 6 XXX
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph"  NEO
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] ""  NEO
+ SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] ""  NEO
+
+BO_ 662 CRUISE_BUTTONS: 4 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
+ SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] ""  NEO
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] ""  NEO
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 777 XXX_11: 8 XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002763889,0) [0|100] "m/s"  BDY
+ SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] ""  BDY
+ SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] ""  BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] ""  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 : 36|1@0+ (1,0) [0|1] ""  BDY
+ SG_ BOH_2 : 35|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_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
+
+BO_ 795 XXX_12: 8 XXX
+
+BO_ 800 XXX_13: 8 XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] ""  NEO
+ SG_ BOH : 15|8@0+ (1,0) [0|255] ""  NEO
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] ""  NEO
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] ""  NEO
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] ""  NEO
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] ""  NEO
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] ""  NEO
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] ""  NEO
+
+BO_ 808 XXX_14: 8 XXX
+
+BO_ 829 LKAS_HUD_2: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  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 : 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|3] ""  BDY
+
+BO_ 862 XXX_15: 8 ADAS
+ SG_ UI_ALERTS : 7|56@0+ (1,0) [0|127] ""  BDY
+
+BO_ 884 XXX_16: 8 XXX
+
+BO_ 891 XXX_17: 8 XXX
+
+BO_ 892 XXX_18: 8 XXX
+
+BO_ 927 XXX_19: 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 : 22|1@0+ (1,0) [0|1] ""  BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] ""  BDY
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] ""  BDY
+ SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] ""  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
+
+BO_ 929 XXX_20: 8 XXX
+
+BO_ 985 XXX_21: 3 XXX
+
+BO_ 1024 XXX_22: 5 XXX
+
+BO_ 1027 XXX_23: 5 XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] ""  NEO
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] ""  NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
+
+BO_ 1036 XXX_24: 8 XXX
+
+BO_ 1039 XXX_25: 8 XXX
+
+BO_ 1108 XXX_26: 8 XXX
+
+BO_ 1302 XXX_27: 8 XXX
+
+BO_ 1322 XXX_28: 5 XXX
+
+BO_ 1361 XXX_29: 5 XXX
+
+BO_ 1365 XXX_30: 5 XXX
+
+BO_ 1424 XXX_31: 5 XXX
+
+BO_ 1600 XXX_32: 5 XXX
+
+BO_ 1601 XXX_33: 8 XXX
+
+BO_ 1633 XXX_34: 8 XXX
+
+BO_TX_BU_ 228 : NEO,ADAS;
+BO_TX_BU_ 506 : NEO,ADAS;
+BO_TX_BU_ 780 : NEO,ADAS;
+BO_TX_BU_ 829 : NEO,ADAS;
+BO_TX_BU_ 862 : NEO,ADAS;
+BO_TX_BU_ 927 : NEO,ADAS;
+
+
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+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_ 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_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+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" ;
+

dev

@@ -1,4 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec "${ROOT_DIR}/scripts/host_tool_runner.sh" "$@"

docs/CARS.md

@@ -1,410 +0,0 @@
-<!--- AUTOGENERATED FROM openpilot/selfdrive/car/CARS_template.md, DO NOT EDIT. --->
-
-# Supported Cars
-
-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.
-
-# 335 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|Setup Video|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
-|Acura|ILX 2019|All|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
-|Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
-|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021-22|All|openpilot available[<sup>1,5</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 A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
-|Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet 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" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
-|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
-|Chrysler|Pacifica Hybrid 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Chrysler|Pacifica Hybrid 2019-25|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">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|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
-|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
-|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
-|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape 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 Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape 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 Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Plug-in 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 Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|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 Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
-|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
-|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|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 Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|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 Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
-|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Hybrid 2024|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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Plug-in Hybrid 2024|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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Maverick 2022|LARIAT Luxury|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
-|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
-|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
-|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
-|Ford|Mustang Mach-E 2021-24|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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Ranger 2024|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 Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 2018-19">Buy Here</a></sub></details>|||
-|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 (2.5T Advanced Trim, with HDA II) 2024">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G90 2017-20">Buy Here</a></sub></details>|||
-|Genesis|GV60 (Advanced Trim) 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 A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>|||
-|Genesis|GV60 (Performance Trim) 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>|||
-|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24|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 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Genesis|GV70 (3.5T Trim, without HDA II) 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 M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>|||
-|Genesis|GV70 Electrified (Australia Only) 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 Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
-|Genesis|GV70 Electrified (with HDA II) 2023-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
-|Genesis|GV80 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 M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
-|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC 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" /></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda 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" /></a>||
-|Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-26">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda 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" /></a>||
-|Honda|Civic 2022-26|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|CR-V 2015-16|Touring Trim|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
-|Honda|e 2020|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
-|Honda|Fit 2018-20|Honda Sensing|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
-|Honda|Freed 2020|Honda Sensing|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
-|Honda|HR-V 2023-27|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-27">Buy Here</a></sub></details>|||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
-|Honda|Inspire 2018|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
-|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
-|Honda|Odyssey 2021-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
-|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
-|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
-|Honda|Passport 2019-25|All|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
-|Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
-|Honda|Pilot 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
-|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
-|Hyundai|Azera 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 K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
-|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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" /></a>||
-|Hyundai|Elantra GT 2017-20|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|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 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 5 (with HDA II) 2022-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 5 (without HDA II) 2022-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 6 (with HDA II) 2023-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (without HDA II) 2023-24">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
-|Hyundai|Kona Electric 2022-23|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 O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
-|Hyundai|Nexo 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 H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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" /></a>||
-|Hyundai|Santa Cruz 2022-24|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 N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Santa Fe Plug-in 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
-|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Hyundai|Staria 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
-|Hyundai|Tucson 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 N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2022">Buy Here</a></sub></details>|||
-|Hyundai|Tucson 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 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2023-24">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Diesel 2019">Buy Here</a></sub></details>|||
-|Hyundai|Tucson Hybrid 2022-24|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 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Tucson Plug-in Hybrid 2024|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep 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" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|||
-|Kia|Carnival 2022-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
-|Kia|Carnival (China only) 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 K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
-|Kia|Ceed 2019-21|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
-|Kia|EV6 (Southeast Asia only) 2022-24|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 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
-|Kia|EV6 (with HDA II) 2022-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Kia|EV6 (without HDA II) 2022-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Kia|Forte 2019-21|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 G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
-|Kia|Forte 2022-23|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 E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Kia|K7 2017|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K7 2017">Buy Here</a></sub></details>|||
-|Kia|K8 Hybrid (with HDA II) 2023|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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" /></a>||
-|Kia|Niro EV (with HDA II) 2024-25|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 R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2024-25">Buy Here</a></sub></details>|||
-|Kia|Niro EV (without HDA II) 2023-25|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2018">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2022">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2023-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023-24">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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" /></a>||
-|Kia|Sorento 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
-|Kia|Sorento Hybrid 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 A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
-|Kia|Sorento Plug-in 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 A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
-|Kia|Sportage 2023-24|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 N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
-|Kia|Sportage Hybrid 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 N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
-|Lexus|ES Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus GS F 2016">Buy Here</a></sub></details>|||
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
-|Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
-|Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LC 2024-25">Buy Here</a></sub></details>|||
-|Lexus|LS 2018|All except Lexus Safety System+ A|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LS 2018">Buy Here</a></sub></details>|||
-|Lexus|NX 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2018-19">Buy Here</a></sub></details>|||
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2020-21">Buy Here</a></sub></details>|||
-|Lexus|NX Hybrid 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2020-21">Buy Here</a></sub></details>|||
-|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2018-20">Buy Here</a></sub></details>|||
-|Lexus|RC 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2023">Buy Here</a></sub></details>|||
-|Lexus|RX 2016|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2016">Buy Here</a></sub></details>|||
-|Lexus|RX 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2017-19">Buy Here</a></sub></details>|||
-|Lexus|RX 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2020-22">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2016">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
-|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
-|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Mazda|CX-5 2022-25|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda 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" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
-|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>6</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan 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 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|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 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<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 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<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 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</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 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-24[<sup>9</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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-24">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2023-25[<sup>9</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 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2023-25">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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2017-18">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2019-21">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2022">Buy Here</a></sub></details>|||
-|Toyota|Avalon Hybrid 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2022">Buy Here</a></sub></details>|||
-|Toyota|C-HR 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2017-20">Buy Here</a></sub></details>|||
-|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
-|Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Toyota|Corolla Hybrid (South America 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander Hybrid 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Mirai 2021">Buy Here</a></sub></details>|||
-|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></a>||
-|Toyota|Prius 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 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" /></a>||
-|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></a>||
-|Toyota|Prius Prime 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></a>||
-|Toyota|Prius v 2017|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2022">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2023-25|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2023-25">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></a>||
-|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|RAV4 Hybrid 2023-25|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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 `nightly-dev`. <br />
-<sup>2</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>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
-<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
-<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</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>Model years 2023 and 2024 can have either hardware type, depending on build date and factory. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>11</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>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
-<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>16</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>17</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/).
-
-# Don't see your car here?
-
-**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
-If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. **We don't have a roadmap for car support**, and in fact, most car support comes from users like you!
-
-### Which cars are able to be supported?
-
-openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control) and any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering), then it almost certainly has these interfaces. These features generally started shipping on cars around 2016. Note that manufacturers will often make their own [marketing terms](https://en.wikipedia.org/wiki/Adaptive_cruise_control#Vehicle_models_supporting_adaptive_cruise_control) for these features, such as Hyundai's "Smart Cruise Control" branding of Adaptive Cruise Control.
-
-If your car has the following packages or features, then it's a good candidate for support.
-
-| Make | Required Package/Features |
-| ---- | ------------------------- |
-| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
-| Ford | Any car with Lane Centering will likely work. |
-| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
-| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
-| Nissan | Any car with ProPILOT will likely work. |
-| Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. |
-| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA comes standard on most newer models. Any form of SCC will work, such as NSCC. |
-| Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. |
-
-### FlexRay
-
-All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay.
-
-### Toyota Security
-
-openpilot does not yet support these Toyota models due to a new message authentication method.
-[Vote](https://comma.ai/shop#toyota-security) if you'd like to see openpilot support on these models.
-
-* Toyota RAV4 Prime 2021+
-* Toyota Sienna 2021+
-* 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

@@ -1,33 +0,0 @@
-# Contributing to StarPilot
-
-Start with the [project overview](../README.md), [build guide](how-to/laptop-device-build.md), and [developer commands](../tools/STARPILOT_DEVELOPMENT.md).
-
-## Scope and behavior
-
-Keep each change focused on one feature or defect. Describe the behavior before and after the change, the affected vehicle configurations or interfaces, and how it was verified. Preserve intentional StarPilot behavior and familiar controls unless the change explicitly proposes a different experience.
-
-Prefer small integration points around upstream interfaces. Keep feature settings, state, and side effects with their owning feature. Shared code should express a real common contract, with regression coverage for the features that use it. Comments should explain an invariant, protocol requirement, or non-obvious decision.
-
-## Interfaces and dependencies
-
-Follow cereal's [custom-fork guidance](../openpilot/cereal/README.md#custom-forks). Preserve upstream message definitions and field meanings; put fork-specific messaging in the custom schema. Vehicle support outside an upstream platform's contract needs a distinct platform identity and corresponding interface and safety evidence.
-
-Dependencies are tracked source folders. Use the [vendoring workflow](../tools/vendor/README.md), retain provenance and licenses, and review local changes when updating an upstream revision.
-
-## Verification
-
-Run checks appropriate to the change and describe the result in the pull request:
-
-- For a bug fix, demonstrate the failure and the corrected behavior.
-- For driving behavior, compare against the intended source behavior or recorded evidence and cover engagement, override, reset, and relevant limits.
-- For vehicle or safety changes, identify the exact configuration and run the affected interface and native safety checks.
-- For UI changes, inspect the affected interface at its actual size and preserve the intended interactions.
-- For performance changes, provide a reproducible comparison and distinguish a component benchmark from whole-system performance.
-
-Keep automated tests, bench observations, and driving results separate. State what remains unverified rather than broadening a narrow result into a fleet-wide claim.
-
-## Commit history
-
-Use concise feature or behavior names. Keep related changes together, including their tests and documentation. Preserve ordinary follow-up commits so contributors can follow changes.
-
-The original [openpilot contribution guide](https://github.com/commaai/openpilot/blob/521db4c825d37eb5f29acf955daa88da003e4433/docs/CONTRIBUTING.md) documents upstream's process. Changes intended for comma's openpilot should follow that project's contribution requirements.

docs/DEBUGGING_SAFETY.md

@@ -1,30 +0,0 @@
-# Debugging Panda Safety with Replay Drive + LLDB
-
-## 1. Start the debugger in VS Code
-
-* Select **Replay drive + Safety LLDB**.
-* Enter the route or segment when prompted.
-[<img src="https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604">](https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604)
-
-## 2. Attach LLDB
-
-* When prompted, pick the running **`replay_drive` process**.
-* ⚠️ Attach quickly, or `replay_drive` will start consuming messages.
-
-> [!TIP]
-> Add a Python breakpoint at the start of `replay_drive.py` to pause execution and give yourself time to attach LLDB.
-
-## 3. Set breakpoints in VS Code
-Breakpoints can be set directly in `modes/xxx.h` (or any C file).
-No extra LLDB commands are required — just place breakpoints in the editor.
-
-## 4. Resume execution
-Once attached, you can step through both Python (on the replay) and C safety code as CAN logs are replayed.
-
-> [!NOTE]
-> * Use short routes for quicker iteration.
-> * Pause `replay_drive` early to avoid wasting log messages.
-
-## Video
-
-View a demo of this workflow on the PR that added it: https://github.com/commaai/openpilot/pull/36055#issue-3352911578

docs/INTEGRATION.md

@@ -1,11 +0,0 @@
-# Integration with Stock Features
-
-In all supported cars:
-* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
-* Stock LDW is replaced by openpilot LDW.
-
-Additionally, on specific supported cars (see ACC column in [supported cars](CARS.md)):
-* Stock ACC is replaced by openpilot ACC.
-* openpilot FCW operates in addition to stock FCW.
-
-openpilot should preserve all other vehicle's stock features, including, but not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.

docs/LIMITATIONS.md

@@ -1,83 +0,0 @@
-# Limitations
-## Limitations of openpilot ALC and LDW
-
-openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
-
-While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
-
-Unexpected steering may occur. openpilot ALC may not steer to avoid stopped or slow-moving vehicles, cross traffic, construction barriers or cones, motorcycles, children, pedestrians, animals, or other objects on the road.
-
-Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The device is mounted incorrectly.
-* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
-* In the presence of restricted lanes or construction zones.
-* When the lane markings are unclear, worn, missing, or they cross each other.
-* Tar marks, shadows, road cracks, temporary or construction lane markings, or other road imperfections.
-* When lanes merge or split.
-* When entering a highway on-ramp or exiting an off-ramp.
-* On roads with intersections or roundabouts.
-* On slippery roads.
-* When towing a trailer.
-* When entering or exiting a tunnel.
-* When driving on highly banked roads or in presence of strong cross-wind.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Driving on hills, narrow, or winding roads.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-## Limitations of openpilot ACC and FCW
-
-openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
-
-openpilot ACC may not stop your vehicle in time to avoid a collision with a vehicle that quickly stops in front of you. openpilot ACC may occasionally cause your vehicle to brake when not required or when you are not expecting it.
-
-Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
-
-* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
-* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
-* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The device is mounted incorrectly.
-* Approaching a toll booth, a bridge or a large metal plate.
-* When driving on roads with pedestrians, cyclists, etc...
-* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
-* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
-* In presence of vehicles in the same lane that are not moving.
-* When a vehicle you are following moves out of your driving path and a stationary or slow-moving vehicle or object is in front of you.
-* Narrow vehicles, such as bicycles or motorcycles.
-* Vehicles or objects only partially in the driving lane.
-* On curves, openpilot ACC may not detect a vehicle in the same lane, and may accelerate to the set speed.
-* Cross traffic.
-* Oncoming vehicles.
-* Animals or objects in the road.
-* Rare objects such as trailers, ramps, cargo, open doors, etc. protruding from vehicles.
-* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
-* When surrounding vehicles perform close cut-ins from neighbor lanes.
-* Driving on hills, narrow, or winding roads.
-* On slippery roads.
-* When towing a trailer.
-* When entering or exiting a tunnel.
-* Extremely hot or cold temperatures.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* Interference from other equipment that generates radar waves.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
-
-## Limitations of openpilot DM
-
-openpilot DM displays a series of escalating warnings. Disregard of these warnings may result in openpilot being unavailable for a period of time.
-
-openpilot DM should not be considered an exact measurement of the alertness of the driver. openpilot DM cannot always detect if the driver is tired or inattentive.
-
-Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
-
-* Low light conditions, such as driving at night or in dark tunnels.
-* Bright light (due to oncoming headlights, direct sunlight, etc.).
-* The driver's face is partially or completely outside field of view of the cabin camera.
-* The cabin camera is obstructed, covered, or damaged.
-
-The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.

docs/README.md

@@ -1,14 +0,0 @@
-# Docs development
-
-The `docs/` tree is the source for [docs.comma.ai](https://docs.comma.ai).
-The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
-
-**1. Build the site**
-``` bash
-op docs --build
-```
-
-**2. Run the site locally** (rebuilds on change)
-``` bash
-op docs
-```

docs/SAFETY.md

@@ -1,52 +0,0 @@
-# Safety
-
-openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
-Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
-driver to be alert and to pay attention at all times.
-
-openpilot is not an autonomous driving system. It is not a collision avoidance system or a
-substitute for safe and attentive driving. The driver is always responsible for the safe
-operation of the vehicle and must be ready to take control at any time. The driver can override
-openpilot at any time by braking, accelerating, or steering the vehicle. openpilot may
-disengage without warning. Read the [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md) carefully before using openpilot.
-
-To assist the driver in maintaining alertness, openpilot includes a driver monitoring feature
-that alerts when it detects driver distraction.
-
-However, even with an attentive driver, we must make further efforts for the system to be
-safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
-used safely** and openpilot is provided with no warranty of fitness for any purpose.
-
-openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
-industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
-ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
-released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
-on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop, and in-vehicle tests before each software release.
-
-Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
-ensuring two main safety requirements.
-
-1. The driver must always be capable to immediately retake manual control of the vehicle,
-   by stepping on the brake pedal or by pressing the cancel button.
-2. The vehicle must not alter its trajectory too quickly for the driver to safely
-   react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits[^1].
-
-For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).
-
-[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.
-
----
-
-### Forks of openpilot
-
-* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/monitoring)
-* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/selfdrived/helpers.py)
-* If your fork modifies any of the code in `opendbc/safety/`:
-   * your fork cannot use the openpilot trademark
-   * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes
-
-Failure to comply with these standards will get you and your users banned from comma.ai servers.
-
-**comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.**