openpilot v0.9.4 release

date: 2023-07-27T18:38:32
master commit: fa310d9e2542cf497d92f007baec8fd751ffa99c

.gitignore

@@ -45,7 +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/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld

Jenkinsfile

@@ -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 +19,20 @@ 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
@@ -128,17 +143,41 @@ 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 python selfdrive/boardd/tests/test_boardd_loopback.py"],
-              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
-              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
-              ["test camerad", "python system/camerad/test/test_camerad.py"],
-              ["test exposure", "python system/camerad/test/test_exposure.py"],
-              ["test amp", "python system/hardware/tici/tests/test_amplifier.py"],
+              ["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"],
             ])
           }
         }
@@ -154,7 +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"],
             ])
           }
         }
@@ -164,7 +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"],
             ])
           }
         }
@@ -174,12 +213,13 @@ pipeline {
           steps {
             phone_steps("tici-common", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test power draw", "python system/hardware/tici/tests/test_power_draw.py"],
-              ["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
-              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
-              ["test pigeond", "python system/sensord/tests/test_pigeond.py"],
-              ["test manager", "python selfdrive/manager/test/test_manager.py"],
-              ["test pandad", "python selfdrive/boardd/tests/test_pandad.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/"],
             ])
           }
         }
@@ -189,13 +229,13 @@ pipeline {
           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"],
             ])
             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"],
             ])
           }
         }
@@ -205,11 +245,11 @@ pipeline {
           steps {
             phone_steps("tici-lsmc", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/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 system/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
             ])
           }
         }
@@ -217,9 +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"],
             ])
           }
         }

RELEASES.md

@@ -1,3 +1,31 @@
+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

SConstruct

@@ -67,17 +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"
 }
@@ -110,26 +110,21 @@ 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@3.0/lib",
-      f"{brew_prefix}/Cellar",
       "/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"]
@@ -137,6 +132,7 @@ else:
       f"{brew_prefix}/include",
       f"{brew_prefix}/opt/openssl@3.0/include",
     ]
+    lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
   # Linux 86_64
   else:
     libpath = [
@@ -149,12 +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"]
@@ -231,7 +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')
@@ -268,10 +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)]
@@ -286,10 +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"),
   ]

body/board/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:

cereal/SConscript

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

cereal/__init__.py

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

cereal/car.capnp

@@ -23,7 +23,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
   enum EventName @0xbaa8c5d505f727de {
     canError @0;
     steerUnavailable @1;
-    brakeUnavailable @2;
     wrongGear @4;
     doorOpen @5;
     seatbeltNotLatched @6;
@@ -140,6 +139,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startupOneplusDEPRECATED @82;
     startupFuzzyFingerprintDEPRECATED @97;
     noTargetDEPRECATED @25;
+    brakeUnavailableDEPRECATED @2;
   }
 }
 
@@ -167,6 +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
@@ -187,6 +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;
@@ -625,6 +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
@@ -635,6 +639,9 @@ struct CarParams {
     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;
@@ -643,11 +650,7 @@ struct CarParams {
     vsa @13; # Vehicle Stability Assist
     programmedFuelInjection @14;
 
-    # Chrysler only
-    hcp @18;  # Hybrid Control Processor
-
     debug @17;
-    unused @22;
   }
 
   enum FingerprintSource {

cereal/custom.capnp

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

cereal/log.capnp

@@ -3,6 +3,7 @@ $Cxx.namespace("cereal");
 
 using Car = import "car.capnp";
 using Legacy = import "legacy.capnp";
+using Custom = import "custom.capnp";
 
 @0xf3b1f17e25a4285b;
 
@@ -16,6 +17,12 @@ struct Map(Key, Value) {
   }
 }
 
+enum LongitudinalPersonality {
+  aggressive @0;
+  standard @1;
+  relaxed @2;
+}
+
 struct InitData {
   kernelArgs @0 :List(Text);
   kernelVersion @15 :Text;
@@ -125,7 +132,6 @@ struct FrameData {
   frameIdSensor @25 :UInt32;
 
   frameType @7 :FrameType;
-  frameLength @3 :Int32;
 
   # Timestamps
   timestampEof @2 :UInt64;
@@ -160,6 +166,7 @@ struct FrameData {
     ox03c10 @2;
   }
 
+  frameLengthDEPRECATED @3 :Int32;
   globalGainDEPRECATED @5 :Int32;
   androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
   lensPosDEPRECATED @11 :Int32;
@@ -326,6 +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;
 
@@ -514,6 +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;
@@ -601,12 +613,13 @@ 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;
@@ -850,10 +863,14 @@ struct ModelDataV2 {
   leadsV3 @18 :List(LeadDataV3);
 
   meta @12 :MetaData;
+  confidence @23: ConfidenceClass;
 
   # Model perceived motion
   temporalPose @21 :Pose;
 
+  navEnabled @22 :Bool;
+  locationMonoTime @24 :UInt64;
+
 
   struct LeadDataV2 {
     prob @0 :Float32; # probability that car is your lead at time t
@@ -898,6 +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);
@@ -936,13 +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;
+
   }
 }
 
@@ -969,6 +996,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   jerks @34 :List(Float32);
 
   solverExecutionTime @35 :Float32;
+  personality @36 :LongitudinalPersonality;
 
   enum LongitudinalPlanSource {
     cruise @0;
@@ -1038,6 +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;
@@ -1124,6 +1159,8 @@ struct LiveLocationKalman {
   excessiveResets @24 :Bool;
   timeToFirstFix @25 :Float32;
 
+  filterState @26 : Measurement;
+
   enum Status {
     uninitialized @0;
     uncalibrated @1;
@@ -1209,6 +1246,8 @@ struct GnssMeasurements {
     svId @1 :UInt8;
     type @2 :EphemerisType;
     source @3 :EphemerisSource;
+    gpsWeek @4 : UInt16;
+    tow @5 :Float64;
   }
 
   struct CorrectedMeasurement {
@@ -1781,6 +1820,9 @@ struct QcomGnss @0xde94674b07ae51c1 {
     elevationDot @20 :Float32;
     elevationUncertainty @21 :Float32;
     velocityCoeff @22 :List(Float64);
+
+    gpsWeek @23 :UInt16;
+    gpsTow @24 :Float64;
   }
 }
 
@@ -1930,6 +1972,7 @@ struct LiveParametersData {
   stiffnessFactorStd @12 :Float32;
   steerRatioStd @13 :Float32;
   roll @14 :Float32;
+  filterState @15 :LiveLocationKalman.Measurement;
 
   yawRateDEPRECATED @7 :Float32;
 }
@@ -1979,6 +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 {
@@ -2073,6 +2118,7 @@ struct MapRenderState {
 
 struct NavModelData {
   frameId @0 :UInt32;
+  locationMonoTime @6 :UInt64;
   modelExecutionTime @1 :Float32;
   dspExecutionTime @2 :Float32;
   features @3 :List(Float32);
@@ -2169,6 +2215,10 @@ struct Event {
     wideRoadEncodeIdx @77 :EncodeIndex;
     qRoadEncodeIdx @90 :EncodeIndex;
 
+    livestreamRoadEncodeIdx @117 :EncodeIndex;
+    livestreamWideRoadEncodeIdx @118 :EncodeIndex;
+    livestreamDriverEncodeIdx @119 :EncodeIndex;
+
     # microphone data
     microphone @103 :Microphone;
 
@@ -2199,6 +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;

cereal/messaging/__init__.py

@@ -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

cereal/messaging/event.cc

@@ -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

cereal/messaging/event.h

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

cereal/messaging/impl_fake.cc

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

cereal/messaging/impl_fake.h

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

cereal/messaging/messaging.cc

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

cereal/messaging/messaging.pxd

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

cereal/messaging/messaging_pyx.pyx

@@ -3,8 +3,11 @@
 
 import sys
 from libcpp.string cimport string
+from libcpp.vector cimport vector
 from libcpp cimport bool
 from libc cimport errno
+from libc.string cimport strerror
+from cython.operator import dereference
 
 
 from .messaging cimport Context as cppContext
@@ -12,16 +15,105 @@ from .messaging cimport SubSocket as cppSubSocket
 from .messaging cimport PubSocket as cppPubSocket
 from .messaging cimport Poller as cppPoller
 from .messaging cimport Message as cppMessage
+from .messaging cimport Event as cppEvent, SocketEventHandle as cppSocketEventHandle
 
 
 class MessagingError(Exception):
-  pass
+  def __init__(self, endpoint=None):
+    suffix = 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)

cereal/services.py

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

cereal/visionipc/__init__.py

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

cereal/visionipc/visionipc.h

@@ -9,6 +9,7 @@ struct VisionIpcBufExtra {
   uint32_t frame_id;
   uint64_t timestamp_sof;
   uint64_t timestamp_eof;
+  bool valid;
 };
 
 struct VisionIpcPacket {

cereal/visionipc/visionipc.pxd

@@ -5,19 +5,24 @@ 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":
@@ -25,8 +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)
@@ -37,6 +45,8 @@ 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)

cereal/visionipc/visionipc_client.cc

@@ -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));
 }

cereal/visionipc/visionipc_pyx.pxd

@@ -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*)

cereal/visionipc/visionipc_pyx.pyx

@@ -14,6 +14,12 @@ from .visionipc cimport VisionIpcServer as cppVisionIpcServer
 from .visionipc cimport VisionIpcClient as cppVisionIpcClient
 from .visionipc cimport VisionBuf as cppVisionBuf
 from .visionipc cimport VisionIpcBufExtra
+from .visionipc cimport get_endpoint_name as cpp_get_endpoint_name
+
+
+def get_endpoint_name(string name, VisionStreamType stream):
+  return cpp_get_endpoint_name(name, stream).decode('utf-8')
+
 
 cpdef enum VisionStreamType:
   VISION_STREAM_ROAD
@@ -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
 
@@ -57,40 +95,64 @@ 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)

cereal/visionipc/visionipc_server.cc

@@ -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());
 }
 
 

common/gpio.cc

@@ -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;
   }
 

common/gpio.py

@@ -1,4 +1,4 @@
-import glob
+from functools import lru_cache
 from typing import Optional, List
 
 def gpio_init(pin: int, output: bool) -> None:
@@ -25,12 +25,27 @@ def gpio_read(pin: int) -> Optional[bool]:
 
   return val
 
-def get_irq_for_action(action: str) -> List[int]:
-  ret = []
-  for fn in glob.glob('/sys/kernel/irq/*/actions'):
-    with open(fn) as f:
+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(',')
-      if action in actions:
-        irq = int(fn.split('/')[-2])
+      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

common/logging_extra.py

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

common/modeldata.h

@@ -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);
-}

common/params.cc

@@ -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},
@@ -102,17 +105,18 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"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},
+    {"ExperimentalLongitudinalEnabled", PERSISTENT},
+    {"ExperimentalMode", PERSISTENT},
+    {"ExperimentalModeConfirmed", PERSISTENT},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"ForcePowerDown", CLEAR_ON_MANAGER_START},
+    {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
     {"GitDiff", PERSISTENT},
@@ -133,9 +137,9 @@ 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_OFFROAD_TRANSITION},
     {"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
@@ -143,6 +147,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"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},
@@ -150,15 +155,30 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveParameters", PERSISTENT},
     {"LiveTorqueCarParams", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
+    {"LongitudinalPersonality", PERSISTENT},
     {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"NavSettingTime24h", PERSISTENT},
     {"NavSettingLeftSide", PERSISTENT},
+    {"NavSettingTime24h", PERSISTENT},
     {"NavdRender", PERSISTENT},
     {"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_OFFROAD_TRANSITION},
+    {"PandaLogState", PERSISTENT},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
     {"Passive", PERSISTENT},
     {"PrimeType", PERSISTENT},
@@ -175,34 +195,17 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UbloxAvailable", PERSISTENT},
     {"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_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_StorageMissing", CLEAR_ON_MANAGER_START},
-    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
-    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
-    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
-    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"WheeledBody", PERSISTENT},
 };
 
 } // namespace

common/swaglog.cc

@@ -135,4 +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);
 }
-

common/swaglog.h

@@ -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, ...)   \

common/time.py

@@ -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

common/util.cc

@@ -189,7 +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;
 }
@@ -260,7 +260,7 @@ struct tm get_time() {
 bool time_valid(struct tm sys_time) {
   int year = 1900 + sys_time.tm_year;
   int month = 1 + sys_time.tm_mon;
-  return (year > 2021) || (year == 2021 && month >= 6);
+  return (year > 2023) || (year == 2023 && month >= 6);
 }
 
 }  // namespace util

common/util.h

@@ -70,7 +70,7 @@ std::string string_format(const std::string& format, Args... args) {
   return std::string(buf.get(), buf.get() + size - 1);
 }
 
-std::string getenv(const char* key, const char* default_val = "");
+std::string getenv(const char* key, std::string default_val = "");
 int getenv(const char* key, int default_val);
 float getenv(const char* key, float default_val);
 

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.2"
+#define COMMA_VERSION "0.9.4"

docs/CARS.md

@@ -4,274 +4,280 @@
 
 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.
 
-# 252 Supported Cars
+# 255 Supported Cars
 
-|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Harness Kit<br>&nbsp;|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
-|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
-|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</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 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</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 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|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||
-|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Ford|Maverick 2022-23|Co-Pilot360 Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Hyundai M connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Hyundai M connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Honda|Passport 2019-22|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Hyundai J connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Hyundai Q connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Hyundai Q connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Hyundai I connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Hyundai D connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Hyundai|Tucson Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Hyundai P connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Hyundai P connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Hyundai D connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Lincoln|Aviator 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2021">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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 <a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-23">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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 <a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Ram connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Subaru B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Škoda|Fabia 2022-23|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|Škoda|Kodiaq 2017-23|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|Volkswagen|Polo 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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
-|Volkswagen|Polo GTI 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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
-|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)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2017">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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/).

laika/__init__.py

@@ -2,7 +2,7 @@ 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()

laika/ephemeris.py

@@ -11,7 +11,7 @@ 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
@@ -154,7 +154,7 @@ 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, epoch, ephem_type, healthy, max_time_diff=max_time_diff, file_epoch=file_epoch, file_name=file_name)
     self.data = data
@@ -479,17 +479,12 @@ def parse_rinex_nav_msg_glonass(file_name):
   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[0] == 'R':
-    # TODO should handle leap seconds better
-    epoch = GPSTime(current_week, (t0 - 3*SECS_IN_HR + SECS_IN_DAY) % (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([

laika/raw_gnss.py

@@ -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

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="7.1"
+  export AGNOS_VERSION="8.2"
 fi
 
 if [ -z "$PASSIVE" ]; then

opendbc/can/common.pxd

@@ -3,10 +3,8 @@
 
 from libc.stdint cimport uint8_t, uint16_t, uint32_t, uint64_t
 from libcpp cimport bool
-from libcpp.map cimport map
 from libcpp.string cimport string
 from libcpp.vector cimport vector
-from libcpp.unordered_set cimport unordered_set
 
 
 ctypedef unsigned int (*calc_checksum_type)(uint32_t, const Signal&, const vector[uint8_t] &)
@@ -54,7 +52,6 @@ cdef extern from "common_dbc.h":
     uint32_t address
     string name
 
-
   cdef struct MessageParseOptions:
     uint32_t address
     int check_frequency
@@ -72,7 +69,7 @@ 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

opendbc/can/dbc.cc

@@ -7,8 +7,9 @@
 #include <sstream>
 #include <vector>
 #include <mutex>
-#include <cstring>
 #include <iterator>
+#include <cstring>
+#include <clocale>
 
 #include "opendbc/can/common.h"
 #include "opendbc/can/common_dbc.h"
@@ -106,6 +107,7 @@ DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, Ch
   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;

opendbc/can/packer.cc

@@ -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"
 

opendbc/can/packer_pyx.pyx

@@ -1,12 +1,10 @@
 # distutils: language = c++
 # cython: c_string_encoding=ascii, language_level=3
 
-from libc.stdint cimport uint8_t, uint32_t, uint64_t
+from libc.stdint cimport uint8_t
 from libcpp.vector cimport vector
 from libcpp.map cimport map
 from libcpp.string cimport string
-from libcpp cimport bool
-from posix.dlfcn cimport dlopen, dlsym, RTLD_LAZY
 
 from .common cimport CANPacker as cpp_CANPacker
 from .common cimport dbc_lookup, SignalPackValue, DBC
@@ -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]

opendbc/can/parser_pyx.pyx

@@ -5,14 +5,12 @@ 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
 
@@ -43,12 +41,17 @@ 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]
@@ -60,19 +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
 
@@ -81,7 +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
@@ -106,7 +110,7 @@ cdef class CANParser:
 
   def update_strings(self, strings, sendcan=False):
     for v in self.vl_all.values():
-      for l in v.values():
+      for l in v.values():  # no-cython-lint
         l.clear()
 
     cdef vector[SignalValue] new_vals
@@ -154,7 +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
 
@@ -163,8 +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]
 

opendbc/honda_civic_ex_2022_can_generated.dbc

@@ -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
@@ -513,3 +519,4 @@ CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2";
 
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P";
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P";
+VAL_ 419 GEAR_SHIFTER  32 "D" 16 "N" 8 "R" 4 "P" 0 "B" ;

opendbc/hyundai_canfd.dbc

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

opendbc/hyundai_kia_generic.dbc

@@ -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";

opendbc/mazda_2017.dbc

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

opendbc/nissan_leaf_2018_generated.dbc

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

opendbc/nissan_x_trail_2017_generated.dbc

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

opendbc/subaru_global_2017_generated.dbc

@@ -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";
 
@@ -316,7 +336,7 @@ BO_ 576 CruiseControl: 8 XXX
  SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX
 
-BO_ 803 INFOTAINMENT_STATUS: 8 XXX
+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

opendbc/toyota_new_mc_pt_generated.dbc

@@ -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
@@ -120,8 +120,9 @@ 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
@@ -262,8 +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
@@ -280,7 +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
@@ -304,6 +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
 
@@ -417,6 +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";
@@ -441,7 +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";
@@ -449,13 +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";
@@ -519,7 +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";

opendbc/toyota_nodsu_pt_generated.dbc

@@ -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
@@ -120,8 +120,9 @@ 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
@@ -262,8 +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
@@ -280,7 +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
@@ -304,6 +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
 
@@ -417,6 +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";
@@ -441,7 +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";
@@ -449,13 +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";
@@ -519,7 +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";
@@ -547,7 +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
@@ -564,6 +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
@@ -576,13 +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";
@@ -590,6 +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";

opendbc/toyota_tnga_k_pt_generated.dbc

@@ -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
@@ -120,8 +120,9 @@ 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
@@ -262,8 +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
@@ -280,7 +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
@@ -304,6 +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
 
@@ -417,6 +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";
@@ -441,7 +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";
@@ -449,13 +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";
@@ -519,7 +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";

opendbc/vw_golf_mk4.dbc

@@ -303,7 +303,8 @@ BO_ 1408 Motor_Flexia: 8 XXX
  SG_ Multiplex_Schalter_Motor_Flexia M : 0|1@1+ (1,0) [0|0] "" XXX
 
 BO_ 1416 Motor_7: 8 XXX
- SG_ Frei_Motor_7_3 : 40|24@1+ (1,0) [0|0] "" XXX
+ SG_ Oltemperatur : 56|8@1+ (1,0) [0|0] "" XXX
+ SG_ Frei_Motor_7_3 : 40|16@1+ (1,0) [0|0] "" XXX
  SG_ Ladedruck : 32|8@1+ (0.01,0) [0|2.54] "bar" XXX
  SG_ Vorzeichen_Motordrehzahlgradien : 31|1@1+ (1,0) [0|0] "" XXX
  SG_ Motordrehzahlgradient : 24|7@1+ (1,0) [0|126] "U/min" XXX
@@ -321,7 +322,8 @@ BO_ 1160 Motor_6: 8 XXX
  SG_ Frei_Motor_6_4 : 58|2@1+ (1,0) [0|0] "" XXX
  SG_ ltemperaturschutz : 57|1@1+ (1,0) [0|0] "" XXX
  SG_ GRA_Bremseingriff_Freigabe : 56|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Motor_6_3 : 40|16@1+ (1,0) [0|0] "" XXX
+ SG_ Frei_Motor_6_3 : 48|8@1+ (1,0) [0|0] "" XXX
+ SG_ Ruckmeldung_Momenten : 40|8@1+ (0.39,0) [0|100] "" XXX
  SG_ GRA_Sollbeschleunigung : 32|8@1+ (0.024,-3.984) [-3.984|2.112] "m/s2" XXX
  SG_ Hoeheninfo__Motor_6_ : 24|8@1+ (0.00787,0) [0|2] "" XXX
  SG_ Istmoment_f_r_Getriebe : 16|8@1+ (0.39,0) [0|99] "MDI" XXX
@@ -770,25 +772,19 @@ BO_ 1340 Fahrwerk_1: 1 XXX
  SG_ Ansteuererung_Fahrzeugniveau : 0|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 1472 EPB_1: 8 XXX
- SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 0|4@1+ (1,0) [0|15] "" XXX
- SG_ EP1__Text : 52|4@1+ (1,0) [0|8] "" Vector__XXX
- SG_ EP1_Failure_gelb : 51|1@1+ (1,0) [0|1] "" XXX
- SG_ EP1_Failure_BKL : 50|1@1+ (1,0) [0|1] "" XXX
- SG_ EP1_Warnton : 49|1@1+ (1,0) [0|1] "" XXX
- SG_ EP1_Fkt_Lampe : 48|1@1+ (1,0) [0|1] "" Vector__XXX
- SG_ EP1_Freigabe_Ver : 33|1@1+ (1,0) [0|1] "" XXX
- SG_ EP1_Failureeintr : 32|1@1+ (1,0) [0|1] "" XXX
- SG_ EP1_Neig_winkel : 16|8@1+ (1,-128) [-128|127] "g" XXX
- SG_ EP1_Verzoegerung : 24|8@1+ (0.048,-7.968) [-7.968|4.224] "g" XXX
- SG_ EP1_Sta_NWS : 15|1@1+ (1,0) [0|1] "" XXX
- SG_ EP1_Schalterinfo : 13|2@1+ (1,0) [0|3] "" XXX
- SG_ EP1_Spannkraft : 8|5@1+ (1,0) [0|30] "kN" XXX
- SG_ EP1_Sta_Schalter : 7|1@1+ (1,0) [0|1] "" 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_Failure_Sta : 4|2@1+ (1,0) [0|3] "" 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_active : 35|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
@@ -797,9 +793,15 @@ BO_ 1472 EPB_1: 8 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_QualNeigWi : 44|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
@@ -1169,28 +1171,39 @@ BO_ 644 Motor_Bremse: 6 XXX
  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: 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
-
+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
@@ -1473,6 +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";
@@ -1503,6 +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";
@@ -1513,15 +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";
 
@@ -1536,6 +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";
@@ -1543,6 +1578,34 @@ 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" ;
@@ -1577,3 +1640,30 @@ 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";

panda/.gitignore

@@ -1,3 +1,4 @@
+*.tmp
 *.pyc
 .*.swp
 .*.swo

panda/__init__.py

@@ -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)

panda/board/README.md

@@ -4,8 +4,8 @@ Programming
 **Panda**
 
 ```
-./recover.py      # flash bootstub
 ./flash.py        # flash application
+./recover.py      # flash bootstub
 ```
 
 Troubleshooting
@@ -13,7 +13,8 @@ Troubleshooting
 
 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`.

panda/board/boards/board_declarations.h

@@ -11,7 +11,7 @@ typedef void (*board_set_ir_power)(uint8_t percentage);
 typedef void (*board_set_fan_enabled)(bool enabled);
 typedef void (*board_set_phone_power)(bool enabled);
 typedef void (*board_set_siren)(bool enabled);
-typedef void (*board_board_tick)(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted);
+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 {

panda/board/boards/dos.h

@@ -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, bool harness_inserted) {
+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
@@ -63,6 +65,7 @@ void dos_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harn
   } else {
 
   }
+  return ret;
 }
 
 void dos_set_can_mode(uint8_t mode){

panda/board/boards/red_v2.h

@@ -36,5 +36,6 @@ const board board_red_v2 = {
   .set_fan_enabled = unused_set_fan_enabled,
   .set_ir_power = unused_set_ir_power,
   .set_phone_power = unused_set_phone_power,
-  .set_siren = unused_set_siren
+  .set_siren = unused_set_siren,
+  .read_som_gpio = unused_read_som_gpio
 };

panda/board/boards/tres.h

@@ -19,10 +19,12 @@ void tres_set_bootkick(bool enabled){
 }
 
 bool tres_ignition_prev = false;
-void tres_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
+bool tres_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
   UNUSED(usb_enum);
+  bool ret = false;
   if ((ignition && !tres_ignition_prev) || harness_inserted) {
     // enable bootkick on rising edge of ignition
+    ret = true;
     tres_set_bootkick(true);
   } else if (heartbeat_seen) {
     // disable once openpilot is up
@@ -31,6 +33,7 @@ void tres_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool har
 
   }
   tres_ignition_prev = ignition;
+  return ret;
 }
 
 void tres_set_fan_enabled(bool enabled) {

panda/board/boards/uno.h

@@ -126,7 +126,7 @@ void uno_set_can_mode(uint8_t mode){
   }
 }
 
-void uno_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
+bool uno_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
   UNUSED(ignition);
   UNUSED(usb_enum);
   UNUSED(heartbeat_seen);
@@ -136,6 +136,7 @@ void uno_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harn
   } else {
     uno_set_bootkick(false);
   }
+  return false;
 }
 
 bool uno_check_ignition(void){

panda/board/boards/unused_funcs.h

@@ -22,11 +22,12 @@ uint32_t unused_read_current(void) {
   return 0U;
 }
 
-void unused_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
+bool unused_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
   UNUSED(ignition);
   UNUSED(usb_enum);
   UNUSED(heartbeat_seen);
   UNUSED(harness_inserted);
+  return false;
 }
 
 bool unused_read_som_gpio(void) {

panda/board/can_comms.h

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

panda/board/config.h

@@ -13,7 +13,8 @@
 #define CAN_INIT_TIMEOUT_MS 500U
 #define DEEPSLEEP_WAKEUP_DELAY 3U
 #define USBPACKET_MAX_SIZE 0x40U
-#define MAX_CAN_MSGS_PER_BULK_TRANSFER 51U
+#define MAX_CAN_MSGS_PER_USB_BULK_TRANSFER 51U
+#define MAX_CAN_MSGS_PER_SPI_BULK_TRANSFER 170U
 
 #define VIN_READOUT_DIVIDER 11U
 

panda/board/crc.h

@@ -1,3 +1,5 @@
+#pragma once
+
 uint8_t crc_checksum(uint8_t *dat, int len, const uint8_t poly) {
   uint8_t crc = 0xFFU;
   int i;

panda/board/drivers/bxcan.h

@@ -3,6 +3,11 @@
 //       CAN3_TX, CAN3_RX0, CAN3_SCE
 
 CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
+uint8_t can_irq_number[3][3] = {
+  { CAN1_TX_IRQn, CAN1_RX0_IRQn, CAN1_SCE_IRQn },
+  { CAN2_TX_IRQn, CAN2_RX0_IRQn, CAN2_SCE_IRQn },
+  { CAN3_TX_IRQn, CAN3_RX0_IRQn, CAN3_SCE_IRQn },
+};
 
 bool can_set_speed(uint8_t can_number) {
   bool ret = true;
@@ -68,16 +73,10 @@ void can_set_gmlan(uint8_t bus) {
   }
 }
 
-void update_can_health_pkt(uint8_t can_number, bool error_irq) {
+void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
   CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
   uint32_t esr_reg = CAN->ESR;
 
-  if (error_irq) {
-    can_health[can_number].total_error_cnt += 1U;
-    CAN->MSR = CAN_MSR_ERRI;
-    llcan_clear_send(CAN);
-  }
-
   can_health[can_number].bus_off = ((esr_reg & CAN_ESR_BOFF) >> CAN_ESR_BOFF_Pos);
   can_health[can_number].bus_off_cnt += can_health[can_number].bus_off;
   can_health[can_number].error_warning = ((esr_reg & CAN_ESR_EWGF) >> CAN_ESR_EWGF_Pos);
@@ -90,16 +89,31 @@ void update_can_health_pkt(uint8_t can_number, bool error_irq) {
 
   can_health[can_number].receive_error_cnt = ((esr_reg & CAN_ESR_REC) >> CAN_ESR_REC_Pos);
   can_health[can_number].transmit_error_cnt = ((esr_reg & CAN_ESR_TEC) >> CAN_ESR_TEC_Pos);
-}
 
-// CAN error
-void can_sce(uint8_t can_number) {
-  ENTER_CRITICAL();
-  update_can_health_pkt(can_number, true);
-  EXIT_CRITICAL();
+  can_health[can_number].irq0_call_rate = interrupts[can_irq_number[can_number][0]].call_rate;
+  can_health[can_number].irq1_call_rate = interrupts[can_irq_number[can_number][1]].call_rate;
+  can_health[can_number].irq2_call_rate = interrupts[can_irq_number[can_number][2]].call_rate;
+
+  if (ir_reg != 0U) {
+    can_health[can_number].total_error_cnt += 1U;
+
+    // RX message lost due to FIFO overrun
+    if ((CAN->RF0R & (CAN_RF0R_FOVR0)) != 0) {
+      can_health[can_number].total_rx_lost_cnt += 1U;
+      CAN->RF0R &= ~(CAN_RF0R_FOVR0);
+    }
+    can_health[can_number].can_core_reset_cnt += 1U;
+    llcan_clear_send(CAN);
+  }
 }
 
 // ***************************** CAN *****************************
+// CANx_SCE IRQ Handler
+void can_sce(uint8_t can_number) {
+  update_can_health_pkt(can_number, 1U);
+}
+
+// CANx_TX IRQ Handler
 void process_can(uint8_t can_number) {
   if (can_number != 0xffU) {
 
@@ -151,26 +165,20 @@ void process_can(uint8_t can_number) {
           can_health[can_number].total_tx_checksum_error_cnt += 1U;
         }
 
-        usb_cb_ep3_out_complete();
+        refresh_can_tx_slots_available();
       }
     }
 
-    update_can_health_pkt(can_number, false);
     EXIT_CRITICAL();
   }
 }
 
-// CAN receive handlers
+// CANx_RX0 IRQ Handler
 // blink blue when we are receiving CAN messages
 void can_rx(uint8_t can_number) {
   CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
 
-  if ((CAN->RF0R & (CAN_RF0R_FOVR0)) != 0) { // RX message lost due to FIFO overrun
-    can_health[can_number].total_rx_lost_cnt += 1U;
-    CAN->RF0R &= ~(CAN_RF0R_FOVR0);
-  }
-
   while ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
     can_health[can_number].total_rx_cnt += 1U;
 
@@ -215,7 +223,6 @@ void can_rx(uint8_t can_number) {
     rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U;
 
     // next
-    update_can_health_pkt(can_number, false);
     CAN->RF0R |= CAN_RF0R_RFOM0;
   }
 }

panda/board/drivers/can_common.h

@@ -147,7 +147,7 @@ void can_clear(can_ring *q) {
   q->r_ptr = 0;
   EXIT_CRITICAL();
   // handle TX buffer full with zero ECUs awake on the bus
-  usb_cb_ep3_out_complete();
+  refresh_can_tx_slots_available();
 }
 
 // assign CAN numbering

panda/board/drivers/fdcan.h

@@ -11,6 +11,14 @@ typedef struct {
 
 FDCAN_GlobalTypeDef *cans[] = {FDCAN1, FDCAN2, FDCAN3};
 
+uint8_t can_irq_number[3][2] = {
+  { FDCAN1_IT0_IRQn, FDCAN1_IT1_IRQn },
+  { FDCAN2_IT0_IRQn, FDCAN2_IT1_IRQn },
+  { FDCAN3_IT0_IRQn, FDCAN3_IT1_IRQn },
+};
+
+#define CAN_ACK_ERROR 3U
+
 bool can_set_speed(uint8_t can_number) {
   bool ret = true;
   FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
@@ -32,10 +40,7 @@ void can_set_gmlan(uint8_t bus) {
   print("GMLAN not available on red panda\n");
 }
 
-// ***************************** CAN *****************************
-void update_can_health_pkt(uint8_t can_number, bool error_irq) {
-  ENTER_CRITICAL();
-
+void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
   FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
   uint32_t psr_reg = CANx->PSR;
   uint32_t ecr_reg = CANx->ECR;
@@ -58,17 +63,30 @@ void update_can_health_pkt(uint8_t can_number, bool error_irq) {
   can_health[can_number].receive_error_cnt = ((ecr_reg & FDCAN_ECR_REC) >> FDCAN_ECR_REC_Pos);
   can_health[can_number].transmit_error_cnt = ((ecr_reg & FDCAN_ECR_TEC) >> FDCAN_ECR_TEC_Pos);
 
+  can_health[can_number].irq0_call_rate = interrupts[can_irq_number[can_number][0]].call_rate;
+  can_health[can_number].irq1_call_rate = interrupts[can_irq_number[can_number][1]].call_rate;
 
-  if (error_irq) {
+
+  if (ir_reg != 0U) {
+    // Clear error interrupts
+    CANx->IR |= (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EP | FDCAN_IR_BO | FDCAN_IR_RF0L);
     can_health[can_number].total_error_cnt += 1U;
-    if ((CANx->IR & (FDCAN_IR_TEFL)) != 0) {
-      can_health[can_number].total_tx_lost_cnt += 1U;
+    // Check for RX FIFO overflow
+    if ((ir_reg & (FDCAN_IR_RF0L)) != 0) {
+      can_health[can_number].total_rx_lost_cnt += 1U;
+    }
+    // While multiplexing between buses 1 and 3 we are getting ACK errors that overwhelm CAN core
+    // By resseting CAN core when no ACK is detected for a while(until TEC counter reaches 127) it can recover faster
+    if (((can_health[can_number].last_error == CAN_ACK_ERROR) || (can_health[can_number].last_data_error == CAN_ACK_ERROR)) && (can_health[can_number].transmit_error_cnt > 127U)) {
+      can_health[can_number].can_core_reset_cnt += 1U;
+      can_health[can_number].total_tx_lost_cnt += (FDCAN_TX_FIFO_EL_CNT - (CANx->TXFQS & FDCAN_TXFQS_TFFL)); // TX FIFO msgs will be lost after reset
+      llcan_clear_send(CANx);
     }
-    llcan_clear_send(CANx);
   }
-  EXIT_CRITICAL();
 }
 
+// ***************************** CAN *****************************
+// FDCANx_IT1 IRQ Handler (TX)
 void process_can(uint8_t can_number) {
   if (can_number != 0xffU) {
     ENTER_CRITICAL();
@@ -119,103 +137,102 @@ void process_can(uint8_t can_number) {
           can_health[can_number].total_tx_checksum_error_cnt += 1U;
         }
 
-        usb_cb_ep3_out_complete();
+        refresh_can_tx_slots_available();
       }
     }
-
-    update_can_health_pkt(can_number, false);
     EXIT_CRITICAL();
   }
 }
 
-// CAN receive handlers
+// FDCANx_IT0 IRQ Handler (RX and errors)
 // blink blue when we are receiving CAN messages
 void can_rx(uint8_t can_number) {
   FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
   uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
 
-  // Rx FIFO 0 new message
-  if((CANx->IR & FDCAN_IR_RF0N) != 0) {
-    CANx->IR |= FDCAN_IR_RF0N;
-    while((CANx->RXF0S & FDCAN_RXF0S_F0FL) != 0) {
-      can_health[can_number].total_rx_cnt += 1U;
+  uint32_t ir_reg = CANx->IR;
 
-      // can is live
-      pending_can_live = 1;
+  // Clear all new messages from Rx FIFO 0
+  CANx->IR |= FDCAN_IR_RF0N;
+  while((CANx->RXF0S & FDCAN_RXF0S_F0FL) != 0) {
+    can_health[can_number].total_rx_cnt += 1U;
 
-      // get the index of the next RX FIFO element (0 to FDCAN_RX_FIFO_0_EL_CNT - 1)
-      uint8_t rx_fifo_idx = (uint8_t)((CANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3F);
+    // can is live
+    pending_can_live = 1;
 
-      // Recommended to offset get index by at least +1 if RX FIFO is in overwrite mode and full (datasheet)
-      if((CANx->RXF0S & FDCAN_RXF0S_F0F) == FDCAN_RXF0S_F0F) {
-        rx_fifo_idx = ((rx_fifo_idx + 1U) >= FDCAN_RX_FIFO_0_EL_CNT) ? 0U : (rx_fifo_idx + 1U);
-        can_health[can_number].total_rx_lost_cnt += 1U; // At least one message was lost
-      }
+    // get the index of the next RX FIFO element (0 to FDCAN_RX_FIFO_0_EL_CNT - 1)
+    uint8_t rx_fifo_idx = (uint8_t)((CANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3F);
 
-      uint32_t RxFIFO0SA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET);
-      CANPacket_t to_push;
-      canfd_fifo *fifo;
-
-      // getting address
-      fifo = (canfd_fifo *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE));
-
-      to_push.returned = 0U;
-      to_push.rejected = 0U;
-      to_push.extended = (fifo->header[0] >> 30) & 0x1U;
-      to_push.addr = ((to_push.extended != 0U) ? (fifo->header[0] & 0x1FFFFFFFU) : ((fifo->header[0] >> 18) & 0x7FFU));
-      to_push.bus = bus_number;
-      to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU);
-
-      bool canfd_frame = ((fifo->header[1] >> 21) & 0x1U);
-      bool brs_frame = ((fifo->header[1] >> 20) & 0x1U);
-
-      uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U);
-      data_len_w += ((dlc_to_len[to_push.data_len_code] % 4U) > 0U) ? 1U : 0U;
-      for (unsigned int i = 0; i < data_len_w; i++) {
-        WORD_TO_BYTE_ARRAY(&to_push.data[i*4U], fifo->data_word[i]);
-      }
-      can_set_checksum(&to_push);
-
-      // forwarding (panda only)
-      int bus_fwd_num = safety_fwd_hook(bus_number, to_push.addr);
-      if (bus_fwd_num != -1) {
-        CANPacket_t to_send;
-
-        to_send.returned = 0U;
-        to_send.rejected = 0U;
-        to_send.extended = to_push.extended;
-        to_send.addr = to_push.addr;
-        to_send.bus = to_push.bus;
-        to_send.data_len_code = to_push.data_len_code;
-        (void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]);
-        can_set_checksum(&to_send);
-
-        can_send(&to_send, bus_fwd_num, true);
-        can_health[can_number].total_fwd_cnt += 1U;
-      }
-
-      safety_rx_invalid += safety_rx_hook(&to_push) ? 0U : 1U;
-      ignition_can_hook(&to_push);
-
-      current_board->set_led(LED_BLUE, true);
-      rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U;
-
-      // Enable CAN FD and BRS if CAN FD message was received
-      if (!(bus_config[can_number].canfd_enabled) && (canfd_frame)) {
-        bus_config[can_number].canfd_enabled = true;
-      }
-      if (!(bus_config[can_number].brs_enabled) && (brs_frame)) {
-        bus_config[can_number].brs_enabled = true;
-      }
-
-      // update read index
-      CANx->RXF0A = rx_fifo_idx;
+    // Recommended to offset get index by at least +1 if RX FIFO is in overwrite mode and full (datasheet)
+    if((CANx->RXF0S & FDCAN_RXF0S_F0F) == FDCAN_RXF0S_F0F) {
+      rx_fifo_idx = ((rx_fifo_idx + 1U) >= FDCAN_RX_FIFO_0_EL_CNT) ? 0U : (rx_fifo_idx + 1U);
+      can_health[can_number].total_rx_lost_cnt += 1U; // At least one message was lost
     }
 
+    uint32_t RxFIFO0SA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET);
+    CANPacket_t to_push;
+    canfd_fifo *fifo;
+
+    // getting address
+    fifo = (canfd_fifo *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE));
+
+    to_push.returned = 0U;
+    to_push.rejected = 0U;
+    to_push.extended = (fifo->header[0] >> 30) & 0x1U;
+    to_push.addr = ((to_push.extended != 0U) ? (fifo->header[0] & 0x1FFFFFFFU) : ((fifo->header[0] >> 18) & 0x7FFU));
+    to_push.bus = bus_number;
+    to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU);
+
+    bool canfd_frame = ((fifo->header[1] >> 21) & 0x1U);
+    bool brs_frame = ((fifo->header[1] >> 20) & 0x1U);
+
+    uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U);
+    data_len_w += ((dlc_to_len[to_push.data_len_code] % 4U) > 0U) ? 1U : 0U;
+    for (unsigned int i = 0; i < data_len_w; i++) {
+      WORD_TO_BYTE_ARRAY(&to_push.data[i*4U], fifo->data_word[i]);
+    }
+    can_set_checksum(&to_push);
+
+    // forwarding (panda only)
+    int bus_fwd_num = safety_fwd_hook(bus_number, to_push.addr);
+    if (bus_fwd_num != -1) {
+      CANPacket_t to_send;
+
+      to_send.returned = 0U;
+      to_send.rejected = 0U;
+      to_send.extended = to_push.extended;
+      to_send.addr = to_push.addr;
+      to_send.bus = to_push.bus;
+      to_send.data_len_code = to_push.data_len_code;
+      (void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]);
+      can_set_checksum(&to_send);
+
+      can_send(&to_send, bus_fwd_num, true);
+      can_health[can_number].total_fwd_cnt += 1U;
+    }
+
+    safety_rx_invalid += safety_rx_hook(&to_push) ? 0U : 1U;
+    ignition_can_hook(&to_push);
+
+    current_board->set_led(LED_BLUE, true);
+    rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U;
+
+    // Enable CAN FD and BRS if CAN FD message was received
+    if (!(bus_config[can_number].canfd_enabled) && (canfd_frame)) {
+      bus_config[can_number].canfd_enabled = true;
+    }
+    if (!(bus_config[can_number].brs_enabled) && (brs_frame)) {
+      bus_config[can_number].brs_enabled = true;
+    }
+
+    // update read index
+    CANx->RXF0A = rx_fifo_idx;
   }
+
   // Error handling
-  bool error_irq = ((CANx->IR & (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EW | FDCAN_IR_EP | FDCAN_IR_ELO | FDCAN_IR_BO | FDCAN_IR_TEFL | FDCAN_IR_RF0L)) != 0);
-  update_can_health_pkt(can_number, error_irq);
+  if ((ir_reg & (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EP | FDCAN_IR_BO | FDCAN_IR_RF0L)) != 0) {
+    update_can_health_pkt(can_number, ir_reg);
+  }
 }
 
 void FDCAN1_IT0_IRQ_Handler(void) { can_rx(0); }

panda/board/drivers/gmlan_alt.h

@@ -272,6 +272,7 @@ bool bitbang_gmlan(CANPacket_t *to_bang) {
   gmlan_send_ok = true;
   gmlan_alt_mode = BITBANG;
 
+#ifndef STM32H7
   if (gmlan_sendmax == -1) {
     int len = get_bit_message(pkt_stuffed, to_bang);
     gmlan_fail_count = 0;
@@ -285,5 +286,8 @@ bool bitbang_gmlan(CANPacket_t *to_bang) {
     // 33kbps
     setup_timer();
   }
+#else
+  UNUSED(to_bang);
+#endif
   return gmlan_send_ok;
 }

panda/board/drivers/interrupts.h

@@ -2,6 +2,7 @@ typedef struct interrupt {
   IRQn_Type irq_type;
   void (*handler)(void);
   uint32_t call_counter;
+  uint32_t call_rate;
   uint32_t max_call_rate;   // Call rate is defined as the amount of calls each second
   uint32_t call_rate_fault;
 } interrupt;
@@ -17,11 +18,12 @@ void unused_interrupt_handler(void) {
 
 interrupt interrupts[NUM_INTERRUPTS];
 
-#define REGISTER_INTERRUPT(irq_num, func_ptr, call_rate, rate_fault) \
+#define REGISTER_INTERRUPT(irq_num, func_ptr, call_rate_max, rate_fault) \
   interrupts[irq_num].irq_type = (irq_num); \
   interrupts[irq_num].handler = (func_ptr);  \
   interrupts[irq_num].call_counter = 0U;   \
-  interrupts[irq_num].max_call_rate = (call_rate); \
+  interrupts[irq_num].call_rate = 0U;   \
+  interrupts[irq_num].max_call_rate = (call_rate_max); \
   interrupts[irq_num].call_rate_fault = (rate_fault);
 
 bool check_interrupt_rate = false;
@@ -46,8 +48,7 @@ void handle_interrupt(IRQn_Type irq_type){
   interrupts[irq_type].handler();
 
   // Check that the interrupts don't fire too often
-  if(check_interrupt_rate && (interrupts[irq_type].call_counter > interrupts[irq_type].max_call_rate)){
-    print("Interrupt 0x"); puth(irq_type); print(" fired too often (0x"); puth(interrupts[irq_type].call_counter); print("/s)!\n");
+  if (check_interrupt_rate && (interrupts[irq_type].call_counter > interrupts[irq_type].max_call_rate)) {
     fault_occurred(interrupts[irq_type].call_rate_fault);
   }
 
@@ -64,8 +65,14 @@ void handle_interrupt(IRQn_Type irq_type){
 // Every second
 void interrupt_timer_handler(void) {
   if (INTERRUPT_TIMER->SR != 0) {
-    // Reset interrupt counters
-    for(uint16_t i=0U; i<NUM_INTERRUPTS; i++){
+    for (uint16_t i = 0U; i < NUM_INTERRUPTS; i++) {
+      // Log IRQ call rate faults
+      if (check_interrupt_rate && (interrupts[i].call_counter > interrupts[i].max_call_rate)) {
+        print("Interrupt 0x"); puth(i); print(" fired too often (0x"); puth(interrupts[i].call_counter); print("/s)!\n");
+      }
+
+      // Reset interrupt counters
+      interrupts[i].call_rate = interrupts[i].call_counter;
       interrupts[i].call_counter = 0U;
     }
 

panda/board/drivers/logging.h

@@ -0,0 +1,193 @@
+
+#include "logging_definitions.h"
+
+#define BANK_SIZE LOGGING_FLASH_SECTOR_SIZE
+#define BANK_LOG_CAPACITY (BANK_SIZE / sizeof(log_t))
+#define TOTAL_LOG_CAPACITY (BANK_LOG_CAPACITY * 2U)
+
+#define LOGGING_MAX_LOGS_PER_MINUTE 10U
+
+struct logging_state_t {
+  uint16_t read_index;
+  uint16_t write_index;
+  uint16_t last_id;
+
+  uint8_t rate_limit_counter;
+  uint8_t rate_limit_log_count;
+};
+struct logging_state_t log_state = { 0 };
+log_t *log_arr = (log_t *) LOGGING_FLASH_BASE_A;
+
+uint16_t logging_next_id(uint16_t id) {
+  return (id + 1U) % 0xFFFEU;
+}
+
+uint16_t logging_next_index(uint16_t index) {
+  return (index + 1U) % TOTAL_LOG_CAPACITY;
+}
+
+void logging_erase_bank(uint8_t flash_sector) {
+  print("erasing sector "); puth(flash_sector); print("\n");
+  flash_unlock();
+  if (!flash_erase_sector(flash_sector)) {
+    print("failed to erase sector "); puth(flash_sector); print("\n");
+  }
+  flash_lock();
+}
+
+void logging_erase(void) {
+  logging_erase_bank(LOGGING_FLASH_SECTOR_A);
+  logging_erase_bank(LOGGING_FLASH_SECTOR_B);
+  log_state.read_index = 0U;
+  log_state.write_index = 0U;
+}
+
+void logging_find_read_index(uint16_t last_id) {
+  // Figure out the read index by the last empty slot
+  log_state.read_index = BANK_LOG_CAPACITY;
+  for (uint16_t i = 0U; i < TOTAL_LOG_CAPACITY; i++) {
+    if (log_arr[i].id == last_id) {
+      log_state.read_index = logging_next_index(i);
+    }
+  }
+}
+
+void logging_init_read_index(void) {
+  return logging_find_read_index(0xFFFFU);
+}
+
+void logging_init(void) {
+  COMPILE_TIME_ASSERT(sizeof(log_t) == 64U);
+  COMPILE_TIME_ASSERT((LOGGING_FLASH_BASE_A + BANK_SIZE) == LOGGING_FLASH_BASE_B);
+
+  // Make sure all empty-ID logs are fully empty
+  log_t empty_log;
+  (void) memset(&empty_log, 0xFF, sizeof(log_t));
+
+  for (uint16_t i = 0U; i < TOTAL_LOG_CAPACITY; i++) {
+    if ((log_arr[i].id == 0xFFFFU) && (memcmp(&log_arr[i], &empty_log, sizeof(log_t)) != 0)) {
+      logging_erase();
+      break;
+    }
+  }
+
+  logging_init_read_index();
+
+  // At initialization, the read index should always be at the beginning of a bank
+  // If not, clean slate
+  if ((log_state.read_index != 0U) && (log_state.read_index != BANK_LOG_CAPACITY)) {
+    logging_erase();
+  }
+
+  // Figure out the write index
+  log_state.write_index = log_state.read_index;
+  log_state.last_id = log_arr[log_state.write_index].id - 1U;
+  for (uint16_t i = 0U; i < TOTAL_LOG_CAPACITY; i++) {
+    bool done = false;
+    if (log_arr[log_state.write_index].id == 0xFFFFU) {
+      // Found the first empty slot after the read pointer
+      done = true;
+    } else if (log_arr[log_state.write_index].id != logging_next_id(log_state.last_id)) {
+      // Discontinuity in the index, shouldn't happen!
+      logging_erase();
+      done = true;
+    } else {
+      log_state.last_id = log_arr[log_state.write_index].id;
+      log_state.write_index = logging_next_index(log_state.write_index);
+    }
+
+    if (done) {
+      break;
+    }
+  }
+
+  // Reset rate limit
+  log_state.rate_limit_counter = 0U;
+  log_state.rate_limit_log_count = 0U;
+}
+
+// Call at 1Hz
+void logging_tick(void) {
+  flush_write_buffer();
+
+  log_state.rate_limit_counter++;
+  if (log_state.rate_limit_counter >= 60U) {
+    log_state.rate_limit_counter = 0U;
+    log_state.rate_limit_log_count = 0U;
+  }
+}
+
+void log(const char* msg){
+  if (log_state.rate_limit_log_count < LOGGING_MAX_LOGS_PER_MINUTE) {
+    ENTER_CRITICAL();
+    log_t new_log = {0};
+    new_log.id = logging_next_id(log_state.last_id);
+    log_state.last_id = new_log.id;
+    new_log.uptime = uptime_cnt;
+    if (current_board->has_rtc_battery) {
+      new_log.timestamp = rtc_get_time();
+    }
+
+    uint8_t i = 0U;
+    for (const char *in = msg; *in; in++) {
+      new_log.msg[i] = *in;
+      i++;
+      if (i >= sizeof(new_log.msg)) {
+        print("log message too long\n");
+        break;
+      }
+    }
+
+    // If we are at the beginning of a bank, erase it first and move the read pointer if needed
+    switch (log_state.write_index) {
+      case ((2U * BANK_LOG_CAPACITY) - 1U):
+        logging_erase_bank(LOGGING_FLASH_SECTOR_A);
+        if ((log_state.read_index < BANK_LOG_CAPACITY)) {
+          log_state.read_index = BANK_LOG_CAPACITY;
+        }
+        break;
+      case (BANK_LOG_CAPACITY - 1U):
+        // beginning to write in bank B
+        logging_erase_bank(LOGGING_FLASH_SECTOR_B);
+        if ((log_state.read_index > BANK_LOG_CAPACITY)) {
+          log_state.read_index = 0U;
+        }
+        break;
+      default:
+        break;
+    }
+
+    // Write!
+    void *addr = &log_arr[log_state.write_index];
+    uint32_t data[sizeof(log_t) / sizeof(uint32_t)];
+    (void) memcpy(data, &new_log, sizeof(log_t));
+
+    flash_unlock();
+    for (uint8_t j = 0U; j < sizeof(log_t) / sizeof(uint32_t); j++) {
+      flash_write_word(&((uint32_t *) addr)[j], data[j]);
+    }
+    flash_lock();
+
+    // Update the write index
+    log_state.write_index = logging_next_index(log_state.write_index);
+    EXIT_CRITICAL();
+
+    log_state.rate_limit_log_count++;
+  } else {
+    fault_occurred(FAULT_LOGGING_RATE_LIMIT);
+  }
+}
+
+uint8_t logging_read(uint8_t *buffer) {
+  uint8_t ret = 0U;
+  if ((log_arr[log_state.read_index].id != 0xFFFFU) && (log_state.read_index != log_state.write_index)) {
+    // Read the log
+    (void) memcpy(buffer, &log_arr[log_state.read_index], sizeof(log_t));
+
+    // Update the read index
+    log_state.read_index = logging_next_index(log_state.read_index);
+
+    ret = sizeof(log_t);
+  }
+  return ret;
+}

panda/board/drivers/logging_definitions.h

@@ -0,0 +1,9 @@
+
+// Flash is writable in 32-byte lines, this struct is designed to fit in two lines.
+// This also matches the USB transfer size.
+typedef struct __attribute__((packed)) log_t {
+  uint16_t id;
+  timestamp_t timestamp;
+  uint32_t uptime;
+  char msg[50];
+} log_t;

panda/board/drivers/rtc.h

@@ -1,14 +1,7 @@
-#define YEAR_OFFSET 2000U
 
-typedef struct __attribute__((packed)) timestamp_t {
-  uint16_t year;
-  uint8_t month;
-  uint8_t day;
-  uint8_t weekday;
-  uint8_t hour;
-  uint8_t minute;
-  uint8_t second;
-} timestamp_t;
+#include "rtc_definitions.h"
+
+#define YEAR_OFFSET 2000U
 
 uint8_t to_bcd(uint16_t value){
   return (((value / 10U) & 0x0FU) << 4U) | ((value % 10U) & 0x0FU);
@@ -50,14 +43,6 @@ void rtc_set_time(timestamp_t time){
 
 timestamp_t rtc_get_time(void){
   timestamp_t result;
-  // Init with zero values in case there is no RTC running
-  result.year = 0U;
-  result.month = 0U;
-  result.day = 0U;
-  result.weekday = 0U;
-  result.hour = 0U;
-  result.minute = 0U;
-  result.second = 0U;
 
   // Wait until the register sync flag is set
   while((RTC->ISR & RTC_ISR_RSF) == 0){}

panda/board/drivers/rtc_definitions.h

@@ -0,0 +1,9 @@
+typedef struct __attribute__((packed)) timestamp_t {
+  uint16_t year;
+  uint8_t month;
+  uint8_t day;
+  uint8_t weekday;
+  uint8_t hour;
+  uint8_t minute;
+  uint8_t second;
+} timestamp_t;

panda/board/drivers/spi.h

@@ -1,16 +1,19 @@
 #pragma once
 
-#define SPI_BUF_SIZE 1024U
+#include "crc.h"
+
 #define SPI_TIMEOUT_US 10000U
 
-// we expect less than 50 transactions (including control messages and
-// CAN buffers) at the 100Hz boardd interval, plus some buffer
-#define SPI_IRQ_RATE  6500U
+// got max rate from hitting a non-existent endpoint
+// in a tight loop, plus some buffer
+#define SPI_IRQ_RATE  16000U
 
 #ifdef STM32H7
+#define SPI_BUF_SIZE 2048U
 __attribute__((section(".ram_d1"))) uint8_t spi_buf_rx[SPI_BUF_SIZE];
-__attribute__((section(".ram_d1"))) uint8_t spi_buf_tx[SPI_BUF_SIZE];
+__attribute__((section(".ram_d2"))) uint8_t spi_buf_tx[SPI_BUF_SIZE];
 #else
+#define SPI_BUF_SIZE 1024U
 uint8_t spi_buf_rx[SPI_BUF_SIZE];
 uint8_t spi_buf_tx[SPI_BUF_SIZE];
 #endif
@@ -37,7 +40,7 @@ uint8_t spi_endpoint;
 uint16_t spi_data_len_mosi;
 uint16_t spi_data_len_miso;
 uint16_t spi_checksum_error_count = 0;
-
+bool spi_can_tx_ready = false;
 
 #define SPI_HEADER_SIZE 7U
 
@@ -46,6 +49,56 @@ void llspi_init(void);
 void llspi_mosi_dma(uint8_t *addr, int len);
 void llspi_miso_dma(uint8_t *addr, int len);
 
+void can_tx_comms_resume_spi(void) {
+  spi_can_tx_ready = true;
+}
+
+uint16_t spi_version_packet(uint8_t *out) {
+  // this protocol version request is a stable portion of
+  // the panda's SPI protocol. its contents match that of the
+  // panda USB descriptors and are sufficent to list/enumerate
+  // a panda, determine panda type, and bootstub status.
+
+  // the response is:
+  // VERSION + 2 byte data length + data + CRC8
+
+  // echo "VERSION"
+  (void)memcpy(out, "VERSION", 7);
+
+  // write response
+  uint16_t data_len = 0;
+  uint16_t data_pos = 7U + 2U;
+
+  // write serial
+  #ifdef UID_BASE
+  (void)memcpy(&out[data_pos], ((uint8_t *)UID_BASE), 12);
+  data_len += 12U;
+  #endif
+
+  // HW type
+  out[data_pos + data_len] = hw_type;
+  data_len += 1U;
+
+  // bootstub
+  out[data_pos + data_len] = USB_PID & 0xFFU;
+  data_len += 1U;
+
+  // SPI protocol version
+  out[data_pos + data_len] = 0x2;
+  data_len += 1U;
+
+  // data length
+  out[7] = data_len & 0xFFU;
+  out[8] = (data_len >> 8) & 0xFFU;
+
+  // CRC8
+  uint16_t resp_len = data_pos + data_len;
+  out[resp_len] = crc_checksum(out, resp_len, 0xD5U);
+  resp_len += 1U;
+
+  return resp_len;
+}
+
 void spi_init(void) {
   // platform init
   llspi_init();
@@ -74,7 +127,10 @@ void spi_rx_done(void) {
   spi_data_len_mosi = (spi_buf_rx[3] << 8) | spi_buf_rx[2];
   spi_data_len_miso = (spi_buf_rx[5] << 8) | spi_buf_rx[4];
 
-  if (spi_state == SPI_STATE_HEADER) {
+  if (memcmp(spi_buf_rx, "VERSION", 7) == 0) {
+    response_len = spi_version_packet(spi_buf_tx);
+    next_rx_state = SPI_STATE_HEADER_NACK;;
+  } else if (spi_state == SPI_STATE_HEADER) {
     checksum_valid = check_checksum(spi_buf_rx, SPI_HEADER_SIZE);
     if ((spi_buf_rx[0] == SPI_SYNC_BYTE) && checksum_valid) {
       // response: ACK and start receiving data portion
@@ -114,8 +170,14 @@ void spi_rx_done(void) {
         response_ack = true;
       } else if (spi_endpoint == 3U) {
         if (spi_data_len_mosi > 0U) {
-          comms_can_write(&spi_buf_rx[SPI_HEADER_SIZE], spi_data_len_mosi);
-          response_ack = true;
+          if (spi_can_tx_ready) {
+            spi_can_tx_ready = false;
+            comms_can_write(&spi_buf_rx[SPI_HEADER_SIZE], spi_data_len_mosi);
+            response_ack = true;
+          } else {
+            response_ack = false;
+            print("SPI: CAN NACK\n");
+          }
         } else {
           print("SPI: did expect data for can_write\n");
         }
@@ -126,7 +188,7 @@ void spi_rx_done(void) {
       // Checksum was incorrect
       response_ack = false;
       print("- incorrect data checksum ");
-      puth2(spi_data_len_mosi);
+      puth4(spi_data_len_mosi);
       print("\n");
       hexdump(spi_buf_rx, SPI_HEADER_SIZE);
       hexdump(&(spi_buf_rx[SPI_HEADER_SIZE]), MIN(spi_data_len_mosi, 64));

panda/board/drivers/uart.h

@@ -16,9 +16,10 @@ typedef struct uart_ring {
   USART_TypeDef *uart;
   void (*callback)(struct uart_ring*);
   bool dma_rx;
+  bool overwrite;
 } uart_ring;
 
-#define UART_BUFFER(x, size_rx, size_tx, uart_ptr, callback_ptr, rx_dma) \
+#define UART_BUFFER(x, size_rx, size_tx, uart_ptr, callback_ptr, rx_dma, overwrite_mode) \
   uint8_t elems_rx_##x[size_rx]; \
   uint8_t elems_tx_##x[size_tx]; \
   uart_ring uart_ring_##x = {  \
@@ -32,7 +33,8 @@ typedef struct uart_ring {
     .rx_fifo_size = (size_rx), \
     .uart = (uart_ptr), \
     .callback = (callback_ptr), \
-    .dma_rx = (rx_dma) \
+    .dma_rx = (rx_dma), \
+    .overwrite = (overwrite_mode) \
   };
 
 // ***************************** Function prototypes *****************************
@@ -43,22 +45,22 @@ void uart_send_break(uart_ring *u);
 // ******************************** UART buffers ********************************
 
 // gps = USART1
-UART_BUFFER(gps, FIFO_SIZE_DMA, FIFO_SIZE_INT, USART1, NULL, true)
+UART_BUFFER(gps, FIFO_SIZE_DMA, FIFO_SIZE_INT, USART1, NULL, true, false)
 
 // lin1, K-LINE = UART5
 // lin2, L-LINE = USART3
-UART_BUFFER(lin1, FIFO_SIZE_INT, FIFO_SIZE_INT, UART5, NULL, false)
-UART_BUFFER(lin2, FIFO_SIZE_INT, FIFO_SIZE_INT, USART3, NULL, false)
+UART_BUFFER(lin1, FIFO_SIZE_INT, FIFO_SIZE_INT, UART5, NULL, false, false)
+UART_BUFFER(lin2, FIFO_SIZE_INT, FIFO_SIZE_INT, USART3, NULL, false, false)
 
 // debug = USART2
-UART_BUFFER(debug, FIFO_SIZE_INT, FIFO_SIZE_INT, USART2, debug_ring_callback, false)
+UART_BUFFER(debug, FIFO_SIZE_INT, FIFO_SIZE_INT, USART2, debug_ring_callback, false, true)
 
 // SOM debug = UART7
 #ifdef STM32H7
-  UART_BUFFER(som_debug, FIFO_SIZE_INT, FIFO_SIZE_INT, UART7, NULL, false)
+  UART_BUFFER(som_debug, FIFO_SIZE_INT, FIFO_SIZE_INT, UART7, NULL, false, true)
 #else
   // UART7 is not available on F4
-  UART_BUFFER(som_debug, 1U, 1U, NULL, NULL, false)
+  UART_BUFFER(som_debug, 1U, 1U, NULL, NULL, false, true)
 #endif
 
 uart_ring *get_ring_by_number(int a) {
@@ -106,7 +108,13 @@ bool injectc(uart_ring *q, char elem) {
   uint16_t next_w_ptr;
 
   ENTER_CRITICAL();
-  next_w_ptr = (q->w_ptr_rx + 1U) % q->tx_fifo_size;
+  next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size;
+
+  if ((next_w_ptr == q->r_ptr_rx) && q->overwrite) {
+    // overwrite mode: drop oldest byte
+    q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size;
+  }
+
   if (next_w_ptr != q->r_ptr_rx) {
     q->elems_rx[q->w_ptr_rx] = elem;
     q->w_ptr_rx = next_w_ptr;
@@ -123,6 +131,12 @@ bool putc(uart_ring *q, char elem) {
 
   ENTER_CRITICAL();
   next_w_ptr = (q->w_ptr_tx + 1U) % q->tx_fifo_size;
+
+  if ((next_w_ptr == q->r_ptr_tx) && q->overwrite) {
+    // overwrite mode: drop oldest byte
+    q->r_ptr_tx = (q->r_ptr_tx + 1U) % q->tx_fifo_size;
+  }
+
   if (next_w_ptr != q->r_ptr_tx) {
     q->elems_tx[q->w_ptr_tx] = elem;
     q->w_ptr_tx = next_w_ptr;

panda/board/drivers/usb.h

@@ -27,8 +27,7 @@ bool usb_enumerated = false;
 uint16_t usb_last_frame_num = 0U;
 
 void usb_init(void);
-void usb_cb_ep3_out_complete(void);
-void usb_outep3_resume_if_paused(void);
+void refresh_can_tx_slots_available(void);
 
 // **** supporting defines ****
 
@@ -808,7 +807,7 @@ void usb_irqhandler(void) {
       #endif
       // NAK cleared by process_can (if tx buffers have room)
       outep3_processing = false;
-      usb_cb_ep3_out_complete();
+      refresh_can_tx_slots_available();
     } else if ((USBx_OUTEP(3)->DOEPINT & 0x2000) != 0) {
       #ifdef DEBUG_USB
         print("  OUT3 PACKET WTF\n");
@@ -926,7 +925,7 @@ void usb_irqhandler(void) {
   //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
 }
 
-void usb_outep3_resume_if_paused(void) {
+void can_tx_comms_resume_usb(void) {
   ENTER_CRITICAL();
   if (!outep3_processing && (USBx_OUTEP(3)->DOEPCTL & USB_OTG_DOEPCTL_NAKSTS) != 0) {
     USBx_OUTEP(3)->DOEPTSIZ = (32U << 19) | 0x800U;

panda/board/fake_stm.h

@@ -2,8 +2,10 @@
 #include <stdio.h>
 #include <stdint.h>
 #include <stdlib.h>
+#include <stdbool.h>
 
 #include "utils.h"
+#include "drivers/rtc_definitions.h"
 
 #define CANFD
 #define ALLOW_DEBUG
@@ -31,3 +33,64 @@ uint32_t microsecond_timer_get(void);
 uint32_t microsecond_timer_get(void) {
   return MICROSECOND_TIMER->CNT;
 }
+
+// Register functions
+void register_set_bits(volatile uint32_t *addr, uint32_t val) {}
+
+// RTC
+timestamp_t rtc_get_time() {
+  timestamp_t result;
+  result.year = 1996;
+  result.month = 4;
+  result.day = 23;
+  result.weekday = 2;
+  result.hour = 4;
+  result.minute = 20;
+  result.second = 20;
+  return result;
+}
+
+// Logging and flash
+uint8_t fake_logging_bank[0x40000] __attribute__ ((aligned (4)));
+#define LOGGING_FLASH_BASE_A (&fake_logging_bank[0])
+#define LOGGING_FLASH_BASE_B (&fake_logging_bank[0x20000])
+#define LOGGING_FLASH_SECTOR_A 5
+#define LOGGING_FLASH_SECTOR_B 6
+#define LOGGING_FLASH_SECTOR_SIZE 0x20000U
+
+bool flash_locked = true;
+void flash_unlock(void) {
+  flash_locked = false;
+}
+void flash_lock(void) {
+  flash_locked = true;
+}
+
+void *memset(void *str, int c, unsigned int n);
+
+bool flash_erase_sector(uint8_t sector) {
+  if (flash_locked) {
+    return false;
+  }
+
+  switch (sector) {
+    case LOGGING_FLASH_SECTOR_A:
+      memset(LOGGING_FLASH_BASE_A, 0xFF, sizeof(fake_logging_bank)/2);
+      return true;
+    case LOGGING_FLASH_SECTOR_B:
+      memset(LOGGING_FLASH_BASE_B, 0xFF, sizeof(fake_logging_bank)/2);
+      return true;
+    default:
+      return false;
+  }
+}
+
+void flash_write_word(void *prog_ptr, uint32_t data) {
+  if (flash_locked || prog_ptr < (void *) LOGGING_FLASH_BASE_A || prog_ptr >= (void *) (LOGGING_FLASH_BASE_A + sizeof(fake_logging_bank))) {
+    return;
+  }
+
+  *(uint32_t *)prog_ptr = data;
+}
+
+void flush_write_buffer(void) {}

panda/board/faults.h

@@ -30,6 +30,7 @@
 #define FAULT_INTERRUPT_RATE_UART_7         (1U << 24)
 #define FAULT_SIREN_MALFUNCTION             (1U << 25)
 #define FAULT_HEARTBEAT_LOOP_WATCHDOG       (1U << 26)
+#define FAULT_LOGGING_RATE_LIMIT            (1U << 27)
 
 // Permanent faults
 #define PERMANENT_FAULTS 0U
@@ -38,18 +39,20 @@ uint8_t fault_status = FAULT_STATUS_NONE;
 uint32_t faults = 0U;
 
 void fault_occurred(uint32_t fault) {
-  faults |= fault;
-  if((PERMANENT_FAULTS & fault) != 0U){
-    print("Permanent fault occurred: 0x"); puth(fault); print("\n");
-    fault_status = FAULT_STATUS_PERMANENT;
-  } else {
-    print("Temporary fault occurred: 0x"); puth(fault); print("\n");
-    fault_status = FAULT_STATUS_TEMPORARY;
+  if ((faults & fault) == 0U) {
+    if ((PERMANENT_FAULTS & fault) != 0U) {
+      print("Permanent fault occurred: 0x"); puth(fault); print("\n");
+      fault_status = FAULT_STATUS_PERMANENT;
+    } else {
+      print("Temporary fault occurred: 0x"); puth(fault); print("\n");
+      fault_status = FAULT_STATUS_TEMPORARY;
+    }
   }
+  faults |= fault;
 }
 
 void fault_recovered(uint32_t fault) {
-  if((PERMANENT_FAULTS & fault) == 0U){
+  if ((PERMANENT_FAULTS & fault) == 0U) {
     faults &= ~fault;
   } else {
     print("Cannot recover from a permanent fault!\n");

panda/board/flasher.h

@@ -1,6 +1,5 @@
 // flasher state variables
 uint32_t *prog_ptr = NULL;
-bool unlocked = false;
 
 void spi_init(void);
 
@@ -33,13 +32,12 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
         resp[1] = 0xff;
       }
       current_board->set_led(LED_GREEN, 1);
-      unlocked = true;
       prog_ptr = (uint32_t *)APP_START_ADDRESS;
       break;
     // **** 0xb2: erase sector
     case 0xb2:
       sec = req->param1;
-      if (flash_erase_sector(sec, unlocked)) {
+      if (flash_erase_sector(sec)) {
         resp[1] = 0xff;
       }
       break;
@@ -110,7 +108,7 @@ int comms_can_read(uint8_t *data, uint32_t max_len) {
   return 0;
 }
 
-void usb_cb_ep3_out_complete(void) {}
+void refresh_can_tx_slots_available(void) {}
 
 void comms_endpoint2_write(uint8_t *data, uint32_t len) {
   current_board->set_led(LED_RED, 0);

panda/board/health.h

@@ -31,7 +31,7 @@ struct __attribute__((packed)) health_t {
   uint16_t sbu2_voltage_mV;
 };
 
-#define CAN_HEALTH_PACKET_VERSION 4
+#define CAN_HEALTH_PACKET_VERSION 5
 typedef struct __attribute__((packed)) {
   uint8_t bus_off;
   uint32_t bus_off_cnt;
@@ -55,4 +55,8 @@ typedef struct __attribute__((packed)) {
   uint8_t canfd_enabled;
   uint8_t brs_enabled;
   uint8_t canfd_non_iso;
+  uint32_t irq0_call_rate;
+  uint32_t irq1_call_rate;
+  uint32_t irq2_call_rate;
+  uint32_t can_core_reset_cnt;
 } can_health_t;

panda/board/main.c

@@ -6,11 +6,11 @@
 #include "drivers/gmlan_alt.h"
 #include "drivers/kline_init.h"
 #include "drivers/simple_watchdog.h"
+#include "drivers/logging.h"
 
 #include "early_init.h"
 #include "provision.h"
 
-#include "power_saving.h"
 #include "safety.h"
 
 #include "health.h"
@@ -23,6 +23,8 @@
   #include "drivers/bxcan.h"
 #endif
 
+#include "power_saving.h"
+
 #include "obj/gitversion.h"
 
 #include "can_comms.h"
@@ -145,6 +147,8 @@ void __attribute__ ((noinline)) enable_fpu(void) {
 // called at 8Hz
 uint8_t loop_counter = 0U;
 uint8_t previous_harness_status = HARNESS_STATUS_NC;
+uint32_t waiting_to_boot_count = 0;
+bool waiting_to_boot = false;
 void tick_handler(void) {
   if (TICK_TIMER->SR != 0) {
     // siren
@@ -182,11 +186,31 @@ void tick_handler(void) {
 
       // tick drivers at 1Hz
       harness_tick();
+      logging_tick();
 
       const bool recent_heartbeat = heartbeat_counter == 0U;
-      current_board->board_tick(check_started(), usb_enumerated, recent_heartbeat, ((harness.status != previous_harness_status) && (harness.status != HARNESS_STATUS_NC)));
+      const bool harness_inserted = (harness.status != previous_harness_status) && (harness.status != HARNESS_STATUS_NC);
+      const bool just_bootkicked = current_board->board_tick(check_started(), usb_enumerated, recent_heartbeat, harness_inserted);
       previous_harness_status = harness.status;
 
+      // log device boot time
+      const bool som_running = current_board->read_som_gpio();
+      if (just_bootkicked && !som_running) {
+        log("bootkick");
+        waiting_to_boot = true;
+      }
+      if (waiting_to_boot) {
+        if (som_running) {
+          log("device booted");
+          waiting_to_boot = false;
+        } else if (waiting_to_boot_count == 10U) {
+          log("not booted after 10s");
+        } else {
+
+        }
+        waiting_to_boot_count += 1U;
+      }
+
       // increase heartbeat counter and cap it at the uint32 limit
       if (heartbeat_counter < __UINT32_MAX__) {
         heartbeat_counter += 1U;
@@ -250,14 +274,11 @@ void tick_handler(void) {
           // Also disable IR when the heartbeat goes missing
           current_board->set_ir_power(0U);
 
-          // TODO: need a SPI equivalent
-          // If enumerated but no heartbeat (phone up, boardd not running), or when the SOM GPIO is pulled high by the ABL,
-          // turn the fan on to cool the device
-          if(usb_enumerated || current_board->read_som_gpio()){
-            fan_set_power(50U);
-          } else {
-            fan_set_power(0U);
-          }
+          // Run fan when device is up, but not talking to us
+          // * bootloader enables the SOM GPIO on boot
+          // * fallback to USB enumerated where supported
+          bool enabled = usb_enumerated || current_board->read_som_gpio();
+          fan_set_power(enabled ? 50U : 0U);
         }
       }
 
@@ -328,6 +349,7 @@ int main(void) {
   peripherals_init();
   detect_board_type();
   adc_init();
+  logging_init();
 
   // print hello
   print("\n\n\n************************ MAIN START ************************\n");
@@ -347,6 +369,8 @@ int main(void) {
   // panda has an FPU, let's use it!
   enable_fpu();
 
+  log("main start");
+
   if (current_board->has_gps) {
     uart_init(&uart_ring_gps, 9600);
   } else {

panda/board/main_comms.h

@@ -167,6 +167,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
     case 0xc2:
       COMPILE_TIME_ASSERT(sizeof(can_health_t) <= USBPACKET_MAX_SIZE);
       if (req->param1 < 3U) {
+        update_can_health_pkt(req->param1, 0U);
         can_health[req->param1].can_speed = (bus_config[req->param1].can_speed / 10U);
         can_health[req->param1].can_data_speed = (bus_config[req->param1].can_data_speed / 10U);
         can_health[req->param1].canfd_enabled = bus_config[req->param1].canfd_enabled;
@@ -181,6 +182,17 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
       (void)memcpy(resp, ((uint8_t *)UID_BASE), 12);
       resp_len = 12;
       break;
+    case 0xc4:
+      // **** 0xc4: get interrupt call rate
+      if (req->param1 < NUM_INTERRUPTS) {
+        uint32_t load = interrupts[req->param1].call_rate;
+        resp[0] = (load & 0x000000FFU);
+        resp[1] = ((load & 0x0000FF00U) >> 8U);
+        resp[2] = ((load & 0x00FF0000U) >> 16U);
+        resp[3] = ((load & 0xFF000000U) >> 24U);
+        resp_len = 4U;
+      }
+      break;
     // **** 0xd0: fetch serial (aka the provisioned dongle ID)
     case 0xd0:
       // addresses are OTP
@@ -478,6 +490,18 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
         UNUSED(ret);
       }
       break;
+    // *** 0xfd: read logs
+    case 0xfd:
+      if (req->param1 == 1U) {
+        logging_init_read_index();
+      }
+
+      if (req->param2 != 0xFFFFU) {
+        logging_find_read_index(req->param2);
+      }
+
+      resp_len = logging_read(resp);
+      break;
     default:
       print("NO HANDLER ");
       puth(req->request);

panda/board/pedal/main.c

@@ -54,7 +54,7 @@ void comms_endpoint2_write(uint8_t *data, uint32_t len) {
   UNUSED(data);
   UNUSED(len);
 }
-void usb_cb_ep3_out_complete(void) {}
+void refresh_can_tx_slots_available(void) {}
 
 int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
   unsigned int resp_len = 0;

panda/board/power_saving.h

@@ -18,6 +18,13 @@ void set_power_save_state(int state) {
         uart_ring *ur = get_ring_by_number(1);
         for (unsigned int i = 0; i < sizeof(UBLOX_SLEEP_MSG) - 1U; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
       }
+      // Disable CAN interrupts
+      if (harness.status == HARNESS_STATUS_FLIPPED) {
+        llcan_irq_disable(cans[0]);
+      } else {
+        llcan_irq_disable(cans[2]);
+      }
+      llcan_irq_disable(cans[1]);
     } else {
       print("disable power savings\n");
       if (current_board->has_gps) {
@@ -25,6 +32,14 @@ void set_power_save_state(int state) {
         uart_ring *ur = get_ring_by_number(1);
         for (unsigned int i = 0; i < sizeof(UBLOX_WAKE_MSG) - 1U; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
       }
+
+      if (harness.status == HARNESS_STATUS_FLIPPED) {
+        llcan_irq_enable(cans[0]);
+      } else {
+        llcan_irq_enable(cans[2]);
+      }
+      llcan_irq_enable(cans[1]);
+
       enable = true;
     }
 

panda/board/safety/safety_ford.h

@@ -1,53 +1,75 @@
 // Safety-relevant CAN messages for Ford vehicles.
-#define MSG_EngBrakeData          0x165   // RX from PCM, for driver brake pedal and cruise state
-#define MSG_EngVehicleSpThrottle  0x204   // RX from PCM, for driver throttle input
-#define MSG_DesiredTorqBrk        0x213   // RX from ABS, for standstill state
-#define MSG_BrakeSysFeatures      0x415   // RX from ABS, for vehicle speed
-#define MSG_EngVehicleSpThrottle2 0x202   // RX from PCM, for second vehicle speed
-#define MSG_Yaw_Data_FD1          0x91    // RX from RCM, for yaw rate
-#define MSG_Steering_Data_FD1     0x083   // TX by OP, various driver switches and LKAS/CC buttons
-#define MSG_ACCDATA               0x186   // TX by OP, ACC controls
-#define MSG_ACCDATA_3             0x18A   // TX by OP, ACC/TJA user interface
-#define MSG_Lane_Assist_Data1     0x3CA   // TX by OP, Lane Keep Assist
-#define MSG_LateralMotionControl  0x3D3   // TX by OP, Traffic Jam Assist
-#define MSG_IPMA_Data             0x3D8   // TX by OP, IPMA and LKAS user interface
+#define FORD_EngBrakeData          0x165   // RX from PCM, for driver brake pedal and cruise state
+#define FORD_EngVehicleSpThrottle  0x204   // RX from PCM, for driver throttle input
+#define FORD_DesiredTorqBrk        0x213   // RX from ABS, for standstill state
+#define FORD_BrakeSysFeatures      0x415   // RX from ABS, for vehicle speed
+#define FORD_EngVehicleSpThrottle2 0x202   // RX from PCM, for second vehicle speed
+#define FORD_Yaw_Data_FD1          0x91    // RX from RCM, for yaw rate
+#define FORD_Steering_Data_FD1     0x083   // TX by OP, various driver switches and LKAS/CC buttons
+#define FORD_ACCDATA               0x186   // TX by OP, ACC controls
+#define FORD_ACCDATA_3             0x18A   // TX by OP, ACC/TJA user interface
+#define FORD_Lane_Assist_Data1     0x3CA   // TX by OP, Lane Keep Assist
+#define FORD_LateralMotionControl  0x3D3   // TX by OP, Lateral Control message
+#define FORD_LateralMotionControl2 0x3D6   // TX by OP, alternate Lateral Control message
+#define FORD_IPMA_Data             0x3D8   // TX by OP, IPMA and LKAS user interface
 
 // CAN bus numbers.
 #define FORD_MAIN_BUS 0U
 #define FORD_CAM_BUS  2U
 
 const CanMsg FORD_STOCK_TX_MSGS[] = {
-  {MSG_Steering_Data_FD1, 0, 8},
-  {MSG_Steering_Data_FD1, 2, 8},
-  {MSG_ACCDATA_3, 0, 8},
-  {MSG_Lane_Assist_Data1, 0, 8},
-  {MSG_LateralMotionControl, 0, 8},
-  {MSG_IPMA_Data, 0, 8},
+  {FORD_Steering_Data_FD1, 0, 8},
+  {FORD_Steering_Data_FD1, 2, 8},
+  {FORD_ACCDATA_3, 0, 8},
+  {FORD_Lane_Assist_Data1, 0, 8},
+  {FORD_LateralMotionControl, 0, 8},
+  {FORD_IPMA_Data, 0, 8},
 };
 #define FORD_STOCK_TX_LEN (sizeof(FORD_STOCK_TX_MSGS) / sizeof(FORD_STOCK_TX_MSGS[0]))
 
 const CanMsg FORD_LONG_TX_MSGS[] = {
-  {MSG_Steering_Data_FD1, 0, 8},
-  {MSG_Steering_Data_FD1, 2, 8},
-  {MSG_ACCDATA, 0, 8},
-  {MSG_ACCDATA_3, 0, 8},
-  {MSG_Lane_Assist_Data1, 0, 8},
-  {MSG_LateralMotionControl, 0, 8},
-  {MSG_IPMA_Data, 0, 8},
+  {FORD_Steering_Data_FD1, 0, 8},
+  {FORD_Steering_Data_FD1, 2, 8},
+  {FORD_ACCDATA, 0, 8},
+  {FORD_ACCDATA_3, 0, 8},
+  {FORD_Lane_Assist_Data1, 0, 8},
+  {FORD_LateralMotionControl, 0, 8},
+  {FORD_IPMA_Data, 0, 8},
 };
 #define FORD_LONG_TX_LEN (sizeof(FORD_LONG_TX_MSGS) / sizeof(FORD_LONG_TX_MSGS[0]))
 
+const CanMsg FORD_CANFD_STOCK_TX_MSGS[] = {
+  {FORD_Steering_Data_FD1, 0, 8},
+  {FORD_Steering_Data_FD1, 2, 8},
+  {FORD_ACCDATA_3, 0, 8},
+  {FORD_Lane_Assist_Data1, 0, 8},
+  {FORD_LateralMotionControl2, 0, 8},
+  {FORD_IPMA_Data, 0, 8},
+};
+#define FORD_CANFD_STOCK_TX_LEN (sizeof(FORD_CANFD_STOCK_TX_MSGS) / sizeof(FORD_CANFD_STOCK_TX_MSGS[0]))
+
+const CanMsg FORD_CANFD_LONG_TX_MSGS[] = {
+  {FORD_Steering_Data_FD1, 0, 8},
+  {FORD_Steering_Data_FD1, 2, 8},
+  {FORD_ACCDATA, 0, 8},
+  {FORD_ACCDATA_3, 0, 8},
+  {FORD_Lane_Assist_Data1, 0, 8},
+  {FORD_LateralMotionControl2, 0, 8},
+  {FORD_IPMA_Data, 0, 8},
+};
+#define FORD_CANFD_LONG_TX_LEN (sizeof(FORD_CANFD_LONG_TX_MSGS) / sizeof(FORD_CANFD_LONG_TX_MSGS[0]))
+
 // warning: quality flags are not yet checked in openpilot's CAN parser,
 // this may be the cause of blocked messages
 AddrCheckStruct ford_addr_checks[] = {
-  {.msg = {{MSG_BrakeSysFeatures, 0, 8, .check_checksum = true, .max_counter = 15U, .quality_flag=true, .expected_timestep = 20000U}, { 0 }, { 0 }}},
-  // TODO: MSG_EngVehicleSpThrottle2 has a counter that skips by 2, understand and enable counter check
-  {.msg = {{MSG_EngVehicleSpThrottle2, 0, 8, .check_checksum = true, .quality_flag=true, .expected_timestep = 20000U}, { 0 }, { 0 }}},
-  {.msg = {{MSG_Yaw_Data_FD1, 0, 8, .check_checksum = true, .max_counter = 255U, .quality_flag=true, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{FORD_BrakeSysFeatures, 0, 8, .check_checksum = true, .max_counter = 15U, .quality_flag=true, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  // TODO: FORD_EngVehicleSpThrottle2 has a counter that skips by 2, understand and enable counter check
+  {.msg = {{FORD_EngVehicleSpThrottle2, 0, 8, .check_checksum = true, .quality_flag=true, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  {.msg = {{FORD_Yaw_Data_FD1, 0, 8, .check_checksum = true, .max_counter = 255U, .quality_flag=true, .expected_timestep = 10000U}, { 0 }, { 0 }}},
   // These messages have no counter or checksum
-  {.msg = {{MSG_EngBrakeData, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}},
-  {.msg = {{MSG_EngVehicleSpThrottle, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{MSG_DesiredTorqBrk, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  {.msg = {{FORD_EngBrakeData, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}},
+  {.msg = {{FORD_EngVehicleSpThrottle, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{FORD_DesiredTorqBrk, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
 };
 #define FORD_ADDR_CHECK_LEN (sizeof(ford_addr_checks) / sizeof(ford_addr_checks[0]))
 addr_checks ford_rx_checks = {ford_addr_checks, FORD_ADDR_CHECK_LEN};
@@ -56,13 +78,13 @@ static uint8_t ford_get_counter(CANPacket_t *to_push) {
   int addr = GET_ADDR(to_push);
 
   uint8_t cnt;
-  if (addr == MSG_BrakeSysFeatures) {
+  if (addr == FORD_BrakeSysFeatures) {
     // Signal: VehVActlBrk_No_Cnt
     cnt = (GET_BYTE(to_push, 2) >> 2) & 0xFU;
-  } else if (addr == MSG_EngVehicleSpThrottle2) {
+  } else if (addr == FORD_EngVehicleSpThrottle2) {
     // Signal: VehVActlEng_No_Cnt
     cnt = (GET_BYTE(to_push, 2) >> 3) & 0xFU;
-  } else if (addr == MSG_Yaw_Data_FD1) {
+  } else if (addr == FORD_Yaw_Data_FD1) {
     // Signal: VehRollYaw_No_Cnt
     cnt = GET_BYTE(to_push, 5);
   } else {
@@ -75,13 +97,13 @@ static uint32_t ford_get_checksum(CANPacket_t *to_push) {
   int addr = GET_ADDR(to_push);
 
   uint8_t chksum;
-  if (addr == MSG_BrakeSysFeatures) {
+  if (addr == FORD_BrakeSysFeatures) {
     // Signal: VehVActlBrk_No_Cs
     chksum = GET_BYTE(to_push, 3);
-  } else if (addr == MSG_EngVehicleSpThrottle2) {
+  } else if (addr == FORD_EngVehicleSpThrottle2) {
     // Signal: VehVActlEng_No_Cs
     chksum = GET_BYTE(to_push, 1);
-  } else if (addr == MSG_Yaw_Data_FD1) {
+  } else if (addr == FORD_Yaw_Data_FD1) {
     // Signal: VehRollYawW_No_Cs
     chksum = GET_BYTE(to_push, 4);
   } else {
@@ -94,17 +116,17 @@ static uint32_t ford_compute_checksum(CANPacket_t *to_push) {
   int addr = GET_ADDR(to_push);
 
   uint8_t chksum = 0;
-  if (addr == MSG_BrakeSysFeatures) {
+  if (addr == FORD_BrakeSysFeatures) {
     chksum += GET_BYTE(to_push, 0) + GET_BYTE(to_push, 1);  // Veh_V_ActlBrk
     chksum += GET_BYTE(to_push, 2) >> 6;                    // VehVActlBrk_D_Qf
     chksum += (GET_BYTE(to_push, 2) >> 2) & 0xFU;           // VehVActlBrk_No_Cnt
     chksum = 0xFFU - chksum;
-  } else if (addr == MSG_EngVehicleSpThrottle2) {
+  } else if (addr == FORD_EngVehicleSpThrottle2) {
     chksum += (GET_BYTE(to_push, 2) >> 3) & 0xFU;           // VehVActlEng_No_Cnt
     chksum += (GET_BYTE(to_push, 4) >> 5) & 0x3U;           // VehVActlEng_D_Qf
     chksum += GET_BYTE(to_push, 6) + GET_BYTE(to_push, 7);  // Veh_V_ActlEng
     chksum = 0xFFU - chksum;
-  } else if (addr == MSG_Yaw_Data_FD1) {
+  } else if (addr == FORD_Yaw_Data_FD1) {
     chksum += GET_BYTE(to_push, 0) + GET_BYTE(to_push, 1);  // VehRol_W_Actl
     chksum += GET_BYTE(to_push, 2) + GET_BYTE(to_push, 3);  // VehYaw_W_Actl
     chksum += GET_BYTE(to_push, 5);                         // VehRollYaw_No_Cnt
@@ -121,20 +143,22 @@ static bool ford_get_quality_flag_valid(CANPacket_t *to_push) {
   int addr = GET_ADDR(to_push);
 
   bool valid = false;
-  if (addr == MSG_BrakeSysFeatures) {
+  if (addr == FORD_BrakeSysFeatures) {
     valid = (GET_BYTE(to_push, 2) >> 6) == 0x3U;           // VehVActlBrk_D_Qf
-  } else if (addr == MSG_EngVehicleSpThrottle2) {
+  } else if (addr == FORD_EngVehicleSpThrottle2) {
     valid = ((GET_BYTE(to_push, 4) >> 5) & 0x3U) == 0x3U;  // VehVActlEng_D_Qf
-  } else if (addr == MSG_Yaw_Data_FD1) {
-    valid = (GET_BYTE(to_push, 6) >> 4) == 0xFU;           // VehRolWActl_D_Qf & VehYawWActl_D_Qf
+  } else if (addr == FORD_Yaw_Data_FD1) {
+    valid = ((GET_BYTE(to_push, 6) >> 4) & 0x3U) == 0x3U;  // VehYawWActl_D_Qf
   } else {
   }
   return valid;
 }
 
 const uint16_t FORD_PARAM_LONGITUDINAL = 1;
+const uint16_t FORD_PARAM_CANFD = 2;
 
 bool ford_longitudinal = false;
+bool ford_canfd = false;
 
 const LongitudinalLimits FORD_LONG_LIMITS = {
   // acceleration cmd limits (used for brakes)
@@ -150,17 +174,21 @@ const LongitudinalLimits FORD_LONG_LIMITS = {
   .inactive_gas = 0,       // -5.0 m/s^2
 };
 
-#define INACTIVE_CURVATURE 1000U
-#define INACTIVE_CURVATURE_RATE 4096U
-#define INACTIVE_PATH_OFFSET 512U
-#define INACTIVE_PATH_ANGLE 1000U
+#define FORD_INACTIVE_CURVATURE 1000U
+#define FORD_INACTIVE_CURVATURE_RATE 4096U
+#define FORD_INACTIVE_PATH_OFFSET 512U
+#define FORD_INACTIVE_PATH_ANGLE 1000U
+
+#define FORD_CANFD_INACTIVE_CURVATURE_RATE 1024U
+
 #define FORD_MAX_SPEED_DELTA 2.0  // m/s
 
 static bool ford_lkas_msg_check(int addr) {
-  return (addr == MSG_ACCDATA_3)
-      || (addr == MSG_Lane_Assist_Data1)
-      || (addr == MSG_LateralMotionControl)
-      || (addr == MSG_IPMA_Data);
+  return (addr == FORD_ACCDATA_3)
+      || (addr == FORD_Lane_Assist_Data1)
+      || (addr == FORD_LateralMotionControl)
+      || (addr == FORD_LateralMotionControl2)
+      || (addr == FORD_IPMA_Data);
 }
 
 // Curvature rate limits
@@ -192,19 +220,19 @@ static int ford_rx_hook(CANPacket_t *to_push) {
     int addr = GET_ADDR(to_push);
 
     // Update in motion state from standstill signal
-    if (addr == MSG_DesiredTorqBrk) {
+    if (addr == FORD_DesiredTorqBrk) {
       // Signal: VehStop_D_Stat
       vehicle_moving = ((GET_BYTE(to_push, 3) >> 3) & 0x3U) == 0U;
     }
 
     // Update vehicle speed
-    if (addr == MSG_BrakeSysFeatures) {
+    if (addr == FORD_BrakeSysFeatures) {
       // Signal: Veh_V_ActlBrk
       update_sample(&vehicle_speed, ROUND(((GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1)) * 0.01 / 3.6 * VEHICLE_SPEED_FACTOR));
     }
 
     // Check vehicle speed against a second source
-    if (addr == MSG_EngVehicleSpThrottle2) {
+    if (addr == FORD_EngVehicleSpThrottle2) {
       // Disable controls if speeds from ABS and PCM ECUs are too far apart.
       // Signal: Veh_V_ActlEng
       float filtered_pcm_speed = ((GET_BYTE(to_push, 6) << 8) | GET_BYTE(to_push, 7)) * 0.01 / 3.6;
@@ -214,23 +242,23 @@ static int ford_rx_hook(CANPacket_t *to_push) {
     }
 
     // Update vehicle yaw rate
-    if (addr == MSG_Yaw_Data_FD1) {
+    if (addr == FORD_Yaw_Data_FD1) {
       // Signal: VehYaw_W_Actl
       float ford_yaw_rate = (((GET_BYTE(to_push, 2) << 8U) | GET_BYTE(to_push, 3)) * 0.0002) - 6.5;
       float current_curvature = ford_yaw_rate / MAX(vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR, 0.1);
       // convert current curvature into units on CAN for comparison with desired curvature
-      update_sample(&angle_meas, ROUND(current_curvature * (float)FORD_STEERING_LIMITS.angle_deg_to_can));
+      update_sample(&angle_meas, ROUND(current_curvature * FORD_STEERING_LIMITS.angle_deg_to_can));
     }
 
     // Update gas pedal
-    if (addr == MSG_EngVehicleSpThrottle) {
+    if (addr == FORD_EngVehicleSpThrottle) {
       // Pedal position: (0.1 * val) in percent
       // Signal: ApedPos_Pc_ActlArb
       gas_pressed = (((GET_BYTE(to_push, 0) & 0x03U) << 8) | GET_BYTE(to_push, 1)) > 0U;
     }
 
     // Update brake pedal and cruise state
-    if (addr == MSG_EngBrakeData) {
+    if (addr == FORD_EngBrakeData) {
       // Signal: BpedDrvAppl_D_Actl
       brake_pressed = ((GET_BYTE(to_push, 0) >> 4) & 0x3U) == 2U;
 
@@ -249,17 +277,24 @@ static int ford_rx_hook(CANPacket_t *to_push) {
 }
 
 static int ford_tx_hook(CANPacket_t *to_send) {
-  int tx = 1;
   int addr = GET_ADDR(to_send);
-
-  if (ford_longitudinal) {
-    tx = msg_allowed(to_send, FORD_LONG_TX_MSGS, FORD_LONG_TX_LEN);
+  int tx;
+  if (ford_canfd) {
+    if (ford_longitudinal) {
+      tx = msg_allowed(to_send, FORD_CANFD_LONG_TX_MSGS, FORD_CANFD_LONG_TX_LEN);
+    } else {
+      tx = msg_allowed(to_send, FORD_CANFD_STOCK_TX_MSGS, FORD_CANFD_STOCK_TX_LEN);
+    }
   } else {
-    tx = msg_allowed(to_send, FORD_STOCK_TX_MSGS, FORD_STOCK_TX_LEN);
+    if (ford_longitudinal) {
+      tx = msg_allowed(to_send, FORD_LONG_TX_MSGS, FORD_LONG_TX_LEN);
+    } else {
+      tx = msg_allowed(to_send, FORD_STOCK_TX_MSGS, FORD_STOCK_TX_LEN);
+    }
   }
 
   // Safety check for ACCDATA accel and brake requests
-  if (addr == MSG_ACCDATA) {
+  if (addr == FORD_ACCDATA) {
     // Signal: AccPrpl_A_Rq
     int gas = ((GET_BYTE(to_send, 6) & 0x3U) << 8) | GET_BYTE(to_send, 7);
     // Signal: AccBrkTot_A_Rq
@@ -282,7 +317,7 @@ static int ford_tx_hook(CANPacket_t *to_send) {
   // Safety check for Steering_Data_FD1 button signals
   // Note: Many other signals in this message are not relevant to safety (e.g. blinkers, wiper switches, high beam)
   // which we passthru in OP.
-  if (addr == MSG_Steering_Data_FD1) {
+  if (addr == FORD_Steering_Data_FD1) {
     // Violation if resume button is pressed while controls not allowed, or
     // if cancel button is pressed when cruise isn't engaged.
     bool violation = false;
@@ -295,7 +330,7 @@ static int ford_tx_hook(CANPacket_t *to_send) {
   }
 
   // Safety check for Lane_Assist_Data1 action
-  if (addr == MSG_Lane_Assist_Data1) {
+  if (addr == FORD_Lane_Assist_Data1) {
     // Do not allow steering using Lane_Assist_Data1 (Lane-Departure Aid).
     // This message must be sent for Lane Centering to work, and can include
     // values such as the steering angle or lane curvature for debugging,
@@ -307,7 +342,7 @@ static int ford_tx_hook(CANPacket_t *to_send) {
   }
 
   // Safety check for LateralMotionControl action
-  if (addr == MSG_LateralMotionControl) {
+  if (addr == FORD_LateralMotionControl) {
     // Signal: LatCtl_D_Rq
     bool steer_control_enabled = ((GET_BYTE(to_send, 4) >> 2) & 0x7U) != 0U;
     unsigned int raw_curvature = (GET_BYTE(to_send, 0) << 3) | (GET_BYTE(to_send, 1) >> 5);
@@ -316,10 +351,31 @@ static int ford_tx_hook(CANPacket_t *to_send) {
     unsigned int raw_path_offset = (GET_BYTE(to_send, 5) << 2) | (GET_BYTE(to_send, 6) >> 6);
 
     // These signals are not yet tested with the current safety limits
-    bool violation = (raw_curvature_rate != INACTIVE_CURVATURE_RATE) || (raw_path_angle != INACTIVE_PATH_ANGLE) || (raw_path_offset != INACTIVE_PATH_OFFSET);
+    bool violation = (raw_curvature_rate != FORD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
 
     // Check angle error and steer_control_enabled
-    int desired_curvature = raw_curvature - INACTIVE_CURVATURE;  // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature
+    int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE;  // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature
+    violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
+
+    if (violation) {
+      tx = 0;
+    }
+  }
+
+  // Safety check for LateralMotionControl2 action
+  if (addr == FORD_LateralMotionControl2) {
+    // Signal: LatCtl_D2_Rq
+    bool steer_control_enabled = ((GET_BYTE(to_send, 0) >> 4) & 0x7U) != 0U;
+    unsigned int raw_curvature = (GET_BYTE(to_send, 2) << 3) | (GET_BYTE(to_send, 3) >> 5);
+    unsigned int raw_curvature_rate = (GET_BYTE(to_send, 6) << 3) | (GET_BYTE(to_send, 7) >> 5);
+    unsigned int raw_path_angle = ((GET_BYTE(to_send, 3) & 0x1FU) << 6) | (GET_BYTE(to_send, 4) >> 2);
+    unsigned int raw_path_offset = ((GET_BYTE(to_send, 4) & 0x3U) << 8) | GET_BYTE(to_send, 5);
+
+    // These signals are not yet tested with the current safety limits
+    bool violation = (raw_curvature_rate != FORD_CANFD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
+
+    // Check angle error and steer_control_enabled
+    int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE;  // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature
     violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
 
     if (violation) {
@@ -344,7 +400,7 @@ static int ford_fwd_hook(int bus_num, int addr) {
       if (ford_lkas_msg_check(addr)) {
         // Block stock LKAS and UI messages
         bus_fwd = -1;
-      } else if (ford_longitudinal && (addr == MSG_ACCDATA)) {
+      } else if (ford_longitudinal && (addr == FORD_ACCDATA)) {
         // Block stock ACC message
         bus_fwd = -1;
       } else {
@@ -367,6 +423,7 @@ static const addr_checks* ford_init(uint16_t param) {
   UNUSED(param);
 #ifdef ALLOW_DEBUG
   ford_longitudinal = GET_FLAG(param, FORD_PARAM_LONGITUDINAL);
+  ford_canfd = GET_FLAG(param, FORD_PARAM_CANFD);
 #endif
   return &ford_rx_checks;
 }

panda/board/safety/safety_subaru.h

@@ -1,59 +1,69 @@
-const SteeringLimits SUBARU_STEERING_LIMITS = {
-  .max_steer = 2047,
-  .max_rt_delta = 940,
-  .max_rt_interval = 250000,
-  .max_rate_up = 50,
-  .max_rate_down = 70,
-  .driver_torque_factor = 50,
-  .driver_torque_allowance = 60,
-  .type = TorqueDriverLimited,
-};
+#define SUBARU_STEERING_LIMITS_GENERATOR(steer_max, rate_up, rate_down)          \
+  {                                                                              \
+    .max_steer = (steer_max),                                                    \
+    .max_rt_delta = 940,                                                         \
+    .max_rt_interval = 250000,                                                   \
+    .max_rate_up = (rate_up),                                                    \
+    .max_rate_down = (rate_down),                                                \
+    .driver_torque_factor = 50,                                                  \
+    .driver_torque_allowance = 60,                                               \
+    .type = TorqueDriverLimited,                                                 \
+  }                                                                              \
 
-const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = {
-  .max_steer = 1000,
-  .max_rt_delta = 940,
-  .max_rt_interval = 250000,
-  .max_rate_up = 40,
-  .max_rate_down = 40,
-  .driver_torque_factor = 50,
-  .driver_torque_allowance = 60,
-  .type = TorqueDriverLimited,
-};
+const SteeringLimits SUBARU_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70);
+const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40);
+
+
+#define MSG_SUBARU_Brake_Status          0x13c
+#define MSG_SUBARU_CruiseControl         0x240
+#define MSG_SUBARU_Throttle              0x40
+#define MSG_SUBARU_Steering_Torque       0x119
+#define MSG_SUBARU_Wheel_Speeds          0x13a
+
+#define MSG_SUBARU_ES_LKAS               0x122
+#define MSG_SUBARU_ES_Brake              0x220
+#define MSG_SUBARU_ES_Distance           0x221
+#define MSG_SUBARU_ES_Status             0x222
+#define MSG_SUBARU_ES_DashStatus         0x321
+#define MSG_SUBARU_ES_LKAS_State         0x322
+#define MSG_SUBARU_ES_Infotainment       0x323
+
+#define SUBARU_MAIN_BUS 0
+#define SUBARU_ALT_BUS  1
+#define SUBARU_CAM_BUS  2
+
+#define SUBARU_COMMON_TX_MSGS(alt_bus)              \
+  {MSG_SUBARU_ES_LKAS,         SUBARU_MAIN_BUS, 8}, \
+  {MSG_SUBARU_ES_Distance,     alt_bus,         8}, \
+  {MSG_SUBARU_ES_DashStatus,   SUBARU_MAIN_BUS, 8}, \
+  {MSG_SUBARU_ES_LKAS_State,   SUBARU_MAIN_BUS, 8}, \
+  {MSG_SUBARU_ES_Infotainment, SUBARU_MAIN_BUS, 8}, \
+
+#define SUBARU_COMMON_ADDR_CHECKS(alt_bus)                                                                                                            \
+  {.msg = {{MSG_SUBARU_Throttle,        SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}}, \
+  {.msg = {{MSG_SUBARU_Steering_Torque, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, \
+  {.msg = {{MSG_SUBARU_Wheel_Speeds,    alt_bus,         8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, \
+  {.msg = {{MSG_SUBARU_Brake_Status,    alt_bus,         8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, \
+  {.msg = {{MSG_SUBARU_CruiseControl,   alt_bus,         8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 50000U}, { 0 }, { 0 }}}, \
 
 const CanMsg SUBARU_TX_MSGS[] = {
-  {0x122, 0, 8},
-  {0x221, 0, 8},
-  {0x321, 0, 8},
-  {0x322, 0, 8},
-  {0x323, 0, 8},
+  SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS)
 };
 #define SUBARU_TX_MSGS_LEN (sizeof(SUBARU_TX_MSGS) / sizeof(SUBARU_TX_MSGS[0]))
 
 const CanMsg SUBARU_GEN2_TX_MSGS[] = {
-  {0x122, 0, 8},
-  {0x221, 1, 8},
-  {0x321, 0, 8},
-  {0x322, 0, 8},
-  {0x323, 0, 8}
+  SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
 };
 #define SUBARU_GEN2_TX_MSGS_LEN (sizeof(SUBARU_GEN2_TX_MSGS) / sizeof(SUBARU_GEN2_TX_MSGS[0]))
 
 AddrCheckStruct subaru_addr_checks[] = {
-  {.msg = {{ 0x40, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{0x119, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
-  {.msg = {{0x13a, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
-  {.msg = {{0x13c, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
-  {.msg = {{0x240, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 50000U}, { 0 }, { 0 }}},
+  SUBARU_COMMON_ADDR_CHECKS(SUBARU_MAIN_BUS)
 };
 #define SUBARU_ADDR_CHECK_LEN (sizeof(subaru_addr_checks) / sizeof(subaru_addr_checks[0]))
 addr_checks subaru_rx_checks = {subaru_addr_checks, SUBARU_ADDR_CHECK_LEN};
 
 AddrCheckStruct subaru_gen2_addr_checks[] = {
-  {.msg = {{ 0x40, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{0x119, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
-  {.msg = {{0x13a, 1, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
-  {.msg = {{0x13c, 1, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
-  {.msg = {{0x240, 1, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 50000U}, { 0 }, { 0 }}},
+  SUBARU_COMMON_ADDR_CHECKS(SUBARU_ALT_BUS)
 };
 #define SUBARU_GEN2_ADDR_CHECK_LEN (sizeof(subaru_gen2_addr_checks) / sizeof(subaru_gen2_addr_checks[0]))
 addr_checks subaru_gen2_rx_checks = {subaru_gen2_addr_checks, SUBARU_GEN2_ADDR_CHECK_LEN};
@@ -88,10 +98,10 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
 
   if (valid) {
     const int bus = GET_BUS(to_push);
-    const int alt_bus = subaru_gen2 ? 1 : 0;
+    const int alt_bus = subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS;
 
     int addr = GET_ADDR(to_push);
-    if ((addr == 0x119) && (bus == 0)) {
+    if ((addr == MSG_SUBARU_Steering_Torque) && (bus == SUBARU_MAIN_BUS)) {
       int torque_driver_new;
       torque_driver_new = ((GET_BYTES(to_push, 0, 4) >> 16) & 0x7FFU);
       torque_driver_new = -1 * to_signed(torque_driver_new, 11);
@@ -99,25 +109,25 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off
-    if ((addr == 0x240) && (bus == alt_bus)) {
+    if ((addr == MSG_SUBARU_CruiseControl) && (bus == alt_bus)) {
       bool cruise_engaged = GET_BIT(to_push, 41U) != 0U;
       pcm_cruise_check(cruise_engaged);
     }
 
     // update vehicle moving with any non-zero wheel speed
-    if ((addr == 0x13a) && (bus == alt_bus)) {
+    if ((addr == MSG_SUBARU_Wheel_Speeds) && (bus == alt_bus)) {
       vehicle_moving = ((GET_BYTES(to_push, 0, 4) >> 12) != 0U) || (GET_BYTES(to_push, 4, 4) != 0U);
     }
 
-    if ((addr == 0x13c) && (bus == alt_bus)) {
+    if ((addr == MSG_SUBARU_Brake_Status) && (bus == alt_bus)) {
       brake_pressed = ((GET_BYTE(to_push, 7) >> 6) & 1U);
     }
 
-    if ((addr == 0x40) && (bus == 0)) {
+    if ((addr == MSG_SUBARU_Throttle) && (bus == SUBARU_MAIN_BUS)) {
       gas_pressed = GET_BYTE(to_push, 4) != 0U;
     }
 
-    generic_rx_checks((addr == 0x122) && (bus == 0));
+    generic_rx_checks((addr == MSG_SUBARU_ES_LKAS) && (bus == SUBARU_MAIN_BUS));
   }
   return valid;
 }
@@ -134,7 +144,7 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
   }
 
   // steer cmd checks
-  if (addr == 0x122) {
+  if (addr == MSG_SUBARU_ES_LKAS) {
     int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 16) & 0x1FFFU);
     desired_torque = -1 * to_signed(desired_torque, 13);
 
@@ -150,19 +160,18 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
 static int subaru_fwd_hook(int bus_num, int addr) {
   int bus_fwd = -1;
 
-  if (bus_num == 0) {
-    bus_fwd = 2;  // forward to camera
+  if (bus_num == SUBARU_MAIN_BUS) {
+    bus_fwd = SUBARU_CAM_BUS;  // forward to camera
   }
 
-  if (bus_num == 2) {
+  if (bus_num == SUBARU_CAM_BUS) {
     // Global platform
-    // 0x122 ES_LKAS
-    // 0x321 ES_DashStatus
-    // 0x322 ES_LKAS_State
-    // 0x323 INFOTAINMENT_STATUS
-    bool block_lkas = (addr == 0x122) || (addr == 0x321) || (addr == 0x322) || (addr == 0x323);
+    bool block_lkas = ((addr == MSG_SUBARU_ES_LKAS) ||
+                       (addr == MSG_SUBARU_ES_DashStatus) ||
+                       (addr == MSG_SUBARU_ES_LKAS_State) ||
+                       (addr == MSG_SUBARU_ES_Infotainment));
     if (!block_lkas) {
-      bus_fwd = 0;  // Main CAN
+      bus_fwd = SUBARU_MAIN_BUS;  // Main CAN
     }
   }
 
@@ -188,5 +197,3 @@ const safety_hooks subaru_hooks = {
   .tx_lin = nooutput_tx_lin_hook,
   .fwd = subaru_fwd_hook,
 };
-
-

panda/board/safety/safety_subaru_preglobal.h

@@ -9,17 +9,32 @@ const SteeringLimits SUBARU_PG_STEERING_LIMITS = {
   .type = TorqueDriverLimited,
 };
 
+// Preglobal platform
+// 0x161 is ES_CruiseThrottle
+// 0x164 is ES_LKAS
+
+#define MSG_SUBARU_PG_CruiseControl         0x144
+#define MSG_SUBARU_PG_Throttle              0x140
+#define MSG_SUBARU_PG_Wheel_Speeds          0xD4
+#define MSG_SUBARU_PG_Brake_Pedal           0xD1
+#define MSG_SUBARU_PG_ES_LKAS               0x164
+#define MSG_SUBARU_PG_ES_Distance           0x161
+#define MSG_SUBARU_PG_Steering_Torque       0x371
+
+#define SUBARU_PG_MAIN_BUS 0
+#define SUBARU_PG_CAM_BUS  2
+
 const CanMsg SUBARU_PG_TX_MSGS[] = {
-  {0x161, 0, 8},
-  {0x164, 0, 8}
+  {MSG_SUBARU_PG_ES_Distance, SUBARU_PG_MAIN_BUS, 8},
+  {MSG_SUBARU_PG_ES_LKAS,     SUBARU_PG_MAIN_BUS, 8}
 };
 #define SUBARU_PG_TX_MSGS_LEN (sizeof(SUBARU_PG_TX_MSGS) / sizeof(SUBARU_PG_TX_MSGS[0]))
 
 // TODO: do checksum and counter checks after adding the signals to the outback dbc file
 AddrCheckStruct subaru_preglobal_addr_checks[] = {
-  {.msg = {{0x140, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}},
-  {.msg = {{0x371, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
-  {.msg = {{0x144, 0, 8, .expected_timestep = 50000U}, { 0 }, { 0 }}},
+  {.msg = {{MSG_SUBARU_PG_Throttle,        SUBARU_PG_MAIN_BUS, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}},
+  {.msg = {{MSG_SUBARU_PG_Steering_Torque, SUBARU_PG_MAIN_BUS, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
+  {.msg = {{MSG_SUBARU_PG_CruiseControl,   SUBARU_PG_MAIN_BUS, 8, .expected_timestep = 50000U}, { 0 }, { 0 }}},
 };
 #define SUBARU_PG_ADDR_CHECK_LEN (sizeof(subaru_preglobal_addr_checks) / sizeof(subaru_preglobal_addr_checks[0]))
 addr_checks subaru_preglobal_rx_checks = {subaru_preglobal_addr_checks, SUBARU_PG_ADDR_CHECK_LEN};
@@ -28,9 +43,11 @@ static int subaru_preglobal_rx_hook(CANPacket_t *to_push) {
 
   bool valid = addr_safety_check(to_push, &subaru_preglobal_rx_checks, NULL, NULL, NULL, NULL);
 
-  if (valid && (GET_BUS(to_push) == 0U)) {
+  const int bus = GET_BUS(to_push);
+
+  if (valid && (bus == SUBARU_PG_MAIN_BUS)) {
     int addr = GET_ADDR(to_push);
-    if (addr == 0x371) {
+    if (addr == MSG_SUBARU_PG_Steering_Torque) {
       int torque_driver_new;
       torque_driver_new = (GET_BYTE(to_push, 3) >> 5) + (GET_BYTE(to_push, 4) << 3);
       torque_driver_new = to_signed(torque_driver_new, 11);
@@ -38,25 +55,25 @@ static int subaru_preglobal_rx_hook(CANPacket_t *to_push) {
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off
-    if (addr == 0x144) {
+    if (addr == MSG_SUBARU_PG_CruiseControl) {
       bool cruise_engaged = GET_BIT(to_push, 49U) != 0U;
       pcm_cruise_check(cruise_engaged);
     }
 
     // update vehicle moving with any non-zero wheel speed
-    if (addr == 0xD4) {
+    if (addr == MSG_SUBARU_PG_Wheel_Speeds) {
       vehicle_moving = ((GET_BYTES(to_push, 0, 4) >> 12) != 0U) || (GET_BYTES(to_push, 4, 4) != 0U);
     }
 
-    if (addr == 0xD1) {
+    if (addr == MSG_SUBARU_PG_Brake_Pedal) {
       brake_pressed = ((GET_BYTES(to_push, 0, 4) >> 16) & 0xFFU) > 0U;
     }
 
-    if (addr == 0x140) {
+    if (addr == MSG_SUBARU_PG_Throttle) {
       gas_pressed = GET_BYTE(to_push, 0) != 0U;
     }
 
-    generic_rx_checks((addr == 0x164));
+    generic_rx_checks((addr == MSG_SUBARU_PG_ES_LKAS));
   }
   return valid;
 }
@@ -71,7 +88,7 @@ static int subaru_preglobal_tx_hook(CANPacket_t *to_send) {
   }
 
   // steer cmd checks
-  if (addr == 0x164) {
+  if (addr == MSG_SUBARU_PG_ES_LKAS) {
     int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 8) & 0x1FFFU);
     desired_torque = -1 * to_signed(desired_torque, 13);
 
@@ -86,17 +103,14 @@ static int subaru_preglobal_tx_hook(CANPacket_t *to_send) {
 static int subaru_preglobal_fwd_hook(int bus_num, int addr) {
   int bus_fwd = -1;
 
-  if (bus_num == 0) {
-    bus_fwd = 2;  // Camera CAN
+  if (bus_num == SUBARU_PG_MAIN_BUS) {
+    bus_fwd = SUBARU_PG_CAM_BUS;  // Camera CAN
   }
 
-  if (bus_num == 2) {
-    // Preglobal platform
-    // 0x161 is ES_CruiseThrottle
-    // 0x164 is ES_LKAS
-    int block_msg = ((addr == 0x161) || (addr == 0x164));
+  if (bus_num == SUBARU_PG_CAM_BUS) {
+    int block_msg = ((addr == MSG_SUBARU_PG_ES_Distance) || (addr == MSG_SUBARU_PG_ES_LKAS));
     if (!block_msg) {
-      bus_fwd = 0;  // Main CAN
+      bus_fwd = SUBARU_PG_MAIN_BUS;  // Main CAN
     }
   }
 

panda/board/safety/safety_tesla.h

@@ -2,11 +2,11 @@ const SteeringLimits TESLA_STEERING_LIMITS = {
   .angle_deg_to_can = 10,
   .angle_rate_up_lookup = {
     {0., 5., 15.},
-    {5., .8, .15}
+    {10., 1.6, .3}
   },
   .angle_rate_down_lookup = {
     {0., 5., 15.},
-    {5., 3.5, .4}
+    {10., 7.0, .8}
   },
 };
 

panda/board/safety/safety_toyota.h

@@ -103,7 +103,7 @@ static int toyota_rx_hook(CANPacket_t *to_push) {
 
       // sample gas pedal
       if (!gas_interceptor_detected) {
-        gas_pressed = ((GET_BYTE(to_push, 0) >> 4) & 1U) == 0U;
+        gas_pressed = GET_BIT(to_push, 4U) == 0U;
       }
     }
 
@@ -115,8 +115,8 @@ static int toyota_rx_hook(CANPacket_t *to_push) {
 
     // most cars have brake_pressed on 0x226, corolla and rav4 on 0x224
     if (((addr == 0x224) && toyota_alt_brake) || ((addr == 0x226) && !toyota_alt_brake)) {
-      int byte = (addr == 0x224) ? 0 : 4;
-      brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1U) != 0U;
+      uint8_t bit = (addr == 0x224) ? 5U : 37U;
+      brake_pressed = GET_BIT(to_push, bit) != 0U;
     }
 
     // sample gas interceptor
@@ -191,8 +191,8 @@ static int toyota_tx_hook(CANPacket_t *to_send) {
     // only sent to prevent dash errors, no actuation is accepted
     if (addr == 0x191) {
       // check the STEER_REQUEST, STEER_REQUEST_2, SETME_X64 STEER_ANGLE_CMD signals
-      bool lta_request = (GET_BYTE(to_send, 0) & 1U) != 0U;
-      bool lta_request2 = ((GET_BYTE(to_send, 3) >> 1) & 1U) != 0U;
+      bool lta_request = GET_BIT(to_send, 0U) != 0U;
+      bool lta_request2 = GET_BIT(to_send, 25U) != 0U;
       int setme_x64 = GET_BYTE(to_send, 5);
       int lta_angle = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
       lta_angle = to_signed(lta_angle, 16);

panda/board/safety_declarations.h

@@ -67,7 +67,7 @@ typedef struct {
   const bool has_steer_req_tolerance;
 
   // angle cmd limits
-  const int angle_deg_to_can;
+  const float angle_deg_to_can;
   const struct lookup_t angle_rate_up_lookup;
   const struct lookup_t angle_rate_down_lookup;
   const int max_angle_error;             // used to limit error between meas and cmd while enabled

panda/board/stm32fx/llbxcan.h

@@ -75,6 +75,44 @@ bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool s
   return ret;
 }
 
+void llcan_irq_disable(CAN_TypeDef *CAN_obj) {
+  if (CAN_obj == CAN1) {
+    NVIC_DisableIRQ(CAN1_TX_IRQn);
+    NVIC_DisableIRQ(CAN1_RX0_IRQn);
+    NVIC_DisableIRQ(CAN1_SCE_IRQn);
+  } else if (CAN_obj == CAN2) {
+    NVIC_DisableIRQ(CAN2_TX_IRQn);
+    NVIC_DisableIRQ(CAN2_RX0_IRQn);
+    NVIC_DisableIRQ(CAN2_SCE_IRQn);
+  #ifdef CAN3
+    } else if (CAN_obj == CAN3) {
+      NVIC_DisableIRQ(CAN3_TX_IRQn);
+      NVIC_DisableIRQ(CAN3_RX0_IRQn);
+      NVIC_DisableIRQ(CAN3_SCE_IRQn);
+  #endif
+  } else {
+  }
+}
+
+void llcan_irq_enable(CAN_TypeDef *CAN_obj) {
+  if (CAN_obj == CAN1) {
+    NVIC_EnableIRQ(CAN1_TX_IRQn);
+    NVIC_EnableIRQ(CAN1_RX0_IRQn);
+    NVIC_EnableIRQ(CAN1_SCE_IRQn);
+  } else if (CAN_obj == CAN2) {
+    NVIC_EnableIRQ(CAN2_TX_IRQn);
+    NVIC_EnableIRQ(CAN2_RX0_IRQn);
+    NVIC_EnableIRQ(CAN2_SCE_IRQn);
+  #ifdef CAN3
+    } else if (CAN_obj == CAN3) {
+      NVIC_EnableIRQ(CAN3_TX_IRQn);
+      NVIC_EnableIRQ(CAN3_RX0_IRQn);
+      NVIC_EnableIRQ(CAN3_SCE_IRQn);
+  #endif
+  } else {
+  }
+}
+
 bool llcan_init(CAN_TypeDef *CAN_obj) {
   bool ret = true;
 
@@ -110,23 +148,10 @@ bool llcan_init(CAN_TypeDef *CAN_obj) {
     // enable certain CAN interrupts
     register_set_bits(&(CAN_obj->IER), CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_ERRIE | CAN_IER_LECIE | CAN_IER_BOFIE | CAN_IER_EPVIE | CAN_IER_EWGIE | CAN_IER_FOVIE0 | CAN_IER_FFIE0);
 
-    if (CAN_obj == CAN1) {
-      NVIC_EnableIRQ(CAN1_TX_IRQn);
-      NVIC_EnableIRQ(CAN1_RX0_IRQn);
-      NVIC_EnableIRQ(CAN1_SCE_IRQn);
-    } else if (CAN_obj == CAN2) {
-      NVIC_EnableIRQ(CAN2_TX_IRQn);
-      NVIC_EnableIRQ(CAN2_RX0_IRQn);
-      NVIC_EnableIRQ(CAN2_SCE_IRQn);
-    #ifdef CAN3
-      } else if (CAN_obj == CAN3) {
-        NVIC_EnableIRQ(CAN3_TX_IRQn);
-        NVIC_EnableIRQ(CAN3_RX0_IRQn);
-        NVIC_EnableIRQ(CAN3_SCE_IRQn);
-    #endif
-    } else {
-      print("Invalid CAN: initialization failed\n");
-    }
+    // clear overrun flag on init
+    CAN_obj->RF0R &= ~(CAN_RF0R_FOVR0);
+
+    llcan_irq_enable(CAN_obj);
   }
   return ret;
 }

panda/board/stm32fx/llflash.h

@@ -7,22 +7,44 @@ void flash_unlock(void) {
   FLASH->KEYR = 0xCDEF89AB;
 }
 
-bool flash_erase_sector(uint8_t sector, bool unlocked) {
-  // don't erase the bootloader(sector 0)
-  if (sector != 0 && sector < 12 && unlocked) {
-    FLASH->CR = (sector << 3) | FLASH_CR_SER;
-    FLASH->CR |= FLASH_CR_STRT;
-    while (FLASH->SR & FLASH_SR_BSY);
-    return true;
-  }
-  return false;
+void flash_lock(void) {
+  FLASH->CR |= FLASH_CR_LOCK;
 }
 
-void flash_write_word(void *prog_ptr, uint32_t data) {
-  uint32_t *pp = prog_ptr;
-  FLASH->CR = FLASH_CR_PSIZE_1 | FLASH_CR_PG;
-  *pp = data;
-  while (FLASH->SR & FLASH_SR_BSY);
+bool flash_erase_sector(uint16_t sector) {
+#ifdef BOOTSTUB
+  // don't erase the bootloader(sector 0)
+  uint16_t min_sector = 1U;
+  uint16_t max_sector = 11U;
+#else
+  uint16_t min_sector = LOGGING_FLASH_SECTOR_A;
+  uint16_t max_sector = LOGGING_FLASH_SECTOR_B;
+#endif
+
+  bool ret = false;
+  if ((sector >= min_sector) && (sector <= max_sector) && (!flash_is_locked())) {
+    FLASH->CR = (sector << 3) | FLASH_CR_SER;
+    FLASH->CR |= FLASH_CR_STRT;
+    while ((FLASH->SR & FLASH_SR_BSY) != 0U);
+    ret = true;
+  }
+  return ret;
+}
+
+void flash_write_word(uint32_t *prog_ptr, uint32_t data) {
+  #ifndef BOOTSTUB
+  // don't write to any region besides the logging region
+  if ((prog_ptr >= (uint32_t *)LOGGING_FLASH_BASE_A) && (prog_ptr < (uint32_t *)(LOGGING_FLASH_BASE_B + LOGGING_FLASH_SECTOR_SIZE))) {
+  #endif
+
+    uint32_t *pp = prog_ptr;
+    FLASH->CR = FLASH_CR_PSIZE_1 | FLASH_CR_PG;
+    *pp = data;
+    while ((FLASH->SR & FLASH_SR_BSY) != 0U);
+
+  #ifndef BOOTSTUB
+  }
+  #endif
 }
 
 void flush_write_buffer(void) { }

panda/board/stm32fx/lluart.h

@@ -29,6 +29,12 @@ void uart_rx_ring(uart_ring *q){
     uint8_t c = q->uart->DR;  // This read after reading SR clears a bunch of interrupts
 
     uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size;
+
+    if ((next_w_ptr == q->r_ptr_rx) && q->overwrite) {
+      // overwrite mode: drop oldest byte
+      q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size;
+    }
+
     // Do not overwrite buffer data
     if (next_w_ptr != q->r_ptr_rx) {
       q->elems_rx[q->w_ptr_rx] = c;

panda/board/stm32fx/stm32fx_config.h

@@ -38,6 +38,12 @@
 #define PROVISION_CHUNK_ADDRESS 0x1FFF79E0U
 #define DEVICE_SERIAL_NUMBER_ADDRESS 0x1FFF79C0U
 
+#define LOGGING_FLASH_SECTOR_A 10U
+#define LOGGING_FLASH_SECTOR_B 11U
+#define LOGGING_FLASH_BASE_A 0x080C0000U
+#define LOGGING_FLASH_BASE_B 0x080E0000U
+#define LOGGING_FLASH_SECTOR_SIZE 0x20000U
+
 #include "can_definitions.h"
 #include "comms_definitions.h"
 
@@ -65,6 +71,7 @@
 #include "stm32fx/board.h"
 #include "stm32fx/clock.h"
 #include "drivers/watchdog.h"
+#include "stm32fx/llflash.h"
 
 #if defined(PANDA) || defined(BOOTSTUB)
   #include "drivers/spi.h"
@@ -80,9 +87,7 @@
   #include "stm32fx/llexti.h"
 #endif
 
-#ifdef BOOTSTUB
-  #include "stm32fx/llflash.h"
-#else
+#ifndef BOOTSTUB
   #include "stm32fx/llbxcan.h"
 #endif