openpilot v0.9.4 release

date: 2023-07-27T18:38:32 master commit: fa310d9e2542cf497d92f007baec8fd751ffa99c
openpilot v0.9.3 release
2026-08-26 18:53:44 +08:00 · 2023-07-27 18:38:33 +00:00 · 2023-06-30 15:42:10 -07:00 · 2023-05-23 22:20:03 -07:00
603 changed files with 18568 additions and 10912 deletions
@@ -45,10 +45,9 @@ selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
+selfdrive/ui/translations/alerts_generated.h
 selfdrive/test/longitudinal_maneuvers/out
-selfdrive/visiond/visiond
-selfdrive/sensord/_gpsd
-selfdrive/sensord/_sensord
+selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
@@ -6,6 +6,7 @@ ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <
 set -e

 export CI=1
+export LOGPRINT=debug
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
@@ -18,6 +19,23 @@ export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 source ~/.bash_profile
 if [ -f /TICI ]; then
  source /etc/profile
+
+  if ! systemctl is-active --quiet systemd-resolved; then
+    echo "restarting resolved"
+    sudo systemctl start systemd-resolved
+    sleep 3
+  fi
+
+  # restart aux USB
+  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
+    echo "restarting aux usb"
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
+    sleep 0.5
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
+  fi
+fi
+if [ -f /data/openpilot/launch_env.sh ]; then
+  source /data/openpilot/launch_env.sh
 fi

 ln -snf ${env.TEST_DIR} /data/pythonpath
@@ -125,6 +143,45 @@ pipeline {
        }
        */

+        stage('scons build test') {
+          agent {
+            dockerfile {
+              filename 'Dockerfile.openpilot_base'
+              args '--user=root'
+            }
+          }
+          steps {
+            sh "git config --global --add safe.directory '*'"
+            sh "git submodule update --init --depth=1 --recursive"
+            sh "scons --clean && scons --no-cache -j42"
+            sh "scons --clean && scons --no-cache --random -j42"
+          }
+
+          post {
+            always {
+              sh "rm -rf ${WORKSPACE}/* || true"
+              sh "rm -rf .* || true"
+            }
+          }
+        }
+
+        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 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
+              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+              ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+              ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+              ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
+            ])
+          }
+        }
+
        stage('build') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          environment {
@@ -136,7 +193,7 @@ pipeline {
              ["build openpilot", "cd selfdrive/manager && ./build.py"],
              ["check dirty", "release/check-dirty.sh"],
              ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-              ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+              ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
            ])
          }
        }
@@ -146,7 +203,7 @@ pipeline {
          steps {
            phone_steps("tici-loopback", [
              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+              ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
            ])
          }
        }
@@ -156,33 +213,29 @@ 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 manager", "python selfdrive/manager/test/test_manager.py"],
+              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+              ["test power draw", "pytest system/hardware/tici/tests/test_power_draw.py"],
+              ["test loggerd", "pytest system/loggerd/tests/test_loggerd.py"],
+              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
+              ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
+              ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
+              ["test nav", "pytest selfdrive/navd/tests/"],
            ])
          }
        }

-        stage('camerad-ar') {
+        stage('camerad') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          steps {
            phone_steps("tici-ar0231", [
              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "python system/camerad/test/test_camerad.py"],
-              ["test exposure", "python system/camerad/test/test_exposure.py"],
+              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+              ["test exposure", "pytest 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"],
-              ["test exposure", "python system/camerad/test/test_exposure.py"],
+              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
            ])
          }
        }
@@ -192,11 +245,11 @@ 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 && pytest 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 && pytest test_sensord.py"],
            ])
          }
        }
@@ -204,9 +257,9 @@ pipeline {
        stage('replay') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          steps {
-            phone_steps("tici-common", [
+            phone_steps("tici-replay", [
              ["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"],
            ])
          }
        }
@@ -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

@@ -1,3 +1,58 @@
+Version 0.9.4 (2023-07-27)
+========================
+* Navigate on openpilot in Experimental mode
+  * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
+  * When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
+  * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
+  * When navigate on openpilot is active, the path on the map is green
+* UI updates
+  * Navigation settings moved to home screen and map
+  * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
+  * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
+* Bookmarked segments are preserved on the device's storage
+* Ford Focus 2018 support
+* Kia Carnival 2023 support thanks to sunnyhaibin!
+
+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
@@ -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

@@ -63,17 +67,17 @@ AddOption('--no-test',
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"
+  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()

 if arch == "aarch64" and AGNOS:
  arch = "larch64"

-
 lenv = {
  "PATH": os.environ['PATH'],
  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
  "PYTHONPATH": Dir("#").abspath,

-  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
 }
@@ -106,33 +110,29 @@ else:
  cflags = []
  cxxflags = []
  cpppath = []
+  rpath += [
+    Dir("#cereal").abspath,
+    Dir("#common").abspath
+  ]

  # MacOS
  if arch == "Darwin":
-    if real_arch == "x86_64":
-      lenv["TERA_PATH"] = Dir("#").abspath + f"/third_party/acados/Darwin_x86_64/t_renderer"
-
-    brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
    libpath = [
      f"#third_party/libyuv/{yuv_dir}/lib",
+      f"#third_party/acados/{arch}/lib",
      f"{brew_prefix}/lib",
-      f"{brew_prefix}/Library",
-      f"{brew_prefix}/opt/openssl/lib",
-      f"{brew_prefix}/Cellar",
+      f"{brew_prefix}/opt/openssl@3.0/lib",
      "/System/Library/Frameworks/OpenGL.framework/Libraries",
    ]
-    if real_arch == "x86_64":
-      libpath.append(f"#third_party/acados/Darwin_x86_64/lib")
-    else:
-      libpath.append(f"#third_party/acados/{arch}/lib")

    cflags += ["-DGL_SILENCE_DEPRECATION"]
    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
    cpppath += [
      f"{brew_prefix}/include",
-      f"{brew_prefix}/opt/openssl/include",
+      f"{brew_prefix}/opt/openssl@3.0/include",
    ]
+    lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
  # Linux 86_64
  else:
    libpath = [
@@ -145,12 +145,9 @@ else:
      "/usr/lib",
      "/usr/local/lib",
    ]
-
-  rpath += [
-    Dir("#third_party/snpe/x86_64-linux-clang").abspath,
-    Dir("#cereal").abspath,
-    Dir("#common").abspath
-  ]
+    rpath += [
+      Dir("#third_party/snpe/x86_64-linux-clang").abspath,
+    ]

 if GetOption('asan'):
  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
@@ -227,7 +224,9 @@ env = Environment(
 )

 if arch == "Darwin":
-  env['RPATHPREFIX'] = "-rpath "
+  # RPATH is not supported on macOS, instead use the linker flags
+  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
+  env["LINKFLAGS"] += darwin_rpath_link_flags

 if GetOption('compile_db'):
  env.CompilationDatabase('compile_commands.json')
@@ -264,10 +263,11 @@ py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"].remove("-Werror")

 envCython["LIBS"] = []
 if arch == "Darwin":
-  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
 elif arch == "aarch64":
  envCython["LINKFLAGS"] = ["-shared"]
  envCython["LIBS"] = [os.path.basename(py_include)]
@@ -282,10 +282,7 @@ qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "

 qt_libs = []
 if arch == "Darwin":
-  if real_arch == "arm64":
-    qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
-  else:
-    qt_env['QTDIR'] = "/usr/local/opt/qt@5"
+  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
  qt_dirs = [
    os.path.join(qt_env['QTDIR'], "include"),
  ]
@@ -310,8 +307,14 @@ 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 +398,17 @@ 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 +425,16 @@ 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')
@@ -124,7 +124,6 @@ def objcopy(source, target, env, for_signature):
 git_ver = get_version(BUILDER, BUILD_TYPE)
 with open("obj/gitversion.h", "w") as f:
  f.write(f'const uint8_t gitversion[8] = "{git_ver}";\n')
-print(f"Git commit hash for gitversion.h: {git_ver}")

 certs = [get_key_header(n) for n in ["debug", "release"]]
 with open("obj/cert.h", "w") as f:
@@ -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',
 ])
@@ -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"))
@@ -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;
  }
 }

@@ -165,6 +167,8 @@ struct CarState {
  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
  brakePressed @6 :Bool;  # 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 {
@@ -622,6 +628,7 @@ struct CarParams {
    engine @4;
    unknown @5;
    transmission @8; # Transmission Control Module
+    hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
    srs @9; # airbag
    gateway @10; # can gateway
    hud @11; # heads up display
@@ -630,21 +637,19 @@ 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.
+    epb @22;  # electronic parking brake
+    telematics @23;
+    body @24;  # body control module

    # Toyota only
    dsu @6;
-    apgs @7;

    # Honda only
    vsa @13; # Vehicle Stability Assist
    programmedFuelInjection @14;

-    # Chrysler only
-    hcp @18;  # Hybrid Control Processor
-
-    # Hyundai only
-    vcu @20;  # Vehicle (Motor) Control Unit
-
    debug @17;
  }

@@ -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 {
+}
@@ -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 {
@@ -124,7 +132,6 @@ struct FrameData {
  frameIdSensor @25 :UInt32;

  frameType @7 :FrameType;
-  frameLength @3 :Int32;

  # Timestamps
  timestampEof @2 :UInt64;
@@ -139,16 +146,6 @@ 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;
@@ -169,8 +166,17 @@ struct FrameData {
    ox03c10 @2;
  }

+  frameLengthDEPRECATED @3 :Int32;
  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;
@@ -513,6 +522,10 @@ struct PandaState @0xa7649e2575e4591e {
    canfdEnabled @18 :Bool;
    brsEnabled @19 :Bool;
    canfdNonIso @20 :Bool;
+    irq0CallRate @21 :UInt32;
+    irq1CallRate @22 :UInt32;
+    irq2CallRate @23 :UInt32;
+    canCoreResetCnt @24 :UInt32;

    enum LecErrorCode {
      noError @0;
@@ -525,6 +538,13 @@ 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 +601,7 @@ struct RadarState @0x9a185389d6fdd05f {
 }

 struct LiveCalibrationData {
-  calStatus @1 :Int8;
+  calStatus @11 :Status;
  calCycle @2 :Int32;
  calPerc @3 :Int8;
  validBlocks @9 :Int32;
@@ -593,10 +613,19 @@ 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 +823,17 @@ 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;
@@ -823,20 +863,14 @@ struct ModelDataV2 {
  leadsV3 @18 :List(LeadDataV3);

  meta @12 :MetaData;
+  confidence @23: ConfidenceClass;

  # 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);
-  }
+  navEnabled @22 :Bool;
+  locationMonoTime @24 :UInt64;
+

  struct LeadDataV2 {
    prob @0 :Float32; # probability that car is your lead at time t
@@ -881,6 +915,12 @@ struct ModelDataV2 {
    steerOverrideProbDEPRECATED @4 :Float32;
  }

+  enum ConfidenceClass {
+    red @0;
+    yellow @1;
+    green @2;
+  }
+
  struct DisengagePredictions {
    t @0 :List(Float32);
    brakeDisengageProbs @1 :List(Float32);
@@ -919,13 +959,17 @@ 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 +996,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  jerks @34 :List(Float32);

  solverExecutionTime @35 :Float32;
+  personality @36 :LongitudinalPersonality;

  enum LongitudinalPlanSource {
    cruise @0;
@@ -995,6 +1040,11 @@ 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;
@@ -1016,6 +1066,13 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
  curvatureRates @28 :List(Float32);

  solverExecutionTime @30 :Float32;
+  solverCost @32 :Float32;
+  solverState @33 :SolverState;
+
+  struct SolverState {
+    x @0 :List(List(Float32));
+    u @1 :List(Float32);
+  }

  enum Desire {
    none @0;
@@ -1100,6 +1157,9 @@ struct LiveLocationKalman {
  deviceStable @22 :Bool = true;
  timeSinceReset @23 :Float64;
  excessiveResets @24 :Bool;
+  timeToFirstFix @25 :Float32;
+
+  filterState @26 : Measurement;

  enum Status {
    uninitialized @0;
@@ -1172,13 +1232,24 @@ 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;
+    gpsWeek @4 : UInt16;
+    tow @5 :Float64;
+  }
+
  struct CorrectedMeasurement {
    constellationId @0 :ConstellationId;
    svId @1 :UInt8;
@@ -1191,11 +1262,11 @@ 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 +1283,20 @@ 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 +1307,19 @@ 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 +1413,7 @@ struct UbloxGnss {

    iDot @26 :Float64;
    codesL2 @27 :Float64;
-    gpsWeek @28 :Float64;
+    gpsWeekDEPRECATED @28 :Float64;
    l2 @29 :Float64;

    svAcc @30 :Float64;
@@ -1340,6 +1431,8 @@ struct UbloxGnss {
    ionoBeta @39 :List(Float64);

    towCount @40 :UInt32;
+    toeWeek @41 :UInt16;
+    tocWeek @42 :UInt16;
  }

  struct IonoData {
@@ -1418,7 +1511,7 @@ struct UbloxGnss {
    age @17 :UInt8;

    svHealth @18 :UInt8;
-    tk @19 :UInt16;
+    tkDEPRECATED @19 :UInt16;
    tb @20 :UInt16;

    tauN @21 :Float64;
@@ -1430,7 +1523,12 @@ 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;
  }
 }

@@ -1722,6 +1820,9 @@ struct QcomGnss @0xde94674b07ae51c1 {
    elevationDot @20 :Float32;
    elevationUncertainty @21 :Float32;
    velocityCoeff @22 :List(Float64);
+
+    gpsWeek @23 :UInt16;
+    gpsTow @24 :Float64;
  }
 }

@@ -1864,7 +1965,6 @@ 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 +1972,9 @@ struct LiveParametersData {
  stiffnessFactorStd @12 :Float32;
  steerRatioStd @13 :Float32;
  roll @14 :Float32;
+  filterState @15 :LiveLocationKalman.Measurement;
+
+  yawRateDEPRECATED @7 :Float32;
 }

 struct LiveTorqueParametersData {
@@ -1919,6 +2022,8 @@ 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 {
@@ -2013,6 +2118,7 @@ struct MapRenderState {

 struct NavModelData {
  frameId @0 :UInt32;
+  locationMonoTime @6 :UInt64;
  modelExecutionTime @1 :Float32;
  dspExecutionTime @2 :Float32;
  features @3 :List(Float32);
@@ -2081,6 +2187,7 @@ 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 +2215,10 @@ struct Event {
    wideRoadEncodeIdx @77 :EncodeIndex;
    qRoadEncodeIdx @90 :EncodeIndex;

+    livestreamRoadEncodeIdx @117 :EncodeIndex;
+    livestreamWideRoadEncodeIdx @118 :EncodeIndex;
+    livestreamDriverEncodeIdx @119 :EncodeIndex;
+
    # microphone data
    microphone @103 :Microphone;

@@ -2138,6 +2249,22 @@ 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;
@@ -1,10 +1,12 @@
-# must be build with scons
-from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
+# must be built with scons
+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
+import time

-from typing import Optional, List, Union
+from typing import Optional, List, Union, Dict, Deque
 from collections import deque

 from cereal import log
@@ -12,23 +14,38 @@ 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
-SIMULATION = "SIMULATION" in os.environ

 # sec_since_boot is faster, but allow to run standalone too
 try:
  from common.realtime import sec_since_boot
 except ImportError:
-  import time
  sec_since_boot = time.time
  print("Warning, using python time.time() instead of faster sec_since_boot")

 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)
+  with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
+    return msg
+

 def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
  dat = log.Event.new_message()
@@ -41,11 +58,13 @@ 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 +94,7 @@ 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 +134,21 @@ 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 +156,7 @@ 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,
@@ -143,7 +167,7 @@ class SubMaster:
    self.rcv_frame = {s: 0 for s in services}
    self.alive = {s: False for s in services}
    self.freq_ok = {s: False for s in services}
-    self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
+    self.recv_dts: Dict[str, Deque[float]] = {s: deque(maxlen=AVG_FREQ_HISTORY) for s in services}
    self.sock = {}
    self.freq = {}
    self.data = {}
@@ -156,6 +180,7 @@ class SubMaster:

    self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
    self.ignore_alive = [] if ignore_alive is None else ignore_alive
+    self.simulation = bool(int(os.getenv("SIMULATION", "0")))

    for s in services:
      if addr is not None:
@@ -175,6 +200,10 @@ class SubMaster:
  def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
    return self.data[s]

+  def _check_avg_freq(self, s):
+    return self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
+            and (s not in self.ignore_average_freq)
+
  def update(self, timeout: int = 1000) -> None:
    msgs = []
    for sock in self.poller.poll(timeout):
@@ -195,8 +224,7 @@ class SubMaster:
      s = msg.which()
      self.updated[s] = True

-      if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
-        and (s not in self.ignore_average_freq):
+      if self._check_avg_freq(s):
        self.recv_dts[s].append(cur_time - self.rcv_time[s])

      self.rcv_time[s] = cur_time
@@ -205,11 +233,11 @@ class SubMaster:
      self.logMonoTime[s] = msg.logMonoTime
      self.valid[s] = msg.valid

-      if SIMULATION:
+      if self.simulation:
        self.freq_ok[s] = True
        self.alive[s] = True

-    if not SIMULATION:
+    if not self.simulation:
      for s in self.data:
        # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
        if self.freq[s] > 1e-5:
@@ -218,9 +246,15 @@ class SubMaster:

          # TODO: check if update frequency is high enough to not drop messages
          # freq_ok if average frequency is higher than 90% of expected frequency
-          avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY
-          expected_dt = 1 / (self.freq[s] * 0.90)
-          self.freq_ok[s] = (avg_dt < expected_dt)
+          if self._check_avg_freq(s):
+            if len(self.recv_dts[s]) > 0:
+              avg_dt = sum(self.recv_dts[s]) / len(self.recv_dts[s])
+              expected_dt = 1 / (self.freq[s] * 0.90)
+              self.freq_ok[s] = (avg_dt < expected_dt)
+            else:
+              self.freq_ok[s] = False
+          else:
+            self.freq_ok[s] = True
        else:
          self.freq_ok[s] = True
          self.alive[s] = True
@@ -247,6 +281,7 @@ 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 = {}
@@ -258,5 +293,13 @@ class PubMaster:
      dat = dat.to_bytes()
    self.sock[s].send(dat)

+  def wait_for_readers_to_update(self, s: str, timeout: int) -> bool:
+    dt = 0.05
+    for _ in range(int(timeout*(1./dt))):
+      if self.sock[s].all_readers_updated():
+        return True
+      time.sleep(dt)
+    return False
+
  def all_readers_updated(self, s: str) -> bool:
    return self.sock[s].all_readers_updated()  # type: ignore
@@ -0,0 +1,236 @@
+#include <cassert>
+#include <cstring>
+#include <cstdlib>
+#include <iostream>
+#include <string>
+#include <exception>
+#include <filesystem>
+
+#include <unistd.h>
+#include <poll.h>
+#include <signal.h>
+#include <fcntl.h>
+#include <sys/mman.h>
+#include <sys/stat.h>
+
+#include "cereal/messaging/event.h"
+
+#ifndef __APPLE__
+#include <sys/eventfd.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");
+}
+#else
+// Stub implementation for Darwin, which does not support eventfd
+void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path) {}
+
+SocketEventHandle::SocketEventHandle(std::string endpoint, std::string identifier, bool override) {
+  std::cerr << "SocketEventHandle not supported on macOS" << std::endl;
+  assert(false);
+}
+SocketEventHandle::~SocketEventHandle() {}
+bool SocketEventHandle::is_enabled() { return this->state->enabled; }
+void SocketEventHandle::set_enabled(bool enabled) {}
+Event SocketEventHandle::recv_called() { return Event(); }
+Event SocketEventHandle::recv_ready() { return Event(); }
+void SocketEventHandle::toggle_fake_events(bool enabled) {}
+void SocketEventHandle::set_fake_prefix(std::string prefix) {}
+std::string SocketEventHandle::fake_prefix() { return ""; }
+
+Event::Event(int fd): event_fd(fd) {}
+void Event::set() const {}
+int Event::clear() const { return 0; }
+void Event::wait(int timeout_sec) const {}
+bool Event::peek() const { return false; }
+bool Event::is_valid() const { return false; }
+int Event::fd() const { return this->event_fd; }
+int Event::wait_for_one(const std::vector<Event>& events, int timeout_sec) { return -1; }
+#endif
@@ -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();
+};
@@ -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;
+}
@@ -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() {};
+};
@@ -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);
-}
@@ -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
@@ -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 = f"with {endpoint.decode('utf-8')}" if endpoint else ""
+    message = f"Messaging failure {suffix}: {strerror(errno.errno).decode('utf-8')}"
+    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)
@@ -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())}
@@ -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
@@ -9,6 +9,7 @@ struct VisionIpcBufExtra {
  uint32_t frame_id;
  uint64_t timestamp_sof;
  uint64_t timestamp_eof;
+  bool valid;
 };

 struct VisionIpcPacket {
@@ -3,20 +3,26 @@

 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
+from libcpp cimport bool, int

 cdef extern from "cereal/visionipc/visionbuf.h":
+  struct _cl_mem
+  ctypedef _cl_mem * cl_mem
+
  cdef enum VisionStreamType:
    pass

  cdef cppclass VisionBuf:
    void * addr
+    bool rgb
    size_t len
    size_t width
    size_t height
    size_t stride
    size_t uv_offset
+    cl_mem buf_cl
    void set_frame_id(uint64_t id)

 cdef extern from "cereal/visionipc/visionipc.h":
@@ -24,8 +30,11 @@ cdef extern from "cereal/visionipc/visionipc.h":
    uint32_t frame_id
    uint64_t timestamp_sof
    uint64_t timestamp_eof
+    bool valid

 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)
@@ -36,7 +45,11 @@ cdef extern from "cereal/visionipc/visionipc_server.h":

 cdef extern from "cereal/visionipc/visionipc_client.h":
  cdef cppclass VisionIpcClient:
+    int num_buffers
+    VisionBuf buffers[1]
    VisionIpcClient(string, VisionStreamType, bool, void*, void*)
    VisionBuf * recv(VisionIpcBufExtra *, int)
    bool connect(bool)
    bool is_connected()
+    @staticmethod
+    set[VisionStreamType] getAvailableStreams(string, bool)
@@ -9,7 +9,13 @@
 #include "cereal/logger/logger.h"

 static int connect_to_vipc_server(const std::string &name, bool blocking) {
-  std::string path = "/tmp/visionipc_" + name;
+  char* prefix = std::getenv("OPENPILOT_PREFIX");
+  std::string path = "/tmp/";
+  if (prefix) {
+    path = path + std::string(prefix) + "_";
+  }
+  path = path + "visionipc_" + name;
+
  int socket_fd = ipc_connect(path.c_str());
  while (socket_fd < 0 && blocking) {
    std::cout << "VisionIpcClient connecting" << std::endl;
@@ -124,7 +130,7 @@ 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));
 }
@@ -0,0 +1,10 @@
+# distutils: language = c++
+#cython: language_level=3
+
+from .visionipc cimport VisionBuf as cppVisionBuf
+
+cdef class VisionBuf:
+  cdef cppVisionBuf * buf
+
+  @staticmethod
+  cdef create(cppVisionBuf*)
@@ -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
@@ -22,6 +28,38 @@ cpdef enum VisionStreamType:
  VISION_STREAM_MAP


+cdef class VisionBuf:
+  @staticmethod
+  cdef create(cppVisionBuf * cbuf):
+    buf = VisionBuf()
+    buf.buf = cbuf
+    return buf
+
+  @property
+  def data(self):
+    return np.asarray(<cnp.uint8_t[:self.buf.len]> self.buf.addr)
+
+  @property
+  def width(self):
+    return self.buf.width
+
+  @property
+  def height(self):
+    return self.buf.height
+
+  @property
+  def stride(self):
+    return self.buf.stride
+
+  @property
+  def uv_offset(self):
+    return self.buf.uv_offset
+
+  @property
+  def rgb(self):
+    return self.buf.rgb
+
+
 cdef class VisionIpcServer:
  cdef cppVisionIpcServer * server

@@ -57,43 +95,71 @@ cdef class VisionIpcServer:


 cdef class VisionIpcClient:
-  cdef cppVisionBuf * buf
  cdef cppVisionIpcClient * client
+  cdef VisionIpcBufExtra extra

  def __cinit__(self, string name, VisionStreamType stream, bool conflate):
    self.client = new cppVisionIpcClient(name, stream, conflate, NULL, NULL)
-    self.buf = NULL

  def __dealloc__(self):
    del self.client

  @property
  def width(self):
-    return None if not self.buf else self.buf.width
+    return self.client.buffers[0].width if self.client.num_buffers else None

  @property
  def height(self):
-    return None if not self.buf else self.buf.height
+    return self.client.buffers[0].height if self.client.num_buffers else None

  @property
  def stride(self):
-    return None if not self.buf else self.buf.stride
+    return self.client.buffers[0].stride if self.client.num_buffers else None

  @property
  def uv_offset(self):
-    return None if not self.buf else self.buf.uv_offset
+    return self.client.buffers[0].uv_offset if self.client.num_buffers else None
+
+  @property
+  def rgb(self):
+    return self.client.buffers[0].rgb if self.client.num_buffers else None
+
+  @property
+  def buffer_len(self):
+    return self.client.buffers[0].len if self.client.num_buffers else None
+
+  @property
+  def num_buffers(self):
+    return self.client.num_buffers
+
+  @property
+  def frame_id(self):
+    return self.extra.frame_id
+
+  @property
+  def timestamp_sof(self):
+    return self.extra.timestamp_sof
+
+  @property
+  def timestamp_eof(self):
+    return self.extra.timestamp_eof
+
+  @property
+  def valid(self):
+    return self.extra.valid

  def recv(self, int timeout_ms=100):
-    self.buf = self.client.recv(NULL, timeout_ms)
-    if not self.buf:
+    buf = self.client.recv(&self.extra, timeout_ms)
+    if not buf:
      return None
-    cdef cnp.ndarray dat = np.empty(self.buf.len, dtype=np.uint8)
-    cdef char[:] dat_view = dat
-    memcpy(&dat_view[0], self.buf.addr, self.buf.len)
-    return dat
+    return VisionBuf.create(buf)

  def connect(self, bool blocking):
    return self.client.connect(blocking)

  def is_connected(self):
    return self.client.is_connected()
+
+  @staticmethod
+  def available_streams(string name, bool block):
+    return cppVisionIpcClient.getAvailableStreams(name, block)
@@ -83,7 +83,13 @@ void VisionIpcServer::start_listener(){
 void VisionIpcServer::listener(){
  std::cout << "Starting listener for: " << name << std::endl;

-  std::string path = "/tmp/visionipc_" + name;
+  char* prefix = std::getenv("OPENPILOT_PREFIX");
+  std::string path = "/tmp/";
+  if (prefix) {
+    path = path + std::string(prefix) + "_";
+  }
+  path = path + "visionipc_" + name;
+
  int sock = ipc_bind(path.c_str());
  assert(sock >= 0);

@@ -154,6 +160,7 @@ void VisionIpcServer::listener(){

  std::cout << "Stopping listener for: " << name << std::endl;
  close(sock);
+  unlink(path.c_str());
 }


@@ -53,7 +53,7 @@ int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int p
  std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id);
  int fd = open(gpiochip_path.c_str(), O_RDONLY);
  if (fd < 0) {
-    LOGE("Error opening gpiochip0 fd")
+    LOGE("Error opening gpiochip0 fd");
    return -1;
  }

@@ -1,4 +1,5 @@
-from typing import Optional
+from functools import lru_cache
+from typing import Optional, List

 def gpio_init(pin: int, output: bool) -> None:
  try:
@@ -23,3 +24,28 @@ def gpio_read(pin: int) -> Optional[bool]:
    print(f"Failed to set gpio {pin} value: {e}")

  return val
+
+def gpio_export(pin: int) -> None:
+  try:
+    with open("/sys/class/gpio/export", 'w') as f:
+      f.write(str(pin))
+  except Exception:
+    print(f"Failed to export gpio {pin}")
+
+@lru_cache(maxsize=None)
+def get_irq_action(irq: int) -> List[str]:
+  try:
+    with open(f"/sys/kernel/irq/{irq}/actions") as f:
+      actions = f.read().strip().split(',')
+      return actions
+  except FileNotFoundError:
+    return []
+
+def get_irqs_for_action(action: str) -> List[str]:
+  ret = []
+  with open("/proc/interrupts") as f:
+    for l in f.readlines():
+      irq = l.split(':')[0].strip()
+      if irq.isdigit() and action in get_irq_action(irq):
+        ret.append(irq)
+  return ret
@@ -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>
@@ -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)
@@ -10,6 +10,9 @@ const int LON_MPC_N = 32;
 const float MIN_DRAW_DISTANCE = 10.0;
 const float MAX_DRAW_DISTANCE = 100.0;

+const float RYG_GREEN = 0.01165;
+const float RYG_YELLOW = 0.06157;
+
 template <typename T, size_t size>
 constexpr std::array<T, size> build_idxs(float max_val) {
  std::array<T, size> result{};
@@ -24,23 +27,12 @@ constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
 constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
 constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);

-const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
+const mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
                                           0.0, 2648.0, 1208.0 / 2,
                                           0.0, 0.0, 1.0}};

 // tici ecam focal probably wrong? magnification is not consistent across frame
 // Need to retrain model before this can be changed
-const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
+const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
                                           0.0, 567.0, 1208.0 / 2,
                                           0.0, 0.0, 1.0}};
-
-static inline mat3 get_model_yuv_transform() {
-  float db_s = 1.0;
-  const mat3 transform = (mat3){{
-    1.0, 0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0, 0.0, 1.0
-  }};
-  // Can this be removed since scale is 1?
-  return transform_scale_buffer(transform, db_s);
-}
@@ -85,6 +85,9 @@ private:

 std::unordered_map<std::string, uint32_t> keys = {
    {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"ApiCache_Device", PERSISTENT},
+    {"ApiCache_DriveStats", PERSISTENT},
+    {"ApiCache_NavDestinations", PERSISTENT},
    {"AssistNowToken", PERSISTENT},
    {"AthenadPid", PERSISTENT},
    {"AthenadUploadQueue", PERSISTENT},
@@ -92,27 +95,28 @@ 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},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT},
    {"DisableUpdates", PERSISTENT},
    {"DisengageOnAccelerator", PERSISTENT},
+    {"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
    {"DongleId", PERSISTENT},
    {"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},
+    {"ExperimentalLongitudinalEnabled", PERSISTENT},
+    {"ExperimentalMode", PERSISTENT},
+    {"ExperimentalModeConfirmed", PERSISTENT},
+    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ForcePowerDown", PERSISTENT},
    {"GitBranch", PERSISTENT},
    {"GitCommit", PERSISTENT},
    {"GitDiff", PERSISTENT},
@@ -133,16 +137,17 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"IsOffroad", CLEAR_ON_MANAGER_START},
    {"IsOnroad", PERSISTENT},
    {"IsRhdDetected", PERSISTENT},
+    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
    {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
    {"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},
    {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
+    {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
    {"LastSystemShutdown", CLEAR_ON_MANAGER_START},
    {"LastUpdateException", CLEAR_ON_MANAGER_START},
@@ -150,57 +155,57 @@ 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},
-    {"NavSettingTime24h", PERSISTENT},
+    {"LongitudinalPersonality", PERSISTENT},
+    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"NavSettingLeftSide", PERSISTENT},
+    {"NavSettingTime24h", 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},
+    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
+    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
+    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
+    {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
+    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
+    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_Recalibration", 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},
    {"OpenpilotEnabledToggle", PERSISTENT},
-    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"PandaLogState", PERSISTENT},
    {"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},
-    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
    {"UpdaterAvailableBranches", CLEAR_ON_MANAGER_START},
    {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
    {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
+    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
    {"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
    {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
+    {"UpdaterState", CLEAR_ON_MANAGER_START},
+    {"UpdaterTargetBranch", 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_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_StorageMissing", CLEAR_ON_MANAGER_START},
-    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
-    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
-    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
+    {"WheeledBody", PERSISTENT},
 };

 } // namespace
@@ -304,14 +309,19 @@ 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());
@@ -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
 };
@@ -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":
@@ -5,6 +5,7 @@
 #include "common/statlog.h"
 #include "common/util.h"

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

 #include <cassert>
+#include <cstdarg>
 #include <cstring>
 #include <limits>
 #include <mutex>
@@ -134,4 +135,3 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun
  cloudlog_t_common(levelnum, filename, lineno, func, frame_id, fmt, args);
  va_end(args);
 }
-
@@ -21,11 +21,11 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun

 #define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
                                           __func__, \
-                                           fmt, ## __VA_ARGS__);
- 
+                                           fmt, ## __VA_ARGS__)
+
 #define cloudlog_t(lvl, ...) cloudlog_te(lvl, __FILE__, __LINE__, \
                                          __func__, \
-                                          __VA_ARGS__);
+                                          __VA_ARGS__)


 #define cloudlog_rl(burst, millis, lvl, fmt, ...)   \
@@ -0,0 +1,6 @@
+import datetime
+
+MIN_DATE = datetime.datetime(year=2023, month=6, day=1)
+
+def system_time_valid():
+  return datetime.datetime.now() > MIN_DATE
@@ -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
@@ -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);
@@ -1 +1 @@
-#define COMMA_VERSION "0.9.1"
+#define COMMA_VERSION "0.9.4"
@@ -2,261 +2,282 @@

 # 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
+# 255 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>1,12</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>1,12</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>1,12</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>1,12</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>1,12</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>1,12</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>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>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>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>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>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>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)|0 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>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>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|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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=Focus 2018">Buy Here</a></sub></details>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>6</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>6</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>6</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>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>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)|0 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>5</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>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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 2021-23|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 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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 2020-23|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 Hybrid 2020-23">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>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>6</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>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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|Carnival 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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=Carnival 2023">Buy Here</a></sub></details>||
+|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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=Carnival (China only) 2023">Buy Here</a></sub></details>||
+|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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 2020-22|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 Hybrid 2020-22">Buy Here</a></sub></details>||
+|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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 2019-23">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>1,12</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>1,12</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>1,12</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>1,12</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[<sup>7</sup>](#footnotes)|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[<sup>7</sup>](#footnotes)|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[<sup>7</sup>](#footnotes)|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[<sup>7</sup>](#footnotes)|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[<sup>7</sup>](#footnotes)|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[<sup>7</sup>](#footnotes)|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[<sup>7</sup>](#footnotes)|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[<sup>7</sup>](#footnotes)|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[<sup>7</sup>](#footnotes)|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[<sup>7</sup>](#footnotes)|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>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>13</sup>](#footnotes)||
+|Škoda|Kamiq 2021[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>13</sup>](#footnotes)||
+|Škoda|Karoq 2019-21[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>8</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>8</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 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>1,12</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>1,12</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>1,12</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>1,12</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>1,12</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>1,12</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>1,12</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>1,12</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>1,12</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>1,12</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>1,12</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>1,12</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>1,12</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>1,12</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>1,12</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>1,12</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>1,12</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>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>1,12</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>1,12</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>1,12</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>13</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>13</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>13</sup>](#footnotes)||
+|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>13</sup>](#footnotes)||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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>1,12</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>1,12</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>1,12</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>1,12</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>1,12</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 />
-<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. All the hardware needed is sold in the <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD kit</a>. <br />
-<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>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
+<sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>6</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. All the hardware needed is sold in the <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD kit</a>. <br />
+<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>8</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>9</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>10</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality. <br />
+<sup>12</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>13</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />

 ## 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 +296,7 @@ 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. |
@@ -1,2 +1,9 @@
+import logging
+import os
+
 from .astro_dog import AstroDog
-assert AstroDog
+assert AstroDog is not None
+
+# setup logging
+LOGLEVEL = os.environ.get('LOGLEVEL', 'INFO').upper()
+logging.basicConfig(level=LOGLEVEL, format='%(message)s')
@@ -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
@@ -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)
@@ -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
@@ -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);
+}
@@ -1,4 +1,3 @@
-import json
 import warnings
 from abc import ABC, abstractmethod
 from collections import defaultdict
@@ -7,14 +6,20 @@ 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
 from .constants import SPEED_OF_LIGHT, SECS_IN_MIN, SECS_IN_HR, SECS_IN_DAY, \
-                       SECS_IN_WEEK, EARTH_ROTATION_RATE, EARTH_GM
+                       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:
@@ -269,11 +154,11 @@ class GLONASSEphemeris(Ephemeris):

 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,
+               file_epoch: Optional[GPSTime] = None, file_name: Optional[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
@@ -550,41 +442,49 @@ 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


-def parse_qcom_ephem(qcom_poly, current_week):
+def parse_qcom_ephem(qcom_poly):
  svId = qcom_poly.svId
-  data = qcom_poly
-  t0 = data.t0
-  # fix glonass time
  prn = get_prn_from_nmea_id(svId)
-  if prn == 'GLONASS':
-    # TODO should handle leap seconds better
-    epoch = GPSTime(current_week, (t0 + 3*SECS_IN_WEEK) % (SECS_IN_WEEK) + 18)
-  else:
-    epoch = GPSTime(current_week, t0)
+  epoch = GPSTime(qcom_poly.gpsWeek, qcom_poly.gpsTow)
+
+  data = qcom_poly
  poly_data = {}
  poly_data['t0'] = epoch
  poly_data['xyz'] = np.array([
@@ -595,4 +495,4 @@ 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')
@@ -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()

@@ -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):
@@ -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
@@ -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)
@@ -54,7 +54,7 @@ class GNSSMeasurement:
  SAT_VEL = slice(11, 14)

  def __init__(self, constellation_id: ConstellationId, sv_id: int, recv_time_week: int, recv_time_sec: float, observables: Dict[str, float], observables_std: Dict[str, float],
-               glonass_freq: Union[int, float] = None):
+               glonass_freq: Union[int, float, None] = None):
    # Metadata
    # prn: unique satellite id
    self.prn = "%s%02d" % (constellation_id.to_rinex_char(), sv_id)  # satellite ID in rinex convention
@@ -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,
@@ -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)
@@ -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="8.2"
 fi

 if [ -z "$PASSIVE" ]; then
@@ -9,6 +9,7 @@
 .sconsign.dblite

 can/*.so
+can/*.a
 can/build/
 can/obj/
 can/packer_pyx.cpp
@@ -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
@@ -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
@@ -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
@@ -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()
@@ -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 {
@@ -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]&)
@@ -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();
@@ -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);
@@ -1,8 +1,9 @@
-#include <cassert>
-#include <utility>
 #include <algorithm>
-#include <map>
+#include <cassert>
 #include <cmath>
+#include <map>
+#include <stdexcept>
+#include <utility>

 #include "opendbc/can/common.h"

@@ -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
@@ -16,8 +14,7 @@ cdef class CANPacker:
  cdef:
    cpp_CANPacker *packer
    const DBC *dbc
-    map[string, (int, int)] name_to_address_and_size
-    map[int, int] address_to_size
+    map[string, int] name_to_address

  def __init__(self, dbc_name):
    self.dbc = dbc_lookup(dbc_name)
@@ -27,8 +24,7 @@ cdef class CANPacker:
    self.packer = new cpp_CANPacker(dbc_name)
    for i in range(self.dbc[0].msgs.size()):
      msg = self.dbc[0].msgs[i]
-      self.name_to_address_and_size[string(msg.name)] = (msg.address, msg.size)
-      self.address_to_size[msg.address] = msg.size
+      self.name_to_address[string(msg.name)] = msg.address

  cdef vector[uint8_t] pack(self, addr, values):
    cdef vector[SignalPackValue] values_thing
@@ -36,19 +32,18 @@ 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)

    return self.packer.pack(addr, values_thing)

  cpdef make_can_msg(self, name_or_addr, bus, values):
-    cdef int addr, size
+    cdef int addr
    if type(name_or_addr) == int:
      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 = self.name_to_address[name_or_addr.encode("utf8")]

    cdef vector[uint8_t] val = self.pack(addr, values)
-    return [addr, 0, (<char *>&val[0])[:size], bus]
+    return [addr, 0, (<char *>&val[0])[:val.size()], bus]
@@ -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;
 }
@@ -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

@@ -42,16 +41,21 @@ cdef class CANParser:
    self.vl_all = {}
    self.ts_nanos = {}
    msg_name_to_address = {}
+    msg_address_to_signals = {}

    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
+      msg_address_to_signals[msg.address] = set()
+      for sig in msg.sigs:
+        msg_address_to_signals[msg.address].add(sig.name.decode("utf8"))
+
      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]
@@ -59,19 +63,20 @@ cdef class CANParser:
    # Convert message names into addresses
    for i in range(len(signals)):
      s = signals[i]
-      if not isinstance(s[1], numbers.Number):
-        if name 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}")
-        s = (s[0], msg_name_to_address[s[1]])
-        signals[i] = s
+      address = s[1] if isinstance(s[1], numbers.Number) else msg_name_to_address.get(s[1])
+      if address not in msg_address_to_signals:
+        raise RuntimeError(f"could not find message {repr(s[1])} in DBC {self.dbc_name}")
+      if s[0] not in msg_address_to_signals[address]:
+        raise RuntimeError(f"could not find signal {repr(s[0])} in {repr(s[1])}, DBC {self.dbc_name}")
+
+      signals[i] = (s[0], address)

    for i in range(len(checks)):
      c = checks[i]
      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 +85,7 @@ 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 +106,29 @@ 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 +158,7 @@ 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 +167,8 @@ 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]

@@ -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
@@ -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
@@ -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" ;
@@ -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
@@ -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
@@ -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
@@ -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

@@ -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

@@ -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
@@ -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
@@ -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
@@ -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
@@ -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";
@@ -698,6 +698,7 @@ BO_ 1365 FPCM11: 8 FPCM

 BO_ 871 LVR12: 8 LVR
 SG_ CF_Lvr_CruiseSet : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,TCU
+ SG_ CF_Lvr_IsgState : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,TCU
 SG_ CF_Lvr_Gear : 32|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,TCU

 BO_ 872 LVR11: 8 LVR
@@ -1639,11 +1640,15 @@ BO_ 1042 ICM_412h: 8 ICM

 BO_ 1348 Navi_HU: 8 XXX
 SG_ SpeedLim_Nav_Clu : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SpeedLim_Nav_General : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ SpeedLim_Nav_Cam : 30|1@0+ (1,0) [0|1] "" XXX

 CM_ "BO_ E_EMS11: All (plug-in) hybrids use this gas signal: CR_Vcu_AccPedDep_Pos, and all EVs use the Accel_Pedal_Pos signal. See hyundai/values.py for a specific car list";
+CM_ SG_ 871 CF_Lvr_IsgState "Idle Stop and Go";
 CM_ SG_ 1348 SpeedLim_Nav_Clu "Speed limit displayed on Nav, Cluster and HUD";

 VAL_ 274 CUR_GR 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 7 "D" 8 "D" 14 "R" 0 "P";
+VAL_ 871 CF_Lvr_IsgState 0 "enabled" 1 "activated" 2 "unknown" 3 "disabled";
 VAL_ 871 CF_Lvr_Gear 12 "T" 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
 VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
 VAL_ 905 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled";
@@ -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"
@@ -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" ;
@@ -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" ;
@@ -87,10 +87,14 @@ BO_ 314 Wheel_Speeds: 8 XXX
 SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
 SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX

-BO_ 280 STOP_START: 8 XXX
+BO_ 280 Steering_Torque_2: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ State : 63|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Output : 13|11@1- (-10,0) [0|255] "" XXX
+ SG_ Signal1 : 24|8@1+ (1,0) [0|511] "" XXX
+ SG_ Steer_Torque_Sensor : 45|11@1- (-1,0) [0|255] "" XXX
+ SG_ Steering_Active : 61|1@0+ (1,0) [0|1] "" XXX
+ SG_ Steering_Disabled : 63|1@1+ (1,0) [0|1] "" XXX

 BO_ 281 Steering_Torque: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -102,6 +106,11 @@ BO_ 281 Steering_Torque: 8 XXX
 SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X
 SG_ Steer_Torque_Output : 48|11@1- (-10,0) [-1000|1000] "" XXX

+BO_ 282 Steering_2: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX
+ SG_ Steering_Angle : 24|17@1- (-0.01,0) [0|1] "" XXX
+
 BO_ 312 Brake_Pressure_L_R: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
@@ -131,12 +140,19 @@ BO_ 290 ES_LKAS: 8 XXX
 SG_ LKAS_Output : 16|13@1- (-1,0) [-8191|8191] "" XXX
 SG_ LKAS_Request : 29|1@0+ (1,0) [0|1] "" XXX

+BO_ 292 ES_LKAS_ALT: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Request : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Output : 40|17@1- (-1,0) [0|1] "" XXX
+ SG_ SET_3 : 60|2@1+ (1,0) [0|1] "" XXX
+
 BO_ 544 ES_Brake: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
 SG_ Brake_Pressure : 16|16@1+ (1,0) [0|65535] "" XXX
- SG_ Signal2 : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ AEB_Status : 32|4@1+ (1,0) [0|15] "" XXX
 SG_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX
@@ -244,6 +260,9 @@ BO_ 1677 Dash_State: 8 XXX
 CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
 CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on";
 CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights";
+CM_ SG_ 544 Brake_Pressure "Winds down after cruise disabled. Also can be non-zero when likely preparing for AEB";
+CM_ SG_ 544 Signal3 "Usually goes to 2 if AEB_Status is 4";
+CM_ SG_ 544 AEB_Status "Occasionally is 4 instead of 8 while Brake_Pressure is non-zero, unsure why";
 CM_ SG_ 801 PCB_Off "Pre-Collision Braking off";
 CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on";
 CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
@@ -260,6 +279,7 @@ CM_ SG_ 802 LKAS_Dash_State "0 = Off, 1 = Ready, 2 = Active";
 CM_ SG_ 802 LKAS_Right_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange";
 CM_ SG_ 912 UNITS "0 = Metric, 1 = Imperial";
 CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF";
+VAL_ 544 AEB_Status 12 "AEB related" 8 "AEB actuation" 4 "AEB related" 0 "No AEB actuation";

 CM_ "subaru_global_2017.dbc starts here";

@@ -316,10 +336,22 @@ 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 ES_Infotainment: 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";
@@ -83,7 +83,7 @@ BU_: XXX DSU HCU EPS IPAS CGW BGM
 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
 SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX
- SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_X : 17|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
 SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
@@ -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
@@ -279,7 +286,7 @@ BO_ 1042 LKAS_HUD: 8 DSU
 SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX
 SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX
 SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX
- SG_ LDA_SPEED_TOO_LOW : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MESSAGES : 23|3@0+ (1,0) [0|1] "" XXX
 SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX
 SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
 SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX
@@ -303,6 +310,11 @@ BO_ 1043 TIME : 8 CGW
 SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
 SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX

+BO_ 1044 AUTO_HIGH_BEAM: 8 FCM
+ SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX
+ SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX
+
 BO_ 1083 AUTOPARK_STATUS: 8 IPAS
 SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX

@@ -416,6 +428,8 @@ 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 +454,7 @@ 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";
@@ -448,13 +462,18 @@ 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";
 CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message";
 CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning";
 CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1";
-CM_ SG_ 1042 LDA_SPEED_TOO_LOW "length is 3 bits in the leaked DBC, displays LDA unavailable below approx 50 km/h if set to 1";
+CM_ SG_ 1042 LDA_MESSAGES "Various LDA Messages";
 CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1";
 CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning";
 CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch";
@@ -518,7 +537,7 @@ VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
 VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear";
 VAL_ 1042 LDA_SA_TOGGLE  2 "steering assist off" 1 "steering assist on";
 VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined";
-VAL_ 1042 LDA_SPEED_TOO_LOW 1 "lda unavailable, speed too low" 0 "ok";
+VAL_ 1042 LDA_MESSAGES 4 "lda unavailable at this speed" 1 "lda unavailable below approx 50km/h" 0 "ok";
 VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok";
 VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok";
 VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok";
@@ -547,6 +566,9 @@ 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";
@@ -83,7 +83,7 @@ BU_: XXX DSU HCU EPS IPAS CGW BGM
 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
 SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX
- SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_X : 17|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
 SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
@@ -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
@@ -279,7 +286,7 @@ BO_ 1042 LKAS_HUD: 8 DSU
 SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX
 SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX
 SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX
- SG_ LDA_SPEED_TOO_LOW : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MESSAGES : 23|3@0+ (1,0) [0|1] "" XXX
 SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX
 SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
 SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX
@@ -303,6 +310,11 @@ BO_ 1043 TIME : 8 CGW
 SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
 SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX

+BO_ 1044 AUTO_HIGH_BEAM: 8 FCM
+ SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX
+ SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX
+
 BO_ 1083 AUTOPARK_STATUS: 8 IPAS
 SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX

@@ -416,6 +428,8 @@ 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 +454,7 @@ 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";
@@ -448,13 +462,18 @@ 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";
 CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message";
 CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning";
 CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1";
-CM_ SG_ 1042 LDA_SPEED_TOO_LOW "length is 3 bits in the leaked DBC, displays LDA unavailable below approx 50 km/h if set to 1";
+CM_ SG_ 1042 LDA_MESSAGES "Various LDA Messages";
 CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1";
 CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning";
 CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch";
@@ -518,7 +537,7 @@ VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
 VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear";
 VAL_ 1042 LDA_SA_TOGGLE  2 "steering assist off" 1 "steering assist on";
 VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined";
-VAL_ 1042 LDA_SPEED_TOO_LOW 1 "lda unavailable, speed too low" 0 "ok";
+VAL_ 1042 LDA_MESSAGES 4 "lda unavailable at this speed" 1 "lda unavailable below approx 50km/h" 0 "ok";
 VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok";
 VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok";
 VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok";
@@ -546,7 +565,7 @@ BO_ 401 STEERING_LTA: 8 XXX
 SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
 SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX
 SG_ LKA_ACTIVE : 26|1@0+ (1,0) [0|1] "" XXX
- SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ CLEAR_HOLD_STEERING_ALERT : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
 SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
@@ -563,6 +582,16 @@ BO_ 610 EPS_STATUS: 8 EPS
 SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 881 LTA_RELATED: 8 FCM
+ SG_ GAS_PEDAL : 15|8@0+ (0.005,0) [0|1] "" XXX
+ SG_ STEER_ANGLE : 23|16@0- (0.0573,0) [-500|500] "" XXX
+ SG_ TURN_SIGNALS : 35|2@0+ (1,0) [0|3] "" XXX
+ SG_ UNKNOWN_2 : 58|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_SA_TOGGLE : 59|1@0+ (1,0) [0|1] "" XXX
+ SG_ LTA_STEER_REQUEST : 60|1@0+ (1,0) [0|1] "" XXX
+ SG_ UNKNOWN : 61|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEERING_PRESSED : 63|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 1014 BSM: 8 XXX
 SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
@@ -575,13 +604,22 @@ CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeri
 CM_ SG_ 401 SETME_X64 "ramps to 0 smoothly then back on falling edge of STEER_REQUEST if BIT isn't 1";
 CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera";
 CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out";
-CM_ SG_ 401 BIT "has correlation to STEER_REQUEST";
+CM_ SG_ 401 CLEAR_HOLD_STEERING_ALERT "set to 1 when user clears LKAS_HUD->LDA_ALERT ('Hold Steering') by applying torque to steering wheel";
 CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not";
 CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not";
 CM_ SG_ 401 LKA_ACTIVE "1 when using LTA for LKA";
+CM_ SG_ 401 SETME_X1 "usually 1, seen at 0 on some South American Corollas indicating lack of stock Lane Tracing Assist";
+CM_ SG_ 401 SETME_X3 "almost completely correlates with Toyota Safety Sense version, but may instead describe max torque when using LTA. if TSS 2.5 or 2022 RAV4, this is always 1. if TSS 2.0 this is always 3 (or 0 on Alphard, Highlander, NX)";
 CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 550 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";
+CM_ SG_ 881 GAS_PEDAL "not set on all cars, only seen on TSS 2.5 Camry Hybrid so far";
+CM_ SG_ 881 STEER_ANGLE "matches STEER_TORQUE_SENSOR->STEER_ANGLE";
+CM_ SG_ 881 TURN_SIGNALS "flipped on some cars";
+CM_ SG_ 881 LDA_SA_TOGGLE "not applicable for all cars";
+CM_ SG_ 881 LTA_STEER_REQUEST "only applicable for TSS 2.5: matches STEERING_LTA->STEER_REQUEST";
+CM_ SG_ 881 UNKNOWN "related to steering wheel angle";
+CM_ SG_ 881 STEERING_PRESSED "only applicable for TSS 2.5: low sensitivity steering wheel pressed by driver signal";
 CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
 CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
 CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
@@ -589,6 +627,7 @@ CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled
 CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
 CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";

+VAL_ 401 SETME_X3 3 "TSS 2.0" 1 "TSS 2.5 or 2022 RAV4" 0 "TSS 2.0 on Alphard, Highlander, NX";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 11 "lka_missing_unavailable2" 9 "temporary_fault2" 5 "active" 3 "lka_missing_unavailable" 1 "standby";
 VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 3 "lta_missing_unavailable" 1 "standby";
@@ -83,7 +83,7 @@ BU_: XXX DSU HCU EPS IPAS CGW BGM
 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
 SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX
- SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_X : 17|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
 SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
@@ -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
@@ -279,7 +286,7 @@ BO_ 1042 LKAS_HUD: 8 DSU
 SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX
 SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX
 SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX
- SG_ LDA_SPEED_TOO_LOW : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MESSAGES : 23|3@0+ (1,0) [0|1] "" XXX
 SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX
 SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
 SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX
@@ -303,6 +310,11 @@ BO_ 1043 TIME : 8 CGW
 SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
 SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX

+BO_ 1044 AUTO_HIGH_BEAM: 8 FCM
+ SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX
+ SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX
+
 BO_ 1083 AUTOPARK_STATUS: 8 IPAS
 SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX

@@ -416,6 +428,8 @@ 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 +454,7 @@ 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";
@@ -448,13 +462,18 @@ 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";
 CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message";
 CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning";
 CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1";
-CM_ SG_ 1042 LDA_SPEED_TOO_LOW "length is 3 bits in the leaked DBC, displays LDA unavailable below approx 50 km/h if set to 1";
+CM_ SG_ 1042 LDA_MESSAGES "Various LDA Messages";
 CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1";
 CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning";
 CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch";
@@ -518,7 +537,7 @@ VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
 VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear";
 VAL_ 1042 LDA_SA_TOGGLE  2 "steering assist off" 1 "steering assist on";
 VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined";
-VAL_ 1042 LDA_SPEED_TOO_LOW 1 "lda unavailable, speed too low" 0 "ok";
+VAL_ 1042 LDA_MESSAGES 4 "lda unavailable at this speed" 1 "lda unavailable below approx 50km/h" 0 "ok";
 VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok";
 VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok";
 VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok";
@@ -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";
@@ -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" ;
@@ -1,3 +1,4 @@
+*.tmp
 *.pyc
 .*.swp
 .*.swo
@@ -1,5 +1,6 @@
-from .python.constants import McuType, BASEDIR  # noqa: F401
+from .python.constants import McuType, BASEDIR, FW_PATH, USBPACKET_MAX_SIZE  # noqa: F401
+from .python.spi import PandaSpiException, PandaProtocolMismatch  # noqa: F401
 from .python.serial import PandaSerial  # noqa: F401
 from .python import (Panda, PandaDFU, # noqa: F401
-                     pack_can_buffer, unpack_can_buffer, calculate_checksum,
-                     DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, USBPACKET_MAX_SIZE, CANPACKET_HEAD_SIZE)
+                     pack_can_buffer, unpack_can_buffer, calculate_checksum, unpack_log,
+                     DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, CANPACKET_HEAD_SIZE)
@@ -4,19 +4,17 @@ Programming
 **Panda**

 ```
-./recover.sh           # flash bootstub
-```
-
-```
-./flash.sh           # flash application
+./flash.py        # flash application
+./recover.py      # flash bootstub
 ```

 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.


-[dfu-util](http://github.com/dsigma/dfu-util.git) for flashing
+If your device has an internal panda and none of the above works, try running `../tests/reflash_internal_panda.py`.
@@ -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)
@@ -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
-};
+};
@@ -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 bool (*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;
@@ -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 +53,11 @@ 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
+bool dos_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
+  bool ret = false;
+  if ((ignition && !usb_enum) || harness_inserted) {
+    // enable bootkick if ignition seen or if plugged into a harness
+    ret = true;
    dos_set_bootkick(true);
  } else if (heartbeat_seen) {
    // disable once openpilot is up
@@ -63,13 +65,14 @@ void dos_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen) {
  } else {

  }
+  return ret;
 }

 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 +143,8 @@ 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 +180,7 @@ 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 +218,9 @@ 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,
@@ -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,
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Vehicle Researcher	829e3c9672	openpilot v0.9.4 release date: 2023-07-27T18:38:32 master commit: fa310d9e2542cf497d92f007baec8fd751ffa99c	2023-07-27 18:38:33 +00:00
Vehicle Researcher	c39abc00af	openpilot v0.9.3 release date: 2023-06-16T05:25:00 master commit: 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2	2023-06-30 15:42:10 -07:00
Vehicle Researcher	cfd8323ccb	openpilot v0.9.2 release date: 2023-05-18T22:02:42 master commit: c7d3b28b93faa6c955fb24bc64031512ee985ee9	2023-05-23 22:20:03 -07:00