openpilot v0.9.3 release

date: 2023-06-16T05:25:00
master commit: 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2

.gitignore

@@ -46,9 +46,6 @@ selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
-selfdrive/visiond/visiond
-selfdrive/sensord/_gpsd
-selfdrive/sensord/_sensord
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld

Jenkinsfile

@@ -19,6 +19,9 @@ source ~/.bash_profile
 if [ -f /TICI ]; then
   source /etc/profile
 fi
+if [ -f /data/openpilot/launch_env.sh ]; then
+  source /data/openpilot/launch_env.sh
+fi
 
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
@@ -125,6 +128,21 @@ pipeline {
         }
         */
 
+        stage('tizi-tests') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tizi", [
+              ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["test boardd loopback", "SINGLE_PANDA=1 python selfdrive/boardd/tests/test_boardd_loopback.py"],
+              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
+              ["test camerad", "python system/camerad/test/test_camerad.py"],
+              ["test exposure", "python system/camerad/test/test_exposure.py"],
+              ["test amp", "python system/hardware/tici/tests/test_amplifier.py"],
+            ])
+          }
+        }
+
         stage('build') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           environment {
@@ -136,6 +154,7 @@ pipeline {
               ["build openpilot", "cd selfdrive/manager && ./build.py"],
               ["check dirty", "release/check-dirty.sh"],
               ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+              ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
               ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
             ])
           }
@@ -156,16 +175,17 @@ pipeline {
           steps {
             phone_steps("tici-common", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test power draw", "python system/hardware/tici/test_power_draw.py"],
-              ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
-              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
-              ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"],
+              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
+              ["test power draw", "python system/hardware/tici/tests/test_power_draw.py"],
+              ["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
+              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
+              ["test pigeond", "python system/sensord/tests/test_pigeond.py"],
               ["test manager", "python selfdrive/manager/test/test_manager.py"],
             ])
           }
         }
 
-        stage('camerad-ar') {
+        stage('camerad') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           steps {
             phone_steps("tici-ar0231", [
@@ -173,12 +193,6 @@ pipeline {
               ["test camerad", "python system/camerad/test/test_camerad.py"],
               ["test exposure", "python system/camerad/test/test_exposure.py"],
             ])
-          }
-        }
-
-        stage('camerad-ox') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
             phone_steps("tici-ox03c10", [
               ["build", "cd selfdrive/manager && ./build.py"],
               ["test camerad", "python system/camerad/test/test_camerad.py"],
@@ -192,11 +206,11 @@ pipeline {
           steps {
             phone_steps("tici-lsmc", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
             ])
             phone_steps("tici-bmx-lsm", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
             ])
           }
         }
@@ -206,7 +220,7 @@ pipeline {
           steps {
             phone_steps("tici-common", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["model replay", "cd selfdrive/test/process_replay && NO_NAV=1 ./model_replay.py"],
+              ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
             ])
           }
         }

README.md

@@ -42,7 +42,7 @@ To use openpilot in a car, you need four things
 * A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
 * This software. The setup procedure of the comma three allows the user to enter a URL for custom software.
 The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
-* One of [the 200+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
+* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
 
 We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
@@ -67,7 +67,7 @@ Documentation related to openpilot development can be found on [docs.comma.ai](h
 
 You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
 
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions).
 
 And [follow us on Twitter](https://twitter.com/comma_ai).
 
@@ -108,7 +108,10 @@ Directory Structure
         ├── clocksd         # Broadcasts current time
         ├── hardware        # Hardware abstraction classes
         ├── logcatd         # systemd journal as a service
-        └── proclogd        # Logs information from /proc
+        ├── loggerd         # Logger and uploader of car data
+        ├── proclogd        # Logs information from /proc
+        ├── sensord         # IMU interface code
+        └── ubloxd          # u-blox GNSS module interface code
     └── selfdrive           # Code needed to drive the car
         ├── assets          # Fonts, images, and sounds for UI
         ├── athena          # Allows communication with the app
@@ -117,12 +120,10 @@ Directory Structure
         ├── controls        # Planning and controls
         ├── debug           # Tools to help you debug and do car ports
         ├── locationd       # Precise localization and vehicle parameter estimation
-        ├── loggerd         # Logger and uploader of car data
         ├── manager         # Daemon that starts/stops all other daemons as needed
         ├── modeld          # Driving and monitoring model runners
         ├── monitoring      # Daemon to determine driver attention
         ├── navd            # Turn-by-turn navigation
-        ├── sensord         # IMU interface code
         ├── test            # Unit tests, system tests, and a car simulator
         └── ui              # The UI
 

RELEASES.md

@@ -1,3 +1,43 @@
+Version 0.9.3 (2023-06-29)
+========================
+* New driving model
+  * Improved height estimation and added height tracking in liveCalibration
+  * Model inputs refactor
+* New driving personality setting
+  * Three settings: aggressive, standard, and relaxed
+  * Standard is recommended and the default
+  * In aggressive mode, lead follow distance is shorter and acceleration response is quicker
+  * In relaxed mode, lead follow distance is longer
+* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
+* Improved thermal management logic
+
+Version 0.9.2 (2023-05-22)
+========================
+* New driving model
+  * Reduced turn diving
+  * Trained on a new dataset
+* UI updates
+  * New experimental mode visualization
+  * Draw MPC path instead of model-predicted path
+* AGNOS 7
+  * Faster boot time
+  * Fixes rare no sounds bug
+  * Fixes bootsplash bug at extreme temperatures
+* Buick LaCrosse 2017-19 support thanks to koch-cf!
+* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
+* Ford Bronco Sport 2021-22 support
+* Ford Escape 2020-22 support
+* Ford Explorer 2020-22 support
+* Ford Kuga 2020-22 support
+* Ford Maverick 2022-23 support
+* Genesis GV80 2023 support thanks to JWingate80!
+* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
+* Kia Niro EV 2023 support thanks to JosselinLecocq!
+* Lexus ES 2017-18 support
+* Lincoln Aviator 2021 support
+* Škoda Fabia 2022-23 support thanks to jyoung8607!
+
+
 Version 0.9.1 (2023-02-28)
 ========================
 * New driving model

SConstruct

@@ -5,6 +5,10 @@ import sysconfig
 import platform
 import numpy as np
 
+import SCons.Errors
+
+SCons.Warnings.warningAsException(True)
+
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI
 
@@ -118,7 +122,7 @@ else:
       f"#third_party/libyuv/{yuv_dir}/lib",
       f"{brew_prefix}/lib",
       f"{brew_prefix}/Library",
-      f"{brew_prefix}/opt/openssl/lib",
+      f"{brew_prefix}/opt/openssl@3.0/lib",
       f"{brew_prefix}/Cellar",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
@@ -131,7 +135,7 @@ else:
     cxxflags += ["-DGL_SILENCE_DEPRECATION"]
     cpppath += [
       f"{brew_prefix}/include",
-      f"{brew_prefix}/opt/openssl/include",
+      f"{brew_prefix}/opt/openssl@3.0/include",
     ]
   # Linux 86_64
   else:
@@ -310,8 +314,14 @@ else:
     qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
   elif arch != "Darwin":
     qt_libs += ["GL"]
+qt_env['QT3DIR'] = qt_env['QTDIR']
+
+# compatibility for older SCons versions
+try:
+  qt_env.Tool('qt3')
+except SCons.Errors.UserError:
+  qt_env.Tool('qt')
 
-qt_env.Tool('qt')
 qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
 qt_flags = [
   "-D_REENTRANT",
@@ -395,12 +405,17 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'system/camerad/SConscript',
   'system/clocksd/SConscript',
   'system/proclogd/SConscript',
+  'system/ubloxd/SConscript',
+  'system/loggerd/SConscript',
 ])
 if arch != "Darwin":
-  SConscript(['system/logcatd/SConscript'])
+  SConscript([
+    'system/camerad/SConscript',
+    'system/sensord/SConscript',
+    'system/logcatd/SConscript',
+  ])
 
 # Build openpilot
 
@@ -417,25 +432,16 @@ SConscript(['third_party/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['common/transformations/SConscript'])
 
-SConscript(['selfdrive/modeld/SConscript'])
-
+SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
-
-SConscript(['selfdrive/boardd/SConscript'])
-
-SConscript(['selfdrive/loggerd/SConscript'])
-
 SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/sensord/SConscript'])
-SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/navd/SConscript'])
+SConscript(['selfdrive/modeld/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])
 
-if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
+if (arch in ['x86_64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
-
-  opendbc = abspath([File('opendbc/can/libdbc.so')])
-  Export('opendbc')
   SConscript(['tools/cabana/SConscript'])
 
 external_sconscript = GetOption('external_sconscript')

cereal/SConscript

@@ -8,7 +8,7 @@ messaging_dir = Dir('messaging')
 
 # Build cereal
 
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp']
+schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
 env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
             schema_files,
@@ -26,8 +26,10 @@ services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_di
 
 messaging_objects = env.SharedObject([
   'messaging/messaging.cc',
+  'messaging/event.cc',
   'messaging/impl_zmq.cc',
   'messaging/impl_msgq.cc',
+  'messaging/impl_fake.cc',
   'messaging/msgq.cc',
   'messaging/socketmaster.cc',
 ])

cereal/__init__.py

@@ -7,3 +7,4 @@ capnp.remove_import_hook()
 
 log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
 car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))

cereal/car.capnp

@@ -23,7 +23,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
   enum EventName @0xbaa8c5d505f727de {
     canError @0;
     steerUnavailable @1;
-    brakeUnavailable @2;
     wrongGear @4;
     doorOpen @5;
     seatbeltNotLatched @6;
@@ -43,6 +42,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     overheat @19;
     calibrationIncomplete @20;
     calibrationInvalid @21;
+    calibrationRecalibrating @117;
     controlsMismatch @22;
     pcmEnable @23;
     pcmDisable @24;
@@ -65,7 +65,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     lowBattery @48;
     vehicleModelInvalid @50;
     accFaulted @51;
-    accFaultedTemp @115;
     sensorDataInvalid @52;
     commIssue @53;
     commIssueAvgFreq @109;
@@ -114,6 +113,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     canBusMissing @111;
     controlsdLagging @112;
     resumeBlocked @113;
+    steerTimeLimit @115;
+    vehicleSensorsInvalid @116;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -138,6 +139,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startupOneplusDEPRECATED @82;
     startupFuzzyFingerprintDEPRECATED @97;
     noTargetDEPRECATED @25;
+    brakeUnavailableDEPRECATED @2;
   }
 }
 
@@ -164,6 +166,8 @@ struct CarState {
   # gas pedal, 0.0-1.0
   gas @3 :Float32;        # this is user pedal only
   gasPressed @4 :Bool;    # this is user pedal only
+  
+  engineRpm @46 :Float32;
 
   # brake pedal, 0.0-1.0
   brake @5 :Float32;      # this is user pedal only
@@ -185,6 +189,7 @@ struct CarState {
   stockFcw @31 :Bool;
   espDisabled @32 :Bool;
   accFaulted @42 :Bool;
+  carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
 
   # cruise state
   cruiseState @10 :CruiseState;
@@ -579,7 +584,7 @@ struct CarParams {
     noOutput @19;  # like silent but without silent CAN TXs
     hondaBosch @20;
     volkswagenPq @21;
-    subaruLegacy @22;  # pre-Global platform
+    subaruPreglobal @22;  # pre-Global platform
     hyundaiLegacy @23;
     hyundaiCommunity @24;
     volkswagenMlb @25;
@@ -612,6 +617,7 @@ struct CarParams {
     brand @6 :Text;
     bus @7 :UInt8;
     logging @8 :Bool;
+    obdMultiplexing @9 :Bool;
   }
 
   enum Ecu {
@@ -630,10 +636,11 @@ struct CarParams {
     shiftByWire @16;
     adas @19;
     cornerRadar @21;
+    hvac @20;
+    parkingAdas @7;  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
 
     # Toyota only
     dsu @6;
-    apgs @7;
 
     # Honda only
     vsa @13; # Vehicle Stability Assist
@@ -642,10 +649,8 @@ struct CarParams {
     # Chrysler only
     hcp @18;  # Hybrid Control Processor
 
-    # Hyundai only
-    vcu @20;  # Vehicle (Motor) Control Unit
-
     debug @17;
+    unused @22;
   }
 
   enum FingerprintSource {

cereal/custom.capnp

@@ -0,0 +1,39 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0xb526ba661d550a59;
+
+# custom.capnp: a home for empty structs reserved for custom forks
+# These structs are guaranteed to remain reserved and empty in mainline
+# cereal, so use these if you want custom events in your fork.
+
+# you can rename the struct, but don't change the identifier
+struct CustomReserved0 @0x81c2f05a394cf4af {
+}
+
+struct CustomReserved1 @0xaedffd8f31e7b55d {
+}
+
+struct CustomReserved2 @0xf35cc4560bbf6ec2 {
+}
+
+struct CustomReserved3 @0xda96579883444c35 {
+}
+
+struct CustomReserved4 @0x80ae746ee2596b11 {
+}
+
+struct CustomReserved5 @0xa5cd762cd951a455 {
+}
+
+struct CustomReserved6 @0xf98d843bfd7004a3 {
+}
+
+struct CustomReserved7 @0xb86e6369214c01c8 {
+}
+
+struct CustomReserved8 @0xf416ec09499d9d19 {
+}
+
+struct CustomReserved9 @0xa1680744031fdb2d {
+}

cereal/log.capnp

@@ -3,6 +3,7 @@ $Cxx.namespace("cereal");
 
 using Car = import "car.capnp";
 using Legacy = import "legacy.capnp";
+using Custom = import "custom.capnp";
 
 @0xf3b1f17e25a4285b;
 
@@ -16,6 +17,12 @@ struct Map(Key, Value) {
   }
 }
 
+enum LongitudinalPersonality {
+  aggressive @0;
+  standard @1;
+  relaxed @2;
+}
+
 struct InitData {
   kernelArgs @0 :List(Text);
   kernelVersion @15 :Text;
@@ -46,6 +53,7 @@ struct InitData {
     chffrIos @3;
     tici @4;
     pc @5;
+    tizi @6;
   }
 
   struct PandaInfo {
@@ -139,16 +147,6 @@ struct FrameData {
   targetGreyFraction @22 :Float32;
   exposureValPercent @27 :Float32;
 
-  # Focus
-  lensPos @11 :Int32;
-  lensSag @12 :Float32;
-  lensErr @13 :Float32;
-  lensTruePos @14 :Float32;
-  focusVal @16 :List(Int16);
-  focusConf @17 :List(UInt8);
-  sharpnessScore @18 :List(UInt16);
-  recoverState @19 :Int32;
-
   transform @10 :List(Float32);
 
   image @6 :Data;
@@ -171,6 +169,14 @@ struct FrameData {
 
   globalGainDEPRECATED @5 :Int32;
   androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
+  lensPosDEPRECATED @11 :Int32;
+  lensSagDEPRECATED @12 :Float32;
+  lensErrDEPRECATED @13 :Float32;
+  lensTruePosDEPRECATED @14 :Float32;
+  focusValDEPRECATED @16 :List(Int16);
+  focusConfDEPRECATED @17 :List(UInt8);
+  sharpnessScoreDEPRECATED @18 :List(UInt16);
+  recoverStateDEPRECATED @19 :Int32;
   struct AndroidCaptureResult {
     sensitivity @0 :Int32;
     frameDuration @1 :Int64;
@@ -327,6 +333,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   nvmeTempC @35 :List(Float32);
   modemTempC @36 :List(Float32);
   pmicTempC @39 :List(Float32);
+  maxTempC @44 :Float32;  # max of other temps, used to control fan
   thermalZones @38 :List(ThermalZone);
   thermalStatus @14 :ThermalStatus;
 
@@ -409,10 +416,16 @@ struct PandaState @0xa7649e2575e4591e {
   powerSaveEnabled @16 :Bool;
   uptime @17 :UInt32;
   faults @18 :List(FaultType);
-  harnessStatus @21 :HarnessStatus;
   heartbeatLost @22 :Bool;
   interruptLoad @25 :Float32;
   fanPower @28 :UInt8;
+  fanStallCount @34 :UInt8;
+
+  spiChecksumErrorCount @33 :UInt16;
+
+  harnessStatus @21 :HarnessStatus;
+  sbu1Voltage @35 :Float32;
+  sbu2Voltage @36 :Float32;
 
   # can health
   canState0 @29 :PandaCanState;
@@ -428,6 +441,9 @@ struct PandaState @0xa7649e2575e4591e {
   alternativeExperience @23 :Int16;
   safetyRxChecksInvalid @32 :Bool;
 
+  voltage @0 :UInt32;
+  current @1 :UInt32;
+
   enum FaultStatus {
     none @0;
     faultTemp @1;
@@ -460,6 +476,8 @@ struct PandaState @0xa7649e2575e4591e {
     interruptRateExti @22;
     interruptRateSpi @23;
     interruptRateUart7 @24;
+    sirenMalfunction @25;
+    heartbeatLoopWatchdog @26;
     # Update max fault type in boardd when adding faults
   }
 
@@ -482,15 +500,6 @@ struct PandaState @0xa7649e2575e4591e {
     flipped @2;
   }
 
-  startedSignalDetectedDEPRECATED @5 :Bool;
-  voltageDEPRECATED @0 :UInt32;
-  currentDEPRECATED @1 :UInt32;
-  hasGpsDEPRECATED @6 :Bool;
-  fanSpeedRpmDEPRECATED @11 :UInt16;
-  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
-  safetyParamDEPRECATED @20 :Int16;
-  safetyParam2DEPRECATED @26 :UInt32;
-
   struct PandaCanState {
     busOff @0 :Bool;
     busOffCnt @1 :UInt32;
@@ -525,6 +534,13 @@ struct PandaState @0xa7649e2575e4591e {
       noChange @7;
     }
   }
+
+  startedSignalDetectedDEPRECATED @5 :Bool;
+  hasGpsDEPRECATED @6 :Bool;
+  fanSpeedRpmDEPRECATED @11 :UInt16;
+  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
+  safetyParamDEPRECATED @20 :Int16;
+  safetyParam2DEPRECATED @26 :UInt32;
 }
 
 struct PeripheralState {
@@ -581,7 +597,7 @@ struct RadarState @0x9a185389d6fdd05f {
 }
 
 struct LiveCalibrationData {
-  calStatus @1 :Int8;
+  calStatus @11 :Status;
   calCycle @2 :Int32;
   calPerc @3 :Int8;
   validBlocks @9 :Int32;
@@ -593,10 +609,19 @@ struct LiveCalibrationData {
   rpyCalib @7 :List(Float32);
   rpyCalibSpread @8 :List(Float32);
   wideFromDeviceEuler @10 :List(Float32);
+  height @12 :List(Float32);
 
   warpMatrixDEPRECATED @0 :List(Float32);
+  calStatusDEPRECATED @1 :Int8;
   warpMatrix2DEPRECATED @5 :List(Float32);
   warpMatrixBigDEPRECATED @6 :List(Float32);
+
+  enum Status {
+    uncalibrated @0;
+    calibrated @1;
+    invalid @2;
+    recalibrating @3;
+  }
 }
 
 struct LiveTracks {
@@ -794,6 +819,17 @@ struct ControlsState @0x97ff69c53601abf1 {
   canMonoTimesDEPRECATED @21 :List(UInt64);
 }
 
+# All SI units and in device frame
+struct XYZTData @0xc3cbae1fd505ae80 {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+  z @2 :List(Float32);
+  t @3 :List(Float32);
+  xStd @4 :List(Float32);
+  yStd @5 :List(Float32);
+  zStd @6 :List(Float32);
+}
+
 struct ModelDataV2 {
   frameId @0 :UInt32;
   frameIdExtra @20 :UInt32;
@@ -827,16 +863,6 @@ struct ModelDataV2 {
   # Model perceived motion
   temporalPose @21 :Pose;
 
-  # All SI units and in device frame
-  struct XYZTData {
-    x @0 :List(Float32);
-    y @1 :List(Float32);
-    z @2 :List(Float32);
-    t @3 :List(Float32);
-    xStd @4 :List(Float32);
-    yStd @5 :List(Float32);
-    zStd @6 :List(Float32);
-  }
 
   struct LeadDataV2 {
     prob @0 :Float32; # probability that car is your lead at time t
@@ -919,13 +945,17 @@ struct EncodeIndex {
   len @9 :UInt32;
 
   enum Type {
-    bigBoxLossless @0;   # rcamera.mkv
-    fullHEVC @1;         # fcamera.hevc
-    bigBoxHEVC @2;       # bcamera.hevc
-    chffrAndroidH264 @3; # acamera
-    fullLosslessClip @4; # prcamera.mkv
-    front @5;            # dcamera.hevc
-    qcameraH264 @6;      # qcamera.ts
+    bigBoxLossless @0;
+    fullHEVC @1;
+    qcameraH264 @6;
+    livestreamH264 @7;
+
+    # deprecated
+    bigBoxHEVCDEPRECATED @2;
+    chffrAndroidH264DEPRECATED @3;
+    fullLosslessClipDEPRECATED @4;
+    frontDEPRECATED @5;
+
   }
 }
 
@@ -952,6 +982,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   jerks @34 :List(Float32);
 
   solverExecutionTime @35 :Float32;
+  personality @36 :LongitudinalPersonality;
 
   enum LongitudinalPlanSource {
     cruise @0;
@@ -995,6 +1026,11 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
     y @1 :List(Float32);
   }
 }
+struct UiPlan {
+  frameId @2 :UInt32;
+  position @0 :XYZTData;
+  accel @1 :List(Float32);
+}
 
 struct LateralPlan @0xe1e9318e2ae8b51e {
   modelMonoTime @31 :UInt64;
@@ -1100,6 +1136,9 @@ struct LiveLocationKalman {
   deviceStable @22 :Bool = true;
   timeSinceReset @23 :Float64;
   excessiveResets @24 :Bool;
+  timeToFirstFix @25 :Float32;
+
+  filterState @26 : Measurement;
 
   enum Status {
     uninitialized @0;
@@ -1172,13 +1211,22 @@ struct GnssMeasurements {
   gpsTimeOfWeek @2 :Float64;
 
   correctedMeasurements @3 :List(CorrectedMeasurement);
+  ephemerisStatuses @9 :List(EphemerisStatus);
 
   kalmanPositionECEF @4 :LiveLocationKalman.Measurement;
   kalmanVelocityECEF @5 :LiveLocationKalman.Measurement;
   positionECEF @6 :LiveLocationKalman.Measurement;
   velocityECEF @7 :LiveLocationKalman.Measurement;
+  timeToFirstFix @8 :Float32;
   # Todo sync this with timing pulse of ublox
 
+  struct EphemerisStatus {
+    constellationId @0 :ConstellationId;
+    svId @1 :UInt8;
+    type @2 :EphemerisType;
+    source @3 :EphemerisSource;
+  }
+
   struct CorrectedMeasurement {
     constellationId @0 :ConstellationId;
     svId @1 :UInt8;
@@ -1191,11 +1239,11 @@ struct GnssMeasurements {
     # Satellite position and velocity [x,y,z]
     satPos @7 :List(Float64);
     satVel @8 :List(Float64);
-    ephemerisSource @9 :EphemerisSource;
+    ephemerisSourceDEPRECATED @9 :EphemerisSourceDEPRECATED;
   }
 
-  struct EphemerisSource {
-    type @0 :EphemerisSourceType;
+  struct EphemerisSourceDEPRECATED {
+    type @0 :EphemerisType;
     # first epoch in file:
     gpsWeek @1 :Int16; # -1 if Nav
     gpsTimeOfWeek @2 :Int32; # -1 if Nav. Integer for seconds is good enough for logs.
@@ -1212,13 +1260,20 @@ struct GnssMeasurements {
     glonass @6;
   }
 
-  enum EphemerisSourceType {
+  enum EphemerisType {
     nav @0;
     # Different ultra-rapid files:
     nasaUltraRapid @1;
     glonassIacUltraRapid @2;
     qcom @3;
   }
+
+  enum EphemerisSource {
+    gnssChip @0;
+    internet @1;
+    cache @2;
+    unknown @3;
+  }
 }
 
 struct UbloxGnss {
@@ -1229,6 +1284,19 @@ struct UbloxGnss {
     hwStatus @3 :HwStatus;
     hwStatus2 @4 :HwStatus2;
     glonassEphemeris @5 :GlonassEphemeris;
+    satReport @6 :SatReport;
+  }
+
+  struct SatReport {
+    #received time of week in gps time in seconds and gps week
+    iTow @0 :UInt32;
+    svs @1 :List(SatInfo);
+
+    struct SatInfo {
+      svId @0 :UInt8;
+      gnssId @1 :UInt8;
+      flagsBitfield @2 :UInt32;
+    }
   }
 
   struct MeasurementReport {
@@ -1322,7 +1390,7 @@ struct UbloxGnss {
 
     iDot @26 :Float64;
     codesL2 @27 :Float64;
-    gpsWeek @28 :Float64;
+    gpsWeekDEPRECATED @28 :Float64;
     l2 @29 :Float64;
 
     svAcc @30 :Float64;
@@ -1340,6 +1408,8 @@ struct UbloxGnss {
     ionoBeta @39 :List(Float64);
 
     towCount @40 :UInt32;
+    toeWeek @41 :UInt16;
+    tocWeek @42 :UInt16;
   }
 
   struct IonoData {
@@ -1418,7 +1488,7 @@ struct UbloxGnss {
     age @17 :UInt8;
 
     svHealth @18 :UInt8;
-    tk @19 :UInt16;
+    tkDEPRECATED @19 :UInt16;
     tb @20 :UInt16;
 
     tauN @21 :Float64;
@@ -1430,7 +1500,12 @@ struct UbloxGnss {
     p3 @26 :UInt8;
     p4 @27 :UInt8;
 
-    freqNum @28 :UInt32;
+    freqNumDEPRECATED @28 :UInt32;
+
+    n4 @29 :UInt8;
+    nt @30 :UInt16;
+    freqNum @31 :Int16;
+    tkSeconds @32 :UInt32;
   }
 }
 
@@ -1864,7 +1939,6 @@ struct LiveParametersData {
   stiffnessFactor @4 :Float32;
   steerRatio @5 :Float32;
   sensorValid @6 :Bool;
-  yawRate @7 :Float32;
   posenetSpeed @8 :Float32;
   posenetValid @9 :Bool;
   angleOffsetFastStd @10 :Float32;
@@ -1872,6 +1946,8 @@ struct LiveParametersData {
   stiffnessFactorStd @12 :Float32;
   steerRatioStd @13 :Float32;
   roll @14 :Float32;
+
+  yawRateDEPRECATED @7 :Float32;
 }
 
 struct LiveTorqueParametersData {
@@ -1919,6 +1995,8 @@ struct CameraOdometry {
   rotStd @3 :List(Float32); # std rad/s in device frame
   wideFromDeviceEuler @6 :List(Float32);
   wideFromDeviceEulerStd @7 :List(Float32);
+  roadTransformTrans @8 :List(Float32);
+  roadTransformTransStd @9 :List(Float32);
 }
 
 struct Sentinel {
@@ -2081,6 +2159,7 @@ struct Event {
     carControl @23 :Car.CarControl;
     longitudinalPlan @24 :LongitudinalPlan;
     lateralPlan @64 :LateralPlan;
+    uiPlan @106 :UiPlan;
     ubloxGnss @34 :UbloxGnss;
     ubloxRaw @39 :Data;
     qcomGnss @31 :QcomGnss;
@@ -2108,6 +2187,10 @@ struct Event {
     wideRoadEncodeIdx @77 :EncodeIndex;
     qRoadEncodeIdx @90 :EncodeIndex;
 
+    livestreamRoadEncodeIdx @117 :EncodeIndex;
+    livestreamWideRoadEncodeIdx @118 :EncodeIndex;
+    livestreamDriverEncodeIdx @119 :EncodeIndex;
+
     # microphone data
     microphone @103 :Microphone;
 
@@ -2138,6 +2221,22 @@ struct Event {
     wideRoadEncodeData @88 :EncodeData;
     qRoadEncodeData @89 :EncodeData;
 
+    livestreamRoadEncodeData @120 :EncodeData;
+    livestreamWideRoadEncodeData @121 :EncodeData;
+    livestreamDriverEncodeData @122 :EncodeData;
+
+    # *********** Custom: reserved for forks ***********
+    customReserved0 @107 :Custom.CustomReserved0;
+    customReserved1 @108 :Custom.CustomReserved1;
+    customReserved2 @109 :Custom.CustomReserved2;
+    customReserved3 @110 :Custom.CustomReserved3;
+    customReserved4 @111 :Custom.CustomReserved4;
+    customReserved5 @112 :Custom.CustomReserved5;
+    customReserved6 @113 :Custom.CustomReserved6;
+    customReserved7 @114 :Custom.CustomReserved7;
+    customReserved8 @115 :Custom.CustomReserved8;
+    customReserved9 @116 :Custom.CustomReserved9;
+
     # *********** legacy + deprecated ***********
     model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
     liveMpcDEPRECATED @36 :LiveMpcData;

cereal/messaging/__init__.py

@@ -1,5 +1,5 @@
 # must be build with scons
-from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
+from .messaging_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event  # pylint: disable=no-name-in-module, import-error
 from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
 import os
 import capnp
@@ -12,6 +12,11 @@ from cereal.services import service_list
 
 assert MultiplePublishersError
 assert MessagingError
+assert toggle_fake_events
+assert set_fake_prefix
+assert get_fake_prefix
+assert delete_fake_prefix
+assert wait_for_one_event
 
 NO_TRAVERSAL_LIMIT = 2**64-1
 AVG_FREQ_HISTORY = 100
@@ -27,9 +32,20 @@ except ImportError:
 
 context = Context()
 
+
+def fake_event_handle(endpoint: str, identifier: Optional[str] = None, override: bool = True, enable: bool = False) -> SocketEventHandle:
+  identifier = identifier or get_fake_prefix()
+  handle = SocketEventHandle(endpoint, identifier, override)
+  if override:
+    handle.enabled = enable
+
+  return handle
+
+
 def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
   return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT)
 
+
 def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
   dat = log.Event.new_message()
   dat.logMonoTime = int(sec_since_boot() * 1e9)
@@ -41,11 +57,13 @@ def new_message(service: Optional[str] = None, size: Optional[int] = None) -> ca
       dat.init(service, size)
   return dat
 
+
 def pub_sock(endpoint: str) -> PubSocket:
   sock = PubSocket()
   sock.connect(context, endpoint)
   return sock
 
+
 def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
              conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
   sock = SubSocket()
@@ -75,6 +93,7 @@ def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
 
   return ret
 
+
 def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
   """Receive all message currently available on the queue"""
   ret: List[capnp.lib.capnp._DynamicStructReader] = []
@@ -114,18 +133,21 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._
 
   return dat
 
+
 def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
   dat = sock.receive()
   if dat is not None:
     dat = log_from_bytes(dat)
   return dat
 
+
 def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
   dat = sock.receive(non_blocking=True)
   if dat is not None:
     dat = log_from_bytes(dat)
   return dat
 
+
 def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
   """Keep receiving until we get a message"""
   while True:
@@ -133,6 +155,7 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
     if dat is not None:
       return log_from_bytes(dat)
 
+
 class SubMaster:
   def __init__(self, services: List[str], poll: Optional[List[str]] = None,
                ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
@@ -247,6 +270,7 @@ class SubMaster:
            and self.all_freq_ok(service_list=service_list) \
            and self.all_valid(service_list=service_list)
 
+
 class PubMaster:
   def __init__(self, services: List[str]):
     self.sock = {}

cereal/messaging/event.cc

@@ -0,0 +1,208 @@
+#include <cassert>
+#include <cstring>
+#include <cstdlib>
+#include <iostream>
+#include <string>
+#include <exception>
+#include <filesystem>
+
+#include <sys/eventfd.h>
+#include <sys/mman.h>
+#include <sys/stat.h>
+#include <unistd.h>
+#include <poll.h>
+#include <signal.h>
+#include <fcntl.h>
+
+#include "cereal/messaging/event.h"
+
+void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path) {
+  const char* op_prefix = std::getenv("OPENPILOT_PREFIX");
+
+  std::string full_path = "/dev/shm/";
+  if (op_prefix) {
+    full_path += std::string(op_prefix) + "/";
+  }
+  full_path += CEREAL_EVENTS_PREFIX + "/";
+  if (identifier.size() > 0) {
+    full_path += identifier + "/";
+  }
+  std::filesystem::create_directories(full_path);
+  full_path += endpoint;
+
+  int shm_fd = open(full_path.c_str(), O_RDWR | O_CREAT, 0664);
+  if (shm_fd < 0) {
+    throw std::runtime_error("Could not open shared memory file.");
+  }
+
+  int rc = ftruncate(shm_fd, sizeof(EventState));
+  if (rc < 0){
+    close(shm_fd);
+    throw std::runtime_error("Could not truncate shared memory file.");
+  }
+
+  char * mem = (char*)mmap(NULL, sizeof(EventState), PROT_READ | PROT_WRITE, MAP_SHARED, shm_fd, 0);
+  close(shm_fd);
+  if (mem == nullptr) {
+    throw std::runtime_error("Could not map shared memory file.");
+  }
+
+  if (shm_mem != nullptr)
+    *shm_mem = mem;
+  if (shm_path != nullptr)
+    *shm_path = full_path;
+}
+
+SocketEventHandle::SocketEventHandle(std::string endpoint, std::string identifier, bool override) {
+  char *mem;
+  event_state_shm_mmap(endpoint, identifier, &mem, &this->shm_path);
+
+  this->state = (EventState*)mem;
+  if (override) {
+    this->state->fds[0] = eventfd(0, EFD_NONBLOCK);
+    this->state->fds[1] = eventfd(0, EFD_NONBLOCK);
+  }
+}
+
+SocketEventHandle::~SocketEventHandle() {
+  close(this->state->fds[0]);
+  close(this->state->fds[1]);
+  munmap(this->state, sizeof(EventState));
+  unlink(this->shm_path.c_str());
+}
+
+bool SocketEventHandle::is_enabled() {
+  return this->state->enabled;
+}
+
+void SocketEventHandle::set_enabled(bool enabled) {
+  this->state->enabled = enabled;
+}
+
+Event SocketEventHandle::recv_called() {
+  return Event(this->state->fds[0]);
+}
+
+Event SocketEventHandle::recv_ready() {
+  return Event(this->state->fds[1]);
+}
+
+void SocketEventHandle::toggle_fake_events(bool enabled) {
+  if (enabled)
+    setenv("CEREAL_FAKE", "1", true);
+  else
+    unsetenv("CEREAL_FAKE");
+}
+
+void SocketEventHandle::set_fake_prefix(std::string prefix) {
+  if (prefix.size() == 0) {
+    unsetenv("CEREAL_FAKE_PREFIX");
+  } else {
+    setenv("CEREAL_FAKE_PREFIX", prefix.c_str(), true);
+  }
+}
+
+std::string SocketEventHandle::fake_prefix() {
+  const char* prefix = std::getenv("CEREAL_FAKE_PREFIX");
+  if (prefix == nullptr) {
+    return "";
+  } else {
+    return std::string(prefix);
+  }
+}
+
+Event::Event(int fd): event_fd(fd) {}
+
+void Event::set() const {
+  throw_if_invalid();
+
+  uint64_t val = 1;
+  size_t count = write(this->event_fd, &val, sizeof(uint64_t));
+  assert(count == sizeof(uint64_t));
+}
+
+int Event::clear() const {
+  throw_if_invalid();
+
+  uint64_t val = 0;
+  // read the eventfd to clear it
+  read(this->event_fd, &val, sizeof(uint64_t));
+
+  return val;
+}
+
+void Event::wait(int timeout_sec) const {
+  throw_if_invalid();
+
+  int event_count;
+  struct pollfd fds = { this->event_fd, POLLIN, 0 };
+
+  struct timespec timeout = { timeout_sec, 0 };
+
+  sigset_t signals;
+  sigfillset(&signals);
+  sigdelset(&signals, SIGALRM);
+  sigdelset(&signals, SIGINT);
+  sigdelset(&signals, SIGTERM);
+  sigdelset(&signals, SIGQUIT);
+
+  event_count = ppoll(&fds, 1, timeout_sec < 0 ? nullptr : &timeout, &signals);
+
+  if (event_count == 0) {
+    throw std::runtime_error("Event timed out pid: " + std::to_string(getpid()));
+  } else if (event_count < 0) {
+    throw std::runtime_error("Event poll failed, errno: " + std::to_string(errno) + " pid: " + std::to_string(getpid()));
+  }
+}
+
+bool Event::peek() const {
+  throw_if_invalid();
+
+  int event_count;
+  struct pollfd fds = { this->event_fd, POLLIN, 0 };
+
+  // poll with timeout zero to return status immediately
+  event_count = poll(&fds, 1, 0);
+
+  return event_count != 0;
+}
+
+bool Event::is_valid() const {
+  return event_fd != -1;
+}
+
+int Event::fd() const {
+  return event_fd;
+}
+
+int Event::wait_for_one(const std::vector<Event>& events, int timeout_sec) {
+  struct pollfd fds[events.size()];
+  for (size_t i = 0; i < events.size(); i++) {
+    fds[i] = { events[i].fd(), POLLIN, 0 };
+  }
+
+  struct timespec timeout = { timeout_sec, 0 };
+
+  sigset_t signals;
+  sigfillset(&signals);
+  sigdelset(&signals, SIGALRM);
+  sigdelset(&signals, SIGINT);
+  sigdelset(&signals, SIGTERM);
+  sigdelset(&signals, SIGQUIT);
+
+  int event_count = ppoll(fds, events.size(), timeout_sec < 0 ? nullptr : &timeout, &signals);
+
+  if (event_count == 0) {
+    throw std::runtime_error("Event timed out pid: " + std::to_string(getpid()));
+  } else if (event_count < 0) {
+    throw std::runtime_error("Event poll failed, errno: " + std::to_string(errno) + " pid: " + std::to_string(getpid()));
+  }
+
+  for (size_t i = 0; i < events.size(); i++) {
+    if (fds[i].revents & POLLIN) {
+      return i;
+    }
+  }
+
+  throw std::runtime_error("Event poll failed, no events ready");
+}

cereal/messaging/event.h

@@ -0,0 +1,58 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#define CEREAL_EVENTS_PREFIX std::string("cereal_events")
+
+void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path);
+
+enum EventPurpose {
+  RECV_CALLED,
+  RECV_READY
+};
+
+struct EventState {
+  int fds[2];
+  bool enabled;
+};
+
+class Event {
+private:
+  int event_fd = -1;
+
+  inline void throw_if_invalid() const {
+    if (!this->is_valid()) {
+      throw std::runtime_error("Event does not have valid file descriptor.");
+    }
+  }
+public:
+  Event(int fd = -1);
+
+  void set() const;
+  int clear() const;
+  void wait(int timeout_sec = -1) const;
+  bool peek() const;
+  bool is_valid() const;
+  int fd() const;
+
+  static int wait_for_one(const std::vector<Event>& events, int timeout_sec = -1);
+};
+
+class SocketEventHandle {
+private:
+  std::string shm_path;
+  EventState* state;
+public:
+  SocketEventHandle(std::string endpoint, std::string identifier = "", bool override = true);
+  ~SocketEventHandle();
+
+  bool is_enabled();
+  void set_enabled(bool enabled);
+  Event recv_called();
+  Event recv_ready();
+
+  static void toggle_fake_events(bool enabled);
+  static void set_fake_prefix(std::string prefix);
+  static std::string fake_prefix();
+};

cereal/messaging/impl_fake.cc

@@ -0,0 +1,9 @@
+#include "cereal/messaging/impl_fake.h"
+
+void FakePoller::registerSocket(SubSocket *socket) {
+  this->sockets.push_back(socket);
+}
+
+std::vector<SubSocket*> FakePoller::poll(int timeout) {
+  return this->sockets;
+}

cereal/messaging/impl_fake.h

@@ -0,0 +1,67 @@
+#pragma once
+
+#include <cassert>
+#include <iostream>
+#include <string>
+#include <vector>
+#include <filesystem>
+
+#include <sys/mman.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/messaging/event.h"
+
+template<typename TSubSocket>
+class FakeSubSocket: public TSubSocket {
+private:
+  Event *recv_called = nullptr;
+  Event *recv_ready = nullptr;
+  EventState *state = nullptr;
+
+public:
+  FakeSubSocket(): TSubSocket() {}
+  ~FakeSubSocket() {
+    delete recv_called;
+    delete recv_ready;
+    if (state != nullptr) {
+      munmap(state, sizeof(EventState));
+    }
+  }
+
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) override {
+    const char* cereal_prefix = std::getenv("CEREAL_FAKE_PREFIX");
+
+    char* mem;
+    std::string identifier = cereal_prefix != nullptr ?  std::string(cereal_prefix) : "";
+    event_state_shm_mmap(endpoint, identifier, &mem, nullptr);
+
+    this->state = (EventState*)mem;
+    this->recv_called = new Event(state->fds[EventPurpose::RECV_CALLED]);
+    this->recv_ready = new Event(state->fds[EventPurpose::RECV_READY]);
+
+    return TSubSocket::connect(context, endpoint, address, conflate, check_endpoint);
+  }
+
+  Message *receive(bool non_blocking=false) override {
+    if (this->state->enabled) {
+      this->recv_called->set();
+      this->recv_ready->wait();
+      this->recv_ready->clear();
+    }
+
+    return TSubSocket::receive(non_blocking);
+  }
+};
+
+class FakePoller: public Poller {
+private:
+  std::vector<SubSocket*> sockets;
+
+public:
+  void registerSocket(SubSocket *socket) override;
+  std::vector<SubSocket*> poll(int timeout) override;
+  ~FakePoller() {};
+};

cereal/messaging/messaging.cc

@@ -4,6 +4,7 @@
 #include "cereal/messaging/messaging.h"
 #include "cereal/messaging/impl_zmq.h"
 #include "cereal/messaging/impl_msgq.h"
+#include "cereal/messaging/impl_fake.h"
 
 #ifdef __APPLE__
 const bool MUST_USE_ZMQ = true;
@@ -22,6 +23,11 @@ bool messaging_use_zmq(){
   return false;
 }
 
+bool messaging_use_fake(){
+  char* fake_enabled = std::getenv("CEREAL_FAKE");
+  return fake_enabled != NULL;
+}
+
 Context * Context::create(){
   Context * c;
   if (messaging_use_zmq()){
@@ -34,11 +40,20 @@ Context * Context::create(){
 
 SubSocket * SubSocket::create(){
   SubSocket * s;
-  if (messaging_use_zmq()){
-    s = new ZMQSubSocket();
+  if (messaging_use_fake()) {
+    if (messaging_use_zmq()) {
+      s = new FakeSubSocket<ZMQSubSocket>();
+    } else {
+      s = new FakeSubSocket<MSGQSubSocket>();
+    }
   } else {
-    s = new MSGQSubSocket();
+    if (messaging_use_zmq()){
+      s = new ZMQSubSocket();
+    } else {
+      s = new MSGQSubSocket();
+    }
   }
+
   return s;
 }
 
@@ -49,8 +64,10 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri
   if (r == 0) {
     return s;
   } else {
+    std::cerr << "Error, failed to connect SubSocket to " << endpoint << ": " << strerror(errno) << std::endl;
+
     delete s;
-    return NULL;
+    return nullptr;
   }
 }
 
@@ -61,6 +78,7 @@ PubSocket * PubSocket::create(){
   } else {
     s = new MSGQPubSocket();
   }
+
   return s;
 }
 
@@ -71,17 +89,23 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint, bool chec
   if (r == 0) {
     return s;
   } else {
+    std::cerr << "Error, failed to bind PubSocket to " << endpoint << ": " << strerror(errno) << std::endl;
+
     delete s;
-    return NULL;
+    return nullptr;
   }
 }
 
 Poller * Poller::create(){
   Poller * p;
-  if (messaging_use_zmq()){
-    p = new ZMQPoller();
+  if (messaging_use_fake()) {
+    p = new FakePoller();
   } else {
-    p = new MSGQPoller();
+    if (messaging_use_zmq()){
+      p = new ZMQPoller();
+    } else {
+      p = new MSGQPoller();
+    }
   }
   return p;
 }
@@ -94,20 +118,3 @@ Poller * Poller::create(std::vector<SubSocket*> sockets){
   }
   return p;
 }
-
-extern "C" Context * messaging_context_create() {
-  return Context::create();
-}
-
-extern "C" SubSocket * messaging_subsocket_create(Context* context, const char* endpoint) {
-  return SubSocket::create(context, std::string(endpoint));
-}
-
-extern "C" PubSocket * messaging_pubsocket_create(Context* context, const char* endpoint) {
-  return PubSocket::create(context, std::string(endpoint));
-}
-
-extern "C" Poller * messaging_poller_create(SubSocket** sockets, int size) {
-  std::vector<SubSocket*> socketsVec(sockets, sockets + size);
-  return Poller::create(socketsVec);
-}

cereal/messaging/messaging.pxd

@@ -6,6 +6,34 @@ from libcpp.vector cimport vector
 from libcpp cimport bool
 
 
+cdef extern from "cereal/messaging/impl_fake.h":
+  cdef cppclass Event:
+    @staticmethod
+    int wait_for_one(vector[Event], int) except +
+
+    Event()
+    Event(int)
+    void set()
+    int clear()
+    void wait(int) except +
+    bool peek()
+    int fd()
+
+  cdef cppclass SocketEventHandle:
+    @staticmethod
+    void toggle_fake_events(bool)
+    @staticmethod
+    void set_fake_prefix(string)
+    @staticmethod
+    string fake_prefix()
+
+    SocketEventHandle(string, string, bool)
+    bool is_enabled()
+    void set_enabled(bool)
+    Event recv_called()
+    Event recv_ready()
+
+
 cdef extern from "cereal/messaging/messaging.h":
   cdef cppclass Context:
     @staticmethod

cereal/messaging/messaging_pyx.pyx

@@ -3,8 +3,11 @@
 
 import sys
 from libcpp.string cimport string
+from libcpp.vector cimport vector
 from libcpp cimport bool
 from libc cimport errno
+from libc.string cimport strerror
+from cython.operator import dereference
 
 
 from .messaging cimport Context as cppContext
@@ -12,16 +15,105 @@ from .messaging cimport SubSocket as cppSubSocket
 from .messaging cimport PubSocket as cppPubSocket
 from .messaging cimport Poller as cppPoller
 from .messaging cimport Message as cppMessage
+from .messaging cimport Event as cppEvent, SocketEventHandle as cppSocketEventHandle
 
 
 class MessagingError(Exception):
-  pass
+  def __init__(self, endpoint=None):
+    suffix = "with {endpoint}" if endpoint else ""
+    message = f"Messaging failure {suffix}: {strerror(errno.errno)}"
+    super().__init__(message)
 
 
 class MultiplePublishersError(MessagingError):
   pass
 
 
+def toggle_fake_events(bool enabled):
+  cppSocketEventHandle.toggle_fake_events(enabled)
+
+
+def set_fake_prefix(string prefix):
+  cppSocketEventHandle.set_fake_prefix(prefix)
+
+
+def get_fake_prefix():
+  return cppSocketEventHandle.fake_prefix()
+
+
+def delete_fake_prefix():
+  cppSocketEventHandle.set_fake_prefix(b"")
+
+
+def wait_for_one_event(list events, int timeout=-1):
+  cdef vector[cppEvent] items
+  for event in events:
+    items.push_back(dereference(<cppEvent*><size_t>event.ptr))
+  return cppEvent.wait_for_one(items, timeout)
+
+
+cdef class Event:
+  cdef cppEvent event;
+
+  def __cinit__(self):
+    pass
+
+  cdef setEvent(self, cppEvent event):
+    self.event = event
+
+  def set(self):
+    self.event.set()
+
+  def clear(self):
+    return self.event.clear()
+
+  def wait(self, int timeout=-1):
+    self.event.wait(timeout)
+
+  def peek(self):
+    return self.event.peek()
+
+  @property
+  def fd(self):
+    return self.event.fd()
+
+  @property
+  def ptr(self):
+    return <size_t><void*>&self.event
+
+
+cdef class SocketEventHandle:
+  cdef cppSocketEventHandle * handle;
+
+  def __cinit__(self, string endpoint, string identifier, bool override):
+    self.handle = new cppSocketEventHandle(endpoint, identifier, override)
+
+  def __dealloc__(self):
+    del self.handle
+
+  @property
+  def enabled(self):
+    return self.handle.is_enabled()
+
+  @enabled.setter
+  def enabled(self, bool value):
+    self.handle.set_enabled(value)
+
+  @property
+  def recv_called_event(self):
+    e = Event()
+    e.setEvent(self.handle.recv_called())
+
+    return e
+
+  @property
+  def recv_ready_event(self):
+    e = Event()
+    e.setEvent(self.handle.recv_ready())
+
+    return e
+
+
 cdef class Context:
   cdef cppContext * context
 
@@ -68,6 +160,7 @@ cdef class Poller:
 
     return sockets
 
+
 cdef class SubSocket:
   cdef cppSubSocket * socket
   cdef bool is_owner
@@ -95,9 +188,9 @@ cdef class SubSocket:
 
     if r != 0:
       if errno.errno == errno.EADDRINUSE:
-        raise MultiplePublishersError
+        raise MultiplePublishersError(endpoint)
       else:
-        raise MessagingError
+        raise MessagingError(endpoint)
 
   def setTimeout(self, int timeout):
     self.socket.setTimeout(timeout)
@@ -136,9 +229,9 @@ cdef class PubSocket:
 
     if r != 0:
       if errno.errno == errno.EADDRINUSE:
-        raise MultiplePublishersError
+        raise MultiplePublishersError(endpoint)
       else:
-        raise MessagingError
+        raise MessagingError(endpoint)
 
   def send(self, bytes data):
     length = len(data)

cereal/services.py

@@ -46,7 +46,7 @@ services = {
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
   "longitudinalPlan": (True, 20., 5),
-  "procLog": (True, 0.5),
+  "procLog": (True, 0.5, 15),
   "gpsLocationExternal": (True, 10., 10),
   "gpsLocation": (True, 1., 1),
   "ubloxGnss": (True, 10.),
@@ -76,6 +76,7 @@ services = {
   "navThumbnail": (True, 0.),
   "navModel": (True, 2., 4.),
   "mapRenderState": (True, 2., 1.),
+  "uiPlan": (True, 20., 40.),
   "qRoadEncodeIdx": (False, 20.),
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),
@@ -87,6 +88,12 @@ services = {
   "driverEncodeData": (False, 20.),
   "wideRoadEncodeData": (False, 20.),
   "qRoadEncodeData": (False, 20.),
+  "livestreamWideRoadEncodeIdx": (False, 20.),
+  "livestreamRoadEncodeIdx": (False, 20.),
+  "livestreamDriverEncodeIdx": (False, 20.),
+  "livestreamWideRoadEncodeData": (False, 20.),
+  "livestreamRoadEncodeData": (False, 20.),
+  "livestreamDriverEncodeData": (False, 20.),
 }
 service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
                 idx, (name, vals) in enumerate(services.items())}

cereal/visionipc/__init__.py

@@ -1,4 +1,5 @@
-from cereal.visionipc.visionipc_pyx import VisionIpcClient, VisionIpcServer, VisionStreamType  # pylint: disable=no-name-in-module, import-error
+from cereal.visionipc.visionipc_pyx import VisionIpcClient, VisionIpcServer, VisionStreamType, get_endpoint_name  # pylint: disable=no-name-in-module, import-error
 assert VisionIpcClient
 assert VisionIpcServer
 assert VisionStreamType
+assert get_endpoint_name

cereal/visionipc/visionipc.pxd

@@ -3,6 +3,7 @@
 
 from libcpp.string cimport string
 from libcpp.vector cimport vector
+from libcpp.set cimport set
 from libc.stdint cimport uint32_t, uint64_t
 from libcpp cimport bool
 
@@ -26,6 +27,8 @@ cdef extern from "cereal/visionipc/visionipc.h":
     uint64_t timestamp_eof
 
 cdef extern from "cereal/visionipc/visionipc_server.h":
+  string get_endpoint_name(string, VisionStreamType)
+
   cdef cppclass VisionIpcServer:
     VisionIpcServer(string, void*, void*)
     void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
@@ -40,3 +43,5 @@ cdef extern from "cereal/visionipc/visionipc_client.h":
     VisionBuf * recv(VisionIpcBufExtra *, int)
     bool connect(bool)
     bool is_connected()
+    @staticmethod
+    set[VisionStreamType] getAvailableStreams(string, bool)

cereal/visionipc/visionipc_client.cc

@@ -124,7 +124,7 @@ std::set<VisionStreamType> VisionIpcClient::getAvailableStreams(const std::strin
 
   VisionStreamType available_streams[VISION_STREAM_MAX] = {};
   r = ipc_sendrecv_with_fds(false, socket_fd, &available_streams, sizeof(available_streams), nullptr, 0, nullptr);
-  assert(r >= sizeof(VisionStreamType) && r % sizeof(VisionStreamType) == 0);
+  assert((r >= 0) && (r % sizeof(VisionStreamType) == 0));
   close(socket_fd);
   return std::set<VisionStreamType>(available_streams, available_streams + r / sizeof(VisionStreamType));
 }

cereal/visionipc/visionipc_pyx.pyx

@@ -14,6 +14,12 @@ from .visionipc cimport VisionIpcServer as cppVisionIpcServer
 from .visionipc cimport VisionIpcClient as cppVisionIpcClient
 from .visionipc cimport VisionBuf as cppVisionBuf
 from .visionipc cimport VisionIpcBufExtra
+from .visionipc cimport get_endpoint_name as cpp_get_endpoint_name
+
+
+def get_endpoint_name(string name, VisionStreamType stream):
+  return cpp_get_endpoint_name(name, stream).decode('utf-8')
+
 
 cpdef enum VisionStreamType:
   VISION_STREAM_ROAD
@@ -97,3 +103,7 @@ cdef class VisionIpcClient:
 
   def is_connected(self):
     return self.client.is_connected()
+
+  @staticmethod
+  def available_streams(string name, bool block):
+    return cppVisionIpcClient.getAvailableStreams(name, block)

cereal/visionipc/visionipc_server.cc

@@ -154,6 +154,7 @@ void VisionIpcServer::listener(){
 
   std::cout << "Stopping listener for: " << name << std::endl;
   close(sock);
+  unlink(path.c_str());
 }
 
 

common/gpio.py

@@ -1,4 +1,5 @@
-from typing import Optional
+import glob
+from typing import Optional, List
 
 def gpio_init(pin: int, output: bool) -> None:
   try:
@@ -23,3 +24,13 @@ def gpio_read(pin: int) -> Optional[bool]:
     print(f"Failed to set gpio {pin} value: {e}")
 
   return val
+
+def get_irq_for_action(action: str) -> List[int]:
+  ret = []
+  for fn in glob.glob('/sys/kernel/irq/*/actions'):
+    with open(fn) as f:
+      actions = f.read().strip().split(',')
+      if action in actions:
+        irq = int(fn.split('/')[-2])
+        ret.append(irq)
+  return ret

common/i2c.cc

@@ -15,7 +15,7 @@
 #define UNUSED(x) (void)(x)
 
 #ifdef QCOM2
-// TODO: decide if we want to isntall libi2c-dev everywhere
+// TODO: decide if we want to install libi2c-dev everywhere
 extern "C" {
   #include <linux/i2c-dev.h>
   #include <i2c/smbus.h>

common/logging_extra.py

@@ -153,9 +153,9 @@ class SwagLogger(logging.Logger):
   def bind_global(self, **kwargs):
     self.global_ctx.update(kwargs)
 
-  def event(self, event_name, *args, **kwargs):
+  def event(self, event, *args, **kwargs):
     evt = NiceOrderedDict()
-    evt['event'] = event_name
+    evt['event'] = event
     if args:
       evt['args'] = args
     evt.update(kwargs)

common/params.cc

@@ -92,18 +92,19 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
     {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
     {"CarBatteryCapacity", PERSISTENT},
-    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CarParamsCache", CLEAR_ON_MANAGER_START},
     {"CarParamsPersistent", PERSISTENT},
-    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CompletedTrainingVersion", PERSISTENT},
-    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"DashcamOverride", PERSISTENT},
-    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"CurrentBootlog", PERSISTENT},
+    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"DisablePowerDown", PERSISTENT},
     {"ExperimentalMode", PERSISTENT},
     {"ExperimentalModeConfirmed", PERSISTENT},
+    {"LongitudinalPersonality", PERSISTENT},
     {"ExperimentalLongitudinalEnabled", PERSISTENT},
     {"DisableUpdates", PERSISTENT},
     {"DisengageOnAccelerator", PERSISTENT},
@@ -111,8 +112,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"FirmwareObdQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"ForcePowerDown", CLEAR_ON_MANAGER_START},
+    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
     {"GitDiff", PERSISTENT},
@@ -137,8 +138,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsTestedBranch", CLEAR_ON_MANAGER_START},
     {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
-    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
-    {"LaikadEphemerisV2", PERSISTENT | DONT_LOG},
+    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
     {"LanguageSetting", PERSISTENT},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
@@ -150,29 +151,31 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveParameters", PERSISTENT},
     {"LiveTorqueCarParams", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
-    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
-    {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"NavSettingTime24h", PERSISTENT},
     {"NavSettingLeftSide", PERSISTENT},
     {"NavdRender", PERSISTENT},
-    {"ObdMultiplexingDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"OpenpilotEnabledToggle", PERSISTENT},
-    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
     {"Passive", PERSISTENT},
     {"PrimeType", PERSISTENT},
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ShouldDoUpdate", CLEAR_ON_MANAGER_START},
-    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
     {"SubscriberInfo", PERSISTENT},
     {"TermsVersion", PERSISTENT},
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},
-    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
     {"UpdaterState", CLEAR_ON_MANAGER_START},
     {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
@@ -184,23 +187,22 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
     {"Version", PERSISTENT},
     {"VisionRadarToggle", PERSISTENT},
-    {"WideCameraOnly", PERSISTENT},
     {"ApiCache_Device", PERSISTENT},
     {"ApiCache_DriveStats", PERSISTENT},
     {"ApiCache_NavDestinations", PERSISTENT},
-    {"ApiCache_Owner", PERSISTENT},
     {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
-    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
     {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
     {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
     {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
-    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
     {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
     {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
+    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
 };
 
 } // namespace
@@ -304,14 +306,19 @@ std::map<std::string, std::string> Params::readAll() {
 void Params::clearAll(ParamKeyType key_type) {
   FileLock file_lock(params_path + "/.lock");
 
-  if (key_type == ALL) {
-    util::remove_files_in_dir(getParamPath());
-  } else {
-    for (auto &[key, type] : keys) {
-      if (type & key_type) {
-        unlink(getParamPath(key).c_str());
+  // 1) delete params of key_type
+  // 2) delete files that are not defined in the keys.
+  if (DIR *d = opendir(getParamPath().c_str())) {
+    struct dirent *de = NULL;
+    while ((de = readdir(d))) {
+      if (de->d_type != DT_DIR) {
+        auto it = keys.find(de->d_name);
+        if (it == keys.end() || (it->second & key_type)) {
+          unlink(getParamPath(de->d_name).c_str());
+        }
       }
     }
+    closedir(d);
   }
 
   fsync_dir(getParamPath());

common/params.h

@@ -7,8 +7,8 @@
 enum ParamKeyType {
   PERSISTENT = 0x02,
   CLEAR_ON_MANAGER_START = 0x04,
-  CLEAR_ON_IGNITION_ON = 0x08,
-  CLEAR_ON_IGNITION_OFF = 0x10,
+  CLEAR_ON_ONROAD_TRANSITION = 0x08,
+  CLEAR_ON_OFFROAD_TRANSITION = 0x10,
   DONT_LOG = 0x20,
   ALL = 0xFFFFFFFF
 };

common/params_pyx.pyx

@@ -9,8 +9,8 @@ cdef extern from "common/params.h":
   cpdef enum ParamKeyType:
     PERSISTENT
     CLEAR_ON_MANAGER_START
-    CLEAR_ON_IGNITION_ON
-    CLEAR_ON_IGNITION_OFF
+    CLEAR_ON_ONROAD_TRANSITION
+    CLEAR_ON_OFFROAD_TRANSITION
     ALL
 
   cdef cppclass c_Params "Params":

common/statlog.cc

@@ -5,6 +5,7 @@
 #include "common/statlog.h"
 #include "common/util.h"
 
+#include <cstdarg>
 #include <stdio.h>
 #include <mutex>
 #include <zmq.h>

common/swaglog.cc

@@ -5,6 +5,7 @@
 #include "common/swaglog.h"
 
 #include <cassert>
+#include <cstdarg>
 #include <cstring>
 #include <limits>
 #include <mutex>

common/time.py

@@ -0,0 +1,3 @@
+import datetime
+
+MIN_DATE = datetime.datetime(year=2023, month=6, day=1)

common/util.cc

@@ -99,22 +99,6 @@ std::map<std::string, std::string> read_files_in_dir(const std::string &path) {
   return ret;
 }
 
-void remove_files_in_dir(const std::string &path) {
-  DIR *d = opendir(path.c_str());
-  if (!d) return;
-
-  std::string fn;
-  struct dirent *de = NULL;
-  while ((de = readdir(d))) {
-    if (de->d_type != DT_DIR) {
-      fn = path + "/" + de->d_name;
-      unlink(fn.c_str());
-    }
-  }
-
-  closedir(d);
-}
-
 int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
   int fd = HANDLE_EINTR(open(path, flags, mode));
   if (fd == -1) {
@@ -205,7 +189,7 @@ bool create_directories(const std::string& dir, mode_t mode) {
   return createDirectory(dir, mode);
 }
 
-std::string getenv(const char* key, const char* default_val) {
+std::string getenv(const char* key, std::string default_val) {
   const char* val = ::getenv(key);
   return val ? val : default_val;
 }
@@ -276,7 +260,7 @@ struct tm get_time() {
 bool time_valid(struct tm sys_time) {
   int year = 1900 + sys_time.tm_year;
   int month = 1 + sys_time.tm_mon;
-  return (year > 2021) || (year == 2021 && month >= 6);
+  return (year > 2023) || (year == 2023 && month >= 6);
 }
 
 }  // namespace util

common/util.h

@@ -70,7 +70,7 @@ std::string string_format(const std::string& format, Args... args) {
   return std::string(buf.get(), buf.get() + size - 1);
 }
 
-std::string getenv(const char* key, const char* default_val = "");
+std::string getenv(const char* key, std::string default_val = "");
 int getenv(const char* key, int default_val);
 float getenv(const char* key, float default_val);
 
@@ -81,7 +81,6 @@ std::string dir_name(std::string const& path);
 // **** file fhelpers *****
 std::string read_file(const std::string& fn);
 std::map<std::string, std::string> read_files_in_dir(const std::string& path);
-void remove_files_in_dir(const std::string& path);
 int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664);
 
 FILE* safe_fopen(const char* filename, const char* mode);

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.1"
+#define COMMA_VERSION "0.9.3"

docs/CARS.md

@@ -2,251 +2,266 @@
 
 # Supported Cars
 
-A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
+A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 237 Supported Cars
+# 252 Supported Cars
 
-|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
+|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Honda Nidec</a>||
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Honda Nidec</a>||
-|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Honda Bosch A</a>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">J533</a>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">J533</a>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">J533</a>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533</a>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533</a>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533</a>||
-|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II</a>||
-|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM</a>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM</a>||
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">GM</a>||
-|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">OBD-II</a>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">FCA</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA</a>||
-|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">FCA</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">FCA</a>||
-|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-22">FCA</a>||
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
+|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
+|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
+|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
+|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">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>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
+|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
+|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">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>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
-|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>||
-|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>||
-|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>||
-|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Hyundai H</a>||
-|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C</a>||
-|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A</a>||
-|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K</a>||
-|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 2022-23">Hyundai L</a>||
-|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">OBD-II</a>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">GM</a>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A</a>||
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec</a>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>||
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A</a>||
-|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>||
-|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec</a>||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A</a>||
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A</a>||
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Honda Bosch A</a>||
-|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec</a>||
-|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec</a>||
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec</a>||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A</a>||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A</a>||
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec</a>||
-|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-21">Honda Nidec</a>||
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec</a>||
-|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-22">Honda Nidec</a>||
-|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Hyundai E</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Hyundai J</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Hyundai E</a>||
-|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Hyundai Q</a>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Hyundai Q</a>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Hyundai K</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Hyundai C</a>||
-|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Hyundai H</a>||
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Hyundai C</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Hyundai H</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Hyundai C</a>||
-|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-21">Hyundai H</a>||
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Hyundai B</a>||
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Hyundai G</a>||
-|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O</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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Hyundai I</a>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Hyundai H</a>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Cruz 2021-22[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2021-22">Hyundai N</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Hyundai D</a>||
-|Hyundai|Santa Fe 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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Hyundai L</a>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Fe 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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022">Hyundai L</a>||
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Hyundai L</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Hyundai E</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Hyundai A</a>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Hyundai A</a>||
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Hyundai L</a>||
-|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Hyundai N</a>||
-|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Hyundai N</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Hyundai L</a>||
-|Hyundai|Tucson Hybrid 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022">Hyundai N</a>||
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Hyundai E</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">FCA</a>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA</a>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Hyundai E</a>||
-|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Hyundai P</a>||
-|Kia|EV6 (with HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022">Hyundai P</a>||
-|Kia|EV6 (without HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022">Hyundai L</a>||
-|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G</a>||
-|Kia|K5 2021-22|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A</a>||
-|Kia|K5 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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021">Hyundai F</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2022">Hyundai H</a>||
-|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A</a>||
-|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Hyundai C</a>||
-|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Hyundai D</a>||
-|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Hyundai B</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Hyundai G</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Hyundai A</a>||
-|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Hyundai E</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2022-23">Hyundai K</a>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Hyundai A</a>||
-|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Hyundai N</a>||
-|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Hyundai N</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Hyundai K</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H</a>||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota</a>||
-|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota</a>||
-|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota</a>||
-|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota</a>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota</a>||
-|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota</a>||
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota</a>||
-|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota</a>||
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota</a>||
-|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2017-20">Toyota</a>||
-|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota</a>||
-|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota</a>||
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota</a>||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Toyota</a>||
-|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota</a>||
-|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota</a>||
-|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota</a>||
-|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda</a>||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda</a>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B</a>||
-|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-22">Nissan A</a>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A</a>||
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A</a>||
-|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-22">Ram</a>||
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533</a>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533</a>||
-|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A</a>||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Subaru A</a>||
-|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Subaru A</a>||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Subaru A</a>||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Subaru A</a>||
-|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Subaru B</a>||
-|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B</a>||
-|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A</a>||
-|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533</a>[<sup>10</sup>](#footnotes)||
-|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533</a>||
-|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2018-19">J533</a>||
-|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533</a>||
-|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533</a>||
-|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533</a>[<sup>10</sup>](#footnotes)||
-|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">J533</a>||
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Toyota</a>||
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Toyota</a>||
-|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Toyota</a>||
-|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Toyota</a>||
-|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Toyota</a>||
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Toyota</a>||
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Toyota</a>||
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Toyota</a>||
-|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Toyota</a>||
-|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Toyota</a>||
-|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-19">Toyota</a>||
-|Toyota|C-HR Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2022">Toyota</a>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-22">Toyota</a>||
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Toyota</a>||
-|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Toyota</a>||
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Toyota</a>||
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota</a>||
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Toyota</a>||
-|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Toyota</a>||
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Toyota</a>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Toyota</a>||
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Toyota</a>||
-|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Toyota</a>||
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Toyota</a>||
-|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Toyota</a>||
-|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Toyota</a>||
-|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Toyota</a>||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Toyota</a>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Toyota</a>||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Toyota</a>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Toyota</a>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Toyota</a>||
-|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Toyota</a>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">J533</a>||
-|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">J533</a>||
-|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533</a>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533</a>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533</a>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533</a>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533</a>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">J533</a>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">J533</a>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533</a>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533</a>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533</a>||
-|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533</a>||
-|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533</a>||
-|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533</a>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533</a>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533</a>||
-|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2020-22">J533</a>[<sup>10</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2020-22">J533</a>[<sup>10</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533</a>[<sup>10</sup>](#footnotes)||
-|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533</a>[<sup>10</sup>](#footnotes)||
-|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533</a>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">J533</a>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">J533</a>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">J533</a>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">J533</a>||
-|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2017">J533</a>||
+|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
+|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
+|Ford|Maverick 2022-23|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Buy Here</a></sub></details>||
+|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
+|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
+|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
+|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
+|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
+|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
+|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2022|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>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
+|Honda|Civic Hatchback 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>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
+|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
+|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
+|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
+|Honda|HR-V 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>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
+|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">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>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
+|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">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>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 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>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
+|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>View</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|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>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe 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>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">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>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
+|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Sonata Hybrid 2020-22|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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
+|Hyundai|Tucson Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
+|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
+|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
+|Kia|K5 2021-22|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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
+|Kia|K5 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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">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>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2021-22|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>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">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>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
+|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">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>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
+|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
+|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Stinger 2022|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>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">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>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Buy Here</a></sub></details>||
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
+|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
+|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
+|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
+|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Buy Here</a></sub></details>||
+|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Buy Here</a></sub></details>||
+|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">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>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
+|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=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"></img></a>|
+|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
+|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
+|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details>||
+|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details>||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details>||
+|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details>||
+|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details>||
+|Škoda|Fabia 2022-23[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
+|Škoda|Kamiq 2021[<sup>7,9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
+|Škoda|Karoq 2019-21[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015, 2018-19[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Scala 2020[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
+|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
+|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
+|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
+|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
+|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
+|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
+|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
+|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Buy Here</a></sub></details>||
+|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
+|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
+|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=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"></img></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>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
+|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
+|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
+|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
+|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
-<a id="footnotes"></a>
+### Footnotes
 <sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.  <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
@@ -255,8 +270,9 @@ A supported vehicle is one that just works when you install a comma three. All s
 <sup>6</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>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
 <sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>9</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>10</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>9</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality. <br />
+<sup>10</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>11</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/).
@@ -275,6 +291,7 @@ If your car has the following packages or features, then it's a good candidate f
 | Make | Required Package/Features |
 | ---- | ------------------------- |
 | Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus 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. |

laika/__init__.py

@@ -1,2 +1,9 @@
+import logging
+import os
+
 from .astro_dog import AstroDog
 assert AstroDog
+
+# setup logging
+LOGLEVEL = os.environ.get('LOGLEVEL', 'INFO').upper()
+logging.basicConfig(level=LOGLEVEL, format='%(message)s')

laika/astro_dog.py

@@ -9,7 +9,7 @@ from .ephemeris import Ephemeris, EphemerisType, GLONASSEphemeris, GPSEphemeris,
 from .downloader import download_orbits_gps, download_orbits_russia_src, download_nav, download_ionex, download_dcb, download_prediction_orbits_russia_src
 from .downloader import download_cors_station
 from .trop import saast
-from .iono import IonexMap, parse_ionex
+from .iono import IonexMap, parse_ionex, get_slant_delay
 from .dcb import DCB, parse_dcbs
 from .gps_time import GPSTime
 from .dgps import get_closest_station_names, parse_dgps
@@ -33,9 +33,14 @@ class AstroDog:
   def __init__(self, auto_update=True,
                cache_dir='/tmp/gnss/',
                dgps=False,
-               valid_const=('GPS', 'GLONASS'),
+               valid_const=(ConstellationId.GPS, ConstellationId.GLONASS),
                valid_ephem_types=EphemerisType.all_orbits(),
                clear_old_ephemeris=False):
+
+    for const in valid_const:
+      if not isinstance(const, ConstellationId):
+        raise TypeError(f"valid_const must be a list of ConstellationId, got {const}")
+  
     self.auto_update = auto_update
     self.cache_dir = cache_dir
     self.clear_old_ephemeris = clear_old_ephemeris
@@ -44,6 +49,7 @@ class AstroDog:
       valid_ephem_types = [valid_ephem_types]
     self.pull_orbit = len(set(EphemerisType.all_orbits()) & set(valid_ephem_types)) > 0
     self.pull_nav = EphemerisType.NAV in valid_ephem_types
+    self.use_qcom_poly = EphemerisType.QCOM_POLY in valid_ephem_types
     self.valid_const = valid_const
     self.valid_ephem_types = valid_ephem_types
 
@@ -54,12 +60,14 @@ class AstroDog:
     self.dgps_delays = []
     self.ionex_maps: List[IonexMap] = []
     self.orbits: DefaultDict[str, List[PolyEphemeris]] = defaultdict(list)
+    self.qcom_polys: DefaultDict[str, List[PolyEphemeris]] = defaultdict(list)
     self.navs: DefaultDict[str, List[Union[GPSEphemeris, GLONASSEphemeris]]] = defaultdict(list)
     self.dcbs: DefaultDict[str, List[DCB]] = defaultdict(list)
 
     self.cached_ionex: Optional[IonexMap] = None
     self.cached_dgps = None
     self.cached_orbit: DefaultDict[str, Optional[PolyEphemeris]] = defaultdict(lambda: None)
+    self.cached_qcom_polys: DefaultDict[str, Optional[PolyEphemeris]] = defaultdict(lambda: None)
     self.cached_nav: DefaultDict[str, Union[GPSEphemeris, GLONASSEphemeris, None]] = defaultdict(lambda: None)
     self.cached_dcb: DefaultDict[str, Optional[DCB]] = defaultdict(lambda: None)
 
@@ -96,6 +104,9 @@ class AstroDog:
       result[prn] = obj
     return result
 
+  def get_all_ephem_prns(self):
+    return set(self.orbits.keys()).union(set(self.navs.keys())).union(set(self.qcom_polys.keys()))
+
   def get_navs(self, time):
     if time not in self.navs_fetched_times:
       self.get_nav_data(time)
@@ -108,6 +119,12 @@ class AstroDog:
       self.cached_orbit[prn] = orbit
     return orbit
 
+  def get_qcom_poly(self, prn: str, time: GPSTime):
+    poly = self._get_latest_valid_data(self.qcom_polys[prn], self.cached_qcom_polys[prn], None, time, True)
+    if poly is not None:
+      self.cached_qcom_polys[prn] = poly
+    return poly
+
   def get_orbits(self, time):
     if time not in self.orbit_fetched_times:
       self.get_orbit_data(time)
@@ -129,13 +146,16 @@ class AstroDog:
       self.cached_dgps = latest_data
     return latest_data
 
+  def add_qcom_polys(self, new_ephems: Dict[str, List[Ephemeris]]):
+    self._add_ephems(new_ephems, self.qcom_polys)
+
   def add_orbits(self, new_ephems: Dict[str, List[Ephemeris]]):
-    self._add_ephems(new_ephems, self.orbits, self.orbit_fetched_times)
+    self._add_ephems(new_ephems, self.orbits)
 
   def add_navs(self, new_ephems: Dict[str, List[Ephemeris]]):
-    self._add_ephems(new_ephems, self.navs, self.navs_fetched_times)
+    self._add_ephems(new_ephems, self.navs)
 
-  def _add_ephems(self, new_ephems: Dict[str, List[Ephemeris]], ephems_dict, fetched_times):
+  def _add_ephems(self, new_ephems: Dict[str, List[Ephemeris]], ephems_dict):
     for k, v in new_ephems.items():
       if len(v) > 0:
         if self.clear_old_ephemeris:
@@ -143,9 +163,10 @@ class AstroDog:
         else:
           ephems_dict[k].extend(v)
 
+  def add_ephem_fetched_time(self, ephems, fetched_times):
     min_epochs = []
     max_epochs = []
-    for v in new_ephems.values():
+    for v in ephems.values():
       if len(v) > 0:
         min_ephem, max_ephem = self.get_epoch_range(v)
         min_epochs.append(min_ephem)
@@ -162,9 +183,9 @@ class AstroDog:
 
     fetched_ephems = {}
 
-    if 'GPS' in self.valid_const:
+    if ConstellationId.GPS in self.valid_const:
       fetched_ephems = download_and_parse(ConstellationId.GPS, parse_rinex_nav_msg_gps)
-    if 'GLONASS' in self.valid_const:
+    if ConstellationId.GLONASS in self.valid_const:
       for k, v in download_and_parse(ConstellationId.GLONASS, parse_rinex_nav_msg_glonass).items():
         fetched_ephems.setdefault(k, []).extend(v)
     self.add_navs(fetched_ephems)
@@ -180,7 +201,7 @@ class AstroDog:
     with ThreadPoolExecutor() as executor:
       futures_other = [executor.submit(download_orbits_russia_src, t, self.cache_dir, self.valid_ephem_types) for t in time_steps]
       futures_gps = None
-      if "GPS" in self.valid_const:
+      if ConstellationId.GPS in self.valid_const:
         futures_gps = [executor.submit(download_orbits_gps, t, self.cache_dir, self.valid_ephem_types) for t in time_steps]
 
       ephems_other = parse_sp3_orbits([f.result() for f in futures_other if f.result()], self.valid_const, skip_before_epoch)
@@ -195,7 +216,7 @@ class AstroDog:
     result = download_prediction_orbits_russia_src(gps_time, self.cache_dir)
     if result is not None:
       result = [result]
-    elif "GPS" in self.valid_const:
+    elif ConstellationId.GPS in self.valid_const:
       # Slower fallback. Russia src prediction orbits are published from 2022
       result = [download_orbits_gps(t, self.cache_dir, self.valid_ephem_types) for t in [gps_time - SECS_IN_DAY, gps_time]]
     if result is None:
@@ -209,7 +230,7 @@ class AstroDog:
       ephems_sp3 = self.download_parse_orbit(time)
     if sum([len(v) for v in ephems_sp3.values()]) < 5:
       raise RuntimeError(f'No orbit data found. For Time {time.as_datetime()} constellations {self.valid_const} valid ephem types {self.valid_ephem_types}')
-
+    self.add_ephem_fetched_time(ephems_sp3, self.orbit_fetched_times)
     self.add_orbits(ephems_sp3)
 
   def get_dcb_data(self, time):
@@ -257,7 +278,7 @@ class AstroDog:
       return eph.get_tgd()
     return None
 
-  def get_sat_info(self, prn, time):
+  def get_eph(self, prn, time):
     if get_constellation(prn) not in self.valid_const:
       return None
     eph = None
@@ -265,6 +286,12 @@ class AstroDog:
       eph = self.get_orbit(prn, time)
     if not eph and self.pull_nav:
       eph = self.get_nav(prn, time)
+    if not eph and self.use_qcom_poly:
+      eph = self.get_qcom_poly(prn, time)
+    return eph
+
+  def get_sat_info(self, prn, time):
+    eph = self.get_eph(prn, time)
     if eph:
       return eph.get_sat_info(time)
     return None
@@ -285,7 +312,7 @@ class AstroDog:
     return None
 
   def get_frequency(self, prn, time, signal='C1C'):
-    if get_constellation(prn) == 'GPS':
+    if get_constellation(prn) == ConstellationId.GPS:
       switch = {'1': constants.GPS_L1,
                 '2': constants.GPS_L2,
                 '5': constants.GPS_L5,
@@ -296,7 +323,7 @@ class AstroDog:
       if freq:
         return freq
       raise NotImplementedError("Dont know this GPS frequency: ", signal, prn)
-    elif get_constellation(prn) == 'GLONASS':
+    elif get_constellation(prn) == ConstellationId.GLONASS:
       n = self.get_glonass_channel(prn, time)
       if n is None:
         return None
@@ -319,7 +346,6 @@ class AstroDog:
     el, az = get_el_az(rcv_pos, sat_pos)
     if el < 0.2:
       return None
-
     if self.dgps and not no_dgps:
       return self._get_delay_dgps(prn, rcv_pos, time)
 
@@ -330,7 +356,11 @@ class AstroDog:
     # When using internet we expect all data or return None
     if self.auto_update and (ionex is None or dcb is None or freq is None):
       return None
-    iono_delay = ionex.get_delay(rcv_pos, az, el, sat_pos, time, freq) if ionex is not None else 0.
+    if ionex is not None:
+      iono_delay = ionex.get_delay(rcv_pos, az, el, sat_pos, time, freq)
+    else:
+      # 5m vertical delay is a good default
+      iono_delay = get_slant_delay(rcv_pos, az, el, sat_pos, time, freq, vertical_delay=5.0)
     trop_delay = saast(rcv_pos, el)
     code_bias = dcb.get_delay(signal) if dcb is not None else 0.
     return iono_delay + trop_delay + code_bias

laika/dgps.py

@@ -8,8 +8,7 @@ from . import raw_gnss as raw
 from . import opt
 from .rinex_file import RINEXFile
 from .downloader import download_cors_coords
-from .helpers import get_constellation
-
+from .helpers import get_constellation, ConstellationId
 
 def mean_filter(delay):
   d2 = delay.copy()
@@ -79,7 +78,7 @@ def get_station_position(station_id, cache_dir='/tmp/gnss/', time=GPSTime.from_d
   return ((time - epoch)/SECS_IN_YEAR)*np.array(vel) + np.array(pos)
 
 
-def parse_dgps(station_id, station_obs_file_path, dog, max_distance=100000, required_constellations=['GPS']):
+def parse_dgps(station_id, station_obs_file_path, dog, max_distance=100000, required_constellations=[ConstellationId.GPS]):
   station_pos = get_station_position(station_id, cache_dir=dog.cache_dir)
   obsdata = RINEXFile(station_obs_file_path)
   measurements = raw.read_rinex_obs(obsdata)
@@ -122,7 +121,7 @@ def parse_dgps(station_id, station_obs_file_path, dog, max_distance=100000, requ
   # could this be biased? Only use GPS for convenience.
   model_delays = {}
   for prn in station_delays['C1C']:
-    if get_constellation(prn) == 'GPS':
+    if get_constellation(prn) == ConstellationId.GPS:
       model_delays[prn] = np.nan*np.zeros(n)
       for i in range(n):
         model_delays[prn][i] = dog.get_delay(prn, times[i], station_pos, no_dgps=True)

laika/downloader.py

@@ -8,6 +8,7 @@ import pycurl
 import re
 import time
 import socket
+import logging
 
 from datetime import datetime, timedelta
 from urllib.parse import urlparse
@@ -42,7 +43,7 @@ def retryable(f):
       try:
         return f(url_base, *args, **kwargs)
       except DownloadFailed as e:
-        print(e)
+        logging.warning(e)
     # none of them succeeded
     raise DownloadFailed("Multiple URL failures attempting to pull file(s)")
   return wrapped
@@ -98,7 +99,7 @@ def ftp_download_files(url_base, folder_path, cacheDir, filenames):
     if "/" in filename:
       continue
     filepath = os.path.join(folder_path_abs, filename)
-    print("pulling from", url_base, "to", filepath)
+    logging.debug("pulling from", url_base, "to", filepath)
 
     if not os.path.isfile(filepath):
       os.makedirs(folder_path_abs, exist_ok=True)
@@ -141,7 +142,7 @@ def http_download_files(url_base, folder_path, cacheDir, filenames):
       continue
     filepath = os.path.join(folder_path_abs, filename)
     if not os.path.isfile(filepath):
-      print("pulling from", url_base, "to", filepath)
+      logging.debug("pulling from", url_base, "to", filepath)
       os.makedirs(folder_path_abs, exist_ok=True)
       url_path = url_base + folder_path + filename
       handle = pycurl.Curl()
@@ -170,7 +171,7 @@ def http_download_files(url_base, folder_path, cacheDir, filenames):
   # if there are downloads left to be done, repeat, and don't overwrite
   _, requests_processing = fetcher.perform()
   if requests_processing > 0:
-    print("some requests stalled, retrying them")
+    logging.warning("some requests stalled, retrying them")
     return http_download_files(url_base, folder_path, cacheDir, filenames)
 
   return filepaths
@@ -229,7 +230,7 @@ def download_files(url_base, folder_path, cacheDir, filenames):
 @retryable
 def download_file(url_base, folder_path, filename_zipped):
   url = url_base + folder_path + filename_zipped
-  print('Downloading ' + url)
+  logging.debug('Downloading ' + url)
   if url.startswith('https://'):
     return https_download_file(url)
   elif url.startswith('ftp://'):
@@ -478,5 +479,5 @@ def download_cors_station(time, station_name, cache_dir):
     filepath = download_and_cache_file(url_bases, folder_path, cache_dir+'cors_obs/', filename, compression='.gz')
     return filepath
   except DownloadFailed:
-    print("File not downloaded, check availability on server.")
+    logging.warning("File not downloaded, check availability on server.")
     return None

laika/ephemeris.capnp

@@ -0,0 +1,106 @@
+@0xb3ca6d2462778bb1;
+
+struct Ephemeris {
+  # This is according to the rinex (2?) format
+  svId @0 :UInt16;
+  year @1 :UInt16;
+  month @2 :UInt16;
+  day @3 :UInt16;
+  hour @4 :UInt16;
+  minute @5 :UInt16;
+  second @6 :Float32;
+  af0 @7 :Float64;
+  af1 @8 :Float64;
+  af2 @9 :Float64;
+
+  iode @10 :Float64;
+  crs @11 :Float64;
+  deltaN @12 :Float64;
+  m0 @13 :Float64;
+
+  cuc @14 :Float64;
+  ecc @15 :Float64;
+  cus @16 :Float64;
+  a @17 :Float64; # note that this is not the root!!
+
+  toe @18 :Float64;
+  cic @19 :Float64;
+  omega0 @20 :Float64;
+  cis @21 :Float64;
+
+  i0 @22 :Float64;
+  crc @23 :Float64;
+  omega @24 :Float64;
+  omegaDot @25 :Float64;
+
+  iDot @26 :Float64;
+  codesL2 @27 :Float64;
+  gpsWeekDEPRECATED @28 :Float64;
+  l2 @29 :Float64;
+
+  svAcc @30 :Float64;
+  svHealth @31 :Float64;
+  tgd @32 :Float64;
+  iodc @33 :Float64;
+
+  transmissionTime @34 :Float64;
+  fitInterval @35 :Float64;
+
+  toc @36 :Float64;
+
+  ionoCoeffsValid @37 :Bool;
+  ionoAlpha @38 :List(Float64);
+  ionoBeta @39 :List(Float64);
+
+  towCount @40 :UInt32;
+  toeWeek @41 :UInt16;
+  tocWeek @42 :UInt16;
+}
+
+struct GlonassEphemeris {
+  svId @0 :UInt16;
+  year @1 :UInt16;
+  dayInYear @2 :UInt16;
+  hour @3 :UInt16;
+  minute @4 :UInt16;
+  second @5 :Float32;
+
+  x @6 :Float64;
+  xVel @7 :Float64;
+  xAccel @8 :Float64;
+  y @9 :Float64;
+  yVel @10 :Float64;
+  yAccel @11 :Float64;
+  z @12 :Float64;
+  zVel @13 :Float64;
+  zAccel @14 :Float64;
+
+  svType @15 :UInt8;
+  svURA @16 :Float32;
+  age @17 :UInt8;
+
+  svHealth @18 :UInt8;
+  tkDEPRECATED @19 :UInt16;
+  tb @20 :UInt16;
+
+  tauN @21 :Float64;
+  deltaTauN @22 :Float64;
+  gammaN @23 :Float64;
+
+  p1 @24 :UInt8;
+  p2 @25 :UInt8;
+  p3 @26 :UInt8;
+  p4 @27 :UInt8;
+
+  freqNumDEPRECATED @28 :UInt32;
+
+  n4 @29 :UInt8;
+  nt @30 :UInt16;
+  freqNum @31 :Int16;
+  tkSeconds @32 :UInt32;
+}
+
+struct EphemerisCache {
+  gpsEphemerides @0 :List(Ephemeris);
+  glonassEphemerides @1 :List(GlonassEphemeris);
+}

laika/ephemeris.py

@@ -1,4 +1,3 @@
-import json
 import warnings
 from abc import ABC, abstractmethod
 from collections import defaultdict
@@ -7,7 +6,7 @@ from typing import Dict, List, Optional
 
 import numpy as np
 import numpy.polynomial.polynomial as poly
-from datetime import datetime, timedelta
+from datetime import datetime
 from math import sin, cos, sqrt, fabs, atan2
 
 from .gps_time import GPSTime, utc_to_gpst
@@ -15,6 +14,12 @@ from .constants import SPEED_OF_LIGHT, SECS_IN_MIN, SECS_IN_HR, SECS_IN_DAY, \
                        SECS_IN_WEEK, EARTH_ROTATION_RATE, EARTH_GM
 from .helpers import get_constellation, get_prn_from_nmea_id
 
+import capnp
+import os
+capnp.remove_import_hook()
+capnp_path = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "ephemeris.capnp"))
+ephemeris_structs = capnp.load(capnp_path)
+
 
 def read4(f, rinex_ver):
   line = f.readline()[:-1]
@@ -24,95 +29,6 @@ def read4(f, rinex_ver):
   return float(line[4:23]), float(line[23:42]), float(line[42:61]), float(line[61:80])
 
 
-def convert_ublox_gps_ephem(ublox_ephem, current_time: Optional[datetime] = None):
-  # Week time of ephemeris gps msg has a roll-over period of 10 bits (19.6 years)
-  # The latest roll-over was on 2019-04-07
-  week = ublox_ephem.gpsWeek
-  if current_time is None:
-    # Each message is incremented to be greater or equal than week 1877 (2015-12-27).
-    #  To skip this use the current_time argument
-    week += 1024
-    if week < 1877:
-      week += 1024
-  else:
-    roll_overs = GPSTime.from_datetime(current_time).week // 1024
-    week += (roll_overs - (week // 1024)) * 1024
-
-  # GPS week refers to current week, the ephemeris can be valid for the next
-  # if toe equals 0, this can be verified by the TOW count if it is within the
-  # last 2 hours of the week (gps ephemeris valid for 4hours)
-  if ublox_ephem.toe == 0 and ublox_ephem.towCount*6 >= (SECS_IN_WEEK - 2*SECS_IN_HR):
-    week += 1
-
-  ephem = {}
-  ephem['sv_id'] = ublox_ephem.svId
-  ephem['toe'] = GPSTime(week, ublox_ephem.toe)
-  ephem['toc'] = GPSTime(week, ublox_ephem.toc)
-  ephem['af0'] = ublox_ephem.af0
-  ephem['af1'] = ublox_ephem.af1
-  ephem['af2'] = ublox_ephem.af2
-  ephem['tgd'] = ublox_ephem.tgd
-
-  ephem['sqrta'] = np.sqrt(ublox_ephem.a)
-  ephem['dn'] = ublox_ephem.deltaN
-  ephem['m0'] = ublox_ephem.m0
-
-  ephem['ecc'] = ublox_ephem.ecc
-  ephem['w'] = ublox_ephem.omega
-  ephem['cus'] = ublox_ephem.cus
-  ephem['cuc'] = ublox_ephem.cuc
-  ephem['crc'] = ublox_ephem.crc
-  ephem['crs'] = ublox_ephem.crs
-  ephem['cic'] = ublox_ephem.cic
-  ephem['cis'] = ublox_ephem.cis
-
-  ephem['inc'] = ublox_ephem.i0
-  ephem['inc_dot'] = ublox_ephem.iDot
-  ephem['omegadot'] = ublox_ephem.omegaDot
-  ephem['omega0'] = ublox_ephem.omega0
-
-  ephem['healthy'] = ublox_ephem.svHealth == 0.0
-
-  epoch = ephem['toe']
-  return GPSEphemeris(ephem, epoch)
-
-
-def convert_ublox_glonass_ephem(ublox_ephem, current_time: Optional[datetime] = None):
-  ephem = {}
-  ephem['prn'] = 'R%02i' % ublox_ephem.svId
-
-  etime = datetime.strptime(f"{ublox_ephem.year}-{ublox_ephem.dayInYear}", "%Y-%j")
-  # glonass time: UTC + 3h
-  time_in_day = timedelta(hours=ublox_ephem.hour, minutes=ublox_ephem.minute, seconds=ublox_ephem.second)
-  ephem['toc'] = GPSTime.from_datetime(etime + time_in_day - timedelta(hours=3))
-  ephem['toe'] = GPSTime.from_datetime(etime + timedelta(minutes=(ublox_ephem.tb*15 - 180)))
-
-  ephem['x'] = ublox_ephem.x # km
-  ephem['x_vel'] = ublox_ephem.xVel # km/s
-  ephem['x_acc'] = ublox_ephem.xAccel # km/s*s
-
-  ephem['y'] = ublox_ephem.y # km
-  ephem['y_vel'] = ublox_ephem.yVel # km/s
-  ephem['y_acc'] = ublox_ephem.yAccel # km/s*s
-
-  ephem['z'] = ublox_ephem.z # km
-  ephem['z_vel'] = ublox_ephem.zVel # km/s
-  ephem['z_acc'] = ublox_ephem.zAccel # km/s*s
-
-  ephem['healthy'] = ublox_ephem.svHealth == 0.0
-  ephem['age'] = ublox_ephem.age # age of information [days]
-
-  # tauN compared to ephemeris from gdc.cddis.eosdis.nasa.gov is times -1
-  ephem['min_tauN'] = ublox_ephem.tauN * (-1) # time correction relative to GLONASS tc
-  ephem['GammaN'] = ublox_ephem.gammaN
-
-  # TODO: channel is in string 7, which is not parsed
-  ephem['freq_num'] = "1"
-
-  # NOTE: ublox_ephem.tk is in a different format than rinex tk
-  return GLONASSEphemeris(ephem, ephem['toe'])
-
-
 class EphemerisType(IntEnum):
   # Matches the enum in log.capnp
   NAV = 0
@@ -138,17 +54,16 @@ class EphemerisType(IntEnum):
 
 class Ephemeris(ABC):
 
-  def __init__(self, prn: str, data, epoch: GPSTime, eph_type: EphemerisType, healthy: bool, max_time_diff: float,
+  def __init__(self, prn: str, epoch: GPSTime, eph_type: EphemerisType, healthy: bool, max_time_diff: float,
                file_epoch: Optional[GPSTime] = None, file_name=None):
     self.prn = prn
-    self.data = data
     self.epoch = epoch
     self.eph_type = eph_type
     self.healthy = healthy
     self.max_time_diff = max_time_diff
     self.file_epoch = file_epoch
+    self.file_name = file_name
     self.file_source = '' if file_name is None else file_name.split('/')[-1][:3]  # File source for the ephemeris (e.g. igu, igr, Sta)
-    self.__json = None
 
   def valid(self, time):
     return abs(time - self.epoch) <= self.max_time_diff
@@ -169,54 +84,24 @@ class Ephemeris(ABC):
   def _get_sat_info(self, time):
     pass
 
-  def to_json(self):
-    if self.__json is None:
-      dict = self.__dict__
-      dict['ephemeris_class'] = self.__class__.__name__
-      self.__json = {'ephemeris': json.dumps(dict, cls=EphemerisSerializer)}
-    return self.__json
-
-  @classmethod
-  def from_json(cls, json_dct):
-    dct = json.loads(json_dct['ephemeris'], object_hook=ephemeris_deserialize_hook)
-    obj = cls.__new__(globals()[dct['ephemeris_class']])
-    obj.__dict__.update(dct)
-    obj.__json = json_dct
-    return obj
-
-
-def ephemeris_deserialize_hook(dct):
-  if 'week' in dct:
-    return GPSTime(dct['week'], dct['tow'])
-  return dct
-
-
-class EphemerisSerializer(json.JSONEncoder):
-
-  def default(self, o):
-    if isinstance(o, GPSTime):
-      return o.__dict__
-    if isinstance(o, np.ndarray):
-      return o.tolist()
-    return json.JSONEncoder.default(self, o)
-
 
 class GLONASSEphemeris(Ephemeris):
-  def __init__(self, data, epoch, file_name=None):
-    super().__init__(data['prn'], data, epoch, EphemerisType.NAV, data['healthy'], max_time_diff=25*SECS_IN_MIN, file_name=file_name)
-    self.channel = data['freq_num']
-    self.to_json()
+  def __init__(self, data, file_name=None):
+    self.epoch = GPSTime.from_glonass(data.n4, data.nt, data.tb*15*SECS_IN_MIN)
+    super().__init__('R%02i' % data.svId, self.epoch, EphemerisType.NAV, data.svHealth==0, max_time_diff=25*SECS_IN_MIN, file_name=file_name)
+    self.data = data
+    self.epoch =  GPSTime.from_glonass(data.n4, data.nt, data.tb*15 * SECS_IN_MIN)
+    self.channel = data.freqNum
 
   def _get_sat_info(self, time: GPSTime):
     # see the russian doc for this:
     # http://gauss.gge.unb.ca/GLONASS.ICD.pdf
 
     eph = self.data
-    tdiff = time - utc_to_gpst(eph['toe'])
-
+    tdiff = time - self.epoch
     # Clock correction (except for general relativity which is applied later)
-    clock_err = eph['min_tauN'] + tdiff * (eph['GammaN'])
-    clock_rate_err = eph['GammaN']
+    clock_err = -eph.tauN + tdiff * eph.gammaN
+    clock_rate_err = eph.gammaN
 
     def glonass_diff_eq(state, acc):
       J2 = 1.0826257e-3
@@ -238,14 +123,14 @@ class GLONASSEphemeris(Ephemeris):
       return ders
 
     init_state = np.empty(6)
-    init_state[0] = eph['x']
-    init_state[1] = eph['y']
-    init_state[2] = eph['z']
-    init_state[3] = eph['x_vel']
-    init_state[4] = eph['y_vel']
-    init_state[5] = eph['z_vel']
+    init_state[0] = eph.x
+    init_state[1] = eph.y
+    init_state[2] = eph.z
+    init_state[3] = eph.xVel
+    init_state[4] = eph.yVel
+    init_state[5] = eph.zVel
     init_state = 1000*init_state
-    acc = 1000*np.array([eph['x_acc'], eph['y_acc'], eph['z_acc']])
+    acc = 1000*np.array([eph.xAccel, eph.yAccel, eph.zAccel])
     state = init_state
     tstep = 90
     if tdiff < 0:
@@ -271,9 +156,9 @@ class PolyEphemeris(Ephemeris):
   def __init__(self, prn: str, data, epoch: GPSTime, ephem_type: EphemerisType,
                file_epoch: GPSTime=None, file_name: str=None, healthy=True, tgd=0,
                max_time_diff: int=SECS_IN_HR):
-    super().__init__(prn, data, epoch, ephem_type, healthy, max_time_diff=max_time_diff, file_epoch=file_epoch, file_name=file_name)
+    super().__init__(prn, epoch, ephem_type, healthy, max_time_diff=max_time_diff, file_epoch=file_epoch, file_name=file_name)
+    self.data = data
     self.tgd = tgd
-    self.to_json()
 
   def _get_sat_info(self, time: GPSTime):
     dt = time - self.data['t0']
@@ -290,27 +175,32 @@ class PolyEphemeris(Ephemeris):
 
 
 class GPSEphemeris(Ephemeris):
-  def __init__(self, data, epoch, file_name=None):
-    super().__init__('G%02i' % data['sv_id'], data, epoch, EphemerisType.NAV, data['healthy'], max_time_diff=2*SECS_IN_HR, file_name=file_name)
+  def __init__(self, data, file_name=None):
+    self.toe = GPSTime(data.toeWeek, data.toe)
+    self.toc = GPSTime(data.tocWeek, data.toc)
+    self.epoch = self.toc
+
+    super().__init__('G%02i' % data.svId, self.epoch, EphemerisType.NAV, data.svHealth==0, max_time_diff=2*SECS_IN_HR, file_name=file_name)
     self.max_time_diff_tgd = SECS_IN_DAY
-    self.to_json()
+    self.data = data
+    self.sqrta = np.sqrt(data.a)
 
   def get_tgd(self):
-    return self.data['tgd']
+    return self.datatgd
 
   def _get_sat_info(self, time: GPSTime):
     eph = self.data
-    tdiff = time - eph['toc']  # Time of clock
-    clock_err = eph['af0'] + tdiff * (eph['af1'] + tdiff * eph['af2'])
-    clock_rate_err = eph['af1'] + 2 * tdiff * eph['af2']
+    tdiff = time - self.toc  # Time of clock
+    clock_err = eph.af0 + tdiff * (eph.af1 + tdiff * eph.af2)
+    clock_rate_err = eph.af1 + 2 * tdiff * eph.af2\
 
     # Orbit propagation
-    tdiff = time - eph['toe']  # Time of ephemeris (might be different from time of clock)
+    tdiff = time - self.toe  # Time of ephemeris (might be different from time of clock)
 
     # Calculate position per IS-GPS-200D p 97 Table 20-IV
-    a = eph['sqrta'] * eph['sqrta']  # [m] Semi-major axis
-    ma_dot = sqrt(EARTH_GM / (a * a * a)) + eph['dn']  # [rad/sec] Corrected mean motion
-    ma = eph['m0'] + ma_dot * tdiff  # [rad] Corrected mean anomaly
+    a = self.sqrta * self.sqrta # [m] Semi-major axis
+    ma_dot = sqrt(EARTH_GM / (a * a * a)) + eph.deltaN  # [rad/sec] Corrected mean motion
+    ma = eph.m0 + ma_dot * tdiff  # [rad] Corrected mean anomaly
 
     # Iteratively solve for the Eccentric Anomaly (from Keith Alter and David Johnston)
     ea = ma  # Starting value for E
@@ -318,37 +208,37 @@ class GPSEphemeris(Ephemeris):
     ea_old = 2222
     while fabs(ea - ea_old) > 1.0E-14:
       ea_old = ea
-      tempd1 = 1.0 - eph['ecc'] * cos(ea_old)
-      ea = ea + (ma - ea_old + eph['ecc'] * sin(ea_old)) / tempd1
+      tempd1 = 1.0 - eph.ecc * cos(ea_old)
+      ea = ea + (ma - ea_old + eph.ecc * sin(ea_old)) / tempd1
     ea_dot = ma_dot / tempd1
 
     # Relativistic correction term
-    einstein = -4.442807633E-10 * eph['ecc'] * eph['sqrta'] * sin(ea)
+    einstein = -4.442807633E-10 * eph.ecc * self.sqrta * sin(ea)
 
     # Begin calc for True Anomaly and Argument of Latitude
-    tempd2 = sqrt(1.0 - eph['ecc'] * eph['ecc'])
+    tempd2 = sqrt(1.0 - eph.ecc * eph.ecc)
     # [rad] Argument of Latitude = True Anomaly + Argument of Perigee
-    al = atan2(tempd2 * sin(ea), cos(ea) - eph['ecc']) + eph['w']
+    al = atan2(tempd2 * sin(ea), cos(ea) - eph.ecc) + eph.omega
     al_dot = tempd2 * ea_dot / tempd1
 
     # Calculate corrected argument of latitude based on position
-    cal = al + eph['cus'] * sin(2.0 * al) + eph['cuc'] * cos(2.0 * al)
-    cal_dot = al_dot * (1.0 + 2.0 * (eph['cus'] * cos(2.0 * al) -
-                                     eph['cuc'] * sin(2.0 * al)))
+    cal = al + eph.cus * sin(2.0 * al) + eph.cuc * cos(2.0 * al)
+    cal_dot = al_dot * (1.0 + 2.0 * (eph.cus * cos(2.0 * al) -
+                                     eph.cuc * sin(2.0 * al)))
 
     # Calculate corrected radius based on argument of latitude
-    r = a * tempd1 + eph['crc'] * cos(2.0 * al) + eph['crs'] * sin(2.0 * al)
-    r_dot = (a * eph['ecc'] * sin(ea) * ea_dot +
-             2.0 * al_dot * (eph['crs'] * cos(2.0 * al) -
-                             eph['crc'] * sin(2.0 * al)))
+    r = a * tempd1 + eph.crc * cos(2.0 * al) + eph.crs * sin(2.0 * al)
+    r_dot = (a * eph.ecc * sin(ea) * ea_dot +
+             2.0 * al_dot * (eph.crs * cos(2.0 * al) -
+                             eph.crc * sin(2.0 * al)))
 
     # Calculate inclination based on argument of latitude
-    inc = (eph['inc'] + eph['inc_dot'] * tdiff +
-           eph['cic'] * cos(2.0 * al) +
-           eph['cis'] * sin(2.0 * al))
-    inc_dot = (eph['inc_dot'] +
-               2.0 * al_dot * (eph['cis'] * cos(2.0 * al) -
-                               eph['cic'] * sin(2.0 * al)))
+    inc = (eph.i0 + eph.iDot * tdiff +
+           eph.cic * cos(2.0 * al) +
+           eph.cis * sin(2.0 * al))
+    inc_dot = (eph.iDot +
+               2.0 * al_dot * (eph.cis * cos(2.0 * al) -
+                               eph.cic * sin(2.0 * al)))
 
     # Calculate position and velocity in orbital plane
     x = r * cos(cal)
@@ -357,8 +247,8 @@ class GPSEphemeris(Ephemeris):
     y_dot = r_dot * sin(cal) + x * cal_dot
 
     # Corrected longitude of ascending node
-    om_dot = eph['omegadot'] - EARTH_ROTATION_RATE
-    om = eph['omega0'] + tdiff * om_dot - EARTH_ROTATION_RATE * eph['toe'].tow
+    om_dot = eph.omegaDot - EARTH_ROTATION_RATE
+    om = eph.omega0 + tdiff * om_dot - EARTH_ROTATION_RATE * self.toe.tow
 
     # Compute the satellite's position in Earth-Centered Earth-Fixed coordinates
     pos = np.empty(3)
@@ -507,24 +397,26 @@ def parse_rinex_nav_msg_gps(file_name):
       line = ' ' + line  # Shift 1 char to the right
 
     line = line.replace('D', 'E')  # Handle bizarro float format
-    e = {'epoch': epoch, 'sv_id': sv_id}
-    e['toc'] = epoch
+    e = {'svId': sv_id}
+    # TODO are TOC and TOE the same?
+    e['toc'] = epoch.tow
+    e['tocWeek'] = epoch.week
     e['af0'] = float(line[23:42])
     e['af1'] = float(line[42:61])
     e['af2'] = float(line[61:80])
 
-    e['iode'], e['crs'], e['dn'], e['m0'] = read4(f, rinex_ver)
-    e['cuc'], e['ecc'], e['cus'], e['sqrta'] = read4(f, rinex_ver)
-    toe_tow, e['cic'], e['omega0'], e['cis'] = read4(f, rinex_ver)
-    e['inc'], e['crc'], e['w'], e['omegadot'] = read4(f, rinex_ver)
-    e['inc_dot'], e['l2_codes'], toe_week, e['l2_pflag'] = read4(f, rinex_ver)
-    e['sv_accuracy'], e['health'], e['tgd'], e['iodc'] = read4(f, rinex_ver)
+    e['iode'], e['crs'], e['deltaN'], e['m0'] = read4(f, rinex_ver)
+    e['cuc'], e['ecc'], e['cus'], sqrta = read4(f, rinex_ver)
+    e['a'] = sqrta ** 2
+    e['toe'], e['cic'], e['omega0'], e['cis'] = read4(f, rinex_ver)
+    e['i0'], e['crc'], e['omega'], e['omegaDot'] = read4(f, rinex_ver)
+    e['iDot'], e['codesL2'], e['toeWeek'], l2_pflag = read4(f, rinex_ver)
+    e['svAcc'], e['svHealth'], e['tgd'], e['iodc'] = read4(f, rinex_ver)
     f.readline()  # Discard last row
 
-    e['toe'] = GPSTime(toe_week, toe_tow)
-    e['healthy'] = (e['health'] == 0.0)
+    data_struct = ephemeris_structs.Ephemeris.new_message(**e)
 
-    ephem = GPSEphemeris(e, epoch, file_name=file_name)
+    ephem = GPSEphemeris(data_struct, file_name=file_name)
     ephems[ephem.prn].append(ephem)
   f.close()
   return ephems
@@ -550,26 +442,39 @@ def parse_rinex_nav_msg_glonass(file_name):
         got_header = True
       continue
     if rinex_ver == 3:
-      prn = line[:3]
-      epoch = GPSTime.from_datetime(datetime.strptime(line[4:23], "%y %m %d %H %M %S"))
+      sv_id = int(line[1:3])
+
+      epoch = utc_to_gpst(GPSTime.from_datetime(datetime.strptime(line[4:23], "%y %m %d %H %M %S")))
     elif rinex_ver == 2:
-      prn = 'R%02i' % int(line[0:2])
-      epoch = GPSTime.from_datetime(datetime.strptime(line[3:20], "%y %m %d %H %M %S"))
+      sv_id = int(line[0:2])
+      epoch = utc_to_gpst(GPSTime.from_datetime(datetime.strptime(line[3:20], "%y %m %d %H %M %S")))
       line = ' ' + line  # Shift 1 char to the right
 
     line = line.replace('D', 'E')  # Handle bizarro float format
-    e = {'epoch': epoch, 'prn': prn}
-    e['toe'] = epoch
-    e['min_tauN'] = float(line[23:42])
-    e['GammaN'] = float(line[42:61])
-    e['tk'] = float(line[61:80])
+    e = {'svId': sv_id}
+    e['n4'], e['nt'], toe_seconds = epoch.as_glonass()
+    tb = toe_seconds / (15 * SECS_IN_MIN)
 
-    e['x'], e['x_vel'], e['x_acc'], e['health'] = read4(f, rinex_ver)
-    e['y'], e['y_vel'], e['y_acc'], e['freq_num'] = read4(f, rinex_ver)
-    e['z'], e['z_vel'], e['z_acc'], e['age'] = read4(f, rinex_ver)
+  
+    e['tb'] = tb
 
-    e['healthy'] = (e['health'] == 0.0)
-    ephems[prn].append(GLONASSEphemeris(e, epoch, file_name=file_name))
+    e['tauN'] = -float(line[23:42])
+    e['gammaN'] = float(line[42:61])
+    e['tkSeconds'] = float(line[61:80])
+
+    e['x'], e['xVel'], e['xAccel'], e['svHealth'] = read4(f, rinex_ver)
+    e['y'], e['yVel'], e['yAccel'], e['freqNum'] = read4(f, rinex_ver)
+    e['z'], e['zVel'], e['zAccel'], e['age'] = read4(f, rinex_ver)
+    
+    # TODO unclear why glonass sometimes has nav messages 3s after correct one
+    if abs(tb - int(tb)) > 1e-3:
+      continue
+
+    
+    data_struct = ephemeris_structs.GlonassEphemeris.new_message(**e)
+    ephem = GLONASSEphemeris(data_struct, file_name=file_name)
+
+    ephems[ephem.prn].append(ephem)
   f.close()
   return ephems
 
@@ -580,9 +485,9 @@ def parse_qcom_ephem(qcom_poly, current_week):
   t0 = data.t0
   # fix glonass time
   prn = get_prn_from_nmea_id(svId)
-  if prn == 'GLONASS':
+  if prn[0] == 'R':
     # TODO should handle leap seconds better
-    epoch = GPSTime(current_week, (t0 + 3*SECS_IN_WEEK) % (SECS_IN_WEEK) + 18)
+    epoch = GPSTime(current_week, (t0 - 3*SECS_IN_HR + SECS_IN_DAY) % (SECS_IN_WEEK) + 18)
   else:
     epoch = GPSTime(current_week, t0)
   poly_data = {}
@@ -595,4 +500,4 @@ def parse_qcom_ephem(qcom_poly, current_week):
   poly_data['clock'] = [1e-3*data.other[3], 1e-3*data.other[2], 1e-3*data.other[1], 1e-3*data.other[0]]
   poly_data['deg'] = 3
   poly_data['deg_t'] = 3
-  return PolyEphemeris(prn, poly_data, epoch, ephem_type=EphemerisType.QCOM_POLY, max_time_diff=180)
+  return PolyEphemeris(prn, poly_data, epoch, ephem_type=EphemerisType.QCOM_POLY, max_time_diff=300, file_name='qcom')

laika/gps_time.py

@@ -152,6 +152,17 @@ class GPSTime:
   def as_datetime(self):
     return tow_to_datetime(self.tow, self.week)
 
+  def as_glonass(self):
+    time_utc = gpst_to_utc(self)
+    datetime_utc = time_utc.as_datetime()
+    datetime_glonass = datetime_utc + datetime.timedelta(hours=3)
+
+    year = datetime_glonass.year
+    cycle = (year - 1992) // 4
+    days = (datetime_glonass - datetime.datetime(1992 + cycle*4, 1, 1)).days + 1
+    tod = (datetime_glonass - datetime_glonass.replace(hour=0, minute=0, second=0, microsecond=0)).total_seconds()
+    return cycle, days, tod
+
   def as_unix_timestamp(self):
     return (gpst_to_utc(self).as_datetime() - datetime.datetime(1970, 1, 1)).total_seconds()
 

laika/helpers.py

@@ -26,7 +26,7 @@ class ConstellationId(IntEnum):
     if c in RINEX_ID_TO_CONSTELLATION:
       return RINEX_ID_TO_CONSTELLATION[c]
     else:
-      return None
+      raise ValueError("Unknown rinex constellation id: ", c)
 
   @classmethod
   def from_qcom_source(cls, report_source: int):
@@ -97,14 +97,12 @@ def get_closest(time, candidates, recv_pos=None):
     default=None,
   )
 
-
 def get_constellation(prn: str):
   identifier = prn[0]
-  constellation = ConstellationId.from_rinex_char(identifier)
-  if constellation is not None:
-    return constellation.name
-  return None
+  return ConstellationId.from_rinex_char(identifier)
 
+def get_sv_id(prn: str):
+  return int(prn[1:])
 
 def get_constellation_and_sv_id(nmea_id):
   for c, ranges in CONSTELLATION_TO_NMEA_RANGES.items():
@@ -123,11 +121,8 @@ def get_prn_from_nmea_id(nmea_id: int):
 
 def get_nmea_id_from_prn(prn: str):
   constellation = get_constellation(prn)
-  if constellation is None:
-    raise ValueError(f"Constellation not found for prn {prn}")
-
   sv_id = int(prn[1:])  # satellite id
-  return get_nmea_id_from_constellation_and_svid(ConstellationId[constellation], sv_id)
+  return get_nmea_id_from_constellation_and_svid(constellation, sv_id)
 
 
 def get_nmea_id_from_constellation_and_svid(constellation: ConstellationId, sv_id: int):

laika/iono.py

@@ -9,6 +9,17 @@ from .gps_time import GPSTime
 # Altitude of Ionospheric-pierce-point
 IPP_ALT = 6821000
 
+def get_alpha_beta(rcv_pos, el):
+    geocentric_alt = np.linalg.norm(rcv_pos)
+    alpha = np.pi/2 + el
+    beta = np.arcsin(geocentric_alt*np.sin(alpha)/IPP_ALT)
+    return alpha, beta
+
+def get_slant_delay(rcv_pos, az, el, sat_pos, time, freq, vertical_delay):
+    alpha, beta = get_alpha_beta(rcv_pos, el)
+    slant_delay = vertical_delay * ((1 - ((EARTH_RADIUS * np.sin(beta)) /
+                                          (EARTH_RADIUS + 3.5e5))**2)**(-0.5))
+    return slant_delay
 
 def closest_in_list(lst, val, num=2):
   """
@@ -134,18 +145,16 @@ class IonexMap:
     # To get a delay from a TEC map, we need to calculate
     # the ionospheric pierce point, geometry described here
     # https://en.wikipedia.org/wiki/Ionospheric_pierce_point
+    alpha, beta = get_alpha_beta(rcv_pos, el)
     conv = LocalCoord.from_ecef(rcv_pos)
-    geocentric_alt = np.linalg.norm(rcv_pos)
-    alpha = np.pi/2 + el
-    beta = np.arcsin(geocentric_alt*np.sin(alpha)/IPP_ALT)
     gamma = np.pi - alpha - beta
+    geocentric_alt = np.linalg.norm(rcv_pos)
     ipp_dist = geocentric_alt*np.sin(gamma)/np.sin(beta)
     ipp_ned = conv.ecef2ned(sat_pos)*(ipp_dist)/np.linalg.norm(sat_pos)
     ipp_geo = conv.ned2geodetic(ipp_ned)
     factor = 40.30E16 / (freq**2) * 10**(self.exp)
     vertical_delay = self.get_TEC(ipp_geo, time) * factor
-    slant_delay = vertical_delay * ((1 - ((EARTH_RADIUS * np.sin(beta)) /
-                                          (EARTH_RADIUS + 3.5e5))**2)**(-0.5))
+    slant_delay = get_slant_delay(rcv_pos, az, el, sat_pos, time, freq, vertical_delay)
     return slant_delay
 
   @staticmethod

laika/opt.py

@@ -7,22 +7,28 @@ from .helpers import ConstellationId
 from .raw_gnss import GNSSMeasurement
 
 
-def gauss_newton(fun, b, xtol=1e-8, max_n=25):
+def gauss_newton(fun, b, M, xtol=1e-8, max_n=25):
+
+  W = np.linalg.inv(M)
   for _ in range(max_n):
     # Compute function and jacobian on current estimate
     r, J = fun(b)
 
-    # Update estimate
-    delta = np.linalg.pinv(J) @ r
+    # Update estimate, WLS https://en.wikipedia.org/wiki/Weighted_least_squares
+    delta = np.linalg.pinv(J.T.dot(W).dot(J)).dot(J.T).dot(W) @ r
     b -= delta
 
     # Check step size for stopping condition
     if np.linalg.norm(delta) < xtol:
       break
-  return b
+
+  r, J = fun(b)
+  Mb = np.linalg.pinv(J.T.dot(W).dot(J))
+  x_std = np.sqrt(np.diagonal(Mb))
+  return b, r, x_std
 
 
-def calc_pos_fix(measurements, posfix_functions=None, x0=None, no_weight=False, signal='C1C', min_measurements=6):
+def calc_pos_fix(measurements, posfix_functions=None, x0=None, signal='C1C', min_measurements=5):
   '''
   Calculates gps fix using gauss newton method
   To solve the problem a minimal of 4 measurements are required.
@@ -35,15 +41,16 @@ def calc_pos_fix(measurements, posfix_functions=None, x0=None, no_weight=False,
     x0 = [0, 0, 0, 0, 0]
 
   if len(measurements) < min_measurements:
-    return [],[]
+    return [],[],[]
 
-  Fx_pos = pr_residual(measurements, posfix_functions, signal=signal, no_weight=no_weight, no_nans=True)
-  x = gauss_newton(Fx_pos, x0)
-  residual, _ = Fx_pos(x, no_weight=True)
-  return x.tolist(), residual.tolist()
+  Fx_pos = pr_residual(measurements, posfix_functions, signal=signal, no_nans=True)
+  meas_cov = np.diag([meas.observables_std[signal]**2 for meas in measurements])
+
+  x, residual, x_std = gauss_newton(Fx_pos, x0, meas_cov)
+  return x.tolist(), residual.tolist(), x_std
 
 
-def calc_vel_fix(measurements, est_pos, velfix_function=None, v0=None, no_weight=False, signal='D1C', min_measurements=6):
+def calc_vel_fix(measurements, est_pos, velfix_function=None, v0=None, signal='D1C', min_measurements=5):
   '''
   Calculates gps velocity fix using gauss newton method
   returns:
@@ -54,12 +61,13 @@ def calc_vel_fix(measurements, est_pos, velfix_function=None, v0=None, no_weight
     v0 = [0, 0, 0, 0]
 
   if len(measurements) < min_measurements:
-    return [], []
+    return [], [], []
 
-  Fx_vel = prr_residual(measurements, est_pos, velfix_function, signal=signal, no_weight=no_weight, no_nans=True)
-  v = gauss_newton(Fx_vel, v0)
-  residual, _ = Fx_vel(v, no_weight=True)
-  return v.tolist(), residual.tolist()
+  Fx_vel = prr_residual(measurements, est_pos, velfix_function, signal=signal, no_nans=True)
+  meas_cov = np.diag([meas.observables_std[signal]**2 for meas in measurements])
+
+  v, residual, x_std = gauss_newton(Fx_vel, v0, meas_cov)
+  return v.tolist(), residual.tolist(), x_std
 
 
 def get_posfix_sympy_fun(constellation):
@@ -73,7 +81,6 @@ def get_posfix_sympy_fun(constellation):
   # Knowns
   pr = sympy.Symbol('pr')
   sat_x, sat_y, sat_z = sympy.Symbol('sat_x'), sympy.Symbol('sat_y'), sympy.Symbol('sat_z')
-  weight = sympy.Symbol('weight')
 
   theta = (EARTH_ROTATION_RATE * (pr - bc) / SPEED_OF_LIGHT)*zero_theta
   val = sympy.sqrt(
@@ -83,15 +90,15 @@ def get_posfix_sympy_fun(constellation):
   )
 
   if constellation == ConstellationId.GLONASS:
-    res = weight * (val - (pr - bc - bg))
+    res = val - (pr - bc - bg)
   elif constellation == ConstellationId.GPS:
-    res = weight * (val - (pr - bc))
+    res = val - (pr - bc)
   else:
     raise NotImplementedError(f"Constellation {constellation} not supported")
 
   res = [res] + [sympy.diff(res, v) for v in var]
 
-  return sympy.lambdify([x, y, z, bc, bg, pr, zero_theta, sat_x, sat_y, sat_z, weight], res, modules=["numpy"])
+  return sympy.lambdify([x, y, z, bc, bg, pr, zero_theta, sat_x, sat_y, sat_z], res, modules=["numpy"])
 
 
 def get_velfix_sympy_func():
@@ -105,7 +112,6 @@ def get_velfix_sympy_func():
   sv_x, sv_y, sv_z = sympy.Symbol('sv_x'), sympy.Symbol('sv_y'), sympy.Symbol('sv_z')
   sat_vel = np.array([sv_x, sv_y, sv_z])
   observables = sympy.Symbol('observables')
-  weight = sympy.Symbol('weight')
 
   # unknown, receiver velocity
   v_x, v_y, v_z = sympy.Symbol('v_x'), sympy.Symbol('v_y'), sympy.Symbol('v_z')
@@ -114,27 +120,24 @@ def get_velfix_sympy_func():
 
   loss = sat_pos - est_pos
   loss /= sympy.sqrt(loss.dot(loss))
-
-  nv = loss.dot(sat_vel - vel)
-  ov = (observables - vel_o)
-  res = (nv - ov)*weight
+  res = loss.dot(sat_vel - vel) - (observables - vel_o)
 
   res = [res] + [sympy.diff(res, v) for v in [v_x, v_y, v_z, vel_o]]
 
   return sympy.lambdify([
       ep_x, ep_y, ep_z, sp_x, sp_y, sp_z,
-      sv_x, sv_y, sv_z, observables, weight,
+      sv_x, sv_y, sv_z, observables,
       v_x, v_y, v_z, vel_o
     ],
     res, modules=["numpy"])
 
 
-def pr_residual(measurements: List[GNSSMeasurement], posfix_functions=None, signal='C1C', no_weight=False, no_nans=False):
+def pr_residual(measurements: List[GNSSMeasurement], posfix_functions=None, signal='C1C', no_nans=False):
 
   if posfix_functions is None:
     posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)}
 
-  def Fx_pos(inp, no_weight=no_weight):
+  def Fx_pos(inp):
     vals, gradients = [], []
 
     for meas in measurements:
@@ -153,20 +156,19 @@ def pr_residual(measurements: List[GNSSMeasurement], posfix_functions=None, sign
           gradients.append(np.nan)
         continue
 
-      w = 1.0 if no_weight or meas.observables_std[signal] == 0 else (1 / meas.observables_std[signal])
-      val, *gradient = posfix_functions[meas.constellation_id](*inp, pr, zero_theta, *sat_pos, w)
+      val, *gradient = posfix_functions[meas.constellation_id](*inp, pr, zero_theta, *sat_pos)
       vals.append(val)
       gradients.append(gradient)
     return np.asarray(vals), np.asarray(gradients)
   return Fx_pos
 
 
-def prr_residual(measurements: List[GNSSMeasurement], est_pos, velfix_function=None, signal='D1C', no_weight=False, no_nans=False):
+def prr_residual(measurements: List[GNSSMeasurement], est_pos, velfix_function=None, signal='D1C', no_nans=False):
 
   if velfix_function is None:
     velfix_function = get_velfix_sympy_func()
 
-  def Fx_vel(vel, no_weight=no_weight):
+  def Fx_vel(vel):
     vals, gradients = [], []
 
     for meas in measurements:
@@ -177,12 +179,11 @@ def prr_residual(measurements: List[GNSSMeasurement], est_pos, velfix_function=N
         continue
 
       sat_pos = meas.sat_pos_final if meas.corrected else meas.sat_pos
-      weight = 1.0 if no_weight or meas.observables_std[signal] == 0 else (1 / meas.observables_std[signal])
 
       val, *gradient = velfix_function(est_pos[0], est_pos[1], est_pos[2],
                                        sat_pos[0], sat_pos[1], sat_pos[2],
                                        meas.sat_vel[0], meas.sat_vel[1], meas.sat_vel[2],
-                                       meas.observables[signal], weight,
+                                       meas.observables[signal],
                                        vel[0], vel[1], vel[2], vel[3])
       vals.append(val)
       gradients.append(gradient)

laika/raw_gnss.py

@@ -92,10 +92,13 @@ class GNSSMeasurement:
     self.processed = True
     return True
 
-  def correct(self, est_pos, dog):
+  def correct(self, est_pos, dog, correct_delay=True):
     for obs in self.observables:
       if obs[0] == 'C':  # or obs[0] == 'L':
-        delay = dog.get_delay(self.prn, self.recv_time, est_pos, signal=obs)
+        if correct_delay:
+          delay = dog.get_delay(self.prn, self.recv_time, est_pos, signal=obs)
+        else:
+          delay = 0.0
         if delay is not None:
           self.observables_final[obs] = (self.observables[obs] +
                                          self.sat_clock_err*constants.SPEED_OF_LIGHT -
@@ -147,10 +150,10 @@ def process_measurements(measurements: List[GNSSMeasurement], dog) -> List[GNSSM
   return proc_measurements
 
 
-def correct_measurements(measurements: List[GNSSMeasurement], est_pos, dog) -> List[GNSSMeasurement]:
+def correct_measurements(measurements: List[GNSSMeasurement], est_pos, dog, correct_delay=True) -> List[GNSSMeasurement]:
   corrected_measurements = []
   for meas in measurements:
-    if meas.correct(est_pos, dog):
+    if meas.correct(est_pos, dog, correct_delay=correct_delay):
       corrected_measurements.append(meas)
   return corrected_measurements
 
@@ -195,12 +198,12 @@ def read_raw_qcom(report):
       time_bias_ms = report.timeBias
   else:
     raise NotImplementedError('Only GPS (0), SBAS (1) and GLONASS (6) are supported from qcom, not:', {report.source})
-  #print(recv_time, report.source, time_bias_ms, dr)
+  # logging.debug(recv_time, report.source, time_bias_ms, dr)
   measurements = []
   for i in report.sv:
     nmea_id = i.svId  # todo change svId to nmea_id in cereal message. Or better: change the publisher to publish correct svId's, since constellation id is also given
     if nmea_id == 255:
-      # todo nmea_id is not valid. Fix publisher
+      # TODO nmea_id is not valid. Fix publisher
       continue
     _, sv_id = get_constellation_and_sv_id(nmea_id)
     if not i.measurementStatus.measurementNotUsable and i.measurementStatus.satelliteTimeIsKnown:
@@ -217,9 +220,9 @@ def read_raw_qcom(report):
         observables_std['D1C'] = i.unfilteredSpeedUncertainty
       observables['S1C'] = (i.carrierNoise/100.) if i.carrierNoise != 0 else np.nan
       observables['L1C'] = np.nan
-      #print("  %.5f %3d %10.2f %7.2f %7.2f %.2f %d" % (recv_time.tow, nmea_id,
-      #  observables['C1C'], observables_std['C1C'],
-      #  observables_std['D1C'], observables['S1C'], i.latency), i.observationState, i.measurementStatus.fineOrCoarseVelocity)
+      # logging.debug("  %.5f %3d %10.2f %7.2f %7.2f %.2f %d" % (recv_time.tow, nmea_id,
+      # observables['C1C'], observables_std['C1C'],
+      # observables_std['D1C'], observables['S1C'], i.latency), i.observationState, i.measurementStatus.fineOrCoarseVelocity)
       glonass_freq = (i.glonassFrequencyIndex - 7) if constellation_id == ConstellationId.GLONASS else np.nan
       measurements.append(GNSSMeasurement(constellation_id, sv_id,
                                           recv_time.week,

laika/rinex_file.py

@@ -11,7 +11,7 @@
 
 import datetime
 import numpy as np
-
+import logging
 
 def floatornan(x):
   if x == '' or x[-1] == ' ':
@@ -49,10 +49,10 @@ class RINEXFile:
         self._read_header(f)
         self._read_data(f)
     except TypeError:
-      print("TypeError, file likely not downloaded.")
+      logging.exception("TypeError, file likely not downloaded.")
       raise DownloadError("file download failure")
     except FileNotFoundError:
-      print("File not found in directory.")
+      logging.exception("File not found in directory.")
       raise DownloadError("file missing in download cache")
   def _read_header(self, f):
     version_line = padline(f.readline(), 80)

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="6.2"
+  export AGNOS_VERSION="7.1"
 fi
 
 if [ -z "$PASSIVE" ]; then

opendbc/.gitignore

@@ -9,6 +9,7 @@
 .sconsign.dblite
 
 can/*.so
+can/*.a
 can/build/
 can/obj/
 can/packer_pyx.cpp

opendbc/acura_ilx_2016_can_generated.dbc

@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY

opendbc/acura_rdx_2018_can_generated.dbc

@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY

opendbc/acura_rdx_2020_can_generated.dbc

@@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY

opendbc/can/SConscript

@@ -5,7 +5,14 @@ import os
 envDBC = env.Clone()
 dbc_file_path = '-DDBC_FILE_PATH=\'"%s"\'' % (envDBC.Dir("..").abspath)
 envDBC['CXXFLAGS'] += [dbc_file_path]
-libdbc = envDBC.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "common.cc"], LIBS=[common, "capnp", "kj", "zmq"])
+src = ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]
+libs = [common, "capnp", "kj", "zmq"]
+
+# shared library for openpilot
+libdbc = envDBC.SharedLibrary('libdbc', src, LIBS=libs)
+
+# static library for tools like cabana
+envDBC.Library('libdbc_static', src, LIBS=libs)
 
 # Build packer and parser
 lenv = envCython.Clone()

opendbc/can/common.h

@@ -37,6 +37,7 @@ unsigned int pedal_checksum(uint32_t address, const Signal &sig, const std::vect
 
 class MessageState {
 public:
+  std::string name;
   uint32_t address;
   unsigned int size;
 
@@ -80,11 +81,12 @@ public:
   CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter);
   #ifndef DYNAMIC_CAPNP
   void update_string(const std::string &data, bool sendcan);
+  void update_strings(const std::vector<std::string> &data, std::vector<SignalValue> &vals, bool sendcan);
   void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
   #endif
   void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
   void UpdateValid(uint64_t sec);
-  std::vector<SignalValue> query_latest();
+  void query_latest(std::vector<SignalValue> &vals, uint64_t last_ts = 0);
 };
 
 class CANPacker {

opendbc/can/common.pxd

@@ -3,10 +3,8 @@
 
 from libc.stdint cimport uint8_t, uint16_t, uint32_t, uint64_t
 from libcpp cimport bool
-from libcpp.map cimport map
 from libcpp.string cimport string
 from libcpp.vector cimport vector
-from libcpp.unordered_set cimport unordered_set
 
 
 ctypedef unsigned int (*calc_checksum_type)(uint32_t, const Signal&, const vector[uint8_t] &)
@@ -54,7 +52,6 @@ cdef extern from "common_dbc.h":
     uint32_t address
     string name
 
-
   cdef struct MessageParseOptions:
     uint32_t address
     int check_frequency
@@ -72,15 +69,14 @@ cdef extern from "common_dbc.h":
 
 
 cdef extern from "common.h":
-  cdef const DBC* dbc_lookup(const string);
+  cdef const DBC* dbc_lookup(const string)
 
   cdef cppclass CANParser:
     bool can_valid
     bool bus_timeout
     CANParser(int, string, vector[MessageParseOptions], vector[SignalParseOptions])
-    void update_string(string, bool)
-    vector[SignalValue] query_latest()
+    void update_strings(vector[string]&, vector[SignalValue]&, bool)
 
   cdef cppclass CANPacker:
    CANPacker(string)
-   vector[uint8_t] pack(uint32_t, vector[SignalPackValue])
+   vector[uint8_t] pack(uint32_t, vector[SignalPackValue]&)

opendbc/can/common_dbc.h

@@ -84,6 +84,6 @@ typedef struct ChecksumState {
 } ChecksumState;
 
 DBC* dbc_parse(const std::string& dbc_path);
-DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum = nullptr);
+DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum = nullptr, bool allow_duplicate_msg_name=false);
 const DBC* dbc_lookup(const std::string& dbc_name);
 std::vector<std::string> get_dbc_names();

opendbc/can/dbc.cc

@@ -7,8 +7,9 @@
 #include <sstream>
 #include <vector>
 #include <mutex>
-#include <cstring>
 #include <iterator>
+#include <cstring>
+#include <clocale>
 
 #include "opendbc/can/common.h"
 #include "opendbc/can/common_dbc.h"
@@ -98,13 +99,15 @@ void set_signal_type(Signal& s, ChecksumState* chk, const std::string& dbc_name,
   }
 }
 
-DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum) {
+DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum, bool allow_duplicate_msg_name) {
   uint32_t address = 0;
   std::set<uint32_t> address_set;
   std::set<std::string> msg_name_set;
+  std::map<uint32_t, std::set<std::string>> signal_name_sets;
   std::map<uint32_t, std::vector<Signal>> signals;
   DBC* dbc = new DBC;
   dbc->name = dbc_name;
+  std::setlocale(LC_NUMERIC, "C");
 
   // used to find big endian LSB from MSB and size
   std::vector<int> be_bits;
@@ -134,8 +137,11 @@ DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, Ch
       // check for duplicates
       DBC_ASSERT(address_set.find(address) == address_set.end(), "Duplicate message address: " << address << " (" << msg.name << ")");
       address_set.insert(address);
-      DBC_ASSERT(msg_name_set.find(msg.name) == msg_name_set.end(), "Duplicate message name: " << msg.name);
-      msg_name_set.insert(msg.name);
+
+      if (!allow_duplicate_msg_name) {
+        DBC_ASSERT(msg_name_set.find(msg.name) == msg_name_set.end(), "Duplicate message name: " << msg.name);
+        msg_name_set.insert(msg.name);
+      }
     } else if (startswith(line, "SG_ ")) {
       // new signal
       int offset = 0;
@@ -162,6 +168,10 @@ DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, Ch
         sig.msb = sig.start_bit;
       }
       DBC_ASSERT(sig.lsb < (64 * 8) && sig.msb < (64 * 8), "Signal out of bounds: " << line);
+
+      // Check for duplicate signal names
+      DBC_ASSERT(signal_name_sets[address].find(sig.name) == signal_name_sets[address].end(), "Duplicate signal name: " << sig.name);
+      signal_name_sets[address].insert(sig.name);
     } else if (startswith(line, "VAL_ ")) {
       // new signal value/definition
       bool ret = std::regex_search(line, match, val_regexp);

opendbc/can/packer_pyx.pyx

@@ -1,12 +1,10 @@
 # distutils: language = c++
 # cython: c_string_encoding=ascii, language_level=3
 
-from libc.stdint cimport uint8_t, uint32_t, uint64_t
+from libc.stdint cimport uint8_t
 from libcpp.vector cimport vector
 from libcpp.map cimport map
 from libcpp.string cimport string
-from libcpp cimport bool
-from posix.dlfcn cimport dlopen, dlsym, RTLD_LAZY
 
 from .common cimport CANPacker as cpp_CANPacker
 from .common cimport dbc_lookup, SignalPackValue, DBC
@@ -36,7 +34,7 @@ cdef class CANPacker:
     cdef SignalPackValue spv
 
     for name, value in values.iteritems():
-      spv.name = name.encode('utf8')
+      spv.name = name.encode("utf8")
       spv.value = value
       values_thing.push_back(spv)
 
@@ -48,7 +46,7 @@ cdef class CANPacker:
       addr = name_or_addr
       size = self.address_to_size[name_or_addr]
     else:
-      addr, size = self.name_to_address_and_size[name_or_addr.encode('utf8')]
+      addr, size = self.name_to_address_and_size[name_or_addr.encode("utf8")]
 
     cdef vector[uint8_t] val = self.pack(addr, values)
     return [addr, 0, (<char *>&val[0])[:size], bus]

opendbc/can/parser.cc

@@ -33,7 +33,7 @@ int64_t get_raw_value(const std::vector<uint8_t> &msg, const Signal &sig) {
 
 bool MessageState::parse(uint64_t sec, const std::vector<uint8_t> &dat) {
   for (int i = 0; i < parse_sigs.size(); i++) {
-    auto &sig = parse_sigs[i];
+    const auto &sig = parse_sigs[i];
 
     int64_t tmp = get_raw_value(dat, sig);
     if (sig.is_signed) {
@@ -124,6 +124,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
       assert(false);
     }
 
+    state.name = msg->name;
     state.size = msg->size;
     assert(state.size <= 64);  // max signal size is 64 bytes
 
@@ -162,6 +163,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name, bool ignore_checksum
 
   for (const auto& msg : dbc->msgs) {
     MessageState state = {
+      .name = msg.name,
       .address = msg.address,
       .size = msg.size,
       .ignore_checksum = ignore_checksum,
@@ -202,14 +204,24 @@ void CANParser::update_string(const std::string &data, bool sendcan) {
   UpdateValid(last_sec);
 }
 
+void CANParser::update_strings(const std::vector<std::string> &data, std::vector<SignalValue> &vals, bool sendcan) {
+  uint64_t current_sec = 0;
+  for (const auto &d : data) {
+    update_string(d, sendcan);
+    if (current_sec == 0) {
+      current_sec = last_sec;
+    }
+  }
+  query_latest(vals, current_sec);
+}
+
 void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
   //DEBUG("got %d messages\n", cans.size());
 
   bool bus_empty = true;
 
   // parse the messages
-  for (int i = 0; i < cans.size(); i++) {
-    auto cmsg = cans[i];
+  for (const auto cmsg : cans) {
     if (cmsg.getSrc() != bus) {
       // DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
       continue;
@@ -287,9 +299,9 @@ void CANParser::UpdateValid(uint64_t sec) {
     if (state.check_threshold > 0 && (missing || timed_out)) {
       if (show_missing && !bus_timeout) {
         if (missing) {
-          LOGE("0x%X NOT SEEN", state.address);
+          LOGE("0x%X '%s' NOT SEEN", state.address, state.name.c_str());
         } else if (timed_out) {
-          LOGE("0x%X TIMED OUT", state.address);
+          LOGE("0x%X '%s' TIMED OUT", state.address, state.name.c_str());
         }
       }
       _valid = false;
@@ -299,25 +311,25 @@ void CANParser::UpdateValid(uint64_t sec) {
   can_valid = (can_invalid_cnt < CAN_INVALID_CNT) && _counters_valid;
 }
 
-std::vector<SignalValue> CANParser::query_latest() {
-  std::vector<SignalValue> ret;
-
+void CANParser::query_latest(std::vector<SignalValue> &vals, uint64_t last_ts) {
+  if (last_ts == 0) {
+    last_ts = last_sec;
+  }
   for (auto& kv : message_states) {
     auto& state = kv.second;
-    if (last_sec != 0 && state.last_seen_nanos != last_sec) continue;
+    if (last_ts != 0 && state.last_seen_nanos < last_ts) {
+      continue;
+    }
 
     for (int i = 0; i < state.parse_sigs.size(); i++) {
       const Signal &sig = state.parse_sigs[i];
-      ret.push_back((SignalValue){
-        .address = state.address,
-        .ts_nanos = state.last_seen_nanos,
-        .name = sig.name,
-        .value = state.vals[i],
-        .all_values = state.all_vals[i],
-      });
+      SignalValue &v = vals.emplace_back();
+      v.address = state.address;
+      v.ts_nanos = state.last_seen_nanos;
+      v.name = sig.name;
+      v.value = state.vals[i];
+      v.all_values = state.all_vals[i];
       state.all_vals[i].clear();
     }
   }
-
-  return ret;
 }

opendbc/can/parser_pyx.pyx

@@ -1,17 +1,16 @@
 # distutils: language = c++
 # cython: c_string_encoding=ascii, language_level=3
 
+from cython.operator cimport dereference as deref, preincrement as preinc
 from libcpp.string cimport string
 from libcpp.vector cimport vector
 from libcpp.unordered_set cimport unordered_set
-from libc.stdint cimport uint32_t, uint64_t, uint16_t
-from libcpp cimport bool
+from libc.stdint cimport uint32_t
 from libcpp.map cimport map
 
 from .common cimport CANParser as cpp_CANParser
 from .common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC
 
-import os
 import numbers
 from collections import defaultdict
 
@@ -45,13 +44,13 @@ cdef class CANParser:
 
     for i in range(self.dbc[0].msgs.size()):
       msg = self.dbc[0].msgs[i]
-      name = msg.name.decode('utf8')
+      name = msg.name.decode("utf8")
 
       msg_name_to_address[name] = msg.address
       self.address_to_msg_name[msg.address] = name
       self.vl[msg.address] = {}
       self.vl[name] = self.vl[msg.address]
-      self.vl_all[msg.address] = defaultdict(list)
+      self.vl_all[msg.address] = {}
       self.vl_all[name] = self.vl_all[msg.address]
       self.ts_nanos[msg.address] = {}
       self.ts_nanos[name] = self.ts_nanos[msg.address]
@@ -60,9 +59,9 @@ cdef class CANParser:
     for i in range(len(signals)):
       s = signals[i]
       if not isinstance(s[1], numbers.Number):
-        if name not in msg_name_to_address:
+        if s[1] not in msg_name_to_address:
           print(msg_name_to_address)
-          raise RuntimeError(f"could not find message {repr(name)} in DBC {self.dbc_name}")
+          raise RuntimeError(f"could not find message {repr(s[1])} in DBC {self.dbc_name}")
         s = (s[0], msg_name_to_address[s[1]])
         signals[i] = s
 
@@ -71,7 +70,7 @@ cdef class CANParser:
       if not isinstance(c[0], numbers.Number):
         if c[0] not in msg_name_to_address:
           print(msg_name_to_address)
-          raise RuntimeError(f"could not find message {repr(name)} in DBC {self.dbc_name}")
+          raise RuntimeError(f"could not find message {repr(c[0])} in DBC {self.dbc_name}")
         c = (msg_name_to_address[c[0]], c[1])
         checks[i] = c
 
@@ -80,7 +79,7 @@ cdef class CANParser:
       signal_addrs = {s[1] for s in signals}
       unchecked = signal_addrs - checked_addrs
       if len(unchecked):
-        err_msg = ', '.join(f"{self.address_to_msg_name[addr].decode()} ({hex(addr)})" for addr in unchecked)
+        err_msg = ", ".join(f"{self.address_to_msg_name[addr].decode()} ({hex(addr)})" for addr in unchecked)
         raise RuntimeError(f"Unchecked addrs: {err_msg}")
 
     cdef vector[SignalParseOptions] signal_options_v
@@ -101,37 +100,29 @@ cdef class CANParser:
       message_options_v.push_back(mpo)
 
     self.can = new cpp_CANParser(bus, dbc_name, message_options_v, signal_options_v)
-    self.update_vl()
-
-  cdef unordered_set[uint32_t] update_vl(self):
-    cdef unordered_set[uint32_t] updated_addrs
-
-    new_vals = self.can.query_latest()
-    for cv in new_vals:
-      # Cast char * directly to unicode
-      cv_name = <unicode>cv.name
-      self.vl[cv.address][cv_name] = cv.value
-      self.vl_all[cv.address][cv_name].extend(cv.all_values)
-      self.ts_nanos[cv.address][cv_name] = cv.ts_nanos
-      updated_addrs.insert(cv.address)
-
-    return updated_addrs
-
-  def update_string(self, dat, sendcan=False):
-    for v in self.vl_all.values():
-      v.clear()
-
-    self.can.update_string(dat, sendcan)
-    return self.update_vl()
+    self.update_strings([])
 
   def update_strings(self, strings, sendcan=False):
     for v in self.vl_all.values():
-      v.clear()
+      for l in v.values():  # no-cython-lint
+        l.clear()
+
+    cdef vector[SignalValue] new_vals
+    cdef unordered_set[uint32_t] updated_addrs
+
+    self.can.update_strings(strings, new_vals, sendcan)
+    cdef vector[SignalValue].iterator it = new_vals.begin()
+    cdef SignalValue* cv
+    while it != new_vals.end():
+      cv = &deref(it)
+      # Cast char * directly to unicode
+      cv_name = <unicode>cv.name
+      self.vl[cv.address][cv_name] = cv.value
+      self.vl_all[cv.address][cv_name] = cv.all_values
+      self.ts_nanos[cv.address][cv_name] = cv.ts_nanos
+      updated_addrs.insert(cv.address)
+      preinc(it)
 
-    updated_addrs = set()
-    for s in strings:
-      self.can.update_string(s, sendcan)
-      updated_addrs.update(self.update_vl())
     return updated_addrs
 
   @property
@@ -161,7 +152,7 @@ cdef class CANDefine():
 
     for i in range(self.dbc[0].msgs.size()):
       msg = self.dbc[0].msgs[i]
-      name = msg.name.decode('utf8')
+      name = msg.name.decode("utf8")
       address = msg.address
       address_to_msg_name[address] = name
 
@@ -170,8 +161,8 @@ cdef class CANDefine():
     for i in range(self.dbc[0].vals.size()):
       val = self.dbc[0].vals[i]
 
-      sgname = val.name.decode('utf8')
-      def_val = val.def_val.decode('utf8')
+      sgname = val.name.decode("utf8")
+      def_val = val.def_val.decode("utf8")
       address = val.address
       msgname = address_to_msg_name[address]
 

opendbc/gm_global_a_powertrain_generated.dbc

@@ -263,6 +263,11 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
  SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
  SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX
 
+BO_ 967 EVDriveMode: 4 XXX
+ SG_ SinglePedalModeActive : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ SinglePedalModeRisingEdge : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SinglePedalModeFallingEdge : 22|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 977 ECMCruiseControl: 8 K20_ECM
  SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO
  SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO

opendbc/honda_accord_2018_can_generated.dbc

@@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY

opendbc/honda_civic_ex_2022_can_generated.dbc

@@ -375,7 +375,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -396,7 +396,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -438,6 +438,12 @@ BO_ 401 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
+BO_ 419 GEARBOX_ALT: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
  SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
@@ -445,6 +451,12 @@ BO_ 432 STANDSTILL: 7 VSA
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
 
+BO_ 446 BRAKE_MODULE: 3 VSA
+ SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_FAULT : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 456 ACC_CONTROL: 8 XXX
  SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX
  SG_ IDLESTOP_ALLOW : 8|1@0+ (1,0) [0|1] "" XXX
@@ -459,6 +471,11 @@ BO_ 456 ACC_CONTROL: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 
+BO_ 467 CRUISE_FAULT_STATUS: 8 XXX
+ SG_ CRUISE_FAULT : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
 BO_ 829 LKAS_HUD: 8 ADAS
  SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
  SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
@@ -470,7 +487,7 @@ BO_ 829 LKAS_HUD: 8 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
@@ -496,8 +513,10 @@ BO_ 254913108 LKAS_HUD_2: 8 ADAS
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
+CM_ 446 "If exists, describes cruise faults and what the PCM uses for brake press detection.";
 CM_ SG_ 456 IDLESTOP_ALLOW "allows car to turn off engine at a standstill";
 CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2";
 
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P";
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P";
+VAL_ 419 GEAR_SHIFTER  32 "D" 16 "N" 8 "R" 4 "P" 0 "B" ;

opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc

@@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY

opendbc/honda_civic_touring_2016_can_generated.dbc

@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY

opendbc/honda_crv_ex_2017_can_generated.dbc

@@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY

opendbc/honda_crv_executive_2016_can_generated.dbc

@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
@@ -306,7 +306,7 @@ BO_ 404 STEERING_CONTROL: 4 EON
  SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
  SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" 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 : 22|7@0+ (1,0) [0|127] "" EPS
  SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
  SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
 

opendbc/honda_crv_touring_2016_can_generated.dbc

@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
@@ -308,7 +308,7 @@ BO_ 404 STEERING_CONTROL: 4 EON
  SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
  SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" 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 : 22|7@0+ (1,0) [0|127] "" EPS
  SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
  SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
 

opendbc/honda_fit_ex_2018_can_generated.dbc

@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY

opendbc/honda_insight_ex_2019_can_generated.dbc

@@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY

opendbc/honda_odyssey_exl_2018_generated.dbc

@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY

opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc

@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
  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_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
  SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
  SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
  SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY

opendbc/hyundai_canfd.dbc

@@ -76,7 +76,7 @@ BO_ 81 ADRV_0x51: 32 ADRV
 BO_ 96 ESP_STATUS: 32 XXX
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
  SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ ESP_DISABLED : 42|3@1+ (1,0) [0|63] "" XXX
+ SG_ TRACTION_AND_STABILITY_CONTROL : 42|3@1+ (1,0) [0|63] "" XXX
  SG_ BRAKE_PRESSURE : 128|10@1+ (1,0) [0|65535] "" XXX
  SG_ BRAKE_PRESSED : 148|1@1+ (1,0) [0|3] "" XXX
 
@@ -94,6 +94,10 @@ BO_ 112 GEAR_ALT_2: 32 XXX
 BO_ 160 WHEEL_SPEEDS: 24 XXX
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
  SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ MOVING_FORWARD : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ MOVING_BACKWARD : 57|1@0+ (1,0) [0|1] "" XXX
+ SG_ MOVING_FORWARD2 : 58|1@0+ (1,0) [0|1] "" XXX
+ SG_ MOVING_BACKWARD2 : 59|1@0+ (1,0) [0|1] "" XXX
  SG_ WHEEL_SPEED_1 : 64|16@1+ (0.03125,0) [0|65535] "m/s" XXX
  SG_ WHEEL_SPEED_2 : 80|16@1+ (0.03125,0) [0|65535] "m/s" XXX
  SG_ WHEEL_SPEED_3 : 96|16@1+ (0.03125,0) [0|65535] "m/s" XXX
@@ -301,6 +305,8 @@ BO_ 463 CRUISE_BUTTONS: 8 XXX
  SG_ NORMAL_CRUISE_MAIN_BTN : 21|1@1+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 12|4@1+ (1,0) [0|255] "" XXX
  SG_ CRUISE_BUTTONS : 16|3@1+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_PADDLE : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_PADDLE : 27|1@1+ (1,0) [0|1] "" XXX
 
 BO_ 474 ADRV_0x1da: 32 ADRV
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
@@ -498,8 +504,12 @@ BO_ 961 BLINKER_STALKS: 8 XXX
 BO_ 1041 DOORS_SEATBELTS: 8 XXX
  SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|65535] "" XXX
  SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ DRIVER_SEATBELT_LATCHED : 42|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVER_DOOR_OPEN : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ DRIVER_DOOR : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ PASSENGER_DOOR : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVER_REAR_DOOR : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ PASSENGER_REAR_DOOR : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVER_SEATBELT : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ PASSENGER_SEATBELT : 36|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1043 BLINKERS: 8 XXX
  SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
@@ -551,6 +561,33 @@ BO_ 506 CLUSTER_SPEED_LIMIT: 32 XXX
  SG_ SECONDARY_LIMIT_2 : 103|8@0+ (1,0) [0|127] "" XXX
  SG_ SCHOOL_ZONE : 155|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1144 DRIVE_MODE: 8 XXX
+ SG_ DRIVE_MODE : 0|16@1+ (1,-61611) [0|61611] "" XXX
+ SG_ DRIVE_MODE2 : 28|3@1+ (1,0) [1|3] "" XXX
+
+BO_ 1151 HVAC_TOUCH_BUTTONS: 8 XXX
+ SG_ AUTO_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ SYNC_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ FR_DEFROST_BUTTON : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ RR_DEFROST_BUTTON : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ FAN_SPEED_UP_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ FAN_SPEED_DOWN_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ AIR_DIRECTION_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ AC_BUTTON : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVER_ONLY_BUTTON : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ RECIRC_BUTTON : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ HEAT_BUTTON : 52|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1259 LOCAL_TIME2: 8 XXX
+ SG_ HOURS : 15|5@0+ (1,0) [0|31] "" XXX
+ SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
+ SG_ SECONDS : 24|6@1+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1264 LOCAL_TIME: 8 XXX
+ SG_ HOURS : 12|5@0+ (1,0) [0|31] "" XXX
+ SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
+ SG_ SECONDS : 31|8@0+ (1,0) [0|59] "" XXX
 
 
 CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
@@ -570,9 +607,12 @@ VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
 VAL_ 112 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
 VAL_ 80 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
 VAL_ 80 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
+VAL_ 96 TRACTION_AND_STABILITY_CONTROL 0 "On" 5 "Limited" 1 "Off";
 VAL_ 234 LKA_FAULT 0 "ok" 1 "lka fault" ;
 VAL_ 298 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
 VAL_ 298 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
+VAL_ 304 PARK_BUTTON 1 "Pressed" 2 "Not Pressed";
+VAL_ 304 KNOB_POSITION 1 "R" 2 "N (on R side)" 3 "Centered" 4 "N (on D side)" 5 "D";
 VAL_ 304 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;
 VAL_ 352 AEB_SETTING 1 "off" 2 "warning only" 3 "active assist" ;
 VAL_ 362 BLINKER_CONTROL 1 "hazards" 2 "hazards button backlight" 3 "left blinkers" 4 "right blinkers";
@@ -580,3 +620,13 @@ VAL_ 373 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "S
 VAL_ 416 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled" ;
 VAL_ 426 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
 VAL_ 463 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
+VAL_ 463 RIGHT_PADDLE 0 "Not Pulled" 1 "Pulled";
+VAL_ 463 LEFT_PADDLE 0 "Not Pulled" 1 "Pulled";
+VAL_ 1041 DRIVER_DOOR 0 "Closed" 1 "Opened";
+VAL_ 1041 PASSENGER_DOOR 0 "Closed" 1 "Opened";
+VAL_ 1041 DRIVER_REAR_DOOR 0 "Closed" 1 "Opened";
+VAL_ 1041 PASSENGER_REAR_DOOR 0 "Closed" 1 "Opened";
+VAL_ 1041 DRIVER_SEATBELT 0 "Unlatched" 1 "Latched";
+VAL_ 1041 PASSENGER_SEATBELT 0 "Unlatched" 1 "Latched";
+VAL_ 1144 DRIVE_MODE2 3 "Set Sport" 1 "Set Normal" 2 "Set Eco";
+VAL_ 1240 DISTANCE_UNIT 1 "Miles" 0 "Kilometers";

opendbc/mazda_2017.dbc

@@ -690,13 +690,13 @@ BO_ 1143 BSM: 8 XXX
  SG_ BSM_OFF : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ RIGHT_BS_3 : 37|1@0+ (1,0) [0|1] "" XXX
  SG_ STANDSTILL : 8|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_BS1 : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BS_STATUS : 13|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_BS_STATUS : 15|2@0+ (1,0) [0|3] "" XXX
  SG_ LEFT_BS3 : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ RIGHT_BS4 : 39|1@0+ (1,0) [0|1] "" XXX
  SG_ LEFT_BS_SIDE : 36|1@0+ (1,0) [0|1] "" XXX
  SG_ IS_MOVING : 9|1@0+ (1,0) [0|1] "" XXX
  SG_ LEFT_BS_BEHIND : 46|2@1+ (1,0) [0|16777215] "" XXX
- SG_ RIGHT_BS1 : 14|1@0+ (1,0) [0|63] "" XXX
  SG_ RIGHT_BS_DISTANCE : 35|3@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|1] "" XXX
  SG_ REAR_CT_ALERT : 23|5@0+ (1,0) [0|63] "" XXX
@@ -773,3 +773,5 @@ CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert";
 VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;
 VAL_ 540 RADAR_HAS_LEAD 0 "NO LEAD" 1 "HAS LEAD" ;
 VAL_ 540 RADAR_LEAD_RELATIVE_DISTANCE 0 "NO LEAD" 1 "FARTHEST" 2 "4" 3 "3" 4 "2" 5 "NEAREST" ;
+VAL_ 1143 LEFT_BS_STATUS 0 "No object detected" 1 "Object detected in left blindspot" 2 "Object detected in left blindspot with blinker - warning"
+VAL_ 1143 RIGHT_BS_STATUS 0 "No object detected" 1 "Object detected in right blindspot" 2 "Object detected in right blindspot with blinker - warning"

opendbc/nissan_leaf_2018_generated.dbc

@@ -1,62 +1,20 @@
-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_: XXX
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
+CM_ "Imported file _nissan_common.dbc starts here";
 BO_ 2 STEER_ANGLE_SENSOR: 5 XXX
  SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX
  SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX
  SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX
 
-BO_ 42 SEATBELT: 8 XXX
- SG_ SEATBELT_DRIVER_LATCHED : 27|1@1+ (1,0) [0|3] "" XXX
- SG_ SEATBELT_DRIVER_UNLATCHED : 26|1@0+ (1,0) [0|1] "" XXX
- SG_ unknown2 : 31|4@0+ (1,0) [0|15] "" XXX
- SG_ unknown3 : 24|2@1+ (1,0) [0|3] "" XXX
- SG_ unknown1 : 7|24@0+ (1,0) [0|16777215] "" XXX
- SG_ unknown4 : 39|16@0+ (1,0) [0|65535] "" XXX
-
 BO_ 361 LKAS: 8 XXX
  SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX
  SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX
  SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX
+ SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [-1311.43|1310] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
@@ -67,38 +25,6 @@ BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
  SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX
 
-BO_ 460 BRAKE_PEDAL: 8 XXX
- SG_ BRAKE_PEDAL : 7|8@0+ (1,0) [0|256] "" XXX
-
-BO_ 569 CRUISE_THROTTLE: 8 XXX
- SG_ GAS_PEDAL_INVERTED : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ GAS_PEDAL : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ CRUISE_AVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
- SG_ unsure1 : 23|6@0+ (1,0) [0|63] "" XXX
- SG_ unsure2 : 16|1@0+ (1,0) [0|1] "" XXX
- SG_ unsure3 : 31|2@0+ (1,0) [0|3] "" XXX
- SG_ NO_BUTTON_PRESSED : 29|1@0+ (1,0) [0|1] "" XXX
- SG_ RES_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_BUTTON : 27|1@0+ (1,0) [0|1] "" XXX
- SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
- SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX
- SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ USER_BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX
- SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ unsure7 : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 640 CANCEL_MSG: 8 XXX
-  SG_ CANCEL_SEATBELT : 1|1@0+ (1,0) [0|1] "" XXX
-  SG_ NEW_SIGNAL_1 : 7|6@0+ (1,0) [0|63] "" XXX
-  SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX
-  SG_ NEW_SIGNAL_3 : 15|56@0+ (1,0) [0|72057594037927940] "" XXX
-
-BO_ 644 WHEEL_SPEEDS_FRONT: 8 XXX
- SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
- SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
-
 BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
  SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
  SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
@@ -139,19 +65,6 @@ BO_ 689 PROPILOT_HUD: 8 XXX
 BO_ 783 CRUISE_STATE: 3 XXX
  SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 852 ESP: 8 XXX
- SG_ ESP_DISABLED : 38|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 853 HUD_SETTINGS: 8 XXX
- SG_ SPEED_MPH : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 856 LIGHTS: 8 XXX
- SG_ LEFT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX
- SG_ RIGHT_BLINKER : 18|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1057 GEARBOX: 3 XXX
- SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
-
 BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
  SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX
@@ -193,19 +106,75 @@ BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
  SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX
  SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX
 
-BO_ 1549 DOORS_LIGHTS: 8 XXX
- SG_ DOOR_OPEN_FL : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FR : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 6|1@0+ (1,0) [0|1] "" XXX
-
 BO_ 1227 LKAS_SETTINGS: 8 XXX
  SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX
 
-VAL_ 1057 GEAR_SHIFTER 7 "B" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
 VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
 VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ;
 VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ;
 VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ;
 VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ;
+
+CM_ "nissan_leaf_2018.dbc starts here";
+
+BO_ 42 SEATBELT: 8 XXX
+ SG_ SEATBELT_DRIVER_LATCHED : 27|1@1+ (1,0) [0|3] "" XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown2 : 31|4@0+ (1,0) [0|15] "" XXX
+ SG_ unknown3 : 24|2@1+ (1,0) [0|3] "" XXX
+ SG_ unknown1 : 7|24@0+ (1,0) [0|16777215] "" XXX
+ SG_ unknown4 : 39|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 460 BRAKE_PEDAL: 8 XXX
+ SG_ BRAKE_PEDAL : 7|8@0+ (1,0) [0|256] "" XXX
+
+BO_ 569 CRUISE_THROTTLE: 8 XXX
+ SG_ GAS_PEDAL_INVERTED : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ GAS_PEDAL : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CRUISE_AVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ unsure1 : 23|6@0+ (1,0) [0|63] "" XXX
+ SG_ unsure2 : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ unsure3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NO_BUTTON_PRESSED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_BUTTON : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ USER_BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX
+ SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ unsure7 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 640 CANCEL_MSG: 8 XXX
+  SG_ CANCEL_SEATBELT : 1|1@0+ (1,0) [0|1] "" XXX
+  SG_ NEW_SIGNAL_1 : 7|6@0+ (1,0) [0|63] "" XXX
+  SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX
+  SG_ NEW_SIGNAL_3 : 15|56@0+ (1,0) [0|72057594037927940] "" XXX
+
+BO_ 644 WHEEL_SPEEDS_FRONT: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
+
+BO_ 852 ESP: 8 XXX
+ SG_ ESP_DISABLED : 38|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 853 HUD_SETTINGS: 8 XXX
+ SG_ SPEED_MPH : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 856 LIGHTS: 8 XXX
+ SG_ LEFT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1057 GEARBOX: 3 XXX
+ SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
+
+BO_ 1549 DOORS_LIGHTS: 8 XXX
+ SG_ DOOR_OPEN_FL : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 6|1@0+ (1,0) [0|1] "" XXX
+
+VAL_ 1057 GEAR_SHIFTER 7 "B" 4 "D" 3 "N" 2 "R" 1 "P" ;

opendbc/nissan_x_trail_2017_generated.dbc

@@ -1,58 +1,20 @@
-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_: XXX
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
+CM_ "Imported file _nissan_common.dbc starts here";
 BO_ 2 STEER_ANGLE_SENSOR: 5 XXX
  SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX
  SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX
  SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX
 
-BO_ 348 GAS_PEDAL: 8 XXX
- SG_ GAS_PEDAL_RAW : 26|11@0+ (1,0) [0|2047] "" XXX
- SG_ GAS_PEDAL : 47|10@0+ (1,0) [0|1023] "" XXX
-
 BO_ 361 LKAS: 8 XXX
  SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX
  SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX
  SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX
+ SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [-1311.43|1310] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
@@ -63,42 +25,10 @@ BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
  SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX
 
-BO_ 438 PRO_PILOT: 8 XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_X03 : 33|2@0+ (1,0) [0|15] "" XXX
- SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
- SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
- SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX
-
-BO_ 523 CRUISE_THROTTLE: 6 XXX
- SG_ PROPILOT_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
- SG_ CANCEL_BUTTON : 9|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL_INVERTED : 37|10@0+ (1,0) [0|1023] "" XXX
- SG_ SET_BUTTON : 11|1@0+ (1,0) [0|1] "" XXX
- SG_ RES_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ FOLLOW_DISTANCE_BUTTON : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ NO_BUTTON_PRESSED : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 31|10@0+ (1,0) [0|255] "" XXX
- SG_ USER_BRAKE_PRESSED : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ USER_BRAKE_PRESSED_INVERTED : 22|1@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PRESSED_INVERTED : 20|1@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 17|2@0+ (1,0) [0|3] "" XXX
- SG_ unsure1 : 7|10@0+ (1,0) [0|1023] "" XXX
- SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX
- SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX
-
 BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
  SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
  SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
 
-BO_ 665 ESP: 8 XXX
- SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 666 WHEEL_SPEEDS_FRONT: 8 XXX
- SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
- SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
-
 BO_ 689 PROPILOT_HUD: 8 XXX
  SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
  SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX
@@ -132,35 +62,9 @@ BO_ 689 PROPILOT_HUD: 8 XXX
  SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
  SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 768 STEER_TORQUE_SENSOR2: 2 XXX
- SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX
- SG_ STEERING_PRESSED : 15|1@0+ (-1,1) [0|7] "" XXX
-
 BO_ 783 CRUISE_STATE: 3 XXX
  SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 1055 GEARBOX: 2 XXX
- SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
-
-BO_ 1107 LIGHTS: 8 XXX
- SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
- SG_ HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1108 DOORS_LIGHTS: 8 XXX
- SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX
- SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX
- SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_LIGHT : 54|1@0+ (1,0) [0|1] "" XXX
- SG_ USER_BRAKE_PRESSED : 23|1@0+ (1,0) [0|1] "" XXX
-
 BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
  SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX
@@ -205,14 +109,79 @@ BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
 BO_ 1227 LKAS_SETTINGS: 8 XXX
  SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 1273 HUD: 7 XXX
- SG_ SEATBELT_DRIVER_LATCHED : 25|1@0+ (1,0) [0|1] "" XXX
- SG_ SPEED_MPH : 5|1@0+ (1,0) [0|1] "" XXX
-
-VAL_ 1055 GEAR_SHIFTER 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
 VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
 VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ;
 VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ;
 VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ;
 VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ;
+
+CM_ "nissan_x_trail_2017.dbc starts here";
+
+BO_ 348 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL_RAW : 26|11@0+ (1,0) [0|2047] "" XXX
+ SG_ GAS_PEDAL : 47|10@0+ (1,0) [0|1023] "" XXX
+
+BO_ 438 PRO_PILOT: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X03 : 33|2@0+ (1,0) [0|15] "" XXX
+ SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 523 CRUISE_THROTTLE: 6 XXX
+ SG_ PROPILOT_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ CANCEL_BUTTON : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL_INVERTED : 37|10@0+ (1,0) [0|1023] "" XXX
+ SG_ SET_BUTTON : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE_BUTTON : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ NO_BUTTON_PRESSED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 31|10@0+ (1,0) [0|255] "" XXX
+ SG_ USER_BRAKE_PRESSED : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ USER_BRAKE_PRESSED_INVERTED : 22|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PRESSED_INVERTED : 20|1@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 17|2@0+ (1,0) [0|3] "" XXX
+ SG_ unsure1 : 7|10@0+ (1,0) [0|1023] "" XXX
+ SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX
+ SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 665 ESP: 8 XXX
+ SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 666 WHEEL_SPEEDS_FRONT: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
+
+BO_ 768 STEER_TORQUE_SENSOR2: 2 XXX
+ SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX
+ SG_ STEERING_PRESSED : 15|1@0+ (-1,1) [0|7] "" XXX
+
+BO_ 1055 GEARBOX: 2 XXX
+ SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
+
+BO_ 1107 LIGHTS: 8 XXX
+ SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1108 DOORS_LIGHTS: 8 XXX
+ SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX
+ SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX
+ SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHT : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ USER_BRAKE_PRESSED : 23|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1273 HUD: 7 XXX
+ SG_ SEATBELT_DRIVER_LATCHED : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ SPEED_MPH : 5|1@0+ (1,0) [0|1] "" XXX
+
+VAL_ 1055 GEAR_SHIFTER 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;

opendbc/subaru_global_2017_generated.dbc

@@ -316,10 +316,22 @@ BO_ 576 CruiseControl: 8 XXX
  SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX
 
+BO_ 803 INFOTAINMENT_STATUS: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ LKAS_Blue_Lines : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKAS_State_Infotainment : 22|3@0+ (1,0) [0|7] "" XXX
+ SG_ Signal2 : 24|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 545 Cruise_Throttle "RPM-like output signal";
 CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set";
 CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance";
 CM_ SG_ 545 Cruise_Soft_Disable "Eyesight Temporary disable, sets CruiseControl Activated = 0";
 CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM";
 CM_ SG_ 546 Signal3 "0 when cruise_activated = 1";
+CM_ SG_ 803 Signal1 "Seems to be static, set only on some cars";
+CM_ SG_ 803 Signal2 "Seems to be static, set only on some cars";
+VAL_ 803 LKAS_Blue_Lines 0 "no modifier" 2 "changes lines to blue";
+VAL_ 803 LKAS_State_Infotainment 0 "none" 2 "Obstacle Detected" 3 "Keep Hands On Wheel" 4 "Keep Hands On Wheel Off";
 VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";

opendbc/toyota_new_mc_pt_generated.dbc

@@ -120,13 +120,15 @@ BO_ 452 ENGINE_RPM: 8 CGW
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s^2" XXX
+ SG_ ACC_BRAKING : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.0009765625,0) [-20|20] "m/s^2" XXX
+ SG_ NEUTRAL_FORCE : 39|16@0- (2,0) [-65536|65534] "N" XXX
  SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX
  SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
  SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
  SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
@@ -261,8 +263,13 @@ BO_ 1041 ACC_HUD: 8 DSU
  SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_DUST : 34|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_TEMP : 35|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_DUST2 : 41|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_TEMP2 : 42|1@0+ (1,0) [0|0] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
  SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ FRD_ADJ : 53|3@0+ (1,0) [0|0] "" XXX
  SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 DSU
@@ -416,6 +423,8 @@ CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
+CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
 CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
 CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
@@ -440,7 +449,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front
 CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
 CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
-CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
+CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
 CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on.";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
@@ -448,6 +457,11 @@ CM_ SG_ 956 GEAR "on 6MT, only R shows.";
 CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to";
 CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
 CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
+CM_ SG_ 1041 PCS_DUST "alert: Front Camera Low Visibility Unavailable See Owner's Manual";
+CM_ SG_ 1041 PCS_DUST2 "alert: Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor";
+CM_ SG_ 1041 PCS_TEMP "alert: Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature";
+CM_ SG_ 1041 PCS_TEMP2 "alert: Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual";
+CM_ SG_ 1041 FRD_ADJ "alert: ERROR ADJUSTING FRONT RADAR BEAM";
 CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle";
 CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0";
 CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity";
@@ -547,6 +561,9 @@ BO_ 610 EPS_STATUS: 5 EPS
  SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 1178 BRAKE_RELATED: 8 XXX
+ SG_ BRAKE_PRESSED : 48|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";

opendbc/toyota_nodsu_pt_generated.dbc

@@ -120,13 +120,15 @@ BO_ 452 ENGINE_RPM: 8 CGW
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s^2" XXX
+ SG_ ACC_BRAKING : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.0009765625,0) [-20|20] "m/s^2" XXX
+ SG_ NEUTRAL_FORCE : 39|16@0- (2,0) [-65536|65534] "N" XXX
  SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX
  SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
  SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
  SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
@@ -261,8 +263,13 @@ BO_ 1041 ACC_HUD: 8 DSU
  SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_DUST : 34|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_TEMP : 35|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_DUST2 : 41|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_TEMP2 : 42|1@0+ (1,0) [0|0] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
  SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ FRD_ADJ : 53|3@0+ (1,0) [0|0] "" XXX
  SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 DSU
@@ -416,6 +423,8 @@ CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
+CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
 CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
 CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
@@ -440,7 +449,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front
 CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
 CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
-CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
+CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
 CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on.";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
@@ -448,6 +457,11 @@ CM_ SG_ 956 GEAR "on 6MT, only R shows.";
 CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to";
 CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
 CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
+CM_ SG_ 1041 PCS_DUST "alert: Front Camera Low Visibility Unavailable See Owner's Manual";
+CM_ SG_ 1041 PCS_DUST2 "alert: Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor";
+CM_ SG_ 1041 PCS_TEMP "alert: Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature";
+CM_ SG_ 1041 PCS_TEMP2 "alert: Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual";
+CM_ SG_ 1041 FRD_ADJ "alert: ERROR ADJUSTING FRONT RADAR BEAM";
 CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle";
 CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0";
 CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity";

opendbc/toyota_tnga_k_pt_generated.dbc

@@ -120,13 +120,15 @@ BO_ 452 ENGINE_RPM: 8 CGW
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s^2" XXX
+ SG_ ACC_BRAKING : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.0009765625,0) [-20|20] "m/s^2" XXX
+ SG_ NEUTRAL_FORCE : 39|16@0- (2,0) [-65536|65534] "N" XXX
  SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX
  SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
  SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
  SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
@@ -261,8 +263,13 @@ BO_ 1041 ACC_HUD: 8 DSU
  SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_DUST : 34|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_TEMP : 35|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_DUST2 : 41|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_TEMP2 : 42|1@0+ (1,0) [0|0] "" XXX
  SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
  SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ FRD_ADJ : 53|3@0+ (1,0) [0|0] "" XXX
  SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
 
 BO_ 1042 LKAS_HUD: 8 DSU
@@ -416,6 +423,8 @@ CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
 CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
 CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
+CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
 CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
 CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
@@ -440,7 +449,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front
 CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
 CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
-CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
+CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
 CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on.";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
@@ -448,6 +457,11 @@ CM_ SG_ 956 GEAR "on 6MT, only R shows.";
 CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to";
 CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
 CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
+CM_ SG_ 1041 PCS_DUST "alert: Front Camera Low Visibility Unavailable See Owner's Manual";
+CM_ SG_ 1041 PCS_DUST2 "alert: Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor";
+CM_ SG_ 1041 PCS_TEMP "alert: Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature";
+CM_ SG_ 1041 PCS_TEMP2 "alert: Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual";
+CM_ SG_ 1041 FRD_ADJ "alert: ERROR ADJUSTING FRONT RADAR BEAM";
 CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle";
 CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0";
 CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity";

opendbc/vw_golf_mk4.dbc

@@ -303,7 +303,8 @@ BO_ 1408 Motor_Flexia: 8 XXX
  SG_ Multiplex_Schalter_Motor_Flexia M : 0|1@1+ (1,0) [0|0] "" XXX
 
 BO_ 1416 Motor_7: 8 XXX
- SG_ Frei_Motor_7_3 : 40|24@1+ (1,0) [0|0] "" XXX
+ SG_ Oltemperatur : 56|8@1+ (1,0) [0|0] "" XXX
+ SG_ Frei_Motor_7_3 : 40|16@1+ (1,0) [0|0] "" XXX
  SG_ Ladedruck : 32|8@1+ (0.01,0) [0|2.54] "bar" XXX
  SG_ Vorzeichen_Motordrehzahlgradien : 31|1@1+ (1,0) [0|0] "" XXX
  SG_ Motordrehzahlgradient : 24|7@1+ (1,0) [0|126] "U/min" XXX
@@ -321,7 +322,8 @@ BO_ 1160 Motor_6: 8 XXX
  SG_ Frei_Motor_6_4 : 58|2@1+ (1,0) [0|0] "" XXX
  SG_ ltemperaturschutz : 57|1@1+ (1,0) [0|0] "" XXX
  SG_ GRA_Bremseingriff_Freigabe : 56|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Motor_6_3 : 40|16@1+ (1,0) [0|0] "" XXX
+ SG_ Frei_Motor_6_3 : 48|8@1+ (1,0) [0|0] "" XXX
+ SG_ Ruckmeldung_Momenten : 40|8@1+ (0.39,0) [0|100] "" XXX
  SG_ GRA_Sollbeschleunigung : 32|8@1+ (0.024,-3.984) [-3.984|2.112] "m/s2" XXX
  SG_ Hoeheninfo__Motor_6_ : 24|8@1+ (0.00787,0) [0|2] "" XXX
  SG_ Istmoment_f_r_Getriebe : 16|8@1+ (0.39,0) [0|99] "MDI" XXX
@@ -770,23 +772,36 @@ BO_ 1340 Fahrwerk_1: 1 XXX
  SG_ Ansteuererung_Fahrzeugniveau : 0|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 1472 EPB_1: 8 XXX
- SG_ Textmeldungen_EPB : 52|4@1+ (1,0) [0|0] "" XXX
- SG_ Aufmerksamkeits_Gtong_EPB : 51|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehler_Gong_EBP : 50|1@1+ (1,0) [0|0] "" XXX
- SG_ Warnton_EPB : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ Funktionslampe_EPB : 48|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_EPB_1_1 : 33|15@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerspeichereintrag_EPB : 32|1@1+ (1,0) [0|0] "" XXX
- SG_ Neigungswinkel : 24|8@1+ (1,-128) [-128|127] "g" XXX
- SG_ Verzoegerungsanforderung__EPB_ : 24|8@1+ (0.5,0) [0|255] "g" XXX
- SG_ Status_Neigungswinkelgeber : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Schalterinfo_Parkbremse : 13|2@1+ (1,0) [0|0] "" XXX
- SG_ Erreichte_Spannkraft : 8|5@1+ (1,0) [0|30] "kN" XXX
- SG_ Checksumme_Parkbremse : 8|8@1+ (1,0) [0|255] "" XXX
- SG_ Schalterstatus_Parkbremse : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ Status_Parkbremse : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ Fehlerstatus_Parkbremse : 4|2@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Parkbremse : 0|4@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 0|4@1+ (1,0) [0|15] "" XXX
+ SG_ EP1_Fehler_Sta : 4|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ EP1_Sta_EPB : 6|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1_Sta_Schalter : 7|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1_Spannkraft : 8|5@1+ (1,0) [0|30] "Unit_KiloNewto" XXX
+ SG_ EP1_Schalterinfo : 13|2@1+ (1,0) [0|3] "" XXX
+ SG_ EP1_Sta_NWS : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1_Neig_winkel : 16|8@1+ (1,-128) [-128|127] "Unit_PerCentOfForceOfGravi" XXX
+ SG_ EP1_Verzoegerung : 24|8@1+ (0.048,-7.968) [-7.968|4.224] "Unit_MeterPerSeconSquar" XXX
+ SG_ EP1_Fehlereintr : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1_Freigabe_Ver : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1_AutoHold_zul : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1_AutoHold_aktiv : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1_SleepInd : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1_Status_Kl_15 : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1_Lampe_AutoP : 38|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1_Bremslicht : 39|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1_Warnton1 : 40|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1_Warnton2 : 41|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1_AnfShLock : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ EPB_Autoholdlampe : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1_QualNeigWi : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1_KuppModBer : 45|2@1+ (1,0) [0|3] "" XXX
+ SG_ EP1_HydrHalten : 47|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1_Fkt_Lampe : 48|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ EP1_Warnton : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1_Fehler_BKL : 50|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ EP1_Fehler_gelb : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ EP1__Text : 52|4@1+ (1,0) [0|8] "" Vector__XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 1326 Diag_Lenkhilfe: 3 XXX
  SG_ Werkstattcode__Diag_ : 16|8@1+ (1,0) [0|0] "" XXX
@@ -1086,10 +1101,10 @@ BO_ 872 ACC_System: 8 XXX
  SG_ ACS_Sollbeschl : 24|11@1+ (0.005,-7.22) [-7.22|3.005] "Unit_MeterPerSeconSquar" XXX
  SG_ ACS_Anhaltewunsch : 38|1@1+ (1,0) [0|1] "" XXX
  SG_ ACS_Fehler : 39|1@1+ (1,0) [0|1] "" XXX
- SG_ ACS_zul_Regelabw : 40|8@1+ (1,0.005) [0|1.265] "Unit_MeterPerSeconSquar" XXX
- SG_ ACS_max_AendGrad : 48|8@1+ (1,0.02) [0.02|5.06] "Unit_MeterPerSeconSquar" XXX
+ SG_ ACS_zul_Regelabw : 40|8@1+ (0.005,0) [0|1.265] "Unit_MeterPerSeconSquar" XXX
+ SG_ ACS_max_AendGrad : 48|8@1+ (0.02,0) [0.02|5.06] "Unit_MeterPerSeconSquar" XXX
 
-BO_ 1386 ACC_GRA_Anziege: 8 XXX
+BO_ 1386 ACC_GRA_Anzeige: 8 XXX
  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ ACA_StaACC : 8|3@1+ (1,0) [0|7] "" XXX
  SG_ ACA_ID_StaACC : 11|5@1+ (1,0) [0|31] "" XXX
@@ -1100,7 +1115,7 @@ BO_ 1386 ACC_GRA_Anziege: 8 XXX
  SG_ ACA_kmh_mph : 32|1@1+ (1,0) [0|1] "" XXX
  SG_ ACA_Akustik1 : 33|1@1+ (1,0) [0|1] "" XXX
  SG_ ACA_Akustik2 : 34|1@1+ (1,0) [0|1] "" XXX
- SG_ ACA_PrioDisp : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_PrioDisp : 35|2@1+ (1,0) [0|3] "" XXX
  SG_ ACA_gemZeitl : 40|4@1+ (1,0) [0|15] "" XXX
  SG_ ACA_ACC_Verz : 44|1@1+ (1,0) [0|1] "" XXX
  SG_ ACA_StaGRA : 48|3@1+ (1,0) [0|7] "" XXX
@@ -1153,31 +1168,42 @@ BO_ 644 Motor_Bremse: 6 XXX
  SG_ MOB_COUNTER : 8|4@1+ (1,0) [0|15] "" Bremse_MK25AESP
  SG_ TSK_v_Begrenzung_aktiv : 15|1@0+ (1,0) [0|1] "" XXX
  SG_ TSK_ax_Getriebe_01 : 40|8@1+ (0.048,0) [0|255] "m/s2" XXX
- SG_ MOB_Bremsstgr : 16|11@1+ (0.76,0) [0|100] "Unit_PerCent" Vector__XXX
- SG_ MOB_Bremsmom : 27|13@1+ (1,0) [0|8190] "Unit_NewtoMeter" Bremse_MK25AESP
-
-BO_ 870 AWV: 5 XXX
- SG_ AWV_2_Gurtstraffer : 39|1@1+ (1,0) [0|1] ""  Bremsbooster
- SG_ AWV_Infoton : 38|1@1+ (1,0) [0|1] ""  Gateway_Kbi_VW_A,Bremsbooster
- SG_ AWV_2_Warnsymbol : 37|1@1+ (1,0) [0|1] ""  Gateway_Kbi_VW_A,Bremsbooster
- SG_ AWV_2_Warnton : 36|1@1+ (1,0) [0|1] ""  Gateway_Kbi_VW_A,Bremsbooster
- SG_ AWV_2_Ruckprofil : 33|3@1+ (1,0) [0|7] ""  Bremsbooster
- SG_ AWV_2_Freigabe : 32|1@1+ (1,0) [0|1] ""  Bremsbooster
- SG_ AWV_2_Umfeldwarn : 31|1@1+ (1,0) [0|1] ""  Bremsbooster
- SG_ AWV_2_SU_Lampe : 30|1@1+ (1,0) [0|1] ""  Bremsbooster
- SG_ AWV_2_SU_Gong : 29|1@1+ (1,0) [0|1] ""  Bremsbooster
- SG_ AWV_2_SU_Bremsruck : 28|1@1+ (1,0) [0|1] ""  Bremsbooster
- SG_ AWV_2_SU_Warnzeit : 26|2@1+ (1,0) [0|3] ""  Bremsbooster
- SG_ AWV_2_Fehler : 25|1@1+ (1,0) [0|1] ""  Gateway_Kbi_VW_A,Bremsbooster
- SG_ AWV_2_Status : 24|1@1+ (1,0) [0|1] ""  Gateway_Kbi_VW_A,Bremsbooster
- SG_ AWV_res_20 : 20|4@1+ (1,0) [0|0] ""  Bremsbooster
- SG_ AWV_1_Parameter : 18|2@1+ (1,0) [0|3] ""  Bremsbooster
- SG_ AWV_1_Prefill : 17|1@1+ (1,0) [0|1] ""  Bremsbooster
- SG_ AWV_1_Freigabe : 16|1@1+ (1,0) [0|1] ""  Bremsbooster
- SG_ AWV_Text : 12|4@1+ (1,0) [0|15] ""  Gateway_Kbi_VW_A,Bremsbooster
- SG_ AWV_Zaehler : 8|4@1+ (1,0) [0|15] ""  Bremsbooster
- SG_ AWV_Checksumme : 0|8@1+ (1,0) [0|255] ""  Bremsbooster
+ SG_ MOB_Bremsstgr : 16|11@1+ (0.048852,0) [0|100] "Unit_PerCent" Vector__XXX
+ SG_ MOB_Bremsmom : 27|13@1+ (4,0) [0|32760] "Unit_NewtoMeter"  Bremse_MK25AESP
 
+BO_ 870 AWV: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ AWV_Text : 12|4@1+ (1,0) [0|14] "" Vector__XXX
+ SG_ AWV_1_Freigabe : 16|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_1_Prefill : 17|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_1_Parameter : 18|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ AWV_only : 20|4@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ AWV_CityANB_Auspraegung : 21|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_Halten : 22|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ ANB_Teilbremsung_Freigabe : 23|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_2_Status : 24|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_2_Fehler : 25|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_2_SU_Warnzeit : 26|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ AWV_2_SU_Bremsruck : 28|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_2_SU_Gong : 29|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_2_SU_Lampe : 30|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_2_Umfeldwarn : 31|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_2_Freigabe : 32|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_2_Ruckprofil : 33|3@1+ (1,0) [0|7] "" Vector__XXX
+ SG_ AWV_2_Warnton : 36|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_2_Warnsymbol : 37|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_Infoton : 38|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_2_Gurtstraffer : 39|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_Konfiguration_Menueanf : 40|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_Konfiguration_Vorw_Menueanf : 41|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_Konfiguration_Status : 42|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_Konfiguration_Vorw_Status : 43|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ AWV_2_Abstandswarnung : 51|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ ANB_Zielbremsung_Freigabe : 52|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ ANB_CM_Anforderung : 53|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ ANB_Ziel_Teilbrems_Verz_Anf : 54|10@1+ (0.024,-20.016) [0|1023] "Unit_MeterPerSeconSquar" Vector__XXX
+ 
 BO_ 1470 LDW_Status: 8 XXX
  SG_ LDW_Lernmodus_rechts : 0|2@1+ (1,0) [0|3] "" XXX
  SG_ LDW_Lernmodus_links : 2|2@1+ (1,0) [0|3] "" XXX
@@ -1460,6 +1486,7 @@ CM_ SG_ 640 mechanisches_Motor_Verlustmomen "Mechanical Torque Loss";
 CM_ SG_ 640 Fahrpedalwert_oder_Drosselklapp "Accelerator Pedal or Throttle Position";
 CM_ SG_ 640 Motordrehzahl "Engine Speed";
 CM_ SG_ 640 Momentenangaben_ungenau "Approximate Torque Values";
+CM_ SG_ 640 inneres_Motor_Moment_ohne_exter "Inner torque without external";
 
 CM_ SG_ 644 MOB_CHECKSUM "Checksum MOB";
 CM_ SG_ 644 MOB_COUNTER "Counter MOB";
@@ -1490,6 +1517,9 @@ CM_ SG_ 912 BSK_HD_Hauptraste "Status of trunk lid main detent";
 
 CM_ SG_ 1088 Zaehler_Getriebe_1 "Counter Getriebe_1";
 CM_ SG_ 1088 Waehlhebelposition__Getriebe_1_ "Gear Selector Position";
+CM_ SG_ 1088 inneres_Soll_Motormoment "Desired Inner Torque";
+CM_ SG_ 1088 Schaltabsicht "Shift Intent";
+CM_ SG_ 1088 Wandlerverlustmoment "Converter Torque Loss";
 
 CM_ SG_ 1056 Fehlerstatus_Aussentemp__4_1 "ambient temp error";
 CM_ SG_ 1056 Fehlerstatus_Oeltemperatur_4_1 "oil temp error";
@@ -1500,15 +1530,30 @@ CM_ SG_ 1056 Kuehlmitteltemp__4_1__Kombi_2_ "kombi coolant temperature";
 
 CM_ SG_ 1096 Zaehler_Waehlhebel_1 "Counter Waehlhebel_1";
 
-CM_ SG_ 1152 Checksumme_Motor_5 "Checksum Motor_5";
+CM_ SG_ 1152 CHECKSUM "Checksum Motor_5";
+CM_ SG_ 1152 Anlasser_Ausspuren "Starter Disable";
+CM_ SG_ 1152 Anlasser_Freigabe "Starter Release";
+CM_ SG_ 1152 Klimadrucksignal__Motor_5_ "Air conditioning pressure signal";
+CM_ SG_ 1152 Kraftstoffverbrauchssignal "Fuel consumption signal";
+CM_ SG_ 1152 K_hlerluefteransteuerung "Cooling fan control signal";
+CM_ SG_ 1152 Klimakompressor_Leistungsreduzi "Air conditioning compressor power reduction flag";
+CM_ SG_ 1152 Klimakompressor_aus__Motor_5_ "Air conditioning compressor";
+CM_ SG_ 1152 Anlasser_Freigabe "Starter release";
+CM_ SG_ 1152 OBD_2_Lampe "OBD light";
+CM_ SG_ 1152 E_Gas_Lampe "ETB light";
+CM_ SG_ 1152 Ladekontroll_Lampe "Charge light";
+CM_ SG_ 1152 Vorgluehlampe__Motor_5_ "Glow light";
 
 CM_ SG_ 1160 Zaehler_Motor_6 "Counter Motor_6";
 CM_ SG_ 1160 Hoeheninfo__Motor_6_ "Altitude Correction";
-CM_ SG_ 1160 Istmoment_f_r_Getriebe "Actual Torque";
-CM_ SG_ 1160 Sollmoment_f_r_Getriebe "Target Torque";
+CM_ SG_ 1160 Istmoment_f_r_Getriebe "Actual torque for gear";
+CM_ SG_ 1160 Sollmoment_f_r_Getriebe "Target torque for gearbox";
 CM_ SG_ 1160 Checksumme_Motor_6 "Checksum Motor_6";
+CM_ SG_ 1160 GRA_Sollbeschleunigung "GRA target acceleration";
+CM_ SG_ 1160 Ruckmeldung_Momenten "Feedback torque-integral gear intervention";
 
 CM_ SG_ 1344 Zahler_Getriebe_2 "Counter Getriebe_2";
+CM_ SG_ 1344 Hochschaltlampe "Upshift Flag";
 
 CM_ SG_ 1386 ACA_V_Wunsch "255=unset";
 
@@ -1523,6 +1568,9 @@ CM_ SG_ 1408 Ansaugsystem "Induction System";
 CM_ SG_ 1408 Motorleistung "Maximum engine power";
 
 CM_ SG_ 1416 Ladedruck "Boost Pressure";
+CM_ SG_ 1416 Motordrehzahlgradient "Engine speed gradient";
+CM_ SG_ 1416 Hoeheninfo__Motor_7_ "Altitude correction factor";
+CM_ SG_ 1416 Oltemperatur "Oil temperature";
 
 CM_ SG_ 1470 LDW_Direction "0=right,1=left";
 CM_ SG_ 1470 XX_DLCORTLC1 "Might be DLC or TLC";
@@ -1530,6 +1578,92 @@ CM_ SG_ 1470 XX_DLCORTLC2 "Might be DLC or TLC, might have wrong size";
 
 CM_ SG_ 1550 MFA_v_Signal_02 "0=km/h, 1=mph";
 
+VAL_ 870 AWV_Text 0 "kein_Text" 1 "FrontAssist_aus" 2 "FrontAssist_startet" 3 "FrontAssist_Warnung" 4 "FrontAssist_Sens_reinig" 5 "FrontAssist_Failure" 6 "FrontAssist_Demo" 7 "Vorhalt" 8 "Bremsung_wird_gerade_durchgefuehrt" 9 "Sensor_not_verfuegbar" 10 "Sensor_reinigen" 11 "Service_notwendig_Failure" 12 "Funktion_vom_Fahrer_deactivated" 13 "Funktion_vom_Fahrer_activated" 14 "FrontAssist_zur_Zeit_not_verfuegbar__rev_Failure";
+VAL_ 870 AWV_1_Freigabe 0 "nicht_freigegeben" 1 "freigegeben";
+VAL_ 870 AWV_1_Prefill 0 "keine_Prefill_Anf" 1 "Prefill_Anf";
+VAL_ 870 AWV_1_Parameter 0 "Defaultparametersatz" 1 "Par_leicht_erh_Empf" 2 "Par_erh_Empf" 3 "Par_hoechster_Empf";
+VAL_ 870 AWV_only 0 "ACC_und_AWV_verbaut" 1 "AWV_ohne_ACC_verbaut";
+VAL_ 870 AWV_CityANB_Auspraegung 0 "autom_Bremsung_im_ges_vBereich" 1 "autom_Bremsung_im_def_vBereich";
+VAL_ 870 AWV_Halten 0 "keine_Anforderung" 1 "Anforderung_das_Fzg_im_Stillstand_zu_halten";
+VAL_ 870 ANB_Teilbremsung_Freigabe 0 "Teilbremsung_nicht_freigegeben" 1 "Teilbremsung_freigegeben";
+VAL_ 870 AWV_2_Status 0 "Lampe_aus" 1 "Lampe_ein";
+VAL_ 870 AWV_2_Fehler 0 "Lampe_aus" 1 "Lampe_ein";
+VAL_ 870 AWV_2_SU_Warnzeit 0 "frueh" 1 "normal" 2 "spaet" 3 "adaptiv";
+VAL_ 870 AWV_2_SU_Bremsruck 0 "Bremsruck_deaktiviert" 1 "Bremsruck_aktiviert";
+VAL_ 870 AWV_2_SU_Gong 0 "Gong_deaktiviert" 1 "Gong_aktiviert";
+VAL_ 870 AWV_2_SU_Lampe 0 "Lampe_deaktiviert" 1 "Lampe_aktiviert";
+VAL_ 870 AWV_2_Umfeldwarn 0 "keine_Warnung" 1 "Warnung";
+VAL_ 870 AWV_2_Freigabe 0 "keine_Ruckfreigabe" 1 "Ruckfreigabe";
+VAL_ 870 AWV_2_Ruckprofil 0 "kein_Ruck" 1 "Ruckprofil_1" 2 "Ruckprofil_2" 3 "Ruckprofil_3" 4 "Ruckprofil_4" 5 "Ruckprofil_5" 6 "not_erlaubt" 7 "not_erlaubt";
+VAL_ 870 AWV_2_Warnton 0 "Aus" 1 "Ein";
+VAL_ 870 AWV_2_Warnsymbol 0 "Aus" 1 "Ein";
+VAL_ 870 AWV_Infoton 0 "Aus" 1 "Ein";
+VAL_ 870 AWV_2_Gurtstraffer 0 "Gurt_not_straffen" 1 "Gurt_straffen";
+VAL_ 870 AWV_Konfiguration_Menueanf 0 "Menue_deaktivieren" 1 "Menue_aktivieren";
+VAL_ 870 AWV_Konfiguration_Vorw_Menueanf 0 "Menue_deaktivieren" 1 "Menue_aktivieren";
+VAL_ 870 AWV_Konfiguration_Status 0 "AWV_inaktiv" 1 "AWV_aktiv";
+VAL_ 870 AWV_Konfiguration_Vorw_Status 0 "AWV_Vorwarnung_inaktiv" 1 "AWV_Vorwarnung_aktiv";
+VAL_ 870 AWV_2_Abstandswarnung 0 "kein_Warnhinweis" 1 "Warnhinweis";
+VAL_ 870 ANB_Zielbremsung_Freigabe 0 "Zielbremsung_nicht_freigegeben" 1 "Zielbremsung_freigegeben";
+VAL_ 870 ANB_CM_Anforderung 0 "keine_Anforderung" 1 "Anforderung_aktiv";
+
+VAL_ 872 ACS_Sta_ADR 2 "ADR_passiv" 0 "ADR_nicht_aktiv" 1 "ADR_aktiv" 3 "irrev_Fehler" ;
+VAL_ 872 ACS_ADR_Schub 1 "Verz_begr_auf_Schub" 0 "Verz_nicht_begr_auf_Schub" ;
+VAL_ 872 ACS_Schubabsch 1 "SA_nicht_zulaessig" 0 "SA_zulaessig" ;
+VAL_ 872 ACS_StSt_Info 3 "Systemfehler" 0 "Motorlauf_nn" 1 "Stoppverbot_Motoranlauf_nn" 2 "Motoranlauf_notwendig" ;
+VAL_ 872 ACS_MomEingriff 1 "MomEingr_verhindern" 0 "keine_Beeinfl_MomEingr_Mot" ;
+VAL_ 872 ACS_Typ_ACC 0 "Basis_ACC" 1 "ACC_mit_FollowToStop" 3 "frei" 2 "frei" ;
+VAL_ 872 ACS_FreigSollB 0 "Sollbeschl_nicht_freigeg" 1 "Sollbeschl_freigeg" ;
+VAL_ 872 ACS_Sollbeschl 2046 "ADR_nicht_aktiv" 2047 "Fehler" ;
+VAL_ 872 ACS_Anhaltewunsch 0 "kein_Haltewunsch" 1 "Fzg_haelt_an" ;
+VAL_ 872 ACS_Fehler 1 "Fehlerspeichereintrag" 0 "kein_Fehlerspeichereintrag" ;
+VAL_ 872 ACS_zul_Regelabw 254 "ADR_nicht_aktiv" 255 "Fehler" ;
+VAL_ 872 ACS_max_AendGrad 254 "Neutralwert" 0 "Neutralwert" 255 "Fehler" ;
 
 VAL_ 978 LH2_Sta_HCA 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active";
 VAL_ 1088 Waehlhebelposition__Getriebe_1_ 8 "P" 7 "R" 6 "N" 5 "D" 9 "U" 12 "S" 14 "T" 10 "T" 11 "T";
+
+VAL_ 1386 ACA_StaACC 6 "ACC_rev_aus" 0 "Hauptschalter_aus" 4 "ACC_im_Hintergrund" 3 "ACC_aktiv" 1 "Reserve" 2 "ACC_passiv" 7 "ACC_irrev_aus" 5 "frei" ;
+VAL_ 1386 ACA_ID_StaACC 0 "keine_Anzeige" ;
+VAL_ 1386 ACA_Fahrerhinw 1 "Ein" 0 "Aus" ;
+VAL_ 1386 ACA_AnzDisplay 1 "Anzeige_erw" 0 "Anzeige_nicht_erw" ;
+VAL_ 1386 ACA_Zeitluecke 3 "Zeitluecke3" 10 "Zeitluecke10" 4 "Zeitluecke4" 14 "Zeitluecke14" 11 "Zeitluecke11" 2 "Zeitluecke2" 13 "Zeitluecke13" 9 "Zeitluecke9" 1 "Zeitluecke1" 8 "Zeitluecke8" 5 "Zeitluecke5" 15 "Zeitluecke15" 0 "nicht_definiert" 12 "Zeitluecke12" 6 "Zeitluecke6" 7 "Zeitluecke7" ;
+VAL_ 1386 ACA_V_Wunsch 255 "kein_Wert_im_Speicher" ;
+VAL_ 1386 ACA_kmh_mph 0 "km_h" 1 "mph" ;
+VAL_ 1386 ACA_Akustik1 0 "kein_Gong" 1 "Gong" ;
+VAL_ 1386 ACA_Akustik2 0 "kein_Summer" 1 "Summer" ;
+VAL_ 1386 ACA_PrioDisp 1 "mittlere_Prio" 3 "keine_Anzeige_Anf" 0 "hohe_Prio" 2 "niedrige_Prio" ;
+VAL_ 1386 ACA_gemZeitl 6 "Zeitluecke6" 2 "Zeitluecke2" 7 "Zeitluecke7" 13 "Zeitluecke13" 11 "Zeitluecke11" 4 "Zeitluecke4" 8 "Zeitluecke8" 12 "Zeitluecke12" 10 "Zeitluecke10" 0 "Kein_Objekt_erfasst" 1 "Zeitluecke1" 3 "Zeitluecke3" 9 "Zeitluecke9" 15 "Zeitluecke15" 14 "Zeitluecke14" 5 "Zeitluecke5" ;
+VAL_ 1386 ACA_ACC_Verz 0 "ACC_verzoegert_nicht" 1 "ACC_verzoegert" ;
+VAL_ 1386 ACA_StaGRA 3 "GRA_aktiv" 4 "GRA_uebertreten" 2 "GRA_passiv" 0 "Hauptschalter_aus" 6 "frei" 7 "GRA_Fehler" 1 "Reserve" 5 "frei" ;
+VAL_ 1386 ACA_ID_StaGRA 0 "keine_Anzeige" ;
+VAL_ 1386 ACA_Codierung 0 "ACC" 1 "GRA" ;
+VAL_ 1386 ACA_Tachokranz 0 "nicht_beleuchtet" 1 "beleuchtet" ;
+VAL_ 1386 ACA_Aend_Zeitluecke 1 "Anzeige_angef" 0 "keine_Anzeige" ;
+
+VAL_ 1472 EP1_Fehler_Sta 0 "volle_Funktion" 1 "linke_Seite_fehlerhaft" 2 "rechte_Seite_fehlerhaft" 3 "beide_Seiten_fehlerhaft";
+VAL_ 1472 EP1_Sta_EPB 0 "Bremse_geoeffnet" 1 "Bremse_geschlossen";
+VAL_ 1472 EP1_Sta_Schalter 0 "volle_Funktion" 1 "Schalter_ausser_Funktion";
+VAL_ 1472 EP1_Spannkraft 31 "Fehler";
+VAL_ 1472 EP1_Schalterinfo 0 "keine_Fahreranforderung" 1 "Fahreranforderung_oeffnen" 2 "Fahreranforderung_schliessen" 3 "Schalterfehler";
+VAL_ 1472 EP1_Sta_NWS 0 "volle_Funktion" 1 "keine_Funktion";
+VAL_ 1472 EP1_Fehlereintr 0 "kein_Fehlerspeichereintrag" 1 "Fehlerspeichereintrag";
+VAL_ 1472 EP1_Freigabe_Ver 0 "Verzoegerungsanf_nicht_freigegeb" 1 "Verzoegerungsanf_freigegeben";
+VAL_ 1472 EP1_AutoHold_zul 0 "Pers_nicht_zulaessig" 1 "Pers_zulaessig";
+VAL_ 1472 EP1_AutoHold_aktiv 0 "nein" 1 "ja";
+VAL_ 1472 EP1_SleepInd 0 "CAN_wird_benoetigt" 1 "Sleep_bereit";
+VAL_ 1472 EP1_Status_Kl_15 0 "Kl_15_aus" 1 "Kl_15_ein";
+VAL_ 1472 EP1_Lampe_AutoP 0 "Lampe_aus" 1 "Lampe_ein";
+VAL_ 1472 EP1_Bremslicht 0 "Aus" 1 "Ein";
+VAL_ 1472 EP1_Warnton1 0 "Aus" 1 "Ein";
+VAL_ 1472 EP1_Warnton2 0 "Aus" 1 "Ein";
+VAL_ 1472 EP1_AnfShLock 0 "Aus" 1 "Ein";
+VAL_ 1472 EPB_Autoholdlampe 0 "Lampe_aus" 1 "Lampe_ein";
+VAL_ 1472 EP1_QualNeigWi 0 "gueltiger_Wert" 1 "Ersatz_Init_oder_Fehlerwert";
+VAL_ 1472 EP1_KuppModBer 0 "Kuppsensor_aus_Modbereich" 1 "Kupplsensor_im_Modbereich" 2 "Sensorsignal_ungenau" 3 "Sensor_defekt";
+VAL_ 1472 EP1_HydrHalten 0 "Fzg_nicht_hydr_geh" 1 "Fzg_hydr_geh";
+VAL_ 1472 EP1_Fkt_Lampe 0 "Lampe_aus" 1 "Lampe_ein";
+VAL_ 1472 EP1_Warnton 0 "Warnton_aus" 1 "Warnton_an";
+VAL_ 1472 EP1_Fehler_BKL 0 "BKL_aus" 1 "BKL_an";
+VAL_ 1472 EP1_Fehler_gelb 0 "Lampe_aus" 1 "Lampe_ein";
+VAL_ 1472 EP1__Text 0 "kein_Text" 1 "Text_1" 2 "Text_2" 3 "Text_3" 4 "Text_4" 5 "Text_5" 6 "reserviert" 7 "reserviert" 8 "Text_8";

opendbc/vw_mqb_2010.dbc

@@ -1211,18 +1211,19 @@ BO_ 1602 WIV_01: 8 Motor_Diesel_MQB
  SG_ WIV_W_min : 48|7@1+ (1000,0) [0|127000] "Unit_KiloMeter" Gateway_MQB
  SG_ WIV_W_max : 56|7@1+ (1000,0) [0|127000] "Unit_KiloMeter" Gateway_MQB
 
-BO_ 294 HCA_01: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 8|4@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_0X3 : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ Assist_Torque : 16|14@1+ (1,0) [0|300] "Nm" XXX
- SG_ Assist_Requested : 30|1@1+ (1,0) [0|1] "" XXX
- SG_ Assist_VZ : 31|1@1+ (1,0) [0|1] "" XXX
- SG_ HCA_Available : 32|1@1+ (1,0) [0|1] "" XXX
- SG_ HCA_Standby : 33|1@1+ (1,0) [0|1] "" XXX
- SG_ HCA_Active : 34|1@1+ (1,0) [0|1] "" XXX
- SG_ SET_ME_0XFE : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_0X07 : 48|8@1+ (1,0) [0|255] "" XXX
+BO_ 294 HCA_01: 8 Frontsensorik
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ HCA_01_Vib_Freq : 12|4@1+ (1,15) [15|30] "Unit_Hertz" Vector__XXX
+ SG_ HCA_01_LM_Offset : 16|9@1+ (1,0) [0|511] "Unit_centiNewtoMeter" Vector__XXX
+ SG_ EA_ACC_Sollstatus : 25|2@1+ (1,0) [0|3] ""  Frontradar
+ SG_ EA_Ruckprofil : 27|3@1+ (1,0) [0|7] "" Vector__XXX
+ SG_ HCA_01_Sendestatus : 30|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ HCA_01_LM_OffSign : 31|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ HCA_01_Status_HCA : 32|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ HCA_01_Vib_Amp : 36|4@1+ (0.2,0) [0|3] "Unit_NewtoMeter" Vector__XXX
+ SG_ EA_Ruckfreigabe : 40|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ EA_ACC_Wunschgeschwindigkeit : 41|10@1+ (0.32,0) [0|327.04] "Unit_KiloMeterPerHour"  Frontradar
 
 BO_ 159 LH_EPS_03: 8 XXX
  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  XXX
@@ -1420,12 +1421,16 @@ CM_ SG_ 159 EPS_VZ_Lenkmoment "Steering input by driver, direction";
 CM_ SG_ 159 EPS_Berechneter_LW "Raw steering angle, degrees";
 CM_ SG_ 159 EPS_VZ_BLW "Raw steering angle, direction";
 CM_ SG_ 173 COUNTERXX "Message not renamed to COUNTER because J533 rate-limiting makes it look like messages are being lost";
-CM_ SG_ 294 SET_ME_0X3 "May be zero when sent by older cameras";
-CM_ SG_ 294 SET_ME_0X07 "May be zero when sent by older cameras";
-CM_ SG_ 294 SET_ME_0XFE "May be zero when sent by older cameras";
-CM_ SG_ 294 Assist_Torque "Heading control input, torque";
-CM_ SG_ 294 Assist_VZ "Heading control input, direction (sign)";
-CM_ SG_ 294 HCA_Available "Must be 1 for steering rack to accept HCA commands";
+CM_ SG_ 294 HCA_01_Vib_Freq "Frequenz der Lenkradvibration";
+CM_ SG_ 294 HCA_01_LM_Offset "Von HCA angefordertes Lenkmoment (Betrag)";
+CM_ SG_ 294 EA_ACC_Sollstatus "Status-Anforderung ACC von Emergency Alert. Statuswechsel bei Flanke. Solange Wert=1, wird EA_ACC_Wunschgeschwindigkeit übernommen. Wert=2 führt zu Zustand ¿ACC_GRA_passiv¿";
+CM_ SG_ 294 EA_Ruckprofil "Emergency Alert Anforderung an ESP, welcher Ruck verwendet werden soll. Eine Umsetzung der Ruckanforderung im ESP erfolgt nur mit gesetztem Bit 'EA_Ruckfreigabe'.";
+CM_ SG_ 294 HCA_01_Sendestatus "Gibt den Sendestatus der HCA_01 an (notwendig für IL-Unterstützung)";
+CM_ SG_ 294 HCA_01_LM_OffSign "Vorzeichen des HCA-Lenkmoments";
+CM_ SG_ 294 HCA_01_Status_HCA "Statusinformation vom HCA und Manoevrierassistent für Handshakemechanismus mit der Lenkung";
+CM_ SG_ 294 HCA_01_Vib_Amp "Momentenamplitude der Lenkradvibration";
+CM_ SG_ 294 EA_Ruckfreigabe "Emergency Alert Freigabit für die Warnruck-Anforderung an das ESP";
+CM_ SG_ 294 EA_ACC_Wunschgeschwindigkeit "Emergency Alert Anforderung neue Wunschgeschwindigkeit";
 CM_ SG_ 302 ACC_Hold_Request "Active request for ABS brake hold in ACC_Hold_Type";
 CM_ SG_ 302 ACC_Boost_Request "Hybrid engine start related";
 CM_ SG_ 302 ACC_Freewheel_Request "Active request for DSG sailing/coasting in ACC_Freewheel_Type";
@@ -1475,6 +1480,13 @@ CM_ SG_ 1720 KBI_Variante_USA "In diesem Signal wird die HW-Variante des Kombis
 VAL_ 159 EPS_HCA_Status 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active" ;
 VAL_ 173 GE_Fahrstufe 5 "P" 6 "R" 7 "N" 8 "D" 9 "S" 10 "E" 13 "T" 14 "T" ;
 VAL_ 288 TSK_Status 0 "init" 1 "disabled" 2 "enabled" 3 "regulating" 4 "accel_pedal_override" 5 "brake_only" 6 "temp_fault" 7 "perm_fault" ;
+VAL_ 294 EA_ACC_Sollstatus 0 "Init" 1 "ACC_aktivieren" 2 "ACC_deaktivieren" ;
+VAL_ 294 EA_Ruckprofil 0 "Init" 1 "Profil_1" 2 "Profil_2" 3 "Profil_3" 4 "Profil_4" 5 "Profil_5" 6 "Profil_6" 7 "Profil_7" ;
+VAL_ 294 HCA_01_Sendestatus 0 "HCA_sendet_mit_1000ms" 1 "HCA_sendet_mit_20ms" ;
+VAL_ 294 HCA_01_LM_OffSign 0 "positives_Vorzeichen" 1 "negatives_Vorzeichen" ;
+VAL_ 294 HCA_01_Status_HCA 0 "deaktiviert" 1 "reserviert" 2 "reserviert" 3 "funktionsbereit" 4 "reserviert" 5 "HCA_Momenteneingriff_1" 6 "MA_Aktiv" 7 "HCA_Momenteneingriff_2" 8 "reserviert" 9 "reserviert" 10 "reserviert" 11 "reserviert" 12 "reserviert" 13 "reserviert" 14 "reserviert" 15 "reserviert" ;
+VAL_ 294 EA_Ruckfreigabe 0 "keine_Freigabe" 1 "Freigabe" ;
+VAL_ 294 EA_ACC_Wunschgeschwindigkeit 1023 "Init" ;
 VAL_ 780 ACC_Wunschgeschw_02 1023 "keine_Anzeige" ;
 VAL_ 780 ACC_Status_Prim_Anz 0 "Symbol nicht beleuchtet" 1 "Farbe 1 (typisch 'gruen')" 2 "Farbe 2 (typisch 'rot')" 3 "Farbe 3 (typisch 'gelb')" ;
 VAL_ 780 ACC_Abstandsindex 0 "Sonderanzeige_graue_Fahrbahn" 1022 "Sonderanzeige_graue_Fahrbahn" 1023 "Sonderanzeige_Fahrbahn_mit_gruenem_roten_Bereich" ;

panda/__init__.py

@@ -1,4 +1,4 @@
-from .python.constants import McuType, BASEDIR  # noqa: F401
+from .python.constants import McuType, BASEDIR, FW_PATH  # noqa: F401
 from .python.serial import PandaSerial  # noqa: F401
 from .python import (Panda, PandaDFU, # noqa: F401
                      pack_can_buffer, unpack_can_buffer, calculate_checksum,

panda/board/README.md

@@ -4,18 +4,15 @@ Programming
 **Panda**
 
 ```
-./recover.sh           # flash bootstub
-```
-
-```
-./flash.sh           # flash application
+./recover.py      # flash bootstub
+./flash.py        # flash application
 ```
 
 Troubleshooting
 ----
 
-If your panda will not flash and green LED is on, use `recover.sh`.
-If panda is blinking fast with green LED, use `flash.sh`.
+If your panda will not flash and green LED is on, use `recover.py`.
+If panda is blinking fast with green LED, use `flash.py`.
 Otherwise if LED is off and panda can't be seen with `lsusb` command, use [panda paw](https://comma.ai/shop/products/panda-paw) to go into DFU mode.
 
 

panda/board/SConscript

@@ -102,7 +102,8 @@ def get_key_header(name):
   from Crypto.PublicKey import RSA
 
   public_fn = File(f'../certs/{name}.pub').srcnode().abspath
-  rsa = RSA.importKey(open(public_fn).read())
+  with open(public_fn) as f:
+    rsa = RSA.importKey(f.read())
   assert(rsa.size_in_bits() == 1024)
 
   rr = pow(2**1024, 2, rsa.n)

panda/board/boards/black.h

@@ -25,7 +25,7 @@ void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
 void black_enable_can_transceivers(bool enabled) {
   for(uint8_t i=1U; i<=4U; i++){
     // Leave main CAN always on for CAN-based ignition detection
-    if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
+    if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
       black_enable_can_transceiver(i, true);
     } else {
       black_enable_can_transceiver(i, enabled);
@@ -83,7 +83,7 @@ void black_set_can_mode(uint8_t mode){
   switch (mode) {
     case CAN_MODE_NORMAL:
     case CAN_MODE_OBD_CAN2:
-      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
+      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(harness.status == HARNESS_STATUS_FLIPPED)) {
         // B12,B13: disable OBD mode
         set_gpio_mode(GPIOB, 12, MODE_INPUT);
         set_gpio_mode(GPIOB, 13, MODE_INPUT);
@@ -160,7 +160,7 @@ void black_init(void) {
   black_set_can_mode(CAN_MODE_NORMAL);
 
   // flip CAN0 and CAN2 if we are flipped
-  if (car_harness_status == HARNESS_STATUS_FLIPPED) {
+  if (harness.status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
 }
@@ -191,6 +191,9 @@ const board board_black = {
   .has_canfd = false,
   .has_rtc_battery = false,
   .fan_max_rpm = 0U,
+  .avdd_mV = 3300U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 0U,
   .init = black_init,
   .enable_can_transceiver = black_enable_can_transceiver,
   .enable_can_transceivers = black_enable_can_transceivers,
@@ -204,4 +207,4 @@ const board board_black = {
   .set_phone_power = unused_set_phone_power,
   .set_siren = unused_set_siren,
   .read_som_gpio = unused_read_som_gpio
-};
+};

panda/board/boards/board_declarations.h

@@ -11,7 +11,7 @@ typedef void (*board_set_ir_power)(uint8_t percentage);
 typedef void (*board_set_fan_enabled)(bool enabled);
 typedef void (*board_set_phone_power)(bool enabled);
 typedef void (*board_set_siren)(bool enabled);
-typedef void (*board_board_tick)(bool ignition, bool usb_enum, bool heartbeat_seen);
+typedef void (*board_board_tick)(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted);
 typedef bool (*board_read_som_gpio)(void);
 
 struct board {
@@ -25,6 +25,9 @@ struct board {
   const bool has_canfd;
   const bool has_rtc_battery;
   const uint16_t fan_max_rpm;
+  const uint16_t avdd_mV;
+  const bool fan_stall_recovery;
+  const uint8_t fan_enable_cooldown_time;
   board_init init;
   board_enable_can_transceiver enable_can_transceiver;
   board_enable_can_transceivers enable_can_transceivers;

panda/board/boards/dos.h

@@ -25,7 +25,7 @@ void dos_enable_can_transceiver(uint8_t transceiver, bool enabled) {
 void dos_enable_can_transceivers(bool enabled) {
   for(uint8_t i=1U; i<=4U; i++){
     // Leave main CAN always on for CAN-based ignition detection
-    if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
+    if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
       dos_enable_can_transceiver(i, true);
     } else {
       dos_enable_can_transceiver(i, enabled);
@@ -53,9 +53,9 @@ void dos_set_bootkick(bool enabled){
   set_gpio_output(GPIOC, 4, !enabled);
 }
 
-void dos_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen) {
-  if (ignition && !usb_enum) {
-    // enable bootkick if ignition seen
+void dos_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
+  if ((ignition && !usb_enum) || harness_inserted) {
+    // enable bootkick if ignition seen or if plugged into a harness
     dos_set_bootkick(true);
   } else if (heartbeat_seen) {
     // disable once openpilot is up
@@ -69,7 +69,7 @@ void dos_set_can_mode(uint8_t mode){
   switch (mode) {
     case CAN_MODE_NORMAL:
     case CAN_MODE_OBD_CAN2:
-      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
+      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(harness.status == HARNESS_STATUS_FLIPPED)) {
         // B12,B13: disable OBD mode
         set_gpio_mode(GPIOB, 12, MODE_INPUT);
         set_gpio_mode(GPIOB, 13, MODE_INPUT);
@@ -140,12 +140,8 @@ void dos_init(void) {
   set_gpio_output(GPIOC, 11, 1);
 
 #ifdef ENABLE_SPI
-  // A4-A7: SPI
-  set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
-  register_set_bits(&(GPIOA->OSPEEDR), GPIO_OSPEEDER_OSPEEDR4 | GPIO_OSPEEDER_OSPEEDR5 | GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7);
+  // SPI init
+  gpio_spi_init();
 #endif
 
   // C8: FAN PWM aka TIM3_CH3
@@ -181,7 +177,7 @@ void dos_init(void) {
   dos_set_can_mode(CAN_MODE_NORMAL);
 
   // flip CAN0 and CAN2 if we are flipped
-  if (car_harness_status == HARNESS_STATUS_FLIPPED) {
+  if (harness.status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
 
@@ -219,6 +215,9 @@ const board board_dos = {
   .has_canfd = false,
   .has_rtc_battery = true,
   .fan_max_rpm = 6500U,
+  .avdd_mV = 3300U,
+  .fan_stall_recovery = true,
+  .fan_enable_cooldown_time = 3U,
   .init = dos_init,
   .enable_can_transceiver = dos_enable_can_transceiver,
   .enable_can_transceivers = dos_enable_can_transceivers,

panda/board/boards/grey.h

@@ -45,6 +45,9 @@ const board board_grey = {
   .has_canfd = false,
   .has_rtc_battery = false,
   .fan_max_rpm = 0U,
+  .avdd_mV = 3300U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 0U,
   .init = grey_init,
   .enable_can_transceiver = white_enable_can_transceiver,
   .enable_can_transceivers = white_enable_can_transceivers,

panda/board/boards/pedal.h

@@ -83,6 +83,9 @@ const board board_pedal = {
   .has_canfd = false,
   .has_rtc_battery = false,
   .fan_max_rpm = 0U,
+  .avdd_mV = 3300U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 0U,
   .init = pedal_init,
   .enable_can_transceiver = pedal_enable_can_transceiver,
   .enable_can_transceivers = pedal_enable_can_transceivers,

panda/board/boards/red.h

@@ -22,7 +22,7 @@ void red_enable_can_transceiver(uint8_t transceiver, bool enabled) {
 }
 
 void red_enable_can_transceivers(bool enabled) {
-  uint8_t main_bus = (car_harness_status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
+  uint8_t main_bus = (harness.status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
   for (uint8_t i=1U; i<=4U; i++) {
     // Leave main CAN always on for CAN-based ignition detection
     if (i == main_bus) {
@@ -53,7 +53,7 @@ void red_set_can_mode(uint8_t mode) {
   switch (mode) {
     case CAN_MODE_NORMAL:
     case CAN_MODE_OBD_CAN2:
-      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
+      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(harness.status == HARNESS_STATUS_FLIPPED)) {
         // B12,B13: disable normal mode
         set_gpio_pullup(GPIOB, 12, PULL_NONE);
         set_gpio_mode(GPIOB, 12, MODE_ANALOG);
@@ -147,7 +147,7 @@ void red_init(void) {
   red_set_can_mode(CAN_MODE_NORMAL);
 
   // flip CAN0 and CAN2 if we are flipped
-  if (car_harness_status == HARNESS_STATUS_FLIPPED) {
+  if (harness.status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
 }
@@ -178,6 +178,9 @@ const board board_red = {
   .has_canfd = true,
   .has_rtc_battery = false,
   .fan_max_rpm = 0U,
+  .avdd_mV = 3300U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 0U,
   .init = red_init,
   .enable_can_transceiver = red_enable_can_transceiver,
   .enable_can_transceivers = red_enable_can_transceivers,

panda/board/boards/red_chiplet.h

@@ -24,7 +24,7 @@ void red_chiplet_enable_can_transceiver(uint8_t transceiver, bool enabled) {
 }
 
 void red_chiplet_enable_can_transceivers(bool enabled) {
-  uint8_t main_bus = (car_harness_status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
+  uint8_t main_bus = (harness.status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
   for (uint8_t i=1U; i<=4U; i++) {
     // Leave main CAN always on for CAN-based ignition detection
     if (i == main_bus) {
@@ -45,13 +45,13 @@ void red_chiplet_init(void) {
   // A8, A3: OBD_SBU1_RELAY, OBD_SBU2_RELAY
   set_gpio_output_type(GPIOA, 8, OUTPUT_TYPE_OPEN_DRAIN);
   set_gpio_pullup(GPIOA, 8, PULL_NONE);
-  set_gpio_mode(GPIOA, 8, MODE_OUTPUT);
   set_gpio_output(GPIOA, 8, 1);
+  set_gpio_mode(GPIOA, 8, MODE_OUTPUT);
 
   set_gpio_output_type(GPIOA, 3, OUTPUT_TYPE_OPEN_DRAIN);
   set_gpio_pullup(GPIOA, 3, PULL_NONE);
-  set_gpio_mode(GPIOA, 3, MODE_OUTPUT);
   set_gpio_output(GPIOA, 3, 1);
+  set_gpio_mode(GPIOA, 3, MODE_OUTPUT);
 
   // G11,B10,D7,B11: transceiver enable
   set_gpio_pullup(GPIOG, 11, PULL_NONE);
@@ -70,13 +70,10 @@ void red_chiplet_init(void) {
   set_gpio_pullup(GPIOD, 3, PULL_NONE);
   set_gpio_mode(GPIOD, 3, MODE_OUTPUT);
 
-  //B0: 5VOUT_S
+  // B0: 5VOUT_S
   set_gpio_pullup(GPIOB, 0, PULL_NONE);
   set_gpio_mode(GPIOB, 0, MODE_ANALOG);
 
-  // Turn on USB load switch.
-  red_chiplet_set_fan_or_usb_load_switch(true);
-
   // Initialize harness
   harness_init();
 
@@ -95,7 +92,7 @@ void red_chiplet_init(void) {
   red_set_can_mode(CAN_MODE_NORMAL);
 
   // flip CAN0 and CAN2 if we are flipped
-  if (car_harness_status == HARNESS_STATUS_FLIPPED) {
+  if (harness.status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
 }

panda/board/boards/red_v2.h

@@ -2,6 +2,14 @@
 // Red Panda V2 with chiplet + Harness //
 // ///////////////////// //
 
+void red_panda_v2_init(void) {
+  // common chiplet init
+  red_chiplet_init();
+
+  // Turn on USB load switch
+  red_chiplet_set_fan_or_usb_load_switch(true);
+}
+
 const board board_red_v2 = {
   .board_type = "Red_v2",
   .board_tick = unused_board_tick,
@@ -14,7 +22,10 @@ const board board_red_v2 = {
   .has_canfd = true,
   .has_rtc_battery = true,
   .fan_max_rpm = 0U,
-  .init = red_chiplet_init,
+  .avdd_mV = 3300U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 0U,
+  .init = red_panda_v2_init,
   .enable_can_transceiver = red_chiplet_enable_can_transceiver,
   .enable_can_transceivers = red_chiplet_enable_can_transceivers,
   .set_led = red_set_led,

panda/board/boards/tres.h

@@ -19,9 +19,9 @@ void tres_set_bootkick(bool enabled){
 }
 
 bool tres_ignition_prev = false;
-void tres_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen) {
+void tres_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
   UNUSED(usb_enum);
-  if (ignition && !tres_ignition_prev) {
+  if ((ignition && !tres_ignition_prev) || harness_inserted) {
     // enable bootkick on rising edge of ignition
     tres_set_bootkick(true);
   } else if (heartbeat_seen) {
@@ -62,11 +62,7 @@ void tres_init(void) {
   uart_init(&uart_ring_som_debug, 115200);
 
   // SPI init
-  set_gpio_alternate(GPIOE, 11, GPIO_AF5_SPI4);
-  set_gpio_alternate(GPIOE, 12, GPIO_AF5_SPI4);
-  set_gpio_alternate(GPIOE, 13, GPIO_AF5_SPI4);
-  set_gpio_alternate(GPIOE, 14, GPIO_AF5_SPI4);
-  register_set_bits(&(GPIOE->OSPEEDR), GPIO_OSPEEDR_OSPEED11 | GPIO_OSPEEDR_OSPEED12 | GPIO_OSPEEDR_OSPEED13 | GPIO_OSPEEDR_OSPEED14);
+  gpio_spi_init();
 
   // fan setup
   set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
@@ -97,7 +93,10 @@ const board board_tres = {
   .has_spi = true,
   .has_canfd = true,
   .has_rtc_battery = true,
-  .fan_max_rpm = 6500U,  // TODO: verify this, copied from dos
+  .fan_max_rpm = 6600U,
+  .avdd_mV = 1800U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 3U,
   .init = tres_init,
   .enable_can_transceiver = red_chiplet_enable_can_transceiver,
   .enable_can_transceivers = red_chiplet_enable_can_transceivers,

panda/board/boards/uno.h

@@ -27,7 +27,7 @@ void uno_enable_can_transceiver(uint8_t transceiver, bool enabled) {
 void uno_enable_can_transceivers(bool enabled) {
   for(uint8_t i=1U; i<=4U; i++){
     // Leave main CAN always on for CAN-based ignition detection
-    if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
+    if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
       uno_enable_can_transceiver(i, true);
     } else {
       uno_enable_can_transceiver(i, enabled);
@@ -102,7 +102,7 @@ void uno_set_can_mode(uint8_t mode){
   switch (mode) {
     case CAN_MODE_NORMAL:
     case CAN_MODE_OBD_CAN2:
-      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
+      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(harness.status == HARNESS_STATUS_FLIPPED)) {
         // B12,B13: disable OBD mode
         set_gpio_mode(GPIOB, 12, MODE_INPUT);
         set_gpio_mode(GPIOB, 13, MODE_INPUT);
@@ -126,10 +126,11 @@ void uno_set_can_mode(uint8_t mode){
   }
 }
 
-void uno_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen) {
+void uno_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
   UNUSED(ignition);
   UNUSED(usb_enum);
   UNUSED(heartbeat_seen);
+  UNUSED(harness_inserted);
   if (bootkick_timer != 0U) {
     bootkick_timer--;
   } else {
@@ -210,12 +211,12 @@ void uno_init(void) {
   uno_set_can_mode(CAN_MODE_NORMAL);
 
   // flip CAN0 and CAN2 if we are flipped
-  if (car_harness_status == HARNESS_STATUS_FLIPPED) {
+  if (harness.status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
 
   // Switch to phone usb mode if harness connection is powered by less than 7V
-  if(adc_get_voltage() < 7000U){
+  if((adc_get_mV(ADCCHAN_VIN) * VIN_READOUT_DIVIDER) < 7000U){
     uno_set_usb_switch(true);
   } else {
     uno_set_usb_switch(false);
@@ -251,6 +252,9 @@ const board board_uno = {
   .has_canfd = false,
   .has_rtc_battery = true,
   .fan_max_rpm = 5100U,
+  .avdd_mV = 3300U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 0U,
   .init = uno_init,
   .enable_can_transceiver = uno_enable_can_transceiver,
   .enable_can_transceivers = uno_enable_can_transceivers,

panda/board/boards/unused_funcs.h

@@ -22,10 +22,11 @@ uint32_t unused_read_current(void) {
   return 0U;
 }
 
-void unused_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen) {
+void unused_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
   UNUSED(ignition);
   UNUSED(usb_enum);
   UNUSED(heartbeat_seen);
+  UNUSED(harness_inserted);
 }
 
 bool unused_read_som_gpio(void) {

panda/board/boards/white.h

@@ -142,7 +142,7 @@ void white_set_can_mode(uint8_t mode){
 }
 
 uint32_t white_read_current(void){
-  return adc_get(ADCCHAN_CURRENT);
+  return adc_get_raw(ADCCHAN_CURRENT);
 }
 
 bool white_check_ignition(void){
@@ -214,7 +214,7 @@ void white_grey_common_init(void) {
   white_set_can_mode(CAN_MODE_NORMAL);
 
   // Init usb power mode
-  uint32_t voltage = adc_get_voltage();
+  uint32_t voltage = adc_get_mV(ADCCHAN_VIN) * VIN_READOUT_DIVIDER;
   // Init in CDP mode only if panda is powered by 12V.
   // Otherwise a PC would not be able to flash a standalone panda
   if (voltage > 8000U) {  // 8V threshold
@@ -247,6 +247,9 @@ const board board_white = {
   .has_canfd = false,
   .has_rtc_battery = false,
   .fan_max_rpm = 0U,
+  .avdd_mV = 3300U,
+  .fan_stall_recovery = false,
+  .fan_enable_cooldown_time = 0U,
   .init = white_init,
   .enable_can_transceiver = white_enable_can_transceiver,
   .enable_can_transceivers = white_enable_can_transceivers,

panda/board/can_comms.h

@@ -100,6 +100,8 @@ void comms_can_write(uint8_t *data, uint32_t len) {
       pos += can_write_buffer.ptr;
     }
   }
+
+  refresh_can_tx_slots_available();
 }
 
 void comms_can_reset(void) {
@@ -110,8 +112,11 @@ void comms_can_reset(void) {
 }
 
 // TODO: make this more general!
-void usb_cb_ep3_out_complete(void) {
-  if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
-    usb_outep3_resume_if_paused();
+void refresh_can_tx_slots_available(void) {
+  if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_USB_BULK_TRANSFER)) {
+    can_tx_comms_resume_usb();
+  }
+  if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_SPI_BULK_TRANSFER)) {
+    can_tx_comms_resume_spi();
   }
 }