diff --git a/CHANGELOGS-D2.md b/CHANGELOGS-D2.md
new file mode 100644
index 000000000..93798799b
--- /dev/null
+++ b/CHANGELOGS-D2.md
@@ -0,0 +1,5 @@
+2024-02-26
+========================
+* applied transform patch. (https://github.com/commaai/openpilot/pull/31495)
+* adjust de2e param accordingly for transform patch.
+* increase lead sensitivity.
diff --git a/CHANGELOGS-R2.md b/CHANGELOGS-R2.md
new file mode 100644
index 000000000..75d1944e9
--- /dev/null
+++ b/CHANGELOGS-R2.md
@@ -0,0 +1,11 @@
+2024-02-06
+========================
+* NEW:
+    * Rainbow colored Path
+* BUGFIXES:
+    * Toggle for Flight Panel
+* NEW VEHICLES:
+    * Hyundai Staria 2023
+    * Kia Niro Plug-in Hybrid 2022
+    * Toyota RAV4 2023-24
+    * Toyota RAV4 Hybrid 2023-24
diff --git a/README.md b/README.md
index 2f104362e..a377d85f4 100755
--- a/README.md
+++ b/README.md
@@ -22,35 +22,45 @@ I recommend using the openpilot [commatwo_master](https://github.com/commaai/ope
 
 I have decided to make this side project open source for users who wish to:
 
-* Port unsupported vehicles
-* Evaluate end-to-end lateral and longitudinal control on previously unsupported vehicles
-* Understand the limitations of legacy devices
+* Port unsupported vehicles using cheaper devices.
+* Evaluate end-to-end lateral and longitudinal control on previously unsupported vehicles.
+* Understand the limitations of legacy devices.
 * Experience pure openpilot (without the modifications of dragonpilot)
 * Make their own EON/C2 fork without spending hundreds of hours reverting and testing code.
 
 By making this project open source, I hope to alleviate some of the frustration and complaints about not being able to access the dragonpilot source code.
 
-I encourage users to consider purchasing a [comma 3](https://shop.comma.ai) for the best and up-to-date openpilot experience.
+I encourage users to consider purchasing a [comma 3x](https://shop.comma.ai) for the best and up-to-date openpilot experience.
 
 
 ## Limitations
 
 * On-road tests are conducted exclusively in a 2021 Toyota C-HR; other models may not perform properly.
-* CAN-FD and BODY features are not supported due to outdated libraries in EON/C2 firmware.
+* ~~CAN-FD and BODY features are not supported due to outdated libraries in EON/C2 firmware.~~
 * The driving AI model remains in version 0.8.16, as porting TinyGrad/PyOpenCL requires significant effort.
 * The driver monitoring AI model remains in version 0.8.13.
 * Navigation On Openpilot (NOO) is not supported, as it requires a newer driving model that is not currently available in legacypilot.
 * Services are not optimized for resource usage, and using all services may result in overheating issues.
 * Language files can only be generated in a PC due to missing Qt5 tools.
 * webjoystick is disabled as it requires additional python modules. (aiohttp and others)
-* Starting from August 7th, 2023, comma has removed ESP/GPS support from Pandas. You can find more details about this change in this [link](https://github.com/commaai/panda/commit/c66b98b2a67441faa4cfcd36c3c9d9f90474cd08).
+* Starting from August 7th, 2023, comma has removed ESP/GPS support from Panda. You can find more details about this change in this [link](https://github.com/commaai/panda/commit/c66b98b2a67441faa4cfcd36c3c9d9f90474cd08).
   * Going forward, I will focus solely on maintaining the safety aspects of the code, ensuring that vehicle support and safety declarations remain up to date.
 * For safety concern, End-to-End / vision only longitudinal control only available in 0.8.16 driving model.
 
 
 ## Configuration
 
+* For research purposes, the INDI and LQR lateral controllers have been restored. Please use the `dp_lat_controller` parameter to override the default controller (0 = DEFAULT, 1 = INDI, 2 = LQR).
 * If you are not a Comma Two device, you can use the `dp_no_fan_ctrl` parameter to disable fan-related detection and control.
+* The BODY has been tested and is working; however, I personally haven't tried it, so I'm not sure what steps are needed to get it to work.
+
+
+## Red Panda (a.k.a. CAN-FD support)
+The EON + Red Panda configuration has been tested and worked on [my Toyota](https://youtu.be/KgrI2Ley_Nk) (CAN), so technically it should work on CAN-FD vehicles. However, there are a couple of considerations:
+* C2 will not function without hardware modification. You cannot connect the Red Panda directly to the C2 USB port.
+* If any changes are made to the Red Panda firmware, the firmware needs to be pre-compiled on a PC and then uploaded to `/data/openpilot/panda/board/obj/`.
+* Please be aware that you may encounter **CANBUS disconnection errors**. If this occurs, simply **power cycle BOTH your device and Red Panda**.
+
 
 =======================
 
diff --git a/cereal/car.capnp b/cereal/car.capnp
index 1039e5cbe..00ae3c638 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -598,7 +598,8 @@ struct CarParams {
   enum SteerControlType {
     torque @0;
     angle @1;
-    curvature @2;
+
+    curvatureDEPRECATED @2;
   }
 
   enum TransmissionType {
diff --git a/cereal/libcereal_shared.so b/cereal/libcereal_shared.so
index 455348e0d..cb8b1b85c 100755
Binary files a/cereal/libcereal_shared.so and b/cereal/libcereal_shared.so differ
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 75cdce90e..099e8efc2 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -46,6 +46,8 @@ struct InitData {
 
   commands @19 :Map(Text, Data);
 
+  wallTimeNanos @20 :UInt64;
+
   enum DeviceType {
     unknown @0;
     neo @1;
@@ -128,8 +130,9 @@ struct InitData {
 
 struct FrameData {
   frameId @0 :UInt32;
-  encodeId @1 :UInt32; # DEPRECATED
   frameIdSensor @25 :UInt32;
+  requestId @28 :UInt32;
+  encodeId @1 :UInt32;
 
   frameType @7 :FrameType;
 
@@ -164,6 +167,7 @@ struct FrameData {
     unknown @0;
     ar0231 @1;
     ox03c10 @2;
+    os04c10 @3;
   }
 
   frameLengthDEPRECATED @3 :Int32;
@@ -296,6 +300,29 @@ struct GpsLocationData {
   }
 }
 
+enum Desire {
+  none @0;
+  turnLeft @1;
+  turnRight @2;
+  laneChangeLeft @3;
+  laneChangeRight @4;
+  keepLeft @5;
+  keepRight @6;
+}
+
+enum LaneChangeState {
+  off @0;
+  preLaneChange @1;
+  laneChangeStarting @2;
+  laneChangeFinishing @3;
+}
+
+enum LaneChangeDirection {
+  none @0;
+  left @1;
+  right @2;
+}
+
 struct CanData {
   address @0 :UInt32;
   busTime @1 :UInt16;
@@ -398,6 +425,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   batteryStatusDEPRECATED @9 :Text;
   batteryVoltageDEPRECATED @16 :Int32;
   batteryTempCDEPRECATED @29 :Float32;
+  # rick - we need these for EON/C2
   batteryPercent @8 :Int16;
   batteryCurrent @15 :Int32;
   chargingError @17 :Bool;
@@ -407,7 +435,6 @@ struct DeviceState @0xa4d8b5af2aa492eb {
 
 struct PandaState @0xa7649e2575e4591e {
   ignitionLine @2 :Bool;
-  gasInterceptorDetected @4 :Bool;
   rxBufferOverflow @7 :UInt32;
   txBufferOverflow @8 :UInt32;
   gmlanSendErrs @9 :UInt32;
@@ -493,6 +520,7 @@ struct PandaState @0xa7649e2575e4591e {
     redPanda @7;
     redPandaV2 @8;
     tres @9;
+    cuatro @10;
   }
 
   enum HarnessStatus {
@@ -540,9 +568,11 @@ struct PandaState @0xa7649e2575e4591e {
     }
   }
 
+  gasInterceptorDetectedDEPRECATED @4 :Bool;
   startedSignalDetectedDEPRECATED @5 :Bool;
   hasGpsDEPRECATED @6 :Bool;
   fanSpeedRpmDEPRECATED @11 :UInt16;
+  # rick - we need this for old pandas
   usbPowerMode @12 :PeripheralState.UsbPowerMode;
   safetyParamDEPRECATED @20 :Int16;
   safetyParam2DEPRECATED @26 :UInt32;
@@ -554,6 +584,7 @@ struct PeripheralState {
   current @2 :UInt32;
   fanSpeedRpm @3 :UInt16;
 
+  # rick - we need this for EON/C2
   usbPowerMode @4 :UsbPowerMode;
   enum UsbPowerMode @0xa8883583b32c9877 {
     none @0;
@@ -665,7 +696,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   aTarget @35 :Float32;
   curvature @37 :Float32;  # path curvature from vehicle model
   desiredCurvature @61 :Float32;  # lag adjusted curvatures used by lateral controllers
-  desiredCurvatureRate @62 :Float32;
   forceDecel @51 :Bool;
 
   # UI alerts
@@ -687,9 +717,10 @@ struct ControlsState @0x97ff69c53601abf1 {
     angleState @58 :LateralAngleState;
     debugState @59 :LateralDebugState;
     torqueState @60 :LateralTorqueState;
-    curvatureState @65 :LateralCurvatureState;
 
-    lqrStateDEPRECATED @55 :LateralLQRState;
+    curvatureStateDEPRECATED @65 :LateralCurvatureState;
+    # rick - added back
+    lqrState @55 :LateralLQRState;
   }
 
   enum OpenpilotState @0xdbe58b96d2d1ac61 {
@@ -823,6 +854,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   steerOverrideDEPRECATED @20 :Bool;
   steeringAngleDesiredDegDEPRECATED @29 :Float32;
   canMonoTimesDEPRECATED @21 :List(UInt64);
+  desiredCurvatureRateDEPRECATED @62 :Float32;
 }
 
 # All SI units and in device frame
@@ -873,6 +905,9 @@ struct ModelDataV2 {
   navEnabled @22 :Bool;
   locationMonoTime @24 :UInt64;
 
+  # e2e lateral planner
+  lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
+  action @26: Action;
 
   struct LeadDataV2 {
     prob @0 :Float32; # probability that car is your lead at time t
@@ -910,6 +945,9 @@ struct ModelDataV2 {
     desireState @5 :List(Float32);
     disengagePredictions @6 :DisengagePredictions;
     hardBrakePredicted @7 :Bool;
+    laneChangeState @8 :LaneChangeState;
+    laneChangeDirection @9 :LaneChangeDirection;
+
 
     # deprecated
     brakeDisengageProbDEPRECATED @2 :Float32;
@@ -939,6 +977,21 @@ struct ModelDataV2 {
     transStd @2 :List(Float32); # std m/s in device frame
     rotStd @3 :List(Float32); # std rad/s in device frame
   }
+
+  struct LateralPlannerSolution {
+    x @0 :List(Float32);
+    y @1 :List(Float32);
+    yaw @2 :List(Float32);
+    yawRate @3 :List(Float32);
+    xStd @4 :List(Float32);
+    yStd @5 :List(Float32);
+    yawStd @6 :List(Float32);
+    yawRateStd @7 :List(Float32);
+  }
+
+  struct Action {
+    desiredCurvature @0 :Float32;
+  }
 }
 
 struct EncodeIndex {
@@ -970,6 +1023,7 @@ struct EncodeIndex {
     bigBoxHEVCDEPRECATED @2;
     chffrAndroidH264DEPRECATED @3;
     fullLosslessClipDEPRECATED @4;
+    # rick - revert for old camerad
     front @5;
 
   }
@@ -2153,6 +2207,8 @@ struct EncodeData {
   data @1 :Data;
   header @2 :Data;
   unixTimestampNanos @3 :UInt64;
+  width @4 :UInt32;
+  height @5 :UInt32;
 }
 
 struct UserFlag {
@@ -2200,7 +2256,6 @@ struct Event {
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;
     longitudinalPlan @24 :LongitudinalPlan;
-    lateralPlan @64 :LateralPlan;
     uiPlan @106 :UiPlan;
     ubloxGnss @34 :UbloxGnss;
     ubloxRaw @39 :Data;
@@ -2212,6 +2267,8 @@ struct Event {
     liveTorqueParameters @94 :LiveTorqueParametersData;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
+    # rick - keep old name
+    # onroadEvents @68: List(Car.CarEvent);
     carEvents @68: List(Car.CarEvent);
     carParams @69: Car.CarParams;
     driverMonitoringState @71: DriverMonitoringState;
@@ -2267,6 +2324,10 @@ struct Event {
     livestreamWideRoadEncodeData @121 :EncodeData;
     livestreamDriverEncodeData @122 :EncodeData;
 
+    customReservedRawData0 @124 :Data;
+    customReservedRawData1 @125 :Data;
+    customReservedRawData2 @126 :Data;
+
     # *********** Custom: reserved for forks ***********
     liveMapData @107 :Custom.LiveMapData;
     longitudinalPlanExt @108 :Custom.LongitudinalPlanExt;
@@ -2315,8 +2376,9 @@ struct Event {
     kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
     uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
     pandaStateDEPRECATED @12 :PandaState;
-    # legacy
+    # rick - legacy
     driverState @59 :DriverState;
     sensorEvents @11 :List(SensorEventData);
+    lateralPlan @64 :LateralPlan;
   }
 }
diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 76e56464c..dc0a22aa0 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -11,7 +11,7 @@ from typing import Optional, List, Union, Dict, Deque
 from collections import deque
 
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 
 assert MultiplePublishersError
 assert MessagingError
@@ -179,7 +179,7 @@ class SubMaster:
       if addr is not None:
         p = self.poller if s not in self.non_polled_services else None
         self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
-      self.freq[s] = service_list[s].frequency
+      self.freq[s] = SERVICE_LIST[s].frequency
 
       try:
         data = new_message(s)
diff --git a/cereal/services.py b/cereal/services.py
index c35d9b336..94ce72cd7 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -108,7 +108,7 @@ services = {
   "lateralPlanExt": (False, 20., 5),
   "controlsStateExt": (False, 100., 10),
 }
-service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
+SERVICE_LIST = {name: Service(new_port(idx), *vals) for  # type: ignore
                 idx, (name, vals) in enumerate(services.items())}
 
 
@@ -122,7 +122,7 @@ def build_header():
 
   h += "struct service { std::string name; int port; bool should_log; int frequency; int decimation; };\n"
   h += "static std::map<std::string, service> services = {\n"
-  for k, v in service_list.items():
+  for k, v in SERVICE_LIST.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
     h += '  { "%s", {"%s", %d, %s, %d, %d}},\n' % \
diff --git a/cereal/visionipc/visionipc_pyx.so b/cereal/visionipc/visionipc_pyx.so
index 71f84e00c..8b598a014 100755
Binary files a/cereal/visionipc/visionipc_pyx.so and b/cereal/visionipc/visionipc_pyx.so differ
diff --git a/common/params_pyx.so b/common/params_pyx.so
index bee993225..bc7d71bc5 100755
Binary files a/common/params_pyx.so and b/common/params_pyx.so differ
diff --git a/common/version.h b/common/version.h
index 33df896f6..541af0e1f 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "2023.12.14"
+#define COMMA_VERSION "2024.02.26"
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index d07002822..2f87d2028 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -144,6 +144,12 @@ function two_init {
   LIB_PATH="/data/openpilot/system/hardware/eon/libs"
   PY_LIB_DEST="/system/comma/usr/lib/python3.8/site-packages"
   mount -o remount,rw /system
+  # tomli
+  MODULE="tomli"
+  if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then
+    echo "Installing $MODULE..."
+    tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/"
+  fi
   # libgfortran
   if [ ! -f "/system/comma/usr/lib/libgfortran.so.5.0.0" ]; then
     echo "Installing libgfortran..."
diff --git a/opendbc/can/libdbc.so b/opendbc/can/libdbc.so
index b5c158045..b6698efe7 100755
Binary files a/opendbc/can/libdbc.so and b/opendbc/can/libdbc.so differ
diff --git a/opendbc/can/parser_pyx.so b/opendbc/can/parser_pyx.so
index 3ccd79e9d..af1f7c694 100755
Binary files a/opendbc/can/parser_pyx.so and b/opendbc/can/parser_pyx.so differ
diff --git a/opendbc/chrysler_pacifica_2017_hybrid_generated.dbc b/opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
index a325645e8..d8f4c6623 100644
--- a/opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
+++ b/opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
@@ -22,18 +22,47 @@ BO_ 280 ECM_TRQ: 8 XXX
 
 BO_ 284 ESP_8: 8 XXX
  SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
  SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 288 ECM_2: 7 XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 320 ESP_1: 8 XXX
+ SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX
  SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX
  SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX
+ SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX
 
+BO_ 268 ESP_2: 8 ESC
+ SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 344 ESP_6: 8 XXX
  SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX
  SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX
@@ -72,7 +101,11 @@ BO_ 501 DAS_4: 8 XXX
  SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
  SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 544 EPS_2: 8 XXX
  SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
@@ -112,6 +145,11 @@ BO_ 625 DAS_5: 8 XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 669 EPB_1: 3 XXX
+ SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 678 DAS_6: 8 XXX
  SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
  SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
@@ -134,11 +172,14 @@ BO_ 820 BCM_1: 8 XXX
  SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX
  SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
  SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
  SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX
 
+VAL_ 320 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE"
 VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
+VAL_ 669 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ;
 
 CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
 CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
@@ -219,12 +260,6 @@ BO_ 608 PARKSENSE_SIGNAL: 8 XXX
 BO_ 729 LKAS_HEARTBIT: 5 XXX
  SG_ LKAS_STATUS_OK : 31|16@0+ (1,0) [0|65535] "" XXX
 
-BO_ 288 ACCEL_RELATED_120: 7 XXX
- SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ GAS_ENGINE_RPM_MAYBE : 31|16@0+ (1,0) [0|65535] "" XXX
-
 BO_ 257 ACCEL_RELATED_101: 5 XXX
  SG_ ENERGY_OR_RPM : 31|8@0+ (1,0) [0|255] "" XXX
 
@@ -288,11 +323,6 @@ BO_ 324 SPEED_2: 8 XXX
 BO_ 832 UNKNOWN_340: 8 XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
 
-BO_ 268 ACC_10c: 8 XXX
- SG_ BRAKE_PERHAPS : 48|1@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 CM_ SG_ 653 BRAKE_PRESSURE "max seems to be 148";
 CM_ SG_ 746 PRNDL "5=L, 4=D, 3=N, 2=R, 1=P";
 CM_ SG_ 320 BRAKE_PRESSED_2 "Value is 5 when brake is pressed by human, 1 when ACC brake";
diff --git a/opendbc/chrysler_ram_dt_generated.dbc b/opendbc/chrysler_ram_dt_generated.dbc
index 29d890d5c..b502c15be 100644
--- a/opendbc/chrysler_ram_dt_generated.dbc
+++ b/opendbc/chrysler_ram_dt_generated.dbc
@@ -24,18 +24,47 @@ BO_ 181 ECM_TRQ: 8 XXX
 
 BO_ 121 ESP_8: 8 XXX
  SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
  SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 123 ECM_2: 7 XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 131 ESP_1: 8 XXX
+ SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX
  SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX
  SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX
+ SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX
 
+BO_ 113 ESP_2: 8 ESC
+ SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 139 ESP_6: 8 XXX
  SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX
  SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX
@@ -74,7 +103,11 @@ BO_ 232 DAS_4: 8 XXX
  SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
  SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 49 EPS_2: 8 XXX
  SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
@@ -114,6 +147,11 @@ BO_ 163 DAS_5: 8 XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 213 EPB_1: 3 XXX
+ SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 250 DAS_6: 8 XXX
  SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
  SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
@@ -136,11 +174,14 @@ BO_ 657 BCM_1: 8 XXX
  SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX
  SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
  SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
  SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX
 
+VAL_ 131 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE"
 VAL_ 147 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
+VAL_ 213 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ;
 
 CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
 CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
@@ -158,10 +199,14 @@ BO_ 53 PCM_2: 8 XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 133 TCM_1: 8 XXX
- SG_ DESIRED_GEAR : 15|4@0+ (1,0) [0|1] "" XXX
  SG_ SHIFT_PENDING : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ SPEED_TURBINE : 27|12@0+ (0.04,0) [0|1] "km/h" XXX
  SG_ ACTUAL_GEAR : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DESIRED_GEAR : 15|4@0+ (1,0) [0|1] "" XXX
+ SG_ TC_LOCKED : 17|1@1+ (1,0) [0|0] ""  XXX
+ SG_ OUTPUT_SPEED : 31|16@0+ (1,0) [0|65534] "rpm" XXX
+ SG_ INPUT_SPEED : 47|16@0+ (1,0) [0|65534] "rpm"  XXX
+ SG_ OUTPUT_SPEED_SIGN : 57|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 135 ABS_2: 8 XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/chrysler_ram_hd_generated.dbc b/opendbc/chrysler_ram_hd_generated.dbc
index 5ededbc01..697c3bf91 100644
--- a/opendbc/chrysler_ram_hd_generated.dbc
+++ b/opendbc/chrysler_ram_hd_generated.dbc
@@ -24,18 +24,47 @@ BO_ 280 ECM_TRQ: 8 XXX
 
 BO_ 284 ESP_8: 8 XXX
  SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
  SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 288 ECM_2: 7 XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 320 ESP_1: 8 XXX
+ SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX
  SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX
  SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX
+ SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX
 
+BO_ 268 ESP_2: 8 ESC
+ SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 344 ESP_6: 8 XXX
  SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX
  SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX
@@ -74,7 +103,11 @@ BO_ 501 DAS_4: 8 XXX
  SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
  SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 544 EPS_2: 8 XXX
  SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
@@ -114,6 +147,11 @@ BO_ 625 DAS_5: 8 XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 669 EPB_1: 3 XXX
+ SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 629 DAS_6: 8 XXX
  SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
  SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
@@ -136,11 +174,14 @@ BO_ 820 BCM_1: 8 XXX
  SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX
  SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
  SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
  SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX
 
+VAL_ 320 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE"
 VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
+VAL_ 669 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ;
 
 CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
 CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
diff --git a/opendbc/generator/chrysler/_stellantis_common.dbc b/opendbc/generator/chrysler/_stellantis_common.dbc
index 9516235f5..df913561d 100644
--- a/opendbc/generator/chrysler/_stellantis_common.dbc
+++ b/opendbc/generator/chrysler/_stellantis_common.dbc
@@ -18,18 +18,47 @@ BO_ 280 ECM_TRQ: 8 XXX
 
 BO_ 284 ESP_8: 8 XXX
  SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
  SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 288 ECM_2: 7 XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 320 ESP_1: 8 XXX
+ SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX
  SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX
  SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX
+ SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX
 
+BO_ 268 ESP_2: 8 ESC
+ SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 344 ESP_6: 8 XXX
  SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX
  SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX
@@ -68,7 +97,11 @@ BO_ 501 DAS_4: 8 XXX
  SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
  SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX
  SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 544 EPS_2: 8 XXX
  SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
@@ -108,6 +141,11 @@ BO_ 625 DAS_5: 8 XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 669 EPB_1: 3 XXX
+ SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 678 DAS_6: 8 XXX
  SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
  SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
@@ -130,11 +168,14 @@ BO_ 820 BCM_1: 8 XXX
  SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX
  SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
  SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
  SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX
 
+VAL_ 320 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE"
 VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
+VAL_ 669 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ;
 
 CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
 CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
diff --git a/opendbc/generator/chrysler/_stellantis_common_ram.py b/opendbc/generator/chrysler/_stellantis_common_ram.py
index 5481e7ddc..fa408f131 100755
--- a/opendbc/generator/chrysler/_stellantis_common_ram.py
+++ b/opendbc/generator/chrysler/_stellantis_common_ram.py
@@ -5,8 +5,10 @@ chrysler_to_ram = {
   "_stellantis_common_ram_dt_generated.dbc": {
     258: 35,
     264: 37,
+    268: 113,
     280: 181,
     284: 121,
+    288: 123,
     320: 131,
     344: 139,
     368: 147,
@@ -17,6 +19,7 @@ chrysler_to_ram = {
     571: 177,
     559: 157,
     625: 163,
+    669: 213,
     678: 250,
     720: 720,
     792: 792,
diff --git a/opendbc/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc b/opendbc/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc
index ce1063f37..3f4b37384 100644
--- a/opendbc/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc
+++ b/opendbc/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc
@@ -70,12 +70,6 @@ BO_ 608 PARKSENSE_SIGNAL: 8 XXX
 BO_ 729 LKAS_HEARTBIT: 5 XXX
  SG_ LKAS_STATUS_OK : 31|16@0+ (1,0) [0|65535] "" XXX
 
-BO_ 288 ACCEL_RELATED_120: 7 XXX
- SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ GAS_ENGINE_RPM_MAYBE : 31|16@0+ (1,0) [0|65535] "" XXX
-
 BO_ 257 ACCEL_RELATED_101: 5 XXX
  SG_ ENERGY_OR_RPM : 31|8@0+ (1,0) [0|255] "" XXX
 
@@ -139,11 +133,6 @@ BO_ 324 SPEED_2: 8 XXX
 BO_ 832 UNKNOWN_340: 8 XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
 
-BO_ 268 ACC_10c: 8 XXX
- SG_ BRAKE_PERHAPS : 48|1@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 CM_ SG_ 653 BRAKE_PRESSURE "max seems to be 148";
 CM_ SG_ 746 PRNDL "5=L, 4=D, 3=N, 2=R, 1=P";
 CM_ SG_ 320 BRAKE_PRESSED_2 "Value is 5 when brake is pressed by human, 1 when ACC brake";
diff --git a/opendbc/generator/chrysler/chrysler_ram_dt.dbc b/opendbc/generator/chrysler/chrysler_ram_dt.dbc
index 4c1828ef0..c9be635e1 100644
--- a/opendbc/generator/chrysler/chrysler_ram_dt.dbc
+++ b/opendbc/generator/chrysler/chrysler_ram_dt.dbc
@@ -7,10 +7,14 @@ BO_ 53 PCM_2: 8 XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 133 TCM_1: 8 XXX
- SG_ DESIRED_GEAR : 15|4@0+ (1,0) [0|1] "" XXX
  SG_ SHIFT_PENDING : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ SPEED_TURBINE : 27|12@0+ (0.04,0) [0|1] "km/h" XXX
  SG_ ACTUAL_GEAR : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DESIRED_GEAR : 15|4@0+ (1,0) [0|1] "" XXX
+ SG_ TC_LOCKED : 17|1@1+ (1,0) [0|0] ""  XXX
+ SG_ OUTPUT_SPEED : 31|16@0+ (1,0) [0|65534] "rpm" XXX
+ SG_ INPUT_SPEED : 47|16@0+ (1,0) [0|65534] "rpm"  XXX
+ SG_ OUTPUT_SPEED_SIGN : 57|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 135 ABS_2: 8 XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|1] "" XXX
diff --git a/opendbc/generator/gm/gm_global_a_powertrain.dbc b/opendbc/generator/gm/gm_global_a_powertrain.dbc
index fbe0bd397..e9a5b2e8c 100644
--- a/opendbc/generator/gm/gm_global_a_powertrain.dbc
+++ b/opendbc/generator/gm/gm_global_a_powertrain.dbc
@@ -105,6 +105,10 @@ BO_ 320 BCMTurnSignals: 3 K9_BCM
  SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX
  SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 322 BCMBlindSpotMonitor: 7 K9_BCM
+ SG_ LeftBSM : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ RightBSM : 7|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 328 PSCM_148: 1 K43_PSCM
 
 BO_ 381 ESPStatus: 6 K20_ECM
@@ -224,12 +228,10 @@ BO_ 840 EBCMWheelSpdFront: 5 K17_EBCM
  SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
 
 BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM
- SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
- SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
- SG_ MovingForward : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ MovingBackward : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ MovingForward2 : 35|1@1+ (1,0) [0|1] "" XXX
- SG_ MovingBackward2 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO
+ SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO
+ SG_ RRWheelDir : 34|3@0+ (1,0) [0|7] "" NEO
+ SG_ RLWheelDir : 37|3@0+ (1,0) [0|7] "" NEO
 
 BO_ 869 ASCM_365: 4 K124_ASCM
 
@@ -297,6 +299,8 @@ CM_ BU_ K124_ASCM "Active Safety Control Module";
 CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
 CM_ BO_ 190 "Length varies from 6 to 8 bytes by car";
 CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
+CM_ SG_ 322 LeftBSM "For some cars, this can only be when the blinker is also active";
+CM_ SG_ 322 RightBSM "For some cars, this can only be when the blinker is also active";
 CM_ SG_ 352 ImmobilizerInfo "Non-zero when ignition or accessory mode";
 CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
 CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
@@ -327,6 +331,8 @@ VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
 VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ;
 VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
 VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
+VAL_ 842 RRWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault";
+VAL_ 842 RLWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault";
 VAL_ 880 ACCCruiseState 2 "Adaptive" 3 "Adaptive" 4 "Non-adaptive" 5 "Non-adaptive" ;
 VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;
 VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
diff --git a/opendbc/generator/subaru/_subaru_global.dbc b/opendbc/generator/subaru/_subaru_global.dbc
index ed79d4777..69c836193 100644
--- a/opendbc/generator/subaru/_subaru_global.dbc
+++ b/opendbc/generator/subaru/_subaru_global.dbc
@@ -275,6 +275,7 @@ BO_ 289 ES_STATIC_2: 8 XXX
  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ SET_3 : 15|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Fault : 18|1@0+ (1,0) [0|1] "" XXX
 
 CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
 CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on";
diff --git a/opendbc/generator/subaru/subaru_global_2017.dbc b/opendbc/generator/subaru/subaru_global_2017.dbc
index 62c7934b7..83a36ff8f 100644
--- a/opendbc/generator/subaru/subaru_global_2017.dbc
+++ b/opendbc/generator/subaru/subaru_global_2017.dbc
@@ -16,8 +16,8 @@ BO_ 545 ES_Distance: 8 XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Signal1 : 12|3@1+ (1,0) [0|7] "" XXX
  SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|4095] "" XXX
- SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Throttle : 16|13@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal2 : 29|3@1+ (1,0) [0|15] "" XXX
  SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
  SG_ Low_Speed_Follow : 33|1@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_Soft_Disable : 34|1@1+ (1,0) [0|1] "" XXX
@@ -38,8 +38,7 @@ BO_ 546 ES_Status: 8 XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
- SG_ Signal2 : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cruise_RPM : 16|13@1+ (1,0) [0|4095] "" XXX
  SG_ Cruise_Activated : 29|1@0+ (1,0) [0|1] "" XXX
  SG_ Brake_Lights : 30|1@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX
diff --git a/opendbc/gm_global_a_powertrain_generated.dbc b/opendbc/gm_global_a_powertrain_generated.dbc
index 6ecb36f2f..37ad918cb 100644
--- a/opendbc/gm_global_a_powertrain_generated.dbc
+++ b/opendbc/gm_global_a_powertrain_generated.dbc
@@ -125,6 +125,10 @@ BO_ 320 BCMTurnSignals: 3 K9_BCM
  SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX
  SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 322 BCMBlindSpotMonitor: 7 K9_BCM
+ SG_ LeftBSM : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ RightBSM : 7|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 328 PSCM_148: 1 K43_PSCM
 
 BO_ 381 ESPStatus: 6 K20_ECM
@@ -244,12 +248,10 @@ BO_ 840 EBCMWheelSpdFront: 5 K17_EBCM
  SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
 
 BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM
- SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
- SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
- SG_ MovingForward : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ MovingBackward : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ MovingForward2 : 35|1@1+ (1,0) [0|1] "" XXX
- SG_ MovingBackward2 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO
+ SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO
+ SG_ RRWheelDir : 34|3@0+ (1,0) [0|7] "" NEO
+ SG_ RLWheelDir : 37|3@0+ (1,0) [0|7] "" NEO
 
 BO_ 869 ASCM_365: 4 K124_ASCM
 
@@ -317,6 +319,8 @@ CM_ BU_ K124_ASCM "Active Safety Control Module";
 CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
 CM_ BO_ 190 "Length varies from 6 to 8 bytes by car";
 CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
+CM_ SG_ 322 LeftBSM "For some cars, this can only be when the blinker is also active";
+CM_ SG_ 322 RightBSM "For some cars, this can only be when the blinker is also active";
 CM_ SG_ 352 ImmobilizerInfo "Non-zero when ignition or accessory mode";
 CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
 CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
@@ -347,6 +351,8 @@ VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
 VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ;
 VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
 VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
+VAL_ 842 RRWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault";
+VAL_ 842 RLWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault";
 VAL_ 880 ACCCruiseState 2 "Adaptive" 3 "Adaptive" 4 "Non-adaptive" 5 "Non-adaptive" ;
 VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;
 VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
diff --git a/opendbc/subaru_global_2017_generated.dbc b/opendbc/subaru_global_2017_generated.dbc
index 319764fc9..9732feae1 100644
--- a/opendbc/subaru_global_2017_generated.dbc
+++ b/opendbc/subaru_global_2017_generated.dbc
@@ -279,6 +279,7 @@ BO_ 289 ES_STATIC_2: 8 XXX
  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ SET_3 : 15|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Fault : 18|1@0+ (1,0) [0|1] "" XXX
 
 CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
 CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on";
@@ -322,8 +323,8 @@ BO_ 545 ES_Distance: 8 XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Signal1 : 12|3@1+ (1,0) [0|7] "" XXX
  SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|4095] "" XXX
- SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Throttle : 16|13@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal2 : 29|3@1+ (1,0) [0|15] "" XXX
  SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
  SG_ Low_Speed_Follow : 33|1@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_Soft_Disable : 34|1@1+ (1,0) [0|1] "" XXX
@@ -344,8 +345,7 @@ BO_ 546 ES_Status: 8 XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
- SG_ Signal2 : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cruise_RPM : 16|13@1+ (1,0) [0|4095] "" XXX
  SG_ Cruise_Activated : 29|1@0+ (1,0) [0|1] "" XXX
  SG_ Brake_Lights : 30|1@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX
diff --git a/opendbc/subaru_global_2020_hybrid_generated.dbc b/opendbc/subaru_global_2020_hybrid_generated.dbc
index 99087eb22..c41eaf996 100644
--- a/opendbc/subaru_global_2020_hybrid_generated.dbc
+++ b/opendbc/subaru_global_2020_hybrid_generated.dbc
@@ -279,6 +279,7 @@ BO_ 289 ES_STATIC_2: 8 XXX
  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ SET_3 : 15|2@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Fault : 18|1@0+ (1,0) [0|1] "" XXX
 
 CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
 CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on";
diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
index f1dccd94b..cf5e54f8f 100755
Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ
diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin
new file mode 100755
index 000000000..1ffe3b7e3
Binary files /dev/null and b/panda/board/obj/bootstub.panda_h7.bin differ
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index 2258d6ae5..9110d8482 100644
Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ
diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed
new file mode 100644
index 000000000..a53778438
Binary files /dev/null and b/panda/board/obj/panda_h7.bin.signed differ
diff --git a/panda/python/__init__.py b/panda/python/__init__.py
index b23078719..5b01a0cb8 100644
--- a/panda/python/__init__.py
+++ b/panda/python/__init__.py
@@ -144,7 +144,8 @@ class ALTERNATIVE_EXPERIENCE:
   DISABLE_DISENGAGE_ON_GAS = 1
   DISABLE_STOCK_AEB = 2
   RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
-  ALKA = 16
+  ALLOW_AEB = 16
+  ALKA = 32
 
 class Panda:
 
@@ -230,11 +231,13 @@ class Panda:
   FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
   FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
   FLAG_TOYOTA_LTA = (4 << 8)
+  FLAG_TOYOTA_GAS_INTERCEPTOR = (8 << 8)
 
   FLAG_HONDA_ALT_BRAKE = 1
   FLAG_HONDA_BOSCH_LONG = 2
   FLAG_HONDA_NIDEC_ALT = 4
   FLAG_HONDA_RADARLESS = 8
+  FLAG_HONDA_GAS_INTERCEPTOR = 16
 
   FLAG_HYUNDAI_EV_GAS = 1
   FLAG_HYUNDAI_HYBRID_GAS = 2
diff --git a/rednose/helpers/ekf_sym_pyx.so b/rednose/helpers/ekf_sym_pyx.so
index 7031e16ba..d4656f46e 100755
Binary files a/rednose/helpers/ekf_sym_pyx.so and b/rednose/helpers/ekf_sym_pyx.so differ
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 15088f69b..779ff8bc5 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -29,7 +29,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
 
 import cereal.messaging as messaging
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.api import Api
 from openpilot.common.basedir import PERSIST
 from openpilot.common.file_helpers import CallbackReader
@@ -310,7 +310,7 @@ def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) ->
 # security: user should be able to request any message from their car
 @dispatcher.add_method
 def getMessage(service: str, timeout: int = 1000) -> Dict:
-  if service is None or service not in service_list:
+  if service is None or service not in SERVICE_LIST:
     raise Exception("invalid service")
 
   socket = messaging.sub_sock(service, timeout=timeout)
diff --git a/selfdrive/boardd/boardd b/selfdrive/boardd/boardd
index 5ecfa27e0..fc3f82bee 100755
Binary files a/selfdrive/boardd/boardd and b/selfdrive/boardd/boardd differ
diff --git a/selfdrive/boardd/boardd_api_impl.so b/selfdrive/boardd/boardd_api_impl.so
index 780a99ff4..f607f74f7 100755
Binary files a/selfdrive/boardd/boardd_api_impl.so and b/selfdrive/boardd/boardd_api_impl.so differ
diff --git a/selfdrive/camerad/camerad b/selfdrive/camerad/camerad
index 9779c8985..8c596e6e7 100755
Binary files a/selfdrive/camerad/camerad and b/selfdrive/camerad/camerad differ
diff --git a/selfdrive/camerad/snapshot/snapshot.py b/selfdrive/camerad/snapshot/snapshot.py
index af543b37f..ddce2a7c2 100755
--- a/selfdrive/camerad/snapshot/snapshot.py
+++ b/selfdrive/camerad/snapshot/snapshot.py
@@ -28,8 +28,11 @@ def jpeg_write(fn, dat):
   img.save(fn, "JPEG")
 
 
-def extract_image(buf, w, h, stride):
-  img = np.hstack([buf[i * stride:i * stride + 3 * w] for i in range(h)])
+def extract_image(buf):
+  w = buf.width
+  h = buf.height
+  stride = buf.stride
+  img = np.hstack([buf.data[i * stride:i * stride + 3 * w] for i in range(h)])
   b = img[::3].reshape(h, w)
   g = img[1::3].reshape(h, w)
   r = img[2::3].reshape(h, w)
@@ -63,10 +66,10 @@ def get_snapshots(frame="roadCameraState", front_frame="driverCameraState", focu
   rear, front = None, None
   if frame is not None:
     c = vipc_clients[frame]
-    rear = extract_image(c.recv(), c.width, c.height, c.stride)
+    rear = extract_image(c.recv())
   if front_frame is not None:
     c = vipc_clients[front_frame]
-    front = extract_image(c.recv(), c.width, c.height, c.stride)
+    front = extract_image(c.recv())
   return rear, front
 
 
diff --git a/selfdrive/camerad/test/test_camerad.py b/selfdrive/camerad/test/test_camerad.py
index 6669df301..4f76bcecf 100755
--- a/selfdrive/camerad/test/test_camerad.py
+++ b/selfdrive/camerad/test/test_camerad.py
@@ -6,7 +6,7 @@ from collections import defaultdict
 
 import cereal.messaging as messaging
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.system.hardware import TICI
 
@@ -43,10 +43,10 @@ class TestCamerad(unittest.TestCase):
     for cam, msgs in cls.logs.items():
       if cls.sensor_type is None:
         cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
-      expected_frames = service_list[cam].frequency * TEST_TIMESPAN
+      expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
       assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
 
-      dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/service_list[cam].frequency)
+      dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
       assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
 
       for m in msgs:
diff --git a/selfdrive/car/body/fingerprints.py b/selfdrive/car/body/fingerprints.py
new file mode 100644
index 000000000..6efaabc13
--- /dev/null
+++ b/selfdrive/car/body/fingerprints.py
@@ -0,0 +1,28 @@
+# ruff: noqa: E501
+from cereal import car
+from openpilot.selfdrive.car.body.values import CAR
+
+Ecu = car.CarParams.Ecu
+
+# debug ecu fw version is the git hash of the firmware
+
+
+FINGERPRINTS = {
+  CAR.BODY: [{
+    513: 8, 516: 8, 514: 3, 515: 4
+  }],
+}
+
+FW_VERSIONS = {
+  CAR.BODY: {
+    (Ecu.engine, 0x720, None): [
+      b'0.0.01',
+      b'0.3.00a',
+      b'02/27/2022',
+    ],
+    (Ecu.debug, 0x721, None): [
+      b'166bd860',
+      b'dc780f85',
+    ],
+  },
+}
diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py
index 306d90691..218b9a6f2 100644
--- a/selfdrive/car/body/values.py
+++ b/selfdrive/car/body/values.py
@@ -1,3 +1,4 @@
+# from enum import StrEnum
 from strenum import StrEnum
 from typing import Dict
 
@@ -30,11 +31,6 @@ CAR_INFO: Dict[str, CarInfo] = {
   CAR.BODY: CarInfo("comma body", package="All"),
 }
 
-FINGERPRINTS = {
-  CAR.BODY: [{
-    513: 8, 516: 8, 514: 3, 515: 4,
-  }],
-}
 
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
@@ -46,20 +42,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
 )
 
-FW_VERSIONS = {
-  CAR.BODY: {
-    (Ecu.engine, 0x720, None): [
-      b'0.0.01',
-      b'02/27/2022',
-      b'0.3.00a',
-    ],
-    # git hash of the firmware used
-    (Ecu.debug, 0x721, None): [
-      b'166bd860',
-      b'dc780f85',
-    ],
-  },
-}
 
 DBC = {
   CAR.BODY: dbc_dict('comma_body', None),
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 1fd01e4c6..b61717d6a 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -132,9 +132,6 @@ def fingerprint(logcan, sendcan, num_pandas):
 
   start_time = time.monotonic()
   if not skip_fw_query:
-    # Vin query only reliably works through OBDII
-    bus = 1
-
     cached_params = params.get("CarParamsCache")
     if cached_params is not None:
       # with car.CarParams.from_bytes(cached_params) as cached_params:
@@ -145,20 +142,22 @@ def fingerprint(logcan, sendcan, num_pandas):
     if cached_params is not None and len(cached_params.carFw) > 0 and \
        cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
       cloudlog.warning("Using cached CarParams")
-      vin, vin_rx_addr = cached_params.carVin, 0
+      vin_rx_addr, vin_rx_bus, vin = -1, -1, cached_params.carVin
       car_fw = list(cached_params.carFw)
       cached = True
     else:
       cloudlog.warning("Getting VIN & FW versions")
+      # enable OBD multiplexing for Vin query, also allows time for sendcan subscriber to connect
       set_obd_multiplexing(params, True)
-      vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
+      # Vin query only reliably works through OBDII
+      vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1))
       ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
       car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
       cached = False
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
   else:
-    vin, vin_rx_addr = VIN_UNKNOWN, 0
+    vin_rx_addr, vin_rx_bus, vin = -1, -1, VIN_UNKNOWN
     exact_fw_match, fw_candidates, car_fw = True, set(), []
     cached = False
 
@@ -193,8 +192,8 @@ def fingerprint(logcan, sendcan, num_pandas):
     source = car.CarParams.FingerprintSource.fixed
 
   cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached,
-                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, fingerprints=finger,
-                 fw_query_time=fw_query_time, error=True)
+                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
+                 fingerprints=finger, fw_query_time=fw_query_time, error=True)
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
@@ -213,3 +212,15 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
   CP.fuzzyFingerprint = not exact_match
 
   return CarInterface(CP, CarController, CarState), CP
+
+def write_car_param(fingerprint="mock"):
+  params = Params()
+  CarInterface, _, _ = interfaces[fingerprint]
+  CP = CarInterface.get_non_essential_params(fingerprint)
+  params.put("CarParams", CP.to_bytes())
+
+def get_demo_car_params():
+  fingerprint="mock"
+  CarInterface, _, _ = interfaces[fingerprint]
+  CP = CarInterface.get_non_essential_params(fingerprint)
+  return CP
diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
new file mode 100644
index 000000000..ae1449422
--- /dev/null
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -0,0 +1,598 @@
+from cereal import car
+from openpilot.selfdrive.car.chrysler.values import CAR
+
+Ecu = car.CarParams.Ecu
+
+FW_VERSIONS = {
+  CAR.PACIFICA_2017_HYBRID: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68239262AH',
+      b'68239262AI',
+      b'68239262AJ',
+      b'68239263AH',
+      b'68239263AJ',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68238840AH',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'68226356AI',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68288309AC',
+      b'68288309AD',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68277480AV ',
+      b'68277480AX ',
+      b'68277480AZ ',
+    ],
+    (Ecu.hybrid, 0x7e2, None): [
+      b'05190175BF',
+      b'05190175BH',
+      b'05190226AK',
+    ],
+  },
+  CAR.PACIFICA_2018: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68227902AF',
+      b'68227902AG',
+      b'68227902AH',
+      b'68360252AC',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68211617AF',
+      b'68211617AG',
+      b'68358974AC',
+      b'68405937AA',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68222747AG',
+      b'68330876AA',
+      b'68330876AB',
+      b'68352227AA',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672758AA',
+      b'68226356AF',
+      b'68226356AH',
+      b'68226356AI',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68288891AE',
+      b'68378884AA',
+      b'68525338AA',
+      b'68525338AB',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68267018AO ',
+      b'68267020AJ ',
+      b'68340762AD ',
+      b'68340764AD ',
+      b'68352652AE ',
+      b'68366851AH ',
+      b'68366853AE ',
+      b'68372861AF ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'68277370AJ',
+      b'68277370AM',
+      b'68277372AD',
+      b'68277372AN',
+      b'68277374AA',
+      b'68277374AB',
+      b'68277374AD',
+      b'68277374AN',
+      b'68367471AC',
+      b'68380571AB',
+    ],
+  },
+  CAR.PACIFICA_2020: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68405327AC',
+      b'68436233AB',
+      b'68436233AC',
+      b'68436250AE',
+      b'68529067AA',
+      b'68594993AB',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68405565AB',
+      b'68405565AC',
+      b'68444299AC',
+      b'68480708AC',
+      b'68526663AB',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68397394AA',
+      b'68433480AB',
+      b'68453575AF',
+      b'68577676AA',
+      b'68593395AA',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672758AA',
+      b'04672758AB',
+      b'68417813AF',
+      b'68540436AA',
+      b'68540436AC',
+      b'68540436AD',
+      b'68598670AB',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68416742AA',
+      b'68460393AA',
+      b'68460393AB',
+      b'68494461AB',
+      b'68524936AA',
+      b'68524936AB',
+      b'68525338AB',
+      b'68594340AB',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68413871AD ',
+      b'68413871AE ',
+      b'68413871AH ',
+      b'68413871AI ',
+      b'68413873AI ',
+      b'68443120AE ',
+      b'68443123AC ',
+      b'68443125AC ',
+      b'68526752AD ',
+      b'68526752AE ',
+      b'68526754AE ',
+      b'68536264AE ',
+      b'68700306AB ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'68414271AC',
+      b'68414271AD',
+      b'68414275AC',
+      b'68443154AB',
+      b'68443155AC',
+      b'68443158AB',
+      b'68501050AD',
+      b'68527221AB',
+      b'68527223AB',
+      b'68586231AD',
+    ],
+  },
+  CAR.PACIFICA_2018_HYBRID: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68358439AE',
+      b'68358439AG',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68358990AC',
+      b'68405939AA',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672758AA',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68288309AD',
+      b'68525339AA',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68366580AI ',
+      b'68366580AK ',
+      b'68366580AM ',
+    ],
+    (Ecu.hybrid, 0x7e2, None): [
+      b'05190226AI',
+      b'05190226AK',
+      b'05190226AM',
+    ],
+  },
+  CAR.PACIFICA_2019_HYBRID: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68405292AC',
+      b'68434956AC',
+      b'68434956AD',
+      b'68434960AE',
+      b'68434960AF',
+      b'68529064AB',
+      b'68594990AB',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68405567AB',
+      b'68405567AC',
+      b'68453076AD',
+      b'68480710AC',
+      b'68526665AB',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672758AB',
+      b'68417813AF',
+      b'68540436AA',
+      b'68540436AB',
+      b'68540436AC',
+      b'68540436AD',
+      b'68598670AB',
+      b'68598670AC',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68416741AA',
+      b'68460392AA',
+      b'68525339AA',
+      b'68525339AB',
+      b'68594341AB',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68416680AE ',
+      b'68416680AF ',
+      b'68416680AG ',
+      b'68444228AD ',
+      b'68444228AE ',
+      b'68444228AF ',
+      b'68499122AD ',
+      b'68499122AE ',
+      b'68499122AF ',
+      b'68526772AD ',
+      b'68526772AH ',
+      b'68599493AC ',
+    ],
+    (Ecu.hybrid, 0x7e2, None): [
+      b'05185116AF',
+      b'05185116AJ',
+      b'05185116AK',
+      b'05190240AP',
+      b'05190240AQ',
+      b'05190240AR',
+      b'05190265AG',
+      b'05190265AH',
+      b'05190289AE',
+      b'68540977AH',
+      b'68540977AK',
+      b'68597647AE',
+    ],
+  },
+  CAR.JEEP_GRAND_CHEROKEE: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68302211AC',
+      b'68302212AD',
+      b'68302246AC',
+      b'68331511AC',
+      b'68331574AC',
+      b'68331687AC',
+      b'68340272AD',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68316742AB',
+      b'68355363AB',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68306178AD',
+      b'68336276AB',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672627AB',
+      b'68332015AB',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68321644AB',
+      b'68321644AC',
+      b'68321646AC',
+      b'68321648AC',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'05035920AE ',
+      b'68284455AI ',
+      b'68284456AI ',
+      b'68284477AF ',
+      b'68325564AH ',
+      b'68325565AH ',
+      b'68325565AI ',
+      b'68325618AD ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'05035517AH',
+      b'68311218AC',
+      b'68311223AF',
+      b'68311223AG',
+      b'68361911AE',
+      b'68361911AF',
+      b'68361911AH',
+      b'68361916AD',
+    ],
+  },
+  CAR.JEEP_GRAND_CHEROKEE_2019: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68402703AB',
+      b'68402708AB',
+      b'68402971AD',
+      b'68454144AD',
+      b'68454152AB',
+      b'68454156AB',
+      b'68516650AB',
+      b'68516651AB',
+      b'68516669AB',
+      b'68516671AB',
+      b'68516683AB',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68355363AB',
+      b'68355364AB',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68408639AC',
+      b'68408639AD',
+      b'68499978AB',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672788AA',
+      b'68456722AC',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68417279AA',
+      b'68417280AA',
+      b'68453431AA',
+      b'68453433AA',
+      b'68453435AA',
+      b'68499171AA',
+      b'68499171AB',
+      b'68501183AA',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'05035674AB ',
+      b'68412635AG ',
+      b'68422860AB',
+      b'68449435AE ',
+      b'68496223AA ',
+      b'68504959AD ',
+      b'68504960AD ',
+      b'68504993AC ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'05035707AA',
+      b'68419672AC',
+      b'68423905AB',
+      b'68449258AC',
+      b'68495807AA',
+      b'68495807AB',
+      b'68503641AC',
+      b'68503664AC',
+    ],
+  },
+  CAR.RAM_1500: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68294051AG',
+      b'68294051AI',
+      b'68294052AG',
+      b'68294063AG',
+      b'68294063AH',
+      b'68294063AI',
+      b'68434846AC',
+      b'68434847AC',
+      b'68434849AC',
+      b'68434856AC',
+      b'68434858AC',
+      b'68434859AC',
+      b'68434860AC',
+      b'68453483AC',
+      b'68453487AD',
+      b'68453491AC',
+      b'68453499AD',
+      b'68453503AC',
+      b'68453505AC',
+      b'68453505AD',
+      b'68453511AC',
+      b'68453513AC',
+      b'68453513AD',
+      b'68453514AD',
+      b'68505633AB',
+      b'68510277AG',
+      b'68510277AH',
+      b'68510280AG',
+      b'68510282AG',
+      b'68510282AH',
+      b'68510283AG',
+      b'68527346AE',
+      b'68527361AD',
+      b'68527375AD',
+      b'68527382AE',
+      b'68527383AD',
+      b'68527387AE',
+      b'68527403AC',
+      b'68631942AA',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68428609AB',
+      b'68441329AB',
+      b'68473844AB',
+      b'68490898AA',
+      b'68500728AA',
+      b'68615033AA',
+      b'68615034AA',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68292406AH',
+      b'68432418AB',
+      b'68432418AD',
+      b'68436004AD',
+      b'68436004AE',
+      b'68438454AC',
+      b'68438454AD',
+      b'68438456AE',
+      b'68438456AF',
+      b'68535469AB',
+      b'68535470AC',
+      b'68548900AB',
+      b'68586307AB',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672892AB',
+      b'04672932AB',
+      b'04672932AC',
+      b'22DTRHD_AA',
+      b'68320950AH',
+      b'68320950AI',
+      b'68320950AJ',
+      b'68320950AL',
+      b'68320950AM',
+      b'68454268AB',
+      b'68475160AE',
+      b'68475160AF',
+      b'68475160AG',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'21590101AA',
+      b'21590101AB',
+      b'68273275AF',
+      b'68273275AG',
+      b'68273275AH',
+      b'68312176AE',
+      b'68312176AG',
+      b'68440789AC',
+      b'68466110AA',
+      b'68466110AB',
+      b'68469901AA',
+      b'68469907AA',
+      b'68522583AA',
+      b'68522583AB',
+      b'68522584AA',
+      b'68522585AB',
+      b'68552788AA',
+      b'68552789AA',
+      b'68552790AA',
+      b'68552791AB',
+      b'68552794AA',
+      b'68585106AB',
+      b'68585108AB',
+      b'68585109AB',
+      b'68585112AB',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'05035699AG ',
+      b'05036026AB ',
+      b'05036065AE ',
+      b'05036066AE ',
+      b'05149591AD ',
+      b'05149591AE ',
+      b'05149592AE ',
+      b'05149600AD ',
+      b'05149605AE ',
+      b'05149846AA ',
+      b'05149848AA ',
+      b'05190341AD',
+      b'68378695AJ ',
+      b'68378696AJ ',
+      b'68378701AI ',
+      b'68378710AL ',
+      b'68378748AL ',
+      b'68378758AM ',
+      b'68448163AJ',
+      b'68448163AK',
+      b'68448163AL',
+      b'68448165AG',
+      b'68448165AK',
+      b'68455111AC ',
+      b'68455119AC ',
+      b'68455145AC ',
+      b'68455145AE ',
+      b'68455146AC ',
+      b'68467915AC ',
+      b'68500630AD',
+      b'68500630AE',
+      b'68502719AC ',
+      b'68502722AC ',
+      b'68502734AF ',
+      b'68502740AF ',
+      b'68502741AF ',
+      b'68502742AC ',
+      b'68539650AD',
+      b'68539650AF',
+      b'68539651AD',
+      b'68586101AA ',
+      b'68586105AB ',
+      b'68629926AC ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'05035706AD',
+      b'05035842AB',
+      b'05036069AA',
+      b'05149536AC',
+      b'05149537AC',
+      b'05149543AC',
+      b'68360078AL',
+      b'68360080AL',
+      b'68360080AM',
+      b'68360081AM',
+      b'68360085AJ',
+      b'68360085AL',
+      b'68384328AD',
+      b'68384332AD',
+      b'68445531AC',
+      b'68445533AB',
+      b'68445536AB',
+      b'68445537AB',
+      b'68466087AB',
+      b'68484466AC',
+      b'68484467AC',
+      b'68484471AC',
+      b'68502994AD',
+      b'68520867AE',
+      b'68520867AF',
+      b'68540431AB',
+      b'68540433AB',
+      b'68629936AC',
+    ],
+  },
+  CAR.RAM_HD: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68361606AH',
+      b'68437735AC',
+      b'68492693AD',
+      b'68525485AB',
+      b'68525487AB',
+      b'68525498AB',
+      b'68528791AF',
+      b'68628474AB',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68399794AC',
+      b'68428503AA',
+      b'68428505AA',
+      b'68428507AA',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68334977AH',
+      b'68455481AC',
+      b'68504022AA',
+      b'68504022AB',
+      b'68504022AC',
+      b'68530686AB',
+      b'68530686AC',
+      b'68544596AC',
+      b'68641704AA',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'04672895AB',
+      b'04672934AB',
+      b'56029827AG',
+      b'56029827AH',
+      b'68462657AE',
+      b'68484694AD',
+      b'68484694AE',
+      b'68615489AB',
+    ],
+    (Ecu.eps, 0x761, None): [
+      b'68421036AC',
+      b'68507906AB',
+      b'68534023AC',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'52370131AF',
+      b'52370231AF',
+      b'52370231AG',
+      b'52370491AA',
+      b'52370931CT',
+      b'52401032AE',
+      b'52421132AF',
+      b'52421332AF',
+      b'68527616AD ',
+      b'M2370131MB',
+      b'M2421132MB',
+    ],
+  },
+}
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index aff24640a..c5ba56b98 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -1,5 +1,4 @@
-# ruff: noqa: E501
-from enum import IntFlag
+from enum import IntFlag#, StrEnum
 from strenum import StrEnum
 from dataclasses import dataclass, field
 from typing import Dict, List, Optional, Union
@@ -66,84 +65,23 @@ class ChryslerCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
-  CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
-  CAR.PACIFICA_2018_HYBRID: None,  # same platforms
+  CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
+  CAR.PACIFICA_2018_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
   CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
   CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
   CAR.PACIFICA_2020: [
     ChryslerCarInfo("Chrysler Pacifica 2019-20"),
-    ChryslerCarInfo("Chrysler Pacifica 2021", package="All"),
+    ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
   ],
   CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
   CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
-  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarHarness.ram])),
+  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
   CAR.RAM_HD: [
     ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
     ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
   ],
 }
 
-# Unique CAN messages:
-# Only the hybrids have 270: 8
-# Only the gas have 55: 8, 416: 7
-# For 564, All 2017 have length 4, whereas 2018-19 have length 8.
-# For 924, Pacifica 2017 has length 3, whereas all 2018-19 have length 8.
-# For 560, All 2019 have length 8, whereas all 2017-18 have length 4.
-
-# Jeep Grand Cherokee unique messages:
-# 2017 Trailhawk: 618: 8
-# For 924, Trailhawk 2017 has length 3, whereas 2018 V6 has length 8.
-
-FINGERPRINTS = {
-  CAR.PACIFICA_2017_HYBRID: [{
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 840: 8, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8
-  }],
-  CAR.PACIFICA_2018: [{
-    55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
-  },
-  {
-    55: 8, 58: 6, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 956: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
-  }],
-  CAR.PACIFICA_2020: [{
-    55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 536: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 886: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 2015: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8
-  }],
-  CAR.PACIFICA_2018_HYBRID: [{
-    68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8
-  },
-    # based on 9ae7821dc4e92455|2019-07-01--16-42-55
-  {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2016: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
-  }],
-  CAR.PACIFICA_2019_HYBRID: [{
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1538: 8
-  },
-    # Based on 0607d2516fc2148f|2019-02-13--23-03-16
-  {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1537: 8
-  },
-    # Based on 3c7ce223e3571b54|2019-05-11--20-16-14
-  {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1562: 8, 1570: 8
-  },
-    # Based on "8190c7275a24557b|2020-02-24--09-57-23"
-  {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1536: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
-  },
-  {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 450: 8, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2018: 8, 2020: 8, 2026: 8, 2028: 8
-  }],
-  CAR.JEEP_GRAND_CHEROKEE: [{
-    55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 1576: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-  },
-    # Based on c88f65eeaee4003a|2022-08-04--15-37-16
-  {
-    257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 671: 8, 672: 8, 678: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1235: 8, 1242: 8, 1252: 8, 1792: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1892: 8, 1927: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-  }],
-  CAR.JEEP_GRAND_CHEROKEE_2019: [{
-    # Jeep Grand Cherokee 2019, including most 2020 models
-    55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1538: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-  }],
-}
 
 CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(0xf132)
@@ -180,207 +118,10 @@ FW_QUERY_CONFIG = FwQueryConfig(
     ),
   ],
   extra_ecus=[
-    (Ecu.hybrid, 0x7e2, None),  # manages transmission on hybrids
-    (Ecu.abs, 0x7e4, None),     # alt address for abs on hybrids
+    (Ecu.abs, 0x7e4, None),  # alt address for abs on hybrids, NOTE: not on all hybrid platforms
   ],
 )
 
-FW_VERSIONS = {
-  CAR.JEEP_GRAND_CHEROKEE_2019: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68402971AD',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68355363AB',
-    ],
-    (Ecu.abs, 0x747, None): [
-      b'68408639AD',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'68456722AC',
-    ],
-    (Ecu.eps, 0x75A, None): [
-      b'68453431AA',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'05035674AB ',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'05035707AA',
-    ],
-  },
-
-  CAR.RAM_1500: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68294051AG',
-      b'68294051AI',
-      b'68294052AG',
-      b'68294063AG',
-      b'68294063AH',
-      b'68294063AI',
-      b'68434846AC',
-      b'68434858AC',
-      b'68434860AC',
-      b'68453503AC',
-      b'68453505AC',
-      b'68453511AC',
-      b'68453513AD',
-      b'68453514AD',
-      b'68510280AG',
-      b'68510283AG',
-      b'68527346AE',
-      b'68527375AD',
-      b'68527382AE',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68428609AB',
-      b'68441329AB',
-      b'68473844AB',
-      b'68490898AA',
-      b'68500728AA',
-      b'68615033AA',
-      b'68615034AA',
-    ],
-    (Ecu.abs, 0x747, None): [
-      b'68292406AH',
-      b'68432418AB',
-      b'68432418AD',
-      b'68436004AD',
-      b'68436004AE',
-      b'68438454AC',
-      b'68438454AD',
-      b'68438456AE',
-      b'68438456AF',
-      b'68535469AB',
-      b'68535470AC',
-      b'68548900AB',
-      b'68586307AB',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672892AB',
-      b'04672932AB',
-      b'04672932AC',
-      b'22DTRHD_AA',
-      b'68320950AH',
-      b'68320950AI',
-      b'68320950AJ',
-      b'68320950AL',
-      b'68320950AM',
-      b'68454268AB',
-      b'68475160AE',
-      b'68475160AF',
-      b'68475160AG',
-    ],
-    (Ecu.eps, 0x75A, None): [
-      b'21590101AA',
-      b'21590101AB',
-      b'68273275AF',
-      b'68273275AG',
-      b'68273275AH',
-      b'68312176AE',
-      b'68312176AG',
-      b'68440789AC',
-      b'68466110AB',
-      b'68469901AA',
-      b'68522583AB',
-      b'68522585AB',
-      b'68552788AA',
-      b'68552789AA',
-      b'68552790AA',
-      b'68585106AB',
-      b'68585109AB',
-      b'68585112AB',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'05036065AE ',
-      b'05036066AE ',
-      b'05149592AE ',
-      b'05149591AD ',
-      b'05149846AA ',
-      b'05149848AA ',
-      b'68378701AI ',
-      b'68378748AL ',
-      b'68378758AM ',
-      b'68448163AJ',
-      b'68448165AK',
-      b'68500630AD',
-      b'68500630AE',
-      b'68539650AD',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'05149536AC',
-      b'68360078AL',
-      b'68360080AM',
-      b'68360081AM',
-      b'68360085AL',
-      b'68384328AD',
-      b'68384332AD',
-      b'68445533AB',
-      b'68484467AC',
-      b'68502994AD',
-      b'68520867AE',
-      b'68540431AB',
-    ],
-  },
-
-  CAR.RAM_HD: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68361606AH',
-      b'68437735AC',
-      b'68492693AD',
-      b'68525485AB',
-      b'68525487AB',
-      b'68525498AB',
-      b'68528791AF',
-      b'68628474AB',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68399794AC',
-      b'68428503AA',
-      b'68428505AA',
-      b'68428507AA',
-    ],
-    (Ecu.abs, 0x747, None): [
-      b'68334977AH',
-      b'68455481AC',
-      b'68504022AA',
-      b'68504022AB',
-      b'68504022AC',
-      b'68530686AB',
-      b'68530686AC',
-      b'68544596AC',
-      b'68641704AA',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'04672895AB',
-      b'04672934AB',
-      b'56029827AG',
-      b'56029827AH',
-      b'68462657AE',
-      b'68484694AD',
-      b'68484694AE',
-      b'68615489AB',
-    ],
-    (Ecu.eps, 0x761, None): [
-      b'68421036AC',
-      b'68507906AB',
-      b'68534023AC',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'52370131AF',
-      b'52370231AF',
-      b'52370231AG',
-      b'52370491AA',
-      b'52370931CT',
-      b'52401032AE',
-      b'52421132AF',
-      b'52421332AF',
-      b'68527616AD ',
-      b'M2370131MB',
-      b'M2421132MB',
-    ],
-  },
-}
 
 DBC = {
   CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 2e80dde01..f2ce74360 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -244,10 +244,13 @@ class CarInfo:
   # all the parts needed for the supported car
   car_parts: CarParts = field(default_factory=CarParts)
 
+  def __post_init__(self):
+    self.make, self.model, self.years = split_name(self.name)
+    self.year_list = get_year_list(self.years)
+
   def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
     self.car_name = CP.carName
     self.car_fingerprint = CP.carFingerprint
-    self.make, self.model, self.years = split_name(self.name)
 
     # longitudinal column
     op_long = "Stock"
@@ -309,7 +312,6 @@ class CarInfo:
       self.row[Column.STEERING_TORQUE] = Star.FULL
 
     self.all_footnotes = all_footnotes
-    self.year_list = get_year_list(self.years)
     self.detail_sentence = self.get_detail_sentence(CP)
 
     return self
diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py
index 1733f99fc..7f2b87f7a 100644
--- a/selfdrive/car/fingerprints.py
+++ b/selfdrive/car/fingerprints.py
@@ -1,13 +1,13 @@
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 
-
 FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
 _FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)
 
 _DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
 
-
-def is_valid_for_fingerprint(msg, car_fingerprint):
+# rick - use Dict instead of dict (unsupported python 3.8 syntax)
+from typing import Dict
+def is_valid_for_fingerprint(msg, car_fingerprint: Dict[int, int]):
   adr = msg.address
   # ignore addresses that are more than 11 bits
   return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index fe9ee404a..88ec6a507 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -1,5 +1,6 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip
+from openpilot.common.conversions import Conversions as CV
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
@@ -88,9 +89,8 @@ class CarController:
       gas = accel
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:
         gas = CarControllerParams.INACTIVE_GAS
-
       stopping = CC.actuators.longControlState == LongCtrlState.stopping
-      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping))
+      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=40 * CV.MPH_TO_KPH))
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 5c787b787..9230d16ef 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -18,15 +18,16 @@ class CarState(CarStateBase):
       self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
 
     self.vehicle_sensors_valid = False
-    self.hybrid_platform = False
+    self.unsupported_platform = False
 
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
-    # Hybrid variants experience a bug where a message from the PCM sends invalid checksums,
-    # we do not support these cars at this time.
+    # Ford Q3 hybrid variants experience a bug where a message from the PCM sends invalid checksums,
+    # this must be root-caused before enabling support. Ford Q4 hybrids do not have this problem.
     # TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants
-    self.hybrid_platform = cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0
+    self.unsupported_platform = (cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0 and
+                                 self.CP.carFingerprint not in CANFD_CAR)
 
     # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
     # The vehicle usually recovers out of this state within a minute of normal driving
diff --git a/selfdrive/car/ford/fingerprints.py b/selfdrive/car/ford/fingerprints.py
new file mode 100644
index 000000000..0cd812bc6
--- /dev/null
+++ b/selfdrive/car/ford/fingerprints.py
@@ -0,0 +1,195 @@
+from cereal import car
+from openpilot.selfdrive.car.ford.values import CAR
+
+Ecu = car.CarParams.Ecu
+
+FW_VERSIONS = {
+  CAR.BRONCO_SPORT_MK1: {
+    (Ecu.eps, 0x730, None): [
+      b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'M1PA-14C204-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'N1PA-14C204-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.ESCAPE_MK4: {
+    (Ecu.eps, 0x730, None): [
+      b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-2D053-SD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6A-14C204-CNG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6A-14C204-DPK\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MX6A-14C204-CAB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.EXPLORER_MK6: {
+    (Ecu.eps, 0x730, None): [
+      b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'P1MC-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5A-14C204-ATS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5A-14C204-AUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PB5A-14C204-DA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.F_150_MK14: {
+    (Ecu.eps, 0x730, None): [
+      b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.F_150_LIGHTNING_MK1: {
+    (Ecu.abs, 0x760, None): [
+      b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'NL3A-14C204-BAR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.MUSTANG_MACH_E_MK1: {
+    (Ecu.eps, 0x730, None): [
+      b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'LK9C-2D053-CK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'MJ98-14C204-BBP\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MJ98-14C204-BBS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NJ98-14C204-VH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.FOCUS_MK4: {
+    (Ecu.eps, 0x730, None): [
+      b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.MAVERICK_MK1: {
+    (Ecu.eps, 0x730, None): [
+      b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NZ6A-14C204-ZC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6A-14C204-JE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+}
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index e0086ecbb..78a249e38 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -118,7 +118,7 @@ def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path
   return packer.make_can_msg("LateralMotionControl2", CAN.main, values)
 
 
-def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool):
+def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool, v_ego_kph: float):
   """
   Creates a CAN message for the Ford ACC Command.
 
@@ -133,7 +133,9 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl
     "AccBrkTot_A_Rq": accel,                          # Brake total accel request: [-20|11.9449] m/s^2
     "Cmbb_B_Enbl": 1 if long_active else 0,           # Enabled: 0=No, 1=Yes
     "AccPrpl_A_Rq": gas,                              # Acceleration request: [-5|5.23] m/s^2
+    "AccPrpl_A_Pred": gas,                            # Acceleration request: [-5|5.23] m/s^2
     "AccResumEnbl_B_Rq": 1 if long_active else 0,
+    "AccVeh_V_Trg": v_ego_kph,                        # Target speed: [0|255] km/h
     # TODO: we may be able to improve braking response by utilizing pre-charging better
     "AccBrkPrchg_B_Rq": 1 if decel else 0,            # Pre-charge brake request: 0=No, 1=Yes
     "AccBrkDecel_B_Rq": 1 if decel else 0,            # Deceleration request: 0=Inactive, 1=Active
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 3045c317f..8a8ce36bd 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
-    ret.dashcamOnly = candidate in {CAR.F_150_MK14}
+    ret.dashcamOnly = candidate in CANFD_CAR
 
     ret.radarUnavailable = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
@@ -56,6 +56,17 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 17.0
       ret.mass = 2000
 
+    elif candidate == CAR.F_150_LIGHTNING_MK1:
+      # required trim only on SuperCrew
+      ret.wheelbase = 3.70
+      ret.steerRatio = 16.9
+      ret.mass = 2948
+
+    elif candidate == CAR.MUSTANG_MACH_E_MK1:
+      ret.wheelbase = 2.984
+      ret.steerRatio = 17.0  # guess
+      ret.mass = 2200
+
     elif candidate == CAR.FOCUS_MK4:
       ret.wheelbase = 2.7
       ret.steerRatio = 15.0
@@ -94,7 +105,7 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
     if not self.CS.vehicle_sensors_valid:
       events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
-    if self.CS.hybrid_platform:
+    if self.CS.unsupported_platform:
       events.add(car.CarEvent.EventName.startupNoControl)
 
     ret.events = events.to_msg()
diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py
index cfec06a17..bc8256d10 100644
--- a/selfdrive/car/ford/radar_interface.py
+++ b/selfdrive/car/ford/radar_interface.py
@@ -119,17 +119,23 @@ class RadarInterface(RadarInterfaceBase):
         self.track_id += 1
 
       valid = bool(msg[f"CAN_DET_VALID_LEVEL_{ii:02d}"])
-      amplitude = msg[f"CAN_DET_AMPLITUDE_{ii:02d}"]            # dBsm [-64|63]
 
-      if valid and 0 < amplitude <= 15:
+      if valid:
         azimuth = msg[f"CAN_DET_AZIMUTH_{ii:02d}"]              # rad [-3.1416|3.13964]
         dist = msg[f"CAN_DET_RANGE_{ii:02d}"]                   # m [0|255.984]
         distRate = msg[f"CAN_DET_RANGE_RATE_{ii:02d}"]          # m/s [-128|127.984]
+        dRel = cos(azimuth) * dist                              # m from front of car
+        yRel = -sin(azimuth) * dist                             # in car frame's y axis, left is positive
 
-        # *** openpilot radar point ***
-        self.pts[i].dRel = cos(azimuth) * dist                  # m from front of car
-        self.pts[i].yRel = -sin(azimuth) * dist                 # in car frame's y axis, left is positive
-        self.pts[i].vRel = distRate                             # m/s
+        # delphi doesn't notify of track switches, so do it manually
+        # TODO: refactor this to radard if more radars behave this way
+        if abs(self.pts[i].vRel - distRate) > 2 or abs(self.pts[i].dRel - dRel) > 5:
+          self.track_id += 1
+          self.pts[i].trackId = self.track_id
+
+        self.pts[i].dRel = dRel
+        self.pts[i].yRel = yRel
+        self.pts[i].vRel = distRate
 
         self.pts[i].measured = True
 
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index ac3eaf81d..7ecfb08e6 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -1,13 +1,13 @@
 from collections import defaultdict
-from dataclasses import dataclass, field
-from enum import Enum
+from dataclasses import dataclass
+from enum import Enum#, StrEnum
 from strenum import StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
 from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
-                                           Device
+                                                     Device
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -48,9 +48,11 @@ class CAR(StrEnum):
   F_150_MK14 = "FORD F-150 14TH GEN"
   FOCUS_MK4 = "FORD FOCUS 4TH GEN"
   MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
+  F_150_LIGHTNING_MK1 = "FORD F-150 LIGHTNING 1ST GEN"
+  MUSTANG_MACH_E_MK1 = "FORD MUSTANG MACH-E 1ST GEN"
 
 
-CANFD_CAR = {CAR.F_150_MK14}
+CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
 
 
 class RADAR:
@@ -62,6 +64,8 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base
 
 # F-150 radar is not yet supported
 DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None)
+DBC[CAR.F_150_LIGHTNING_MK1] = dbc_dict("ford_lincoln_base_pt", None)
+DBC[CAR.MUSTANG_MACH_E_MK1] = dbc_dict("ford_lincoln_base_pt", None)
 
 
 class Footnote(Enum):
@@ -75,11 +79,13 @@ class Footnote(Enum):
 @dataclass
 class FordCarInfo(CarInfo):
   package: str = "Co-Pilot360 Assist+"
-  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.ford_q3]))
 
   def init_make(self, CP: car.CarParams):
-    if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1):
-      self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.ford_q3])
+    harness = CarHarness.ford_q4 if CP.carFingerprint in CANFD_CAR else CarHarness.ford_q3
+    if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14):
+      self.car_parts = CarParts([Device.threex_angled_mount, harness])
+    else:
+      self.car_parts = CarParts([Device.threex, harness])
 
 
 CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
@@ -93,6 +99,8 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
     FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"),
   ],
   CAR.F_150_MK14: FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
+  CAR.F_150_LIGHTNING_MK1: FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
+  CAR.MUSTANG_MACH_E_MK1: FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
   CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
   CAR.MAVERICK_MK1: [
     FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
@@ -122,160 +130,3 @@ FW_QUERY_CONFIG = FwQueryConfig(
     (Ecu.shiftByWire, 0x732, None),
   ],
 )
-
-FW_VERSIONS = {
-  CAR.BRONCO_SPORT_MK1: {
-    (Ecu.eps, 0x730, None): [
-      b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7E0, None): [
-      b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'N1PA-14C204-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'M1PA-14C204-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.ESCAPE_MK4: {
-    (Ecu.eps, 0x730, None): [
-      b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6C-2D053-SD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7E0, None): [
-      b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6A-14C204-CNG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6A-14C204-DPK\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'MX6A-14C204-CAB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.EXPLORER_MK6: {
-    (Ecu.eps, 0x730, None): [
-      b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'P1MC-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7E0, None): [
-      b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5A-14C204-AUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PB5A-14C204-DA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LB5A-14C204-ATS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.F_150_MK14: {
-    (Ecu.eps, 0x730, None): [
-      b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7E0, None): [
-      b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.FOCUS_MK4: {
-    (Ecu.eps, 0x730, None): [
-      b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7E0, None): [
-      b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.MAVERICK_MK1: {
-    (Ecu.eps, 0x730, None): [
-      b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7E0, None): [
-      b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'NZ6A-14C204-ZC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ6A-14C204-JE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-}
diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py
index 1caedcd32..410040b10 100755
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@@ -9,7 +9,10 @@ import panda.python.uds as uds
 
 AddrType = Tuple[int, Optional[int]]
 EcuAddrBusType = Tuple[int, Optional[int], int]
+EcuAddrSubAddr = Tuple[int, int, Optional[int]]
 
+LiveFwVersions = Dict[AddrType, Set[bytes]]
+OfflineFwVersions = Dict[str, Dict[EcuAddrSubAddr, List[bytes]]]
 
 def p16(val):
   return struct.pack("!H", val)
@@ -79,7 +82,7 @@ class FwQueryConfig:
   extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list)
   # Function a brand can implement to provide better fuzzy matching. Takes in FW versions,
   # returns set of candidates. Only will match if one candidate is returned
-  match_fw_to_car_fuzzy: Optional[Callable[[Dict[AddrType, Set[bytes]]], Set[str]]] = None
+  match_fw_to_car_fuzzy: Optional[Callable[[LiveFwVersions, OfflineFwVersions], Set[str]]] = None
 
   def __post_init__(self):
     for i in range(len(self.requests)):
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 45c4967cb..efcbcb0f9 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -105,11 +105,14 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=
     return set()
 
 
-def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[str]:
+def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> Set[str]:
   """Do an exact FW match. Returns all cars that match the given
   FW versions for a list of "essential" ECUs. If an ECU is not considered
   essential the FW version can be missing to get a fingerprint, but if it's present it
   needs to match the database."""
+  if extra_fw_versions is None:
+    extra_fw_versions = {}
+
   invalid = set()
   candidates = {c: f for c, f in FW_VERSIONS.items() if
                 is_brand(MODEL_TO_BRAND[c], match_brand)}
@@ -117,12 +120,14 @@ def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[s
   for candidate, fws in candidates.items():
     config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
     for ecu, expected_versions in fws.items():
+      expected_versions = expected_versions + extra_fw_versions.get(candidate, {}).get(ecu, [])
       ecu_type = ecu[0]
       addr = ecu[1:]
 
       found_versions = live_fw_versions.get(addr, set())
       if not len(found_versions):
         # Some models can sometimes miss an ecu, or show on two different addresses
+        # FIXME: this logic can be improved to be more specific, should require one of the two addresses
         if candidate in config.non_essential_ecus.get(ecu_type, []):
           continue
 
@@ -159,7 +164,7 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
       # If specified and no matches so far, fall back to brand's fuzzy fingerprinting function
       config = FW_QUERY_CONFIGS[brand]
       if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None:
-        matches |= config.match_fw_to_car_fuzzy(fw_versions_dict)
+        matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, VERSIONS[brand])
 
     if len(matches):
       return exact_match, matches
@@ -365,8 +370,8 @@ if __name__ == "__main__":
 
   t = time.time()
   print("Getting vin...")
-  vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
-  print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}')
+  vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (1, 0), retry=10, debug=args.debug)
+  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
   print(f"Getting VIN took {time.time() - t:.3f} s")
   print()
 
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index f51cb7537..6c7e8007f 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -154,21 +154,6 @@ class CarController:
       if self.frame % 10 == 0:
         can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
 
-    # Show green icon when LKA torque is applied, and
-    # alarming orange icon when approaching torque limit.
-    # If not sent again, LKA icon disappears in about 5 seconds.
-    # Conveniently, sending camera message periodically also works as a keepalive.
-    lka_active = CS.lkas_status == 1
-    lka_critical = lka_active and abs(actuators.steer) > 0.9
-    lka_icon_status = (lka_active, lka_critical)
-
-    # SW_GMLAN not yet on cam harness, no HUD alerts
-    if self.CP.networkLocation != NetworkLocation.fwdCamera and \
-      (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
-      steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
-      can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
-      self.lka_icon_status_last = lka_icon_status
-
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 89c1a3596..f7309939b 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -113,6 +113,10 @@ class CarState(CarStateBase):
       if self.CP.pcmCruise:
         ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
 
+    if self.CP.enableBsm:
+      ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
+      ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
+
     return ret
 
   @staticmethod
@@ -146,6 +150,9 @@ class CarState(CarStateBase):
       ("ECMAcceleratorPos", 80),
     ]
 
+    if CP.enableBsm:
+      messages.append(("BCMBlindSpotMonitor", 10))
+
     # Used to read back last counter sent to PT by camera
     if CP.networkLocation == NetworkLocation.fwdCamera:
       messages += [
diff --git a/selfdrive/car/gm/fingerprints.py b/selfdrive/car/gm/fingerprints.py
new file mode 100644
index 000000000..9159ddefb
--- /dev/null
+++ b/selfdrive/car/gm/fingerprints.py
@@ -0,0 +1,56 @@
+# ruff: noqa: E501
+from openpilot.selfdrive.car.gm.values import CAR
+
+# Trailblazer also matches as a SILVERADO, TODO: split with fw verisions
+
+
+FINGERPRINTS = {
+  CAR.HOLDEN_ASTRA: [{
+    190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7
+  }],
+  CAR.VOLT: [{
+    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  },
+  {
+    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8
+  },
+  {
+    170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7
+  }],
+  CAR.BUICK_LACROSSE: [{
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
+  }],
+  CAR.BUICK_REGAL: [{
+    190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
+  }],
+  CAR.CADILLAC_ATS: [{
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
+  }],
+  CAR.MALIBU: [{
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8
+  }],
+  CAR.ACADIA: [{
+    190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7
+  },
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
+  }],
+  CAR.ESCALADE: [{
+    170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
+  }],
+  CAR.ESCALADE_ESV: [{
+    309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
+  }],
+  CAR.ESCALADE_ESV_2019: [{
+    715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7
+  }],
+  CAR.BOLT_EUV: [{
+    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
+  }],
+  CAR.SILVERADO: [{
+    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
+  }],
+  CAR.EQUINOX: [{
+    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
+  }],
+}
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 3d4b10408..ffa566283 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -74,6 +74,7 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
+    ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
 
     if candidate in EV_CAR:
       ret.transmissionType = TransmissionType.direct
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index c4b10311c..bcc222f67 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -1,7 +1,6 @@
-# ruff: noqa: E501
 from collections import defaultdict
 from dataclasses import dataclass
-from enum import Enum
+from enum import Enum#, StrEnum
 from strenum import StrEnum
 from typing import Dict, List, Union
 
@@ -141,89 +140,9 @@ class CanBus:
   OBSTACLE = 1
   CAMERA = 2
   CHASSIS = 2
-  SW_GMLAN = 3
   LOOPBACK = 128
   DROPPED = 192
 
-FINGERPRINTS = {
-  CAR.HOLDEN_ASTRA: [
-  # Astra BK MY17, ASCM unplugged
-  {
-    190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7,
-  }],
-  CAR.VOLT: [
-  # Volt Premier w/ ACC 2017
-  {
-    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
-  },
-  # Volt Premier w/ ACC 2018
-  {
-    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8
-  },
-  # Volt Premier 2018 w/ flashed firmware, no radar
-  {
-    170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7
-  }],
-  CAR.BUICK_LACROSSE: [
-  # LaCrosse Premium AWD 2017
-  {
-    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
-  }],
-  CAR.BUICK_REGAL : [
-  # Regal TourX Essence w/ ACC 2018
-  {
-    190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
-  }],
-  CAR.CADILLAC_ATS: [
-  # Cadillac ATS Coupe Premium Performance 3.6L RWD w/ ACC 2018
-  {
-    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
-  }],
-  CAR.MALIBU: [
-  # Malibu Premier w/ ACC 2017
-  {
-    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8,
-  }],
-  CAR.ACADIA: [
-  # Acadia Denali w/ACC 2018
-  {
-    190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7
-  },
-  # Acadia Denali w/ /ACC 2018
-  {
-    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
-  }],
-  CAR.ESCALADE: [
-  {
-    170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
-  }],
-  CAR.ESCALADE_ESV: [
-  {
-    309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
-  }],
-  CAR.ESCALADE_ESV_2019: [
-  {
-    715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7
-  }],
-  CAR.BOLT_EUV: [
-  {
-    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
-  }],
-  CAR.SILVERADO: [
-  {
-    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
-  }],
-  CAR.EQUINOX: [
-  {
-    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
-  }],
-  # Trailblazer also matches as a Silverado, so comment out to avoid conflicts.
-  # TODO: split with FW versions
-  # CAR.TRAILBLAZER: [
-  # {
-  #   190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
-  # }],
-}
 
 GM_RX_OFFSET = 0x400
 
diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
new file mode 100644
index 000000000..204ee87e9
--- /dev/null
+++ b/selfdrive/car/honda/fingerprints.py
@@ -0,0 +1,1431 @@
+from cereal import car
+from openpilot.selfdrive.car.honda.values import CAR
+
+Ecu = car.CarParams.Ecu
+
+# Modified FW can be identified by the second dash being replaced by a comma
+# For example: `b'39990-TVA,A150\x00\x00'`
+#
+# TODO: vsa is "essential" for fpv2 but doesn't appear on some CAR.FREED models
+
+
+FW_VERSIONS = {
+  CAR.CRV_HYBRID_BSM: {(Ecu.vsa, 0xfff, None): [b'\x00']},
+  CAR.ACCORD: {
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-6A0-8720\x00\x00',
+      b'37805-6A0-9520\x00\x00',
+      b'37805-6A0-9620\x00\x00',
+      b'37805-6A0-9720\x00\x00',
+      b'37805-6A0-A540\x00\x00',
+      b'37805-6A0-A550\x00\x00',
+      b'37805-6A0-A640\x00\x00',
+      b'37805-6A0-A650\x00\x00',
+      b'37805-6A0-A740\x00\x00',
+      b'37805-6A0-A750\x00\x00',
+      b'37805-6A0-A840\x00\x00',
+      b'37805-6A0-A850\x00\x00',
+      b'37805-6A0-A930\x00\x00',
+      b'37805-6A0-AF30\x00\x00',
+      b'37805-6A0-AG30\x00\x00',
+      b'37805-6A0-AJ10\x00\x00',
+      b'37805-6A0-C540\x00\x00',
+      b'37805-6A0-CG20\x00\x00',
+      b'37805-6A1-H650\x00\x00',
+      b'37805-6B2-A550\x00\x00',
+      b'37805-6B2-A560\x00\x00',
+      b'37805-6B2-A650\x00\x00',
+      b'37805-6B2-A660\x00\x00',
+      b'37805-6B2-A720\x00\x00',
+      b'37805-6B2-A810\x00\x00',
+      b'37805-6B2-A820\x00\x00',
+      b'37805-6B2-A920\x00\x00',
+      b'37805-6B2-AA10\x00\x00',
+      b'37805-6B2-C520\x00\x00',
+      b'37805-6B2-C540\x00\x00',
+      b'37805-6B2-M520\x00\x00',
+      b'37805-6B2-Y810\x00\x00',
+      b'37805-6M4-B730\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TVC-A910\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-6A7-A220\x00\x00',
+      b'28101-6A7-A230\x00\x00',
+      b'28101-6A7-A320\x00\x00',
+      b'28101-6A7-A330\x00\x00',
+      b'28101-6A7-A410\x00\x00',
+      b'28101-6A7-A510\x00\x00',
+      b'28101-6A7-A610\x00\x00',
+      b'28101-6A7-A710\x00\x00',
+      b'28101-6A9-H140\x00\x00',
+      b'28101-6A9-H420\x00\x00',
+      b'28102-6B8-A560\x00\x00',
+      b'28102-6B8-A570\x00\x00',
+      b'28102-6B8-A700\x00\x00',
+      b'28102-6B8-A800\x00\x00',
+      b'28102-6B8-C560\x00\x00',
+      b'28102-6B8-C570\x00\x00',
+      b'28102-6B8-M520\x00\x00',
+      b'28102-6B8-R700\x00\x00',
+    ],
+    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
+      b'46114-TVA-A050\x00\x00',
+      b'46114-TVA-A060\x00\x00',
+      b'46114-TVA-A080\x00\x00',
+      b'46114-TVA-A120\x00\x00',
+      b'46114-TVA-A320\x00\x00',
+      b'46114-TVE-H550\x00\x00',
+      b'46114-TVE-H560\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TVA-B040\x00\x00',
+      b'57114-TVA-B050\x00\x00',
+      b'57114-TVA-B060\x00\x00',
+      b'57114-TVA-B530\x00\x00',
+      b'57114-TVA-C040\x00\x00',
+      b'57114-TVA-C050\x00\x00',
+      b'57114-TVA-C060\x00\x00',
+      b'57114-TVA-C530\x00\x00',
+      b'57114-TVA-E520\x00\x00',
+      b'57114-TVE-H250\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TBX-H120\x00\x00',
+      b'39990-TVA,A150\x00\x00',
+      b'39990-TVA-A140\x00\x00',
+      b'39990-TVA-A150\x00\x00',
+      b'39990-TVA-A160\x00\x00',
+      b'39990-TVA-A340\x00\x00',
+      b'39990-TVA-X030\x00\x00',
+      b'39990-TVA-X040\x00\x00',
+      b'39990-TVE-H130\x00\x00',
+    ],
+    (Ecu.unknown, 0x18da3af1, None): [
+      b'39390-TVA-A020\x00\x00',
+      b'39390-TVA-A120\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TBX-H230\x00\x00',
+      b'77959-TVA-A460\x00\x00',
+      b'77959-TVA-F330\x00\x00',
+      b'77959-TVA-H230\x00\x00',
+      b'77959-TVA-L420\x00\x00',
+      b'77959-TVA-X330\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TBX-H310\x00\x00',
+      b'78109-TVA-A010\x00\x00',
+      b'78109-TVA-A020\x00\x00',
+      b'78109-TVA-A030\x00\x00',
+      b'78109-TVA-A110\x00\x00',
+      b'78109-TVA-A120\x00\x00',
+      b'78109-TVA-A130\x00\x00',
+      b'78109-TVA-A210\x00\x00',
+      b'78109-TVA-A220\x00\x00',
+      b'78109-TVA-A230\x00\x00',
+      b'78109-TVA-A310\x00\x00',
+      b'78109-TVA-C010\x00\x00',
+      b'78109-TVA-C130\x00\x00',
+      b'78109-TVA-L010\x00\x00',
+      b'78109-TVA-L210\x00\x00',
+      b'78109-TVA-R310\x00\x00',
+      b'78109-TVC-A010\x00\x00',
+      b'78109-TVC-A020\x00\x00',
+      b'78109-TVC-A030\x00\x00',
+      b'78109-TVC-A110\x00\x00',
+      b'78109-TVC-A130\x00\x00',
+      b'78109-TVC-A210\x00\x00',
+      b'78109-TVC-A220\x00\x00',
+      b'78109-TVC-A230\x00\x00',
+      b'78109-TVC-C010\x00\x00',
+      b'78109-TVC-C110\x00\x00',
+      b'78109-TVC-L010\x00\x00',
+      b'78109-TVC-L210\x00\x00',
+      b'78109-TVC-M510\x00\x00',
+      b'78109-TVC-YF10\x00\x00',
+      b'78109-TVE-H610\x00\x00',
+      b'78109-TWA-A210\x00\x00',
+    ],
+    (Ecu.hud, 0x18da61f1, None): [
+      b'78209-TVA-A010\x00\x00',
+      b'78209-TVA-A110\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-TBX-H140\x00\x00',
+      b'36802-TVA-A150\x00\x00',
+      b'36802-TVA-A160\x00\x00',
+      b'36802-TVA-A170\x00\x00',
+      b'36802-TVA-A180\x00\x00',
+      b'36802-TVA-A330\x00\x00',
+      b'36802-TVC-A330\x00\x00',
+      b'36802-TVE-H070\x00\x00',
+      b'36802-TWA-A070\x00\x00',
+      b'36802-TWA-A080\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-TBX-H130\x00\x00',
+      b'36161-TVA-A060\x00\x00',
+      b'36161-TVA-A330\x00\x00',
+      b'36161-TVC-A330\x00\x00',
+      b'36161-TVE-H050\x00\x00',
+      b'36161-TWA-A070\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TVA-A010\x00\x00',
+      b'38897-TVA-A020\x00\x00',
+      b'38897-TVA-A230\x00\x00',
+      b'38897-TVA-A240\x00\x00',
+    ],
+  },
+  CAR.ACCORDH: {
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TWA-A120\x00\x00',
+      b'38897-TWD-J020\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TWA-A040\x00\x00',
+      b'57114-TWA-A050\x00\x00',
+      b'57114-TWA-A530\x00\x00',
+      b'57114-TWA-B520\x00\x00',
+      b'57114-TWA-C510\x00\x00',
+      b'57114-TWB-H030\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TWA-A440\x00\x00',
+      b'77959-TWA-L420\x00\x00',
+      b'77959-TWB-H220\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TWA-A010\x00\x00',
+      b'78109-TWA-A020\x00\x00',
+      b'78109-TWA-A030\x00\x00',
+      b'78109-TWA-A110\x00\x00',
+      b'78109-TWA-A120\x00\x00',
+      b'78109-TWA-A130\x00\x00',
+      b'78109-TWA-A210\x00\x00',
+      b'78109-TWA-A220\x00\x00',
+      b'78109-TWA-A230\x00\x00',
+      b'78109-TWA-A610\x00\x00',
+      b'78109-TWA-H210\x00\x00',
+      b'78109-TWA-L010\x00\x00',
+      b'78109-TWA-L210\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TWA-A910\x00\x00',
+    ],
+    (Ecu.hud, 0x18da61f1, None): [
+      b'78209-TVA-A010\x00\x00',
+      b'78209-TVA-A110\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-TWA-A070\x00\x00',
+      b'36161-TWA-A330\x00\x00',
+      b'36161-TWB-H040\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-TWA-A070\x00\x00',
+      b'36802-TWA-A080\x00\x00',
+      b'36802-TWA-A210\x00\x00',
+      b'36802-TWA-A330\x00\x00',
+      b'36802-TWB-H060\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TVA-A150\x00\x00',
+      b'39990-TVA-A160\x00\x00',
+      b'39990-TVA-A340\x00\x00',
+      b'39990-TWB-H120\x00\x00',
+    ],
+  },
+  CAR.CIVIC: {
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-5AA-A640\x00\x00',
+      b'37805-5AA-A650\x00\x00',
+      b'37805-5AA-A670\x00\x00',
+      b'37805-5AA-A680\x00\x00',
+      b'37805-5AA-A810\x00\x00',
+      b'37805-5AA-C640\x00\x00',
+      b'37805-5AA-C680\x00\x00',
+      b'37805-5AA-C820\x00\x00',
+      b'37805-5AA-L650\x00\x00',
+      b'37805-5AA-L660\x00\x00',
+      b'37805-5AA-L680\x00\x00',
+      b'37805-5AA-L690\x00\x00',
+      b'37805-5AA-L810\x00\x00',
+      b'37805-5AG-Q710\x00\x00',
+      b'37805-5AJ-A610\x00\x00',
+      b'37805-5AJ-A620\x00\x00',
+      b'37805-5AJ-L610\x00\x00',
+      b'37805-5BA-A310\x00\x00',
+      b'37805-5BA-A510\x00\x00',
+      b'37805-5BA-A740\x00\x00',
+      b'37805-5BA-A760\x00\x00',
+      b'37805-5BA-A930\x00\x00',
+      b'37805-5BA-A960\x00\x00',
+      b'37805-5BA-C640\x00\x00',
+      b'37805-5BA-C860\x00\x00',
+      b'37805-5BA-L410\x00\x00',
+      b'37805-5BA-L760\x00\x00',
+      b'37805-5BA-L930\x00\x00',
+      b'37805-5BA-L940\x00\x00',
+      b'37805-5BA-L960\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-5CG-A040\x00\x00',
+      b'28101-5CG-A050\x00\x00',
+      b'28101-5CG-A070\x00\x00',
+      b'28101-5CG-A080\x00\x00',
+      b'28101-5CG-A320\x00\x00',
+      b'28101-5CG-A810\x00\x00',
+      b'28101-5CG-A820\x00\x00',
+      b'28101-5DJ-A040\x00\x00',
+      b'28101-5DJ-A060\x00\x00',
+      b'28101-5DJ-A510\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TBA-A540\x00\x00',
+      b'57114-TBA-A550\x00\x00',
+      b'57114-TBA-A560\x00\x00',
+      b'57114-TBA-A570\x00\x00',
+      b'57114-TEA-Q220\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TBA,A030\x00\x00',
+      b'39990-TBA-A030\x00\x00',
+      b'39990-TBG-A030\x00\x00',
+      b'39990-TEA-T020\x00\x00',
+      b'39990-TEG-A010\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TBA-A030\x00\x00',
+      b'77959-TBA-A040\x00\x00',
+      b'77959-TBG-A030\x00\x00',
+      b'77959-TEA-Q820\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TBA-A510\x00\x00',
+      b'78109-TBA-A520\x00\x00',
+      b'78109-TBA-A530\x00\x00',
+      b'78109-TBA-C310\x00\x00',
+      b'78109-TBA-C520\x00\x00',
+      b'78109-TBC-A310\x00\x00',
+      b'78109-TBC-A320\x00\x00',
+      b'78109-TBC-A510\x00\x00',
+      b'78109-TBC-A520\x00\x00',
+      b'78109-TBC-A530\x00\x00',
+      b'78109-TBC-C510\x00\x00',
+      b'78109-TBC-C520\x00\x00',
+      b'78109-TBC-C530\x00\x00',
+      b'78109-TBH-A510\x00\x00',
+      b'78109-TBH-A530\x00\x00',
+      b'78109-TED-Q510\x00\x00',
+      b'78109-TEG-A310\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-TBA-A020\x00\x00',
+      b'36161-TBA-A030\x00\x00',
+      b'36161-TBA-A040\x00\x00',
+      b'36161-TBC-A020\x00\x00',
+      b'36161-TBC-A030\x00\x00',
+      b'36161-TED-Q320\x00\x00',
+      b'36161-TEG-A010\x00\x00',
+      b'36161-TEG-A020\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TBA-A010\x00\x00',
+      b'38897-TBA-A020\x00\x00',
+    ],
+  },
+  CAR.CIVIC_BOSCH: {
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-5AA-A940\x00\x00',
+      b'37805-5AA-A950\x00\x00',
+      b'37805-5AA-C950\x00\x00',
+      b'37805-5AA-L940\x00\x00',
+      b'37805-5AA-L950\x00\x00',
+      b'37805-5AG-Z910\x00\x00',
+      b'37805-5AJ-A750\x00\x00',
+      b'37805-5AJ-L750\x00\x00',
+      b'37805-5AK-T530\x00\x00',
+      b'37805-5AN-A750\x00\x00',
+      b'37805-5AN-A830\x00\x00',
+      b'37805-5AN-A840\x00\x00',
+      b'37805-5AN-A930\x00\x00',
+      b'37805-5AN-A940\x00\x00',
+      b'37805-5AN-A950\x00\x00',
+      b'37805-5AN-AG20\x00\x00',
+      b'37805-5AN-AH20\x00\x00',
+      b'37805-5AN-AJ30\x00\x00',
+      b'37805-5AN-AK10\x00\x00',
+      b'37805-5AN-AK20\x00\x00',
+      b'37805-5AN-AR10\x00\x00',
+      b'37805-5AN-AR20\x00\x00',
+      b'37805-5AN-C650\x00\x00',
+      b'37805-5AN-CH20\x00\x00',
+      b'37805-5AN-E630\x00\x00',
+      b'37805-5AN-E720\x00\x00',
+      b'37805-5AN-E820\x00\x00',
+      b'37805-5AN-J820\x00\x00',
+      b'37805-5AN-L840\x00\x00',
+      b'37805-5AN-L930\x00\x00',
+      b'37805-5AN-L940\x00\x00',
+      b'37805-5AN-LF20\x00\x00',
+      b'37805-5AN-LH20\x00\x00',
+      b'37805-5AN-LJ20\x00\x00',
+      b'37805-5AN-LR20\x00\x00',
+      b'37805-5AN-LS20\x00\x00',
+      b'37805-5AW-G720\x00\x00',
+      b'37805-5AZ-E850\x00\x00',
+      b'37805-5AZ-G540\x00\x00',
+      b'37805-5AZ-G740\x00\x00',
+      b'37805-5AZ-G840\x00\x00',
+      b'37805-5BB-A530\x00\x00',
+      b'37805-5BB-A540\x00\x00',
+      b'37805-5BB-A620\x00\x00',
+      b'37805-5BB-A630\x00\x00',
+      b'37805-5BB-A640\x00\x00',
+      b'37805-5BB-C540\x00\x00',
+      b'37805-5BB-C630\x00\x00',
+      b'37805-5BB-C640\x00\x00',
+      b'37805-5BB-L540\x00\x00',
+      b'37805-5BB-L630\x00\x00',
+      b'37805-5BB-L640\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-5CG-A920\x00\x00',
+      b'28101-5CG-AB10\x00\x00',
+      b'28101-5CG-C110\x00\x00',
+      b'28101-5CG-C220\x00\x00',
+      b'28101-5CG-C320\x00\x00',
+      b'28101-5CG-G020\x00\x00',
+      b'28101-5CG-L020\x00\x00',
+      b'28101-5CK-A130\x00\x00',
+      b'28101-5CK-A140\x00\x00',
+      b'28101-5CK-A150\x00\x00',
+      b'28101-5CK-C130\x00\x00',
+      b'28101-5CK-C140\x00\x00',
+      b'28101-5CK-C150\x00\x00',
+      b'28101-5CK-G210\x00\x00',
+      b'28101-5CK-J710\x00\x00',
+      b'28101-5CK-Q610\x00\x00',
+      b'28101-5DJ-A610\x00\x00',
+      b'28101-5DJ-A710\x00\x00',
+      b'28101-5DV-E330\x00\x00',
+      b'28101-5DV-E610\x00\x00',
+      b'28101-5DV-E820\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TBG-A330\x00\x00',
+      b'57114-TBG-A340\x00\x00',
+      b'57114-TBG-A350\x00\x00',
+      b'57114-TGG-A340\x00\x00',
+      b'57114-TGG-C320\x00\x00',
+      b'57114-TGG-G320\x00\x00',
+      b'57114-TGG-L320\x00\x00',
+      b'57114-TGG-L330\x00\x00',
+      b'57114-TGK-T320\x00\x00',
+      b'57114-TGL-G330\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TBA-C020\x00\x00',
+      b'39990-TBA-C120\x00\x00',
+      b'39990-TEA-T820\x00\x00',
+      b'39990-TEZ-T020\x00\x00',
+      b'39990-TGG,A020\x00\x00',
+      b'39990-TGG,A120\x00\x00',
+      b'39990-TGG-A020\x00\x00',
+      b'39990-TGG-A120\x00\x00',
+      b'39990-TGG-J510\x00\x00',
+      b'39990-TGL-E130\x00\x00',
+      b'39990-TGN-E120\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TBA-A060\x00\x00',
+      b'77959-TBG-A050\x00\x00',
+      b'77959-TEA-G020\x00\x00',
+      b'77959-TGG-A020\x00\x00',
+      b'77959-TGG-A030\x00\x00',
+      b'77959-TGG-E010\x00\x00',
+      b'77959-TGG-G010\x00\x00',
+      b'77959-TGG-G110\x00\x00',
+      b'77959-TGG-J320\x00\x00',
+      b'77959-TGG-Z820\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TBA-A110\x00\x00',
+      b'78109-TBA-A910\x00\x00',
+      b'78109-TBA-C340\x00\x00',
+      b'78109-TBA-C910\x00\x00',
+      b'78109-TBC-A740\x00\x00',
+      b'78109-TBC-C540\x00\x00',
+      b'78109-TBG-A110\x00\x00',
+      b'78109-TBH-A710\x00\x00',
+      b'78109-TEG-A720\x00\x00',
+      b'78109-TFJ-G020\x00\x00',
+      b'78109-TGG-9020\x00\x00',
+      b'78109-TGG-A210\x00\x00',
+      b'78109-TGG-A220\x00\x00',
+      b'78109-TGG-A310\x00\x00',
+      b'78109-TGG-A320\x00\x00',
+      b'78109-TGG-A330\x00\x00',
+      b'78109-TGG-A610\x00\x00',
+      b'78109-TGG-A620\x00\x00',
+      b'78109-TGG-A810\x00\x00',
+      b'78109-TGG-A820\x00\x00',
+      b'78109-TGG-C010\x00\x00',
+      b'78109-TGG-C220\x00\x00',
+      b'78109-TGG-E110\x00\x00',
+      b'78109-TGG-G030\x00\x00',
+      b'78109-TGG-G230\x00\x00',
+      b'78109-TGG-G410\x00\x00',
+      b'78109-TGK-Z410\x00\x00',
+      b'78109-TGL-G120\x00\x00',
+      b'78109-TGL-G130\x00\x00',
+      b'78109-TGL-G210\x00\x00',
+      b'78109-TGL-G230\x00\x00',
+      b'78109-TGL-GM10\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-TBA-A150\x00\x00',
+      b'36802-TBA-A160\x00\x00',
+      b'36802-TFJ-G060\x00\x00',
+      b'36802-TGG-A050\x00\x00',
+      b'36802-TGG-A060\x00\x00',
+      b'36802-TGG-A070\x00\x00',
+      b'36802-TGG-A130\x00\x00',
+      b'36802-TGG-G040\x00\x00',
+      b'36802-TGG-G130\x00\x00',
+      b'36802-TGK-Q120\x00\x00',
+      b'36802-TGL-G040\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-TBA-A130\x00\x00',
+      b'36161-TBA-A140\x00\x00',
+      b'36161-TFJ-G070\x00\x00',
+      b'36161-TGG-A060\x00\x00',
+      b'36161-TGG-A080\x00\x00',
+      b'36161-TGG-A120\x00\x00',
+      b'36161-TGG-G050\x00\x00',
+      b'36161-TGG-G070\x00\x00',
+      b'36161-TGG-G130\x00\x00',
+      b'36161-TGG-G140\x00\x00',
+      b'36161-TGK-Q120\x00\x00',
+      b'36161-TGL-G050\x00\x00',
+      b'36161-TGL-G070\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TBA-A020\x00\x00',
+      b'38897-TBA-A110\x00\x00',
+    ],
+    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
+      b'39494-TGL-G030\x00\x00',
+    ],
+  },
+  CAR.CIVIC_BOSCH_DIESEL: {
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-59N-G630\x00\x00',
+      b'37805-59N-G830\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-59Y-G220\x00\x00',
+      b'28101-59Y-G620\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TGN-E320\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TFK-G020\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TFK-G210\x00\x00',
+      b'77959-TGN-G220\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TFK-G020\x00\x00',
+      b'78109-TGN-G120\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-TFK-G130\x00\x00',
+      b'36802-TGN-G130\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TGN-E010\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-TFK-G130\x00\x00',
+      b'36161-TGN-G130\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TBA-A020\x00\x00',
+    ],
+  },
+  CAR.CRV: {
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-T1W-A230\x00\x00',
+      b'57114-T1W-A240\x00\x00',
+      b'57114-TFF-A940\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-T0A-A230\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-T1W-A210\x00\x00',
+      b'78109-T1W-C210\x00\x00',
+      b'78109-T1X-A210\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-T1W-A830\x00\x00',
+      b'36161-T1W-C830\x00\x00',
+      b'36161-T1X-A830\x00\x00',
+    ],
+  },
+  CAR.CRV_5G: {
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-5PA-3060\x00\x00',
+      b'37805-5PA-3080\x00\x00',
+      b'37805-5PA-3180\x00\x00',
+      b'37805-5PA-4050\x00\x00',
+      b'37805-5PA-4150\x00\x00',
+      b'37805-5PA-6520\x00\x00',
+      b'37805-5PA-6530\x00\x00',
+      b'37805-5PA-6630\x00\x00',
+      b'37805-5PA-6640\x00\x00',
+      b'37805-5PA-7630\x00\x00',
+      b'37805-5PA-9530\x00\x00',
+      b'37805-5PA-9630\x00\x00',
+      b'37805-5PA-9640\x00\x00',
+      b'37805-5PA-9730\x00\x00',
+      b'37805-5PA-9830\x00\x00',
+      b'37805-5PA-9840\x00\x00',
+      b'37805-5PA-A650\x00\x00',
+      b'37805-5PA-A670\x00\x00',
+      b'37805-5PA-A680\x00\x00',
+      b'37805-5PA-A850\x00\x00',
+      b'37805-5PA-A870\x00\x00',
+      b'37805-5PA-A880\x00\x00',
+      b'37805-5PA-A890\x00\x00',
+      b'37805-5PA-AB10\x00\x00',
+      b'37805-5PA-AD10\x00\x00',
+      b'37805-5PA-AF20\x00\x00',
+      b'37805-5PA-AH20\x00\x00',
+      b'37805-5PA-BF10\x00\x00',
+      b'37805-5PA-C680\x00\x00',
+      b'37805-5PD-Q630\x00\x00',
+      b'37805-5PF-F730\x00\x00',
+      b'37805-5PF-M630\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-5RG-A020\x00\x00',
+      b'28101-5RG-A030\x00\x00',
+      b'28101-5RG-A040\x00\x00',
+      b'28101-5RG-A120\x00\x00',
+      b'28101-5RG-A220\x00\x00',
+      b'28101-5RH-A020\x00\x00',
+      b'28101-5RH-A030\x00\x00',
+      b'28101-5RH-A040\x00\x00',
+      b'28101-5RH-A120\x00\x00',
+      b'28101-5RH-A220\x00\x00',
+      b'28101-5RL-Q010\x00\x00',
+      b'28101-5RM-F010\x00\x00',
+      b'28101-5RM-K010\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TLA-A040\x00\x00',
+      b'57114-TLA-A050\x00\x00',
+      b'57114-TLA-A060\x00\x00',
+      b'57114-TLB-A830\x00\x00',
+      b'57114-TMC-Z040\x00\x00',
+      b'57114-TMC-Z050\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TLA,A040\x00\x00',
+      b'39990-TLA-A040\x00\x00',
+      b'39990-TLA-A110\x00\x00',
+      b'39990-TLA-A220\x00\x00',
+      b'39990-TME-T030\x00\x00',
+      b'39990-TME-T120\x00\x00',
+      b'39990-TMT-T010\x00\x00',
+    ],
+    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
+      b'46114-TLA-A040\x00\x00',
+      b'46114-TLA-A050\x00\x00',
+      b'46114-TLA-A930\x00\x00',
+      b'46114-TMC-U020\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TLA-A020\x00\x00',
+      b'78109-TLA-A110\x00\x00',
+      b'78109-TLA-A120\x00\x00',
+      b'78109-TLA-A210\x00\x00',
+      b'78109-TLA-A220\x00\x00',
+      b'78109-TLA-C020\x00\x00',
+      b'78109-TLA-C110\x00\x00',
+      b'78109-TLA-C210\x00\x00',
+      b'78109-TLA-C310\x00\x00',
+      b'78109-TLB-A020\x00\x00',
+      b'78109-TLB-A110\x00\x00',
+      b'78109-TLB-A120\x00\x00',
+      b'78109-TLB-A210\x00\x00',
+      b'78109-TLB-A220\x00\x00',
+      b'78109-TMC-Q210\x00\x00',
+      b'78109-TMM-F210\x00\x00',
+      b'78109-TMM-M110\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TLA-A010\x00\x00',
+      b'38897-TLA-A110\x00\x00',
+      b'38897-TNY-G010\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-TLA-A040\x00\x00',
+      b'36802-TLA-A050\x00\x00',
+      b'36802-TLA-A060\x00\x00',
+      b'36802-TMC-Q040\x00\x00',
+      b'36802-TMC-Q070\x00\x00',
+      b'36802-TNY-A030\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-TLA-A060\x00\x00',
+      b'36161-TLA-A070\x00\x00',
+      b'36161-TLA-A080\x00\x00',
+      b'36161-TMC-Q020\x00\x00',
+      b'36161-TMC-Q030\x00\x00',
+      b'36161-TMC-Q040\x00\x00',
+      b'36161-TNY-A020\x00\x00',
+      b'36161-TNY-A030\x00\x00',
+      b'36161-TNY-A040\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TLA-A240\x00\x00',
+      b'77959-TLA-A250\x00\x00',
+      b'77959-TLA-A320\x00\x00',
+      b'77959-TLA-A410\x00\x00',
+      b'77959-TLA-A420\x00\x00',
+      b'77959-TLA-Q040\x00\x00',
+      b'77959-TLA-Z040\x00\x00',
+      b'77959-TMM-F040\x00\x00',
+    ],
+  },
+  CAR.CRV_EU: {
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-R5Z-G740\x00\x00',
+      b'37805-R5Z-G780\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-T1V-G920\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-T1V-G520\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-T1V-G010\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-5LH-E120\x00\x00',
+      b'28103-5LH-E100\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-T1B-3050\x00\x00',
+      b'78109-T1V-G020\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-T1G-G940\x00\x00',
+    ],
+  },
+  CAR.CRV_HYBRID: {
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TMB-H030\x00\x00',
+      b'57114-TPA-G020\x00\x00',
+      b'57114-TPG-A020\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TMA-H020\x00\x00',
+      b'39990-TPA-G030\x00\x00',
+      b'39990-TPG-A020\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TMA-H110\x00\x00',
+      b'38897-TPG-A110\x00\x00',
+      b'38897-TPG-A210\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TMB-H510\x00\x00',
+      b'54008-TMB-H610\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-TMB-H040\x00\x00',
+      b'36161-TPA-E050\x00\x00',
+      b'36161-TPG-A030\x00\x00',
+      b'36161-TPG-A040\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TMB-H220\x00\x00',
+      b'78109-TPA-G520\x00\x00',
+      b'78109-TPG-A110\x00\x00',
+      b'78109-TPG-A210\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-TMB-H040\x00\x00',
+      b'36802-TPA-E040\x00\x00',
+      b'36802-TPG-A020\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TLA-C320\x00\x00',
+      b'77959-TLA-C410\x00\x00',
+      b'77959-TLA-C420\x00\x00',
+      b'77959-TLA-G220\x00\x00',
+      b'77959-TLA-H240\x00\x00',
+    ],
+  },
+  CAR.FIT: {
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-T5R-L020\x00\x00',
+      b'57114-T5R-L220\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-T5R-C020\x00\x00',
+      b'39990-T5R-C030\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-T5A-J010\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-T5A-A210\x00\x00',
+      b'78109-T5A-A410\x00\x00',
+      b'78109-T5A-A420\x00\x00',
+      b'78109-T5A-A910\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-T5R-A040\x00\x00',
+      b'36161-T5R-A240\x00\x00',
+      b'36161-T5R-A520\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-T5R-A230\x00\x00',
+    ],
+  },
+  CAR.FREED: {
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TDK-J010\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TDK-J050\x00\x00',
+      b'39990-TDK-N020\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TDK-J120\x00\x00',
+      b'57114-TDK-J330\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TDK-J310\x00\x00',
+      b'78109-TDK-J320\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-TDK-J070\x00\x00',
+      b'36161-TDK-J080\x00\x00',
+      b'36161-TDK-J530\x00\x00',
+    ],
+  },
+  CAR.ODYSSEY: {
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-THR-A010\x00\x00',
+      b'38897-THR-A020\x00\x00',
+    ],
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-5MR-3050\x00\x00',
+      b'37805-5MR-3250\x00\x00',
+      b'37805-5MR-4080\x00\x00',
+      b'37805-5MR-4180\x00\x00',
+      b'37805-5MR-A240\x00\x00',
+      b'37805-5MR-A250\x00\x00',
+      b'37805-5MR-A310\x00\x00',
+      b'37805-5MR-A740\x00\x00',
+      b'37805-5MR-A750\x00\x00',
+      b'37805-5MR-A840\x00\x00',
+      b'37805-5MR-C620\x00\x00',
+      b'37805-5MR-D530\x00\x00',
+      b'37805-5MR-K730\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-THR-A020\x00\x00',
+      b'39990-THR-A030\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-THR-A010\x00\x00',
+      b'77959-THR-A110\x00\x00',
+      b'77959-THR-X010\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-THR-A020\x00\x00',
+      b'36161-THR-A030\x00\x00',
+      b'36161-THR-A110\x00\x00',
+      b'36161-THR-A720\x00\x00',
+      b'36161-THR-A730\x00\x00',
+      b'36161-THR-A810\x00\x00',
+      b'36161-THR-A910\x00\x00',
+      b'36161-THR-C010\x00\x00',
+      b'36161-THR-D110\x00\x00',
+      b'36161-THR-K020\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-5NZ-A110\x00\x00',
+      b'28101-5NZ-A310\x00\x00',
+      b'28101-5NZ-C310\x00\x00',
+      b'28102-5MX-A001\x00\x00',
+      b'28102-5MX-A600\x00\x00',
+      b'28102-5MX-A610\x00\x00',
+      b'28102-5MX-A700\x00\x00',
+      b'28102-5MX-A710\x00\x00',
+      b'28102-5MX-A900\x00\x00',
+      b'28102-5MX-A910\x00\x00',
+      b'28102-5MX-C001\x00\x00',
+      b'28102-5MX-D001\x00\x00',
+      b'28102-5MX-D710\x00\x00',
+      b'28102-5MX-K610\x00\x00',
+      b'28103-5NZ-A100\x00\x00',
+      b'28103-5NZ-A300\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-THR-A040\x00\x00',
+      b'57114-THR-A110\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-THR-A220\x00\x00',
+      b'78109-THR-A230\x00\x00',
+      b'78109-THR-A420\x00\x00',
+      b'78109-THR-A430\x00\x00',
+      b'78109-THR-A720\x00\x00',
+      b'78109-THR-A730\x00\x00',
+      b'78109-THR-A820\x00\x00',
+      b'78109-THR-A830\x00\x00',
+      b'78109-THR-AB20\x00\x00',
+      b'78109-THR-AB30\x00\x00',
+      b'78109-THR-AB40\x00\x00',
+      b'78109-THR-AC20\x00\x00',
+      b'78109-THR-AC30\x00\x00',
+      b'78109-THR-AC40\x00\x00',
+      b'78109-THR-AC50\x00\x00',
+      b'78109-THR-AD30\x00\x00',
+      b'78109-THR-AE20\x00\x00',
+      b'78109-THR-AE30\x00\x00',
+      b'78109-THR-AE40\x00\x00',
+      b'78109-THR-AK10\x00\x00',
+      b'78109-THR-AL10\x00\x00',
+      b'78109-THR-AN10\x00\x00',
+      b'78109-THR-C220\x00\x00',
+      b'78109-THR-C320\x00\x00',
+      b'78109-THR-C330\x00\x00',
+      b'78109-THR-CE20\x00\x00',
+      b'78109-THR-DA20\x00\x00',
+      b'78109-THR-DA30\x00\x00',
+      b'78109-THR-DA40\x00\x00',
+      b'78109-THR-K120\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-THR-A020\x00\x00',
+    ],
+  },
+  CAR.ODYSSEY_CHN: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-T6D-H220\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-T6A-J010\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-T6A-F310\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-T6A-P040\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-T6A-P110\x00\x00',
+    ],
+  },
+  CAR.PILOT: {
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TG7-A520\x00\x00',
+      b'54008-TG7-A530\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-5EY-A050\x00\x00',
+      b'28101-5EY-A100\x00\x00',
+      b'28101-5EY-A430\x00\x00',
+      b'28101-5EY-A500\x00\x00',
+      b'28101-5EZ-A050\x00\x00',
+      b'28101-5EZ-A060\x00\x00',
+      b'28101-5EZ-A100\x00\x00',
+      b'28101-5EZ-A210\x00\x00',
+      b'28101-5EZ-A330\x00\x00',
+      b'28101-5EZ-A430\x00\x00',
+      b'28101-5EZ-A500\x00\x00',
+      b'28101-5EZ-A600\x00\x00',
+      b'28101-5EZ-A700\x00\x00',
+      b'28103-5EY-A110\x00\x00',
+    ],
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-RLV-4060\x00\x00',
+      b'37805-RLV-4070\x00\x00',
+      b'37805-RLV-5140\x00\x00',
+      b'37805-RLV-5230\x00\x00',
+      b'37805-RLV-A830\x00\x00',
+      b'37805-RLV-A840\x00\x00',
+      b'37805-RLV-B210\x00\x00',
+      b'37805-RLV-B220\x00\x00',
+      b'37805-RLV-B420\x00\x00',
+      b'37805-RLV-B430\x00\x00',
+      b'37805-RLV-B620\x00\x00',
+      b'37805-RLV-B710\x00\x00',
+      b'37805-RLV-B720\x00\x00',
+      b'37805-RLV-C430\x00\x00',
+      b'37805-RLV-C510\x00\x00',
+      b'37805-RLV-C520\x00\x00',
+      b'37805-RLV-C530\x00\x00',
+      b'37805-RLV-C910\x00\x00',
+      b'37805-RLV-F120\x00\x00',
+      b'37805-RLV-L080\x00\x00',
+      b'37805-RLV-L090\x00\x00',
+      b'37805-RLV-L160\x00\x00',
+      b'37805-RLV-L180\x00\x00',
+      b'37805-RLV-L350\x00\x00',
+      b'37805-RLV-L410\x00\x00',
+      b'37805-RLV-L430\x00\x00',
+      b'37805-RLV-L850\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TG7-A030\x00\x00',
+      b'38897-TG7-A040\x00\x00',
+      b'38897-TG7-A110\x00\x00',
+      b'38897-TG7-A210\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TG7-A030\x00\x00',
+      b'39990-TG7-A040\x00\x00',
+      b'39990-TG7-A060\x00\x00',
+      b'39990-TG7-A070\x00\x00',
+      b'39990-TGS-A230\x00\x00',
+      b'39990-TGS-A320\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-TG7-A310\x00\x00',
+      b'36161-TG7-A520\x00\x00',
+      b'36161-TG7-A630\x00\x00',
+      b'36161-TG7-A720\x00\x00',
+      b'36161-TG7-A820\x00\x00',
+      b'36161-TG7-A930\x00\x00',
+      b'36161-TG7-C520\x00\x00',
+      b'36161-TG7-D520\x00\x00',
+      b'36161-TG7-D630\x00\x00',
+      b'36161-TG7-Y630\x00\x00',
+      b'36161-TG8-A410\x00\x00',
+      b'36161-TG8-A520\x00\x00',
+      b'36161-TG8-A630\x00\x00',
+      b'36161-TG8-A720\x00\x00',
+      b'36161-TG8-A830\x00\x00',
+      b'36161-TGS-A030\x00\x00',
+      b'36161-TGS-A130\x00\x00',
+      b'36161-TGS-A220\x00\x00',
+      b'36161-TGS-A320\x00\x00',
+      b'36161-TGT-A030\x00\x00',
+      b'36161-TGT-A130\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TG7-A020\x00\x00',
+      b'77959-TG7-A110\x00\x00',
+      b'77959-TG7-A210\x00\x00',
+      b'77959-TG7-Y210\x00\x00',
+      b'77959-TGS-A010\x00\x00',
+      b'77959-TGS-A110\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TG7-A040\x00\x00',
+      b'78109-TG7-A050\x00\x00',
+      b'78109-TG7-A420\x00\x00',
+      b'78109-TG7-A520\x00\x00',
+      b'78109-TG7-A720\x00\x00',
+      b'78109-TG7-AJ10\x00\x00',
+      b'78109-TG7-AJ20\x00\x00',
+      b'78109-TG7-AK10\x00\x00',
+      b'78109-TG7-AK20\x00\x00',
+      b'78109-TG7-AM20\x00\x00',
+      b'78109-TG7-AP10\x00\x00',
+      b'78109-TG7-AP20\x00\x00',
+      b'78109-TG7-AS20\x00\x00',
+      b'78109-TG7-AT20\x00\x00',
+      b'78109-TG7-AU20\x00\x00',
+      b'78109-TG7-AX20\x00\x00',
+      b'78109-TG7-D020\x00\x00',
+      b'78109-TG7-DJ10\x00\x00',
+      b'78109-TG7-YK20\x00\x00',
+      b'78109-TG8-A420\x00\x00',
+      b'78109-TG8-A520\x00\x00',
+      b'78109-TG8-AJ10\x00\x00',
+      b'78109-TG8-AJ20\x00\x00',
+      b'78109-TG8-AK20\x00\x00',
+      b'78109-TG8-AS20\x00\x00',
+      b'78109-TGS-AB10\x00\x00',
+      b'78109-TGS-AC10\x00\x00',
+      b'78109-TGS-AD10\x00\x00',
+      b'78109-TGS-AJ20\x00\x00',
+      b'78109-TGS-AK20\x00\x00',
+      b'78109-TGS-AP20\x00\x00',
+      b'78109-TGS-AT20\x00\x00',
+      b'78109-TGS-AX20\x00\x00',
+      b'78109-TGT-AJ20\x00\x00',
+      b'78109-TGT-AK30\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TG7-A130\x00\x00',
+      b'57114-TG7-A140\x00\x00',
+      b'57114-TG7-A230\x00\x00',
+      b'57114-TG7-A240\x00\x00',
+      b'57114-TG7-A630\x00\x00',
+      b'57114-TG7-A730\x00\x00',
+      b'57114-TG8-A140\x00\x00',
+      b'57114-TG8-A240\x00\x00',
+      b'57114-TG8-A630\x00\x00',
+      b'57114-TG8-A730\x00\x00',
+      b'57114-TGS-A530\x00\x00',
+      b'57114-TGT-A530\x00\x00',
+    ],
+  },
+  CAR.ACURA_RDX: {
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TX4-A220\x00\x00',
+      b'57114-TX5-A220\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-TX4-A030\x00\x00',
+      b'36161-TX5-A030\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TX4-B010\x00\x00',
+      b'77959-TX4-C010\x00\x00',
+      b'77959-TX4-C020\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TX4-A210\x00\x00',
+      b'78109-TX4-A310\x00\x00',
+      b'78109-TX5-A210\x00\x00',
+      b'78109-TX5-A310\x00\x00',
+    ],
+  },
+  CAR.ACURA_RDX_3G: {
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-5YF-A130\x00\x00',
+      b'37805-5YF-A230\x00\x00',
+      b'37805-5YF-A320\x00\x00',
+      b'37805-5YF-A330\x00\x00',
+      b'37805-5YF-A420\x00\x00',
+      b'37805-5YF-A430\x00\x00',
+      b'37805-5YF-A750\x00\x00',
+      b'37805-5YF-A760\x00\x00',
+      b'37805-5YF-A850\x00\x00',
+      b'37805-5YF-A870\x00\x00',
+      b'37805-5YF-AD20\x00\x00',
+      b'37805-5YF-C210\x00\x00',
+      b'37805-5YF-C220\x00\x00',
+      b'37805-5YF-C410\x00\x00',
+      b'37805-5YF-C420\x00\x00',
+      b'37805-5YF-C430\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TJB-A030\x00\x00',
+      b'57114-TJB-A040\x00\x00',
+      b'57114-TJB-A120\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-TJB-A040\x00\x00',
+      b'36802-TJB-A050\x00\x00',
+      b'36802-TJB-A540\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-TJB-A040\x00\x00',
+      b'36161-TJB-A530\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TJB-A520\x00\x00',
+      b'54008-TJB-A530\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28102-5YK-A610\x00\x00',
+      b'28102-5YK-A620\x00\x00',
+      b'28102-5YK-A630\x00\x00',
+      b'28102-5YK-A700\x00\x00',
+      b'28102-5YK-A711\x00\x00',
+      b'28102-5YK-A800\x00\x00',
+      b'28102-5YL-A620\x00\x00',
+      b'28102-5YL-A700\x00\x00',
+      b'28102-5YL-A711\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TJB-A140\x00\x00',
+      b'78109-TJB-A240\x00\x00',
+      b'78109-TJB-A420\x00\x00',
+      b'78109-TJB-AB10\x00\x00',
+      b'78109-TJB-AD10\x00\x00',
+      b'78109-TJB-AF10\x00\x00',
+      b'78109-TJB-AQ20\x00\x00',
+      b'78109-TJB-AR10\x00\x00',
+      b'78109-TJB-AS10\x00\x00',
+      b'78109-TJB-AU10\x00\x00',
+      b'78109-TJB-AW10\x00\x00',
+      b'78109-TJC-A240\x00\x00',
+      b'78109-TJC-A420\x00\x00',
+      b'78109-TJC-AA10\x00\x00',
+      b'78109-TJC-AD10\x00\x00',
+      b'78109-TJC-AF10\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TJB-A040\x00\x00',
+      b'77959-TJB-A120\x00\x00',
+      b'77959-TJB-A210\x00\x00',
+    ],
+    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
+      b'46114-TJB-A040\x00\x00',
+      b'46114-TJB-A050\x00\x00',
+      b'46114-TJB-A060\x00\x00',
+      b'46114-TJB-A120\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TJB-A040\x00\x00',
+      b'38897-TJB-A110\x00\x00',
+      b'38897-TJB-A120\x00\x00',
+      b'38897-TJB-A220\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TJB-A030\x00\x00',
+      b'39990-TJB-A040\x00\x00',
+      b'39990-TJB-A070\x00\x00',
+      b'39990-TJB-A130\x00\x00',
+    ],
+  },
+  CAR.RIDGELINE: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-T6Z-A020\x00\x00',
+      b'39990-T6Z-A030\x00\x00',
+      b'39990-T6Z-A050\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-T6Z-A020\x00\x00',
+      b'36161-T6Z-A310\x00\x00',
+      b'36161-T6Z-A420\x00\x00',
+      b'36161-T6Z-A520\x00\x00',
+      b'36161-T6Z-A620\x00\x00',
+      b'36161-TJZ-A120\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-T6Z-A010\x00\x00',
+      b'38897-T6Z-A110\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-T6Z-A420\x00\x00',
+      b'78109-T6Z-A510\x00\x00',
+      b'78109-T6Z-A710\x00\x00',
+      b'78109-T6Z-A810\x00\x00',
+      b'78109-T6Z-A910\x00\x00',
+      b'78109-T6Z-AA10\x00\x00',
+      b'78109-T6Z-C620\x00\x00',
+      b'78109-T6Z-C910\x00\x00',
+      b'78109-TJZ-A510\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-T6Z-A020\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-T6Z-A120\x00\x00',
+      b'57114-T6Z-A130\x00\x00',
+      b'57114-T6Z-A520\x00\x00',
+      b'57114-TJZ-A520\x00\x00',
+    ],
+  },
+  CAR.INSIGHT: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TXM-A040\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-TXM-A070\x00\x00',
+      b'36802-TXM-A080\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-TXM-A050\x00\x00',
+      b'36161-TXM-A060\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TXM-A230\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TXM-A030\x00\x00',
+      b'57114-TXM-A040\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TWA-A910\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TXM-A020\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TXM-A010\x00\x00',
+      b'78109-TXM-A020\x00\x00',
+      b'78109-TXM-A030\x00\x00',
+      b'78109-TXM-A110\x00\x00',
+      b'78109-TXM-C010\x00\x00',
+    ],
+  },
+  CAR.HRV: {
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-T7A-A010\x00\x00',
+      b'38897-T7A-A110\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-THX-A020\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-T7A-A040\x00\x00',
+      b'36161-T7A-A140\x00\x00',
+      b'36161-T7A-A240\x00\x00',
+      b'36161-T7A-C440\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-T7A-A230\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-THW-A110\x00\x00',
+      b'78109-THX-A110\x00\x00',
+      b'78109-THX-A120\x00\x00',
+      b'78109-THX-A210\x00\x00',
+      b'78109-THX-A220\x00\x00',
+      b'78109-THX-C220\x00\x00',
+    ],
+  },
+  CAR.HRV_3G: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-3W0-A030\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-3W1-A010\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-3V0-A820\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78108-3V1-A220\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-3W0-A040\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-6EH-A010\x00\x00',
+    ],
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-6CT-A710\x00\x00',
+    ],
+    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
+      b'46114-3W0-A020\x00\x00',
+    ],
+  },
+  CAR.ACURA_ILX: {
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TX6-A010\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-TV9-A140\x00\x00',
+      b'36161-TX6-A030\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TX6-A230\x00\x00',
+      b'77959-TX6-C210\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-T3R-A120\x00\x00',
+      b'78109-T3R-A410\x00\x00',
+      b'78109-TV9-A510\x00\x00',
+    ],
+  },
+  CAR.HONDA_E: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TYF-N030\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TYF-E140\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TYF-E010\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TYF-G430\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78108-TYF-G610\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-TYF-E030\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-TYF-E020\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TYF-E030\x00\x00',
+    ],
+  },
+  CAR.CIVIC_2022: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-T24-T120\x00\x00',
+      b'39990-T39-A130\x00\x00',
+      b'39990-T43-J020\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-T20-A020\x00\x00',
+      b'38897-T20-A210\x00\x00',
+      b'38897-T20-A310\x00\x00',
+      b'38897-T20-A510\x00\x00',
+      b'38897-T21-A010\x00\x00',
+      b'38897-T24-Z120\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-T20-A970\x00\x00',
+      b'77959-T20-A980\x00\x00',
+      b'77959-T20-M820\x00\x00',
+      b'77959-T47-A940\x00\x00',
+      b'77959-T47-A950\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78108-T21-A220\x00\x00',
+      b'78108-T21-A230\x00\x00',
+      b'78108-T21-A620\x00\x00',
+      b'78108-T21-A740\x00\x00',
+      b'78108-T21-MB10\x00\x00',
+      b'78108-T22-A020\x00\x00',
+      b'78108-T23-A110\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-T20-A060\x00\x00',
+      b'36161-T20-A070\x00\x00',
+      b'36161-T20-A080\x00\x00',
+      b'36161-T24-T070\x00\x00',
+      b'36161-T47-A070\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-T20-AB40\x00\x00',
+      b'57114-T24-TB30\x00\x00',
+      b'57114-T43-JB30\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-65D-A020\x00\x00',
+      b'28101-65D-A120\x00\x00',
+      b'28101-65H-A020\x00\x00',
+      b'28101-65H-A120\x00\x00',
+      b'28101-65J-N010\x00\x00',
+    ],
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-64A-A540\x00\x00',
+      b'37805-64A-A620\x00\x00',
+      b'37805-64D-P510\x00\x00',
+      b'37805-64L-A540\x00\x00',
+      b'37805-64S-A540\x00\x00',
+      b'37805-64S-A720\x00\x00',
+      b'37805-64S-AA10\x00\x00',
+    ],
+  },
+}
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 54a2306f6..30372d75b 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -286,6 +286,9 @@ class CarInterface(CarInterfaceBase):
     if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
 
+    if ret.enableGasInterceptor and candidate not in HONDA_BOSCH:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_GAS_INTERCEPTOR
+
     if candidate in HONDA_BOSCH_RADARLESS:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
 
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index f2b0bcaad..98dc3a28f 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1,5 +1,5 @@
 from dataclasses import dataclass
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag#, StrEnum
 from strenum import StrEnum
 from typing import Dict, List, Optional, Union
 
@@ -139,7 +139,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.CRV_EU: None,  # HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
-  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
@@ -172,6 +172,13 @@ FW_QUERY_CONFIG = FwQueryConfig(
     ),
 
     # Data collection requests:
+    # Attempt to get the radarless Civic 2022+ camera FW
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
+      bus=0,
+      logging=True
+    ),
     # Log extra identifiers for current ECUs
     Request(
       [HONDA_VERSION_REQUEST],
@@ -201,1369 +208,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
 )
 
-FW_VERSIONS = {
-  CAR.CRV_HYBRID_BSM: {(Ecu.vsa, 0xfff, None): [b'\x00']},
-  CAR.ACCORD: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-6A0-8720\x00\x00',
-      b'37805-6A0-9520\x00\x00',
-      b'37805-6A0-9620\x00\x00',
-      b'37805-6A0-9720\x00\x00',
-      b'37805-6A0-A540\x00\x00',
-      b'37805-6A0-A550\x00\x00',
-      b'37805-6A0-A640\x00\x00',
-      b'37805-6A0-A650\x00\x00',
-      b'37805-6A0-A740\x00\x00',
-      b'37805-6A0-A750\x00\x00',
-      b'37805-6A0-A840\x00\x00',
-      b'37805-6A0-A850\x00\x00',
-      b'37805-6A0-A930\x00\x00',
-      b'37805-6A0-AF30\x00\x00',
-      b'37805-6A0-AG30\x00\x00',
-      b'37805-6B2-C520\x00\x00',
-      b'37805-6A0-C540\x00\x00',
-      b'37805-6A1-H650\x00\x00',
-      b'37805-6B2-A550\x00\x00',
-      b'37805-6B2-A560\x00\x00',
-      b'37805-6B2-A650\x00\x00',
-      b'37805-6B2-A660\x00\x00',
-      b'37805-6B2-A720\x00\x00',
-      b'37805-6B2-A810\x00\x00',
-      b'37805-6B2-A820\x00\x00',
-      b'37805-6B2-A920\x00\x00',
-      b'37805-6B2-M520\x00\x00',
-      b'37805-6B2-Y810\x00\x00',
-      b'37805-6M4-B730\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TVC-A910\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-6A7-A220\x00\x00',
-      b'28101-6A7-A230\x00\x00',
-      b'28101-6A7-A320\x00\x00',
-      b'28101-6A7-A330\x00\x00',
-      b'28101-6A7-A410\x00\x00',
-      b'28101-6A7-A510\x00\x00',
-      b'28101-6A7-A610\x00\x00',
-      b'28101-6A7-A710\x00\x00',
-      b'28101-6A9-H140\x00\x00',
-      b'28101-6A9-H420\x00\x00',
-      b'28102-6B8-A560\x00\x00',
-      b'28102-6B8-A570\x00\x00',
-      b'28102-6B8-A700\x00\x00',
-      b'28102-6B8-A800\x00\x00',
-      b'28102-6B8-C560\x00\x00',
-      b'28102-6B8-C570\x00\x00',
-      b'28102-6B8-M520\x00\x00',
-      b'28102-6B8-R700\x00\x00',
-    ],
-    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
-      b'46114-TVA-A060\x00\x00',
-      b'46114-TVA-A080\x00\x00',
-      b'46114-TVA-A120\x00\x00',
-      b'46114-TVA-A320\x00\x00',
-      b'46114-TVA-A050\x00\x00',
-      b'46114-TVE-H550\x00\x00',
-      b'46114-TVE-H560\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TVA-B040\x00\x00',
-      b'57114-TVA-B050\x00\x00',
-      b'57114-TVA-B060\x00\x00',
-      b'57114-TVA-B530\x00\x00',
-      b'57114-TVA-C040\x00\x00',
-      b'57114-TVA-C050\x00\x00',
-      b'57114-TVA-C060\x00\x00',
-      b'57114-TVA-C530\x00\x00',
-      b'57114-TVA-E520\x00\x00',
-      b'57114-TVE-H250\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TBX-H120\x00\x00',
-      b'39990-TVA-A140\x00\x00',
-      b'39990-TVA-A150\x00\x00',
-      b'39990-TVA-A160\x00\x00',
-      b'39990-TVA-A340\x00\x00',
-      b'39990-TVA-X030\x00\x00',
-      b'39990-TVA-X040\x00\x00',
-      b'39990-TVA,A150\x00\x00', # modified firmware
-      b'39990-TVE-H130\x00\x00',
-    ],
-    (Ecu.unknown, 0x18da3af1, None): [
-      b'39390-TVA-A020\x00\x00',
-      b'39390-TVA-A120\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TBX-H230\x00\x00',
-      b'77959-TVA-A460\x00\x00',
-      b'77959-TVA-F330\x00\x00',
-      b'77959-TVA-H230\x00\x00',
-      b'77959-TVA-L420\x00\x00',
-      b'77959-TVA-X330\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TBX-H310\x00\x00',
-      b'78109-TVA-A010\x00\x00',
-      b'78109-TVA-A020\x00\x00',
-      b'78109-TVA-A030\x00\x00',
-      b'78109-TVA-A110\x00\x00',
-      b'78109-TVA-A120\x00\x00',
-      b'78109-TVA-A130\x00\x00',
-      b'78109-TVA-A210\x00\x00',
-      b'78109-TVA-A220\x00\x00',
-      b'78109-TVA-A230\x00\x00',
-      b'78109-TVA-A310\x00\x00',
-      b'78109-TVA-C010\x00\x00',
-      b'78109-TVA-L010\x00\x00',
-      b'78109-TVA-L210\x00\x00',
-      b'78109-TVA-R310\x00\x00',
-      b'78109-TVC-A010\x00\x00',
-      b'78109-TVC-A020\x00\x00',
-      b'78109-TVC-A030\x00\x00',
-      b'78109-TVC-A110\x00\x00',
-      b'78109-TVC-A130\x00\x00',
-      b'78109-TVC-A210\x00\x00',
-      b'78109-TVC-A220\x00\x00',
-      b'78109-TVC-A230\x00\x00',
-      b'78109-TVC-C010\x00\x00',
-      b'78109-TVC-C110\x00\x00',
-      b'78109-TVC-L010\x00\x00',
-      b'78109-TVC-L210\x00\x00',
-      b'78109-TVC-M510\x00\x00',
-      b'78109-TVC-YF10\x00\x00',
-      b'78109-TVE-H610\x00\x00',
-      b'78109-TWA-A210\x00\x00',
-    ],
-    (Ecu.hud, 0x18da61f1, None): [
-      b'78209-TVA-A010\x00\x00',
-      b'78209-TVA-A110\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TBX-H140\x00\x00',
-      b'36802-TVA-A150\x00\x00',
-      b'36802-TVA-A160\x00\x00',
-      b'36802-TVA-A170\x00\x00',
-      b'36802-TVA-A330\x00\x00',
-      b'36802-TVC-A330\x00\x00',
-      b'36802-TVE-H070\x00\x00',
-      b'36802-TWA-A070\x00\x00',
-      b'36802-TWA-A080\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TBX-H130\x00\x00',
-      b'36161-TVA-A060\x00\x00',
-      b'36161-TVA-A330\x00\x00',
-      b'36161-TVC-A330\x00\x00',
-      b'36161-TVE-H050\x00\x00',
-      b'36161-TWA-A070\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TVA-A010\x00\x00',
-      b'38897-TVA-A020\x00\x00',
-      b'38897-TVA-A230\x00\x00',
-      b'38897-TVA-A240\x00\x00',
-    ],
-  },
-  CAR.ACCORDH: {
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TWA-A120\x00\x00',
-      b'38897-TWD-J020\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TWA-A040\x00\x00',
-      b'57114-TWA-A050\x00\x00',
-      b'57114-TWA-A530\x00\x00',
-      b'57114-TWA-B520\x00\x00',
-      b'57114-TWB-H030\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TWA-A440\x00\x00',
-      b'77959-TWA-L420\x00\x00',
-      b'77959-TWB-H220\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TWA-A010\x00\x00',
-      b'78109-TWA-A020\x00\x00',
-      b'78109-TWA-A030\x00\x00',
-      b'78109-TWA-A110\x00\x00',
-      b'78109-TWA-A120\x00\x00',
-      b'78109-TWA-A130\x00\x00',
-      b'78109-TWA-A210\x00\x00',
-      b'78109-TWA-A220\x00\x00',
-      b'78109-TWA-A230\x00\x00',
-      b'78109-TWA-L010\x00\x00',
-      b'78109-TWA-L210\x00\x00',
-      b'78109-TWA-H210\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TWA-A910\x00\x00',
-    ],
-    (Ecu.hud, 0x18da61f1, None): [
-      b'78209-TVA-A010\x00\x00',
-      b'78209-TVA-A110\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TWA-A070\x00\x00',
-      b'36161-TWA-A330\x00\x00',
-      b'36161-TWB-H040\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TWA-A070\x00\x00',
-      b'36802-TWA-A080\x00\x00',
-      b'36802-TWA-A330\x00\x00',
-      b'36802-TWB-H060\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TVA-A160\x00\x00',
-      b'39990-TVA-A150\x00\x00',
-      b'39990-TVA-A340\x00\x00',
-      b'39990-TWB-H120\x00\x00',
-    ],
-  },
-  CAR.CIVIC: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-5AA-A640\x00\x00',
-      b'37805-5AA-A650\x00\x00',
-      b'37805-5AA-A670\x00\x00',
-      b'37805-5AA-A680\x00\x00',
-      b'37805-5AA-A810\x00\x00',
-      b'37805-5AA-C640\x00\x00',
-      b'37805-5AA-C680\x00\x00',
-      b'37805-5AA-C820\x00\x00',
-      b'37805-5AA-L650\x00\x00',
-      b'37805-5AA-L660\x00\x00',
-      b'37805-5AA-L680\x00\x00',
-      b'37805-5AA-L690\x00\x00',
-      b'37805-5AA-L810\000\000',
-      b'37805-5AG-Q710\x00\x00',
-      b'37805-5AJ-A610\x00\x00',
-      b'37805-5AJ-A620\x00\x00',
-      b'37805-5AJ-L610\x00\x00',
-      b'37805-5BA-A310\x00\x00',
-      b'37805-5BA-A510\x00\x00',
-      b'37805-5BA-A740\x00\x00',
-      b'37805-5BA-A760\x00\x00',
-      b'37805-5BA-A930\x00\x00',
-      b'37805-5BA-A960\x00\x00',
-      b'37805-5BA-C860\x00\x00',
-      b'37805-5BA-L410\x00\x00',
-      b'37805-5BA-L760\x00\x00',
-      b'37805-5BA-L930\x00\x00',
-      b'37805-5BA-L940\x00\x00',
-      b'37805-5BA-L960\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-5CG-A040\x00\x00',
-      b'28101-5CG-A050\x00\x00',
-      b'28101-5CG-A070\x00\x00',
-      b'28101-5CG-A080\x00\x00',
-      b'28101-5CG-A320\x00\x00',
-      b'28101-5CG-A810\x00\x00',
-      b'28101-5CG-A820\x00\x00',
-      b'28101-5DJ-A040\x00\x00',
-      b'28101-5DJ-A060\x00\x00',
-      b'28101-5DJ-A510\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TBA-A540\x00\x00',
-      b'57114-TBA-A550\x00\x00',
-      b'57114-TBA-A560\x00\x00',
-      b'57114-TBA-A570\x00\x00',
-      b'57114-TEA-Q220\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TBA,A030\x00\x00', # modified firmware
-      b'39990-TBA-A030\x00\x00',
-      b'39990-TBG-A030\x00\x00',
-      b'39990-TEA-T020\x00\x00',
-      b'39990-TEG-A010\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TBA-A030\x00\x00',
-      b'77959-TBA-A040\x00\x00',
-      b'77959-TBG-A030\x00\x00',
-      b'77959-TEA-Q820\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TBA-A510\x00\x00',
-      b'78109-TBA-A520\x00\x00',
-      b'78109-TBA-A530\x00\x00',
-      b'78109-TBA-C520\x00\x00',
-      b'78109-TBC-A310\x00\x00',
-      b'78109-TBC-A320\x00\x00',
-      b'78109-TBC-A510\x00\x00',
-      b'78109-TBC-A520\x00\x00',
-      b'78109-TBC-A530\x00\x00',
-      b'78109-TBC-C510\x00\x00',
-      b'78109-TBC-C520\x00\x00',
-      b'78109-TBC-C530\x00\x00',
-      b'78109-TBH-A510\x00\x00',
-      b'78109-TBH-A530\x00\x00',
-      b'78109-TED-Q510\x00\x00',
-      b'78109-TEG-A310\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-TBA-A020\x00\x00',
-      b'36161-TBA-A030\x00\x00',
-      b'36161-TBA-A040\x00\x00',
-      b'36161-TBC-A020\x00\x00',
-      b'36161-TBC-A030\x00\x00',
-      b'36161-TED-Q320\x00\x00',
-      b'36161-TEG-A010\x00\x00',
-      b'36161-TEG-A020\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TBA-A010\x00\x00',
-      b'38897-TBA-A020\x00\x00',
-    ],
-  },
-  CAR.CIVIC_BOSCH: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-5AA-A940\x00\x00',
-      b'37805-5AA-A950\x00\x00',
-      b'37805-5AA-C950\x00\x00',
-      b'37805-5AA-L940\x00\x00',
-      b'37805-5AA-L950\x00\x00',
-      b'37805-5AG-Z910\x00\x00',
-      b'37805-5AJ-A750\x00\x00',
-      b'37805-5AJ-L750\x00\x00',
-      b'37805-5AK-T530\x00\x00',
-      b'37805-5AN-A750\x00\x00',
-      b'37805-5AN-A830\x00\x00',
-      b'37805-5AN-A840\x00\x00',
-      b'37805-5AN-A930\x00\x00',
-      b'37805-5AN-A940\x00\x00',
-      b'37805-5AN-A950\x00\x00',
-      b'37805-5AN-AG20\x00\x00',
-      b'37805-5AN-AH20\x00\x00',
-      b'37805-5AN-AJ30\x00\x00',
-      b'37805-5AN-AK10\x00\x00',
-      b'37805-5AN-AK20\x00\x00',
-      b'37805-5AN-AR10\x00\x00',
-      b'37805-5AN-AR20\x00\x00',
-      b'37805-5AN-CH20\x00\x00',
-      b'37805-5AN-E630\x00\x00',
-      b'37805-5AN-E720\x00\x00',
-      b'37805-5AN-E820\x00\x00',
-      b'37805-5AN-J820\x00\x00',
-      b'37805-5AN-L840\x00\x00',
-      b'37805-5AN-L930\x00\x00',
-      b'37805-5AN-L940\x00\x00',
-      b'37805-5AN-LF20\x00\x00',
-      b'37805-5AN-LH20\x00\x00',
-      b'37805-5AN-LJ20\x00\x00',
-      b'37805-5AN-LR20\x00\x00',
-      b'37805-5AN-LS20\x00\x00',
-      b'37805-5AW-G720\x00\x00',
-      b'37805-5AZ-E850\x00\x00',
-      b'37805-5AZ-G540\x00\x00',
-      b'37805-5AZ-G740\x00\x00',
-      b'37805-5AZ-G840\x00\x00',
-      b'37805-5BB-A530\x00\x00',
-      b'37805-5BB-A540\x00\x00',
-      b'37805-5BB-A630\x00\x00',
-      b'37805-5BB-A640\x00\x00',
-      b'37805-5BB-C540\x00\x00',
-      b'37805-5BB-C630\x00\x00',
-      b'37805-5BB-C640\x00\x00',
-      b'37805-5BB-L540\x00\x00',
-      b'37805-5BB-L630\x00\x00',
-      b'37805-5BB-L640\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-5CG-A920\x00\x00',
-      b'28101-5CG-AB10\x00\x00',
-      b'28101-5CG-C110\x00\x00',
-      b'28101-5CG-C220\x00\x00',
-      b'28101-5CG-C320\x00\x00',
-      b'28101-5CG-G020\x00\x00',
-      b'28101-5CG-L020\x00\x00',
-      b'28101-5CK-A130\x00\x00',
-      b'28101-5CK-A140\x00\x00',
-      b'28101-5CK-A150\x00\x00',
-      b'28101-5CK-C130\x00\x00',
-      b'28101-5CK-C140\x00\x00',
-      b'28101-5CK-C150\x00\x00',
-      b'28101-5CK-G210\x00\x00',
-      b'28101-5CK-J710\x00\x00',
-      b'28101-5CK-Q610\x00\x00',
-      b'28101-5DJ-A610\x00\x00',
-      b'28101-5DJ-A710\x00\x00',
-      b'28101-5DV-E330\x00\x00',
-      b'28101-5DV-E610\x00\x00',
-      b'28101-5DV-E820\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TBG-A330\x00\x00',
-      b'57114-TBG-A340\x00\x00',
-      b'57114-TBG-A350\x00\x00',
-      b'57114-TGG-A340\x00\x00',
-      b'57114-TGG-C320\x00\x00',
-      b'57114-TGG-G320\x00\x00',
-      b'57114-TGG-L320\x00\x00',
-      b'57114-TGG-L330\x00\x00',
-      b'57114-TGK-T320\x00\x00',
-      b'57114-TGL-G330\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TBA-C020\x00\x00',
-      b'39990-TBA-C120\x00\x00',
-      b'39990-TEA-T820\x00\x00',
-      b'39990-TEZ-T020\x00\x00',
-      b'39990-TGG-A020\x00\x00',
-      b'39990-TGG-A120\x00\x00',
-      b'39990-TGG-J510\x00\x00',
-      b'39990-TGL-E130\x00\x00',
-      b'39990-TGN-E120\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TBA-A060\x00\x00',
-      b'77959-TBG-A050\x00\x00',
-      b'77959-TEA-G020\x00\x00',
-      b'77959-TGG-A020\x00\x00',
-      b'77959-TGG-A030\x00\x00',
-      b'77959-TGG-E010\x00\x00',
-      b'77959-TGG-G010\x00\x00',
-      b'77959-TGG-G110\x00\x00',
-      b'77959-TGG-J320\x00\x00',
-      b'77959-TGG-Z820\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TBA-A110\x00\x00',
-      b'78109-TBA-A910\x00\x00',
-      b'78109-TBA-C340\x00\x00',
-      b'78109-TBA-C910\x00\x00',
-      b'78109-TBC-A740\x00\x00',
-      b'78109-TBC-C540\x00\x00',
-      b'78109-TBG-A110\x00\x00',
-      b'78109-TBH-A710\x00\x00',
-      b'78109-TEG-A720\x00\x00',
-      b'78109-TFJ-G020\x00\x00',
-      b'78109-TGG-9020\x00\x00',
-      b'78109-TGG-A210\x00\x00',
-      b'78109-TGG-A220\x00\x00',
-      b'78109-TGG-A310\x00\x00',
-      b'78109-TGG-A320\x00\x00',
-      b'78109-TGG-A330\x00\x00',
-      b'78109-TGG-A610\x00\x00',
-      b'78109-TGG-A620\x00\x00',
-      b'78109-TGG-A810\x00\x00',
-      b'78109-TGG-A820\x00\x00',
-      b'78109-TGG-C220\x00\x00',
-      b'78109-TGG-E110\x00\x00',
-      b'78109-TGG-G030\x00\x00',
-      b'78109-TGG-G230\x00\x00',
-      b'78109-TGG-G410\x00\x00',
-      b'78109-TGK-Z410\x00\x00',
-      b'78109-TGL-G120\x00\x00',
-      b'78109-TGL-G130\x00\x00',
-      b'78109-TGL-G210\x00\x00',
-      b'78109-TGL-G230\x00\x00',
-      b'78109-TGL-GM10\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TBA-A150\x00\x00',
-      b'36802-TBA-A160\x00\x00',
-      b'36802-TFJ-G060\x00\x00',
-      b'36802-TGG-A050\x00\x00',
-      b'36802-TGG-A060\x00\x00',
-      b'36802-TGG-A130\x00\x00',
-      b'36802-TGG-G040\x00\x00',
-      b'36802-TGG-G130\x00\x00',
-      b'36802-TGK-Q120\x00\x00',
-      b'36802-TGL-G040\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TBA-A130\x00\x00',
-      b'36161-TBA-A140\x00\x00',
-      b'36161-TFJ-G070\x00\x00',
-      b'36161-TGG-A060\x00\x00',
-      b'36161-TGG-A080\x00\x00',
-      b'36161-TGG-A120\x00\x00',
-      b'36161-TGG-G050\x00\x00',
-      b'36161-TGG-G130\x00\x00',
-      b'36161-TGG-G140\x00\x00',
-      b'36161-TGK-Q120\x00\x00',
-      b'36161-TGL-G050\x00\x00',
-      b'36161-TGL-G070\x00\x00',
-      b'36161-TGG-G070\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TBA-A110\x00\x00',
-      b'38897-TBA-A020\x00\x00',
-    ],
-    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
-      b'39494-TGL-G030\x00\x00',
-    ],
-  },
-  CAR.CIVIC_BOSCH_DIESEL: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-59N-G630\x00\x00',
-      b'37805-59N-G830\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-59Y-G220\x00\x00',
-      b'28101-59Y-G620\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TGN-E320\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TFK-G020\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TFK-G210\x00\x00',
-      b'77959-TGN-G220\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TFK-G020\x00\x00',
-      b'78109-TGN-G120\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TFK-G130\x00\x00',
-      b'36802-TGN-G130\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TGN-E010\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TFK-G130\x00\x00',
-      b'36161-TGN-G130\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TBA-A020\x00\x00',
-    ],
-  },
-  CAR.CRV: {
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-T1W-A230\x00\x00',
-      b'57114-T1W-A240\x00\x00',
-      b'57114-TFF-A940\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-T0A-A230\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-T1W-A210\x00\x00',
-      b'78109-T1W-C210\x00\x00',
-      b'78109-T1X-A210\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-T1W-A830\x00\x00',
-      b'36161-T1W-C830\x00\x00',
-      b'36161-T1X-A830\x00\x00',
-    ],
-  },
-  CAR.CRV_5G: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-5PA-AH20\x00\x00',
-      b'37805-5PA-3060\x00\x00',
-      b'37805-5PA-3080\x00\x00',
-      b'37805-5PA-3180\x00\x00',
-      b'37805-5PA-4050\x00\x00',
-      b'37805-5PA-4150\x00\x00',
-      b'37805-5PA-6520\x00\x00',
-      b'37805-5PA-6530\x00\x00',
-      b'37805-5PA-6630\x00\x00',
-      b'37805-5PA-6640\x00\x00',
-      b'37805-5PA-7630\x00\x00',
-      b'37805-5PA-9630\x00\x00',
-      b'37805-5PA-9640\x00\x00',
-      b'37805-5PA-9730\x00\x00',
-      b'37805-5PA-9830\x00\x00',
-      b'37805-5PA-9840\x00\x00',
-      b'37805-5PA-A650\x00\x00',
-      b'37805-5PA-A670\x00\x00',
-      b'37805-5PA-A680\x00\x00',
-      b'37805-5PA-A850\x00\x00',
-      b'37805-5PA-A870\x00\x00',
-      b'37805-5PA-A880\x00\x00',
-      b'37805-5PA-A890\x00\x00',
-      b'37805-5PA-AB10\x00\x00',
-      b'37805-5PA-AD10\x00\x00',
-      b'37805-5PA-AF20\x00\x00',
-      b'37805-5PA-C680\x00\x00',
-      b'37805-5PD-Q630\x00\x00',
-      b'37805-5PF-F730\x00\x00',
-      b'37805-5PF-M630\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-5RG-A020\x00\x00',
-      b'28101-5RG-A030\x00\x00',
-      b'28101-5RG-A040\x00\x00',
-      b'28101-5RG-A120\x00\x00',
-      b'28101-5RG-A220\x00\x00',
-      b'28101-5RH-A020\x00\x00',
-      b'28101-5RH-A030\x00\x00',
-      b'28101-5RH-A040\x00\x00',
-      b'28101-5RH-A120\x00\x00',
-      b'28101-5RH-A220\x00\x00',
-      b'28101-5RL-Q010\x00\x00',
-      b'28101-5RM-F010\x00\x00',
-      b'28101-5RM-K010\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TLA-A040\x00\x00',
-      b'57114-TLA-A050\x00\x00',
-      b'57114-TLA-A060\x00\x00',
-      b'57114-TLB-A830\x00\x00',
-      b'57114-TMC-Z040\x00\x00',
-      b'57114-TMC-Z050\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TLA-A040\x00\x00',
-      b'39990-TLA-A110\x00\x00',
-      b'39990-TLA-A220\x00\x00',
-      b'39990-TLA,A040\x00\x00', # modified firmware
-      b'39990-TME-T030\x00\x00',
-      b'39990-TME-T120\x00\x00',
-      b'39990-TMT-T010\x00\x00',
-    ],
-    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
-      b'46114-TLA-A040\x00\x00',
-      b'46114-TLA-A050\x00\x00',
-      b'46114-TLA-A930\x00\x00',
-      b'46114-TMC-U020\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TLA-A110\x00\x00',
-      b'78109-TLA-A120\x00\x00',
-      b'78109-TLA-A210\x00\x00',
-      b'78109-TLA-A220\x00\x00',
-      b'78109-TLA-C020\x00\x00',
-      b'78109-TLA-C110\x00\x00',
-      b'78109-TLA-C210\x00\x00',
-      b'78109-TLA-C310\x00\x00',
-      b'78109-TLB-A020\x00\x00',
-      b'78109-TLB-A110\x00\x00',
-      b'78109-TLB-A120\x00\x00',
-      b'78109-TLB-A210\x00\x00',
-      b'78109-TLB-A220\x00\x00',
-      b'78109-TMC-Q210\x00\x00',
-      b'78109-TMM-F210\x00\x00',
-      b'78109-TMM-M110\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TLA-A010\x00\x00',
-      b'38897-TLA-A110\x00\x00',
-      b'38897-TNY-G010\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TLA-A040\x00\x00',
-      b'36802-TLA-A050\x00\x00',
-      b'36802-TLA-A060\x00\x00',
-      b'36802-TMC-Q040\x00\x00',
-      b'36802-TMC-Q070\x00\x00',
-      b'36802-TNY-A030\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TLA-A060\x00\x00',
-      b'36161-TLA-A070\x00\x00',
-      b'36161-TLA-A080\x00\x00',
-      b'36161-TMC-Q020\x00\x00',
-      b'36161-TMC-Q030\x00\x00',
-      b'36161-TMC-Q040\x00\x00',
-      b'36161-TNY-A020\x00\x00',
-      b'36161-TNY-A030\x00\x00',
-      b'36161-TNY-A040\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TLA-A240\x00\x00',
-      b'77959-TLA-A250\x00\x00',
-      b'77959-TLA-A320\x00\x00',
-      b'77959-TLA-A410\x00\x00',
-      b'77959-TLA-A420\x00\x00',
-      b'77959-TLA-Q040\x00\x00',
-      b'77959-TLA-Z040\x00\x00',
-      b'77959-TMM-F040\x00\x00',
-    ],
-  },
-  CAR.CRV_EU: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-R5Z-G740\x00\x00',
-      b'37805-R5Z-G780\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [b'57114-T1V-G920\x00\x00'],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [b'36161-T1V-G520\x00\x00'],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [b'54008-T1V-G010\x00\x00'],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-5LH-E120\x00\x00',
-      b'28103-5LH-E100\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-T1V-G020\x00\x00',
-      b'78109-T1B-3050\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [b'77959-T1G-G940\x00\x00'],
-  },
-  CAR.CRV_HYBRID: {
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TPA-G020\x00\x00',
-      b'57114-TPG-A020\x00\x00',
-      b'57114-TMB-H030\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TPA-G030\x00\x00',
-      b'39990-TPG-A020\x00\x00',
-      b'39990-TMA-H020\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TMA-H110\x00\x00',
-      b'38897-TPG-A110\x00\x00',
-      b'38897-TPG-A210\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TMB-H510\x00\x00',
-      b'54008-TMB-H610\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TMB-H040\x00\x00',
-      b'36161-TPA-E050\x00\x00',
-      b'36161-TPG-A030\x00\x00',
-      b'36161-TPG-A040\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TMB-H220\x00\x00',
-      b'78109-TPA-G520\x00\x00',
-      b'78109-TPG-A110\x00\x00',
-      b'78109-TPG-A210\x00\x00',
-    ],
-    (Ecu.hud, 0x18da61f1, None): [
-      b'78209-TLA-X010\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TPA-E040\x00\x00',
-      b'36802-TPG-A020\x00\x00',
-      b'36802-TMB-H040\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TLA-C320\x00\x00',
-      b'77959-TLA-C410\x00\x00',
-      b'77959-TLA-C420\x00\x00',
-      b'77959-TLA-G220\x00\x00',
-      b'77959-TLA-H240\x00\x00',
-    ],
-  },
-  CAR.FIT: {
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-T5R-L020\x00\x00',
-      b'57114-T5R-L220\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-T5R-C020\x00\x00',
-      b'39990-T5R-C030\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-T5A-J010\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-T5A-A210\x00\x00',
-      b'78109-T5A-A410\x00\x00',
-      b'78109-T5A-A420\x00\x00',
-      b'78109-T5A-A910\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-T5R-A040\x00\x00',
-      b'36161-T5R-A240\x00\x00',
-      b'36161-T5R-A520\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-T5R-A230\x00\x00',
-    ],
-  },
-  CAR.FREED: {
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TDK-J010\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TDK-J050\x00\x00',
-      b'39990-TDK-N020\x00\x00',
-    ],
-    # TODO: vsa is "essential" for fpv2 but doesn't appear on some models
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TDK-J120\x00\x00',
-      b'57114-TDK-J330\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TDK-J310\x00\x00',
-      b'78109-TDK-J320\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-TDK-J070\x00\x00',
-      b'36161-TDK-J080\x00\x00',
-      b'36161-TDK-J530\x00\x00',
-    ],
-  },
-  CAR.ODYSSEY: {
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-THR-A010\x00\x00',
-      b'38897-THR-A020\x00\x00',
-    ],
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-5MR-4080\x00\x00',
-      b'37805-5MR-A240\x00\x00',
-      b'37805-5MR-A250\x00\x00',
-      b'37805-5MR-A310\x00\x00',
-      b'37805-5MR-A740\x00\x00',
-      b'37805-5MR-A750\x00\x00',
-      b'37805-5MR-A840\x00\x00',
-      b'37805-5MR-C620\x00\x00',
-      b'37805-5MR-D530\x00\x00',
-      b'37805-5MR-K730\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-THR-A020\x00\x00',
-      b'39990-THR-A030\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-THR-A010\x00\x00',
-      b'77959-THR-A110\x00\x00',
-      b'77959-THR-X010\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-THR-A020\x00\x00',
-      b'36161-THR-A030\x00\x00',
-      b'36161-THR-A110\x00\x00',
-      b'36161-THR-A720\x00\x00',
-      b'36161-THR-A730\x00\x00',
-      b'36161-THR-A810\x00\x00',
-      b'36161-THR-A910\x00\x00',
-      b'36161-THR-C010\x00\x00',
-      b'36161-THR-D110\x00\x00',
-      b'36161-THR-K020\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-5NZ-A110\x00\x00',
-      b'28101-5NZ-A310\x00\x00',
-      b'28101-5NZ-C310\x00\x00',
-      b'28102-5MX-A001\x00\x00',
-      b'28102-5MX-A600\x00\x00',
-      b'28102-5MX-A610\x00\x00',
-      b'28102-5MX-A710\x00\x00',
-      b'28102-5MX-A900\x00\x00',
-      b'28102-5MX-A910\x00\x00',
-      b'28102-5MX-C001\x00\x00',
-      b'28102-5MX-D001\x00\x00',
-      b'28102-5MX-D710\x00\x00',
-      b'28102-5MX-K610\x00\x00',
-      b'28103-5NZ-A100\x00\x00',
-      b'28103-5NZ-A300\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-THR-A040\x00\x00',
-      b'57114-THR-A110\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-THR-A220\x00\x00',
-      b'78109-THR-A230\x00\x00',
-      b'78109-THR-A420\x00\x00',
-      b'78109-THR-A430\x00\x00',
-      b'78109-THR-A720\x00\x00',
-      b'78109-THR-A820\x00\x00',
-      b'78109-THR-A830\x00\x00',
-      b'78109-THR-AB20\x00\x00',
-      b'78109-THR-AB30\x00\x00',
-      b'78109-THR-AB40\x00\x00',
-      b'78109-THR-AC20\x00\x00',
-      b'78109-THR-AC30\x00\x00',
-      b'78109-THR-AC40\x00\x00',
-      b'78109-THR-AC50\x00\x00',
-      b'78109-THR-AD30\x00\x00',
-      b'78109-THR-AE20\x00\x00',
-      b'78109-THR-AE30\x00\x00',
-      b'78109-THR-AE40\x00\x00',
-      b'78109-THR-AK10\x00\x00',
-      b'78109-THR-AL10\x00\x00',
-      b'78109-THR-AN10\x00\x00',
-      b'78109-THR-C220\x00\x00',
-      b'78109-THR-C330\x00\x00',
-      b'78109-THR-CE20\x00\x00',
-      b'78109-THR-DA20\x00\x00',
-      b'78109-THR-DA30\x00\x00',
-      b'78109-THR-DA40\x00\x00',
-      b'78109-THR-K120\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-THR-A020\x00\x00',
-    ],
-  },
-  CAR.ODYSSEY_CHN: {
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-T6D-H220\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-T6A-J010\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-T6A-F310\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-T6A-P040\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-T6A-P110\x00\x00',
-    ],
-  },
-  CAR.PILOT: {
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TG7-A520\x00\x00',
-      b'54008-TG7-A530\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-5EY-A050\x00\x00',
-      b'28101-5EY-A100\x00\x00',
-      b'28101-5EZ-A050\x00\x00',
-      b'28101-5EZ-A060\x00\x00',
-      b'28101-5EZ-A100\x00\x00',
-      b'28101-5EZ-A210\x00\x00',
-      b'28101-5EZ-A600\x00\x00',
-      b'28101-5EZ-A430\x00\x00',
-      b'28101-5EZ-A700\x00\x00',
-    ],
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-RLV-4060\x00\x00',
-      b'37805-RLV-4070\x00\x00',
-      b'37805-RLV-A830\x00\x00',
-      b'37805-RLV-A840\x00\x00',
-      b'37805-RLV-C430\x00\x00',
-      b'37805-RLV-C510\x00\x00',
-      b'37805-RLV-C520\x00\x00',
-      b'37805-RLV-C530\x00\x00',
-      b'37805-RLV-C910\x00\x00',
-      b'37805-RLV-B220\x00\x00',
-      b'37805-RLV-B210\x00\x00',
-      b'37805-RLV-L160\x00\x00',
-      b'37805-RLV-B420\x00\x00',
-      b'37805-RLV-F120\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TG7-A030\x00\x00',
-      b'38897-TG7-A040\x00\x00',
-      b'38897-TG7-A110\x00\x00',
-      b'38897-TG7-A210\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TG7-A030\x00\x00',
-      b'39990-TG7-A040\x00\x00',
-      b'39990-TG7-A060\x00\x00',
-      b'39990-TG7-A070\x00\x00',
-      b'39990-TGS-A230\x00\x00',
-      b'39990-TGS-A320\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-TG7-A310\x00\x00',
-      b'36161-TG7-A520\x00\x00',
-      b'36161-TG7-A630\x00\x00',
-      b'36161-TG7-A720\x00\x00',
-      b'36161-TG7-A820\x00\x00',
-      b'36161-TG7-A930\x00\x00',
-      b'36161-TG7-C520\x00\x00',
-      b'36161-TG7-D520\x00\x00',
-      b'36161-TG7-D630\x00\x00',
-      b'36161-TG7-Y630\x00\x00',
-      b'36161-TG8-A520\x00\x00',
-      b'36161-TG8-A630\x00\x00',
-      b'36161-TG8-A720\x00\x00',
-      b'36161-TG8-A830\x00\x00',
-      b'36161-TGS-A130\x00\x00',
-      b'36161-TGT-A030\x00\x00',
-      b'36161-TGT-A130\x00\x00',
-      b'36161-TGS-A030\x00\x00',
-      b'36161-TGS-A220\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TG7-A020\x00\x00',
-      b'77959-TG7-A110\x00\x00',
-      b'77959-TG7-A210\x00\x00',
-      b'77959-TG7-Y210\x00\x00',
-      b'77959-TGS-A010\x00\x00',
-      b'77959-TGS-A110\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TG7-A040\x00\x00',
-      b'78109-TG7-A050\x00\x00',
-      b'78109-TG7-A420\x00\x00',
-      b'78109-TG7-A520\x00\x00',
-      b'78109-TG7-A720\x00\x00',
-      b'78109-TG7-AJ10\x00\x00',
-      b'78109-TG7-AJ20\x00\x00',
-      b'78109-TG7-AK10\x00\x00',
-      b'78109-TG7-AK20\x00\x00',
-      b'78109-TG7-AM20\x00\x00',
-      b'78109-TG7-AP10\x00\x00',
-      b'78109-TG7-AP20\x00\x00',
-      b'78109-TG7-AS20\x00\x00',
-      b'78109-TG7-AT20\x00\x00',
-      b'78109-TG7-AU20\x00\x00',
-      b'78109-TG7-AX20\x00\x00',
-      b'78109-TG7-D020\x00\x00',
-      b'78109-TG7-DJ10\x00\x00',
-      b'78109-TG7-YK20\x00\x00',
-      b'78109-TG8-A420\x00\x00',
-      b'78109-TG8-A520\x00\x00',
-      b'78109-TG8-AJ10\x00\x00',
-      b'78109-TG8-AJ20\x00\x00',
-      b'78109-TG8-AK20\x00\x00',
-      b'78109-TGS-AK20\x00\x00',
-      b'78109-TGS-AP20\x00\x00',
-      b'78109-TGT-AJ20\x00\x00',
-      b'78109-TGT-AK30\x00\x00',
-      b'78109-TGS-AT20\x00\x00',
-      b'78109-TGS-AX20\x00\x00',
-      b'78109-TGS-AJ20\x00\x00',
-      b'78109-TGS-AC10\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TG7-A130\x00\x00',
-      b'57114-TG7-A140\x00\x00',
-      b'57114-TG7-A230\x00\x00',
-      b'57114-TG7-A240\x00\x00',
-      b'57114-TG7-A630\x00\x00',
-      b'57114-TG7-A730\x00\x00',
-      b'57114-TG8-A140\x00\x00',
-      b'57114-TG8-A240\x00\x00',
-      b'57114-TG8-A630\x00\x00',
-      b'57114-TG8-A730\x00\x00',
-      b'57114-TGS-A530\x00\x00',
-      b'57114-TGT-A530\x00\x00',
-    ],
-  },
-  CAR.ACURA_RDX: {
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TX5-A220\x00\x00',
-      b'57114-TX4-A220\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-TX5-A030\x00\x00',
-      b'36161-TX4-A030\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TX4-C010\x00\x00',
-      b'77959-TX4-B010\x00\x00',
-      b'77959-TX4-C020\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TX5-A310\x00\x00',
-      b'78109-TX4-A210\x00\x00',
-      b'78109-TX4-A310\x00\x00',
-    ],
-  },
-  CAR.ACURA_RDX_3G: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-5YF-A130\x00\x00',
-      b'37805-5YF-A230\x00\x00',
-      b'37805-5YF-A320\x00\x00',
-      b'37805-5YF-A330\x00\x00',
-      b'37805-5YF-A420\x00\x00',
-      b'37805-5YF-A430\x00\x00',
-      b'37805-5YF-A750\x00\x00',
-      b'37805-5YF-A850\x00\x00',
-      b'37805-5YF-A870\x00\x00',
-      b'37805-5YF-AD20\x00\x00',
-      b'37805-5YF-C210\x00\x00',
-      b'37805-5YF-C220\x00\x00',
-      b'37805-5YF-C410\000\000',
-      b'37805-5YF-C420\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TJB-A030\x00\x00',
-      b'57114-TJB-A040\x00\x00',
-      b'57114-TJB-A120\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TJB-A040\x00\x00',
-      b'36802-TJB-A050\x00\x00',
-      b'36802-TJB-A540\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TJB-A040\x00\x00',
-      b'36161-TJB-A530\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TJB-A520\x00\x00',
-      b'54008-TJB-A530\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28102-5YK-A610\x00\x00',
-      b'28102-5YK-A620\x00\x00',
-      b'28102-5YK-A630\x00\x00',
-      b'28102-5YK-A700\x00\x00',
-      b'28102-5YK-A711\x00\x00',
-      b'28102-5YK-A800\x00\x00',
-      b'28102-5YL-A620\x00\x00',
-      b'28102-5YL-A700\x00\x00',
-      b'28102-5YL-A711\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TJB-A140\x00\x00',
-      b'78109-TJB-A240\x00\x00',
-      b'78109-TJB-A420\x00\x00',
-      b'78109-TJB-AB10\x00\x00',
-      b'78109-TJB-AD10\x00\x00',
-      b'78109-TJB-AF10\x00\x00',
-      b'78109-TJB-AQ20\x00\x00',
-      b'78109-TJB-AR10\x00\x00',
-      b'78109-TJB-AS10\000\000',
-      b'78109-TJB-AU10\x00\x00',
-      b'78109-TJB-AW10\x00\x00',
-      b'78109-TJC-A420\x00\x00',
-      b'78109-TJC-AA10\x00\x00',
-      b'78109-TJC-AD10\x00\x00',
-      b'78109-TJC-AF10\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TJB-A040\x00\x00',
-      b'77959-TJB-A120\x00\x00',
-      b'77959-TJB-A210\x00\x00',
-    ],
-    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
-      b'46114-TJB-A040\x00\x00',
-      b'46114-TJB-A050\x00\x00',
-      b'46114-TJB-A060\x00\x00',
-      b'46114-TJB-A120\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TJB-A040\x00\x00',
-      b'38897-TJB-A110\x00\x00',
-      b'38897-TJB-A120\x00\x00',
-      b'38897-TJB-A220\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TJB-A030\x00\x00',
-      b'39990-TJB-A040\x00\x00',
-      b'39990-TJB-A070\x00\x00',
-      b'39990-TJB-A130\x00\x00',
-    ],
-  },
-  CAR.RIDGELINE: {
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-T6Z-A020\x00\x00',
-      b'39990-T6Z-A030\x00\x00',
-      b'39990-T6Z-A050\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-T6Z-A020\x00\x00',
-      b'36161-T6Z-A310\x00\x00',
-      b'36161-T6Z-A420\x00\x00',
-      b'36161-T6Z-A520\x00\x00',
-      b'36161-T6Z-A620\x00\x00',
-      b'36161-TJZ-A120\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-T6Z-A010\x00\x00',
-      b'38897-T6Z-A110\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-T6Z-A420\x00\x00',
-      b'78109-T6Z-A510\x00\x00',
-      b'78109-T6Z-A710\x00\x00',
-      b'78109-T6Z-A810\x00\x00',
-      b'78109-T6Z-A910\x00\x00',
-      b'78109-T6Z-AA10\x00\x00',
-      b'78109-T6Z-C620\x00\x00',
-      b'78109-T6Z-C910\x00\x00',
-      b'78109-TJZ-A510\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-T6Z-A020\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-T6Z-A120\x00\x00',
-      b'57114-T6Z-A130\x00\x00',
-      b'57114-T6Z-A520\x00\x00',
-      b'57114-TJZ-A520\x00\x00',
-    ],
-  },
-  CAR.INSIGHT: {
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TXM-A040\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TXM-A070\x00\x00',
-      b'36802-TXM-A080\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TXM-A050\x00\x00',
-      b'36161-TXM-A060\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TXM-A230\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TXM-A030\x00\x00',
-      b'57114-TXM-A040\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TWA-A910\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TXM-A020\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TXM-A010\x00\x00',
-      b'78109-TXM-A020\x00\x00',
-      b'78109-TXM-A110\x00\x00',
-      b'78109-TXM-C010\x00\x00',
-      b'78109-TXM-A030\x00\x00',
-    ],
-  },
-  CAR.HRV: {
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-T7A-A010\x00\x00',
-      b'38897-T7A-A110\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-THX-A020\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-T7A-A140\x00\x00',
-      b'36161-T7A-A240\x00\x00',
-      b'36161-T7A-C440\x00\x00',
-      b'36161-T7A-A040\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-T7A-A230\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-THX-A110\x00\x00',
-      b'78109-THX-A120\x00\x00',
-      b'78109-THX-A210\x00\x00',
-      b'78109-THX-A220\x00\x00',
-      b'78109-THX-C220\x00\x00',
-      b'78109-THW-A110\x00\x00',
-    ],
-  },
-  CAR.HRV_3G: {
-    (Ecu.eps, 0x18DA30F1, None): [
-      b'39990-3W0-A030\x00\x00',
-    ],
-    (Ecu.gateway, 0x18DAEFF1, None): [
-      b'38897-3W1-A010\x00\x00',
-    ],
-    (Ecu.srs, 0x18DA53F1, None): [
-      b'77959-3V0-A820\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18DA60F1, None): [
-      b'78108-3V1-A220\x00\x00',
-    ],
-    (Ecu.vsa, 0x18DA28F1, None): [
-      b'57114-3W0-A040\x00\x00',
-    ],
-    (Ecu.transmission, 0x18DA1EF1, None): [
-      b'28101-6EH-A010\x00\x00',
-    ],
-    (Ecu.programmedFuelInjection, 0x18DA10F1, None): [
-      b'37805-6CT-A710\x00\x00',
-    ],
-    (Ecu.electricBrakeBooster, 0x18DA2BF1, None): [
-      b'46114-3W0-A020\x00\x00',
-    ],
-  },
-  CAR.ACURA_ILX: {
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TX6-A010\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-TV9-A140\x00\x00',
-      b'36161-TX6-A030\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TX6-A230\x00\x00',
-      b'77959-TX6-C210\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-T3R-A120\x00\x00',
-      b'78109-T3R-A410\x00\x00',
-      b'78109-TV9-A510\x00\x00',
-    ],
-  },
-  CAR.HONDA_E:{
-    (Ecu.eps, 0x18DA30F1, None):[
-      b'39990-TYF-N030\x00\x00'
-    ],
-    (Ecu.gateway, 0x18DAEFF1, None):[
-      b'38897-TYF-E140\x00\x00'
-    ],
-    (Ecu.shiftByWire, 0x18DA0BF1, None):[
-      b'54008-TYF-E010\x00\x00'
-    ],
-    (Ecu.srs, 0x18DA53F1, None):[
-      b'77959-TYF-G430\x00\x00'
-    ],
-    (Ecu.combinationMeter, 0x18DA60F1, None):[
-      b'78108-TYF-G610\x00\x00'
-    ],
-    (Ecu.fwdRadar, 0x18DAB0F1, None):[
-      b'36802-TYF-E030\x00\x00'
-    ],
-    (Ecu.fwdCamera, 0x18DAB5F1, None):[
-      b'36161-TYF-E020\x00\x00'
-    ],
-    (Ecu.vsa, 0x18DA28F1, None):[
-      b'57114-TYF-E030\x00\x00'
-    ],
-  },
-  CAR.CIVIC_2022: {
-    (Ecu.eps, 0x18DA30F1, None): [
-      b'39990-T39-A130\x00\x00',
-      b'39990-T43-J020\x00\x00',
-      b'39990-T24-T120\x00\x00',
-    ],
-    (Ecu.gateway, 0x18DAEFF1, None): [
-      b'38897-T20-A020\x00\x00',
-      b'38897-T20-A510\x00\x00',
-      b'38897-T21-A010\x00\x00',
-      b'38897-T20-A210\x00\x00',
-      b'38897-T20-A310\x00\x00',
-      b'38897-T24-Z120\x00\x00',
-    ],
-    (Ecu.srs, 0x18DA53F1, None): [
-      b'77959-T20-A970\x00\x00',
-      b'77959-T47-A940\x00\x00',
-      b'77959-T47-A950\x00\x00',
-      b'77959-T20-M820\x00\x00',
-      b'77959-T20-A980\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18DA60F1, None): [
-      b'78108-T21-A220\x00\x00',
-      b'78108-T21-A620\x00\x00',
-      b'78108-T23-A110\x00\x00',
-      b'78108-T21-A230\x00\x00',
-      b'78108-T22-A020\x00\x00',
-      b'78108-T21-MB10\x00\x00',
-      b'78108-T21-A740\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-T20-A070\x00\x00',
-      b'36161-T20-A080\x00\x00',
-      b'36161-T20-A060\x00\x00',
-      b'36161-T47-A070\x00\x00',
-      b'36161-T24-T070\x00\x00',
-    ],
-    (Ecu.vsa, 0x18DA28F1, None): [
-      b'57114-T20-AB40\x00\x00',
-      b'57114-T43-JB30\x00\x00',
-      b'57114-T24-TB30\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-65D-A020\x00\x00',
-      b'28101-65D-A120\x00\x00',
-      b'28101-65H-A020\x00\x00',
-      b'28101-65H-A120\x00\x00',
-      b'28101-65J-N010\x00\x00',
-    ],
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-64L-A540\x00\x00',
-      b'37805-64S-A540\x00\x00',
-      b'37805-64S-A720\x00\x00',
-      b'37805-64A-A540\x00\x00',
-      b'37805-64A-A620\x00\x00',
-      b'37805-64D-P510\x00\x00',
-      b'37805-64S-AA10\x00\x00',
-    ],
-  },
-}
 
 DBC = {
   CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None),
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index edc9e4855..2f1fb1080 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -147,8 +147,9 @@ class CarState(CarStateBase):
       aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
       aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
       aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
+      scc_warning = cp_cruise.vl["SCC12"]["TakeOverReq"] == 1  # sometimes only SCC system shows an FCW
       aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
-      ret.stockFcw = aeb_warning and not aeb_braking
+      ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking
       ret.stockAeb = aeb_warning and aeb_braking
 
     if self.CP.enableBsm:
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
new file mode 100644
index 000000000..585a2ec73
--- /dev/null
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -0,0 +1,1713 @@
+# ruff: noqa: E501
+from cereal import car
+from openpilot.selfdrive.car.hyundai.values import CAR
+
+Ecu = car.CarParams.Ecu
+
+FINGERPRINTS = {
+  CAR.HYUNDAI_GENESIS: [{
+    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
+  },
+  {
+    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
+  },
+  {
+    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1268: 8, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1437: 8, 1456: 4
+  },
+  {
+    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4
+  },
+  {
+    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4
+  }],
+  CAR.SANTA_FE: [{
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
+  },
+  {
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
+  },
+  {
+    67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8
+  }],
+  CAR.SONATA: [{
+    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
+  }],
+  CAR.SONATA_LF: [{
+    66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+  }],
+  CAR.KIA_SORENTO: [{
+    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
+  }],
+  CAR.KIA_STINGER: [{
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
+  }],
+  CAR.GENESIS_G80: [{
+    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8
+  },
+  {
+    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 546: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1437: 8, 1456: 4, 1470: 8
+  },
+  {
+    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1162: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1193: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4, 1470: 8
+  }],
+  CAR.GENESIS_G90: [{
+    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
+  }],
+  CAR.IONIQ_EV_2020: [{
+    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
+  }],
+  CAR.IONIQ: [{
+    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
+  }],
+  CAR.KONA_EV: [{
+    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
+  }],
+  CAR.KONA_EV_2022: [{
+    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8
+  }],
+  CAR.KIA_NIRO_EV: [{
+    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
+  }],
+  CAR.KIA_OPTIMA_H: [{
+    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
+  },
+  {
+    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
+  }],
+  CAR.PALISADE: [{
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8
+  }],
+}
+
+FW_VERSIONS = {
+  CAR.AZERA_6TH_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IG__ SCC F-CU-      1.00 1.00 99110-G8100         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IG  MDPS C 1.00 1.02 56310G8510\x00 4IGSC103',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IG  MFC  AT MES LHD 1.00 1.04 99211-G8100 200511',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.AZERA_HEV_6TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.00 99211-G8000 180903',
+      b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.02 99211-G8100 191029',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IG  MDPS C 1.00 1.00 56310M9600\x00 4IHSC100',
+      b'\xf1\x00IG  MDPS C 1.00 1.01 56310M9350\x00 4IH8C101',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IGhe SCC FHCUP      1.00 1.00 99110-M9100         ',
+      b'\xf1\x00IGhe SCC FHCUP      1.00 1.01 99110-M9000         ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006T7N0_C2\x00\x006T7Q2051\x00\x00TIG2H24KA2\x12@\x11\xb7',
+      b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H570051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.HYUNDAI_GENESIS: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DH LKAS 1.1 -150210',
+      b'\xf1\x00DH LKAS 1.4 -140110',
+      b'\xf1\x00DH LKAS 1.5 -140425',
+    ],
+  },
+  CAR.IONIQ: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2301 4AEHC107',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00AEH MFC  AT EUR LHD 1.00 1.00 95740-G2400 180222',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6F2051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U3H1051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H1051\x00\x00HAE0G16US2\x00\x00\x00\x00',
+    ],
+  },
+  CAR.IONIQ_PHEV_2019: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2100         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2501 4AEHC107',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\x00\x00\x00\x00',
+      b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\xdbD\r\x81',
+    ],
+  },
+  CAR.IONIQ_PHEV: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2200         ',
+      b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
+      b'\xf1\x00AEhe SCC F-CUP      1.00 1.02 99110-G2100         ',
+      b'\xf1\x00AEhe SCC FHCUP      1.00 1.00 99110-G2600         ',
+      b'\xf1\x00AEhe SCC FHCUP      1.00 1.02 99110-G2100         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2310 4APHC101',
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2510 4APHC101',
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2560 4APHC101',
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00AEP MFC  AT EUR LHD 1.00 1.01 95740-G2600 190819',
+      b'\xf1\x00AEP MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
+      b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
+      b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00',
+      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00',
+      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt',
+      b'\xf1\x816U3J8051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00',
+      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x82zT\xd2',
+      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00',
+    ],
+  },
+  CAR.IONIQ_EV_2020: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00AEev SCC F-CUP      1.00 1.00 99110-G7200         ',
+      b'\xf1\x00AEev SCC F-CUP      1.00 1.00 99110-G7500         ',
+      b'\xf1\x00AEev SCC F-CUP      1.00 1.01 99110-G7000         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G7310 4APEC101',
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G7560 4APEC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2600 190730',
+      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2700 201027',
+      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.01 95740-G2600 190819',
+      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.03 95740-G2500 190516',
+      b'\xf1\x00AEE MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
+    ],
+  },
+  CAR.IONIQ_EV_LTD: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00AEev SCC F-CUP      1.00 1.00 96400-G7000         ',
+      b'\xf1\x00AEev SCC F-CUP      1.00 1.00 96400-G7100         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00AE  MDPS C 1.00 1.02 56310G7300\x00 4AEEC102',
+      b'\xf1\x00AE  MDPS C 1.00 1.03 56310/G7300 4AEEC103',
+      b'\xf1\x00AE  MDPS C 1.00 1.03 56310G7300\x00 4AEEC103',
+      b'\xf1\x00AE  MDPS C 1.00 1.04 56310/G7301 4AEEC104',
+      b'\xf1\x00AE  MDPS C 1.00 1.04 56310/G7501 4AEEC104',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2300 170703',
+      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2400 180222',
+      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G7200 160418',
+      b'\xf1\x00AEE MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
+    ],
+  },
+  CAR.IONIQ_HEV_2022: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
+      b'\xf1\x00AEhe SCC FHCUP      1.00 1.00 99110-G2600         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00AEH MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x96\xda\xd4\xee',
+      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00',
+    ],
+  },
+  CAR.SONATA: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DN8_ SCC F-CU-      1.00 1.00 99110-L0000         ',
+      b'\xf1\x00DN8_ SCC F-CUP      1.00 1.00 99110-L0000         ',
+      b'\xf1\x00DN8_ SCC F-CUP      1.00 1.02 99110-L1000         ',
+      b'\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
+      b'\xf1\x00DN8_ SCC FHCUP      1.00 1.01 99110-L1000         ',
+      b'\xf1\x00DN8_ SCC FHCUP      1.00 1.02 99110-L1000         ',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300',
+      b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300',
+      b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
+      b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
+      b'\xf1\x00DN ESC \x06 107 \x07\x03 58910-L1300',
+      b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
+      b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
+      b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100',
+      b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300',
+      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
+      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
+      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
+      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'HM6M1_0a0_F00',
+      b'HM6M1_0a0_G20',
+      b'HM6M2_0a0_BD0',
+      b'\xf1\x81HM6M1_0a0_F00',
+      b'\xf1\x81HM6M1_0a0_G20',
+      b'\xf1\x82DNBVN5GMCCXXXDCA',
+      b'\xf1\x82DNBVN5GMCCXXXG2F',
+      b'\xf1\x82DNBWN5TMDCXXXG2E',
+      b'\xf1\x82DNCVN5GMCCXXXF0A',
+      b'\xf1\x82DNCVN5GMCCXXXG2B',
+      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
+      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DNDWN5TMDCXXXJ1A',
+      b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00',
+      b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M10',
+      b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00',
+      b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B',
+      b'\xf1\x87391162M003',
+      b'\xf1\x87391162M010',
+      b'\xf1\x87391162M013',
+      b'\xf1\x87391162M023',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102',
+      b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
+      b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
+      b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105',
+      b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
+      b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
+      b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103',
+      b'\xf1\x8756310-L1030\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103',
+      b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',
+      b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
+      b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101',
+      b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.02 99211-L1000 190422',
+      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.04 99211-L1000 191016',
+      b'\xf1\x00DN8 MFC  AT RUS LHD 1.00 1.03 99211-L1000 190705',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.00 99211-L0000 190716',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L0000 191016',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.03 99211-L0000 210603',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.05 99211-L1000 201109',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.06 99211-L1000 210325',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00HT6TA260BLHT6TA800A1TDN8C20KS4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x00HT6TA260BLHT6TA810A1TDN8M25GS0\x00\x00\x00\x00\x00\x00\xaa\x8c\xd9p',
+      b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92',
+      b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:',
+      b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[',
+      b'\xf1\x00HT6WA280BLHT6WAE10A1SDN8G25NB5\x00\x00\x00\x00\x00\x00\xe0t\xa9\xba',
+      b'\xf1\x00T02601BL  T02730A1  VDN8T25XXX730NS5\xf7_\x92\xf5',
+      b'\xf1\x00T02601BL  T02832A1  VDN8T25XXX832NS8G\x0e\xfeE',
+      b'\xf1\x00T02601BL  T02900A1  VDN8T25XXX900NSA\xb9\x13\xf9p',
+      b'\xf1\x00T02601BL  T02900A1  VDN8T25XXX900NSCF\xe4!Y',
+      b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16KB05\x95h%',
+      b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1',
+      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VDN8T25XXX730NS5\xf7_\x92\xf5',
+      b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SAKFBA3356084GJ2\x86fvgUUuWgw\x86www\x87wffvf\xb6\xcf\xfc\xffeUO\xff\x12\x19\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SAKFBA3474944GJ2ffvgwwwwg\x88\x86x\x88\x88\x98\x88ffvfeo\xfa\xff\x86fo\xff\t\xae\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SAKFBA3475714GJ2Vfvgvg\x96yx\x88\x97\x88ww\x87ww\x88\x87xs_\xfb\xffvUO\xff\x0f\xff\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALDBA3510954GJ3ww\x87xUUuWx\x88\x87\x88\x87w\x88wvfwfc_\xf9\xff\x98wO\xffl\xe0\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA3573534GJ3\x89\x98\x89\x88EUuWgwvwwwwww\x88\x87xTo\xfa\xff\x86f\x7f\xffo\x0e\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA3601464GJ3\x88\x88\x88\x88ffvggwvwvw\x87gww\x87wvo\xfb\xff\x98\x88\x7f\xffjJ\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA3753044GJ3UUeVff\x86hwwwwvwwgvfgfvo\xf9\xfffU_\xffC\xae\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA3862294GJ3vfvgvefVxw\x87\x87w\x88\x87xwwwwc_\xf9\xff\x87w\x9f\xff\xd5\xdc\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA3873834GJ3fefVwuwWx\x88\x97\x88w\x88\x97xww\x87wU_\xfb\xff\x86f\x8f\xffN\x04\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA4525334GJ3\x89\x99\x99\x99fevWh\x88\x86\x88fwvgw\x88\x87xfo\xfa\xffuDo\xff\xd1>\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA4626804GJ3wwww\x88\x87\x88xx\x88\x87\x88wwgw\x88\x88\x98\x88\x95_\xf9\xffuDo\xff|\xe7\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA4803224GJ3wwwwwvwg\x88\x88\x98\x88wwww\x87\x88\x88xu\x9f\xfc\xff\x87f\x8f\xff\xea\xea\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA6212564GJ3\x87wwwUTuGg\x88\x86xx\x88\x87\x88\x87\x88\x98xu?\xf9\xff\x97f\x7f\xff\xb8\n\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA6347404GJ3wwwwff\x86hx\x88\x97\x88\x88\x88\x88\x88vfgf\x88?\xfc\xff\x86Uo\xff\xec/\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA6901634GJ3UUuWVeVUww\x87wwwwwvUge\x86/\xfb\xff\xbb\x99\x7f\xff]2\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALDBA7077724GJ3\x98\x88\x88\x88ww\x97ygwvwww\x87ww\x88\x87x\x87_\xfd\xff\xba\x99o\xff\x99\x01\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALFBA3525114GJ2wvwgvfvggw\x86wffvffw\x86g\x85_\xf9\xff\xa8wo\xffv\xcd\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA3624024GJ2\x88\x88\x88\x88wv\x87hx\x88\x97\x88x\x88\x97\x88ww\x87w\x86o\xfa\xffvU\x7f\xff\xd1\xec\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA3960824GJ2wwwwff\x86hffvfffffvfwfg_\xf9\xff\xa9\x88\x8f\xffb\x99\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA4011074GJ2fgvwwv\x87hw\x88\x87xww\x87wwfgvu_\xfa\xffefo\xff\x87\xc0\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA4121304GJ2x\x87xwff\x86hwwwwww\x87wwwww\x84_\xfc\xff\x98\x88\x9f\xffi\xa6\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA4195874GJ2EVugvf\x86hgwvwww\x87wgw\x86wc_\xfb\xff\x98\x88\x8f\xff\xe23\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA4625294GJ2eVefeUeVx\x88\x97\x88wwwwwwww\xa7o\xfb\xffvw\x9f\xff\xee.\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA4728774GJ2vfvg\x87vwgww\x87ww\x88\x97xww\x87w\x86_\xfb\xffeD?\xffk0\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA5129064GJ2vfvgwv\x87hx\x88\x87\x88ww\x87www\x87wd_\xfa\xffvfo\xff\x1d\x00\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA5454914GJ2\x98\x88\x88\x88\x87vwgx\x88\x87\x88xww\x87ffvf\xa7\x7f\xf9\xff\xa8w\x7f\xff\x1b\x90\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA5987784GJ2UVugDDtGx\x88\x87\x88w\x88\x87xwwwwd/\xfb\xff\x97fO\xff\xb0h\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA5987864GJ2fgvwUUuWgwvw\x87wxwwwww\x84/\xfc\xff\x97w\x7f\xff\xdf\x1d\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA6337644GJ2vgvwwv\x87hgffvwwwwwwww\x85O\xfa\xff\xa7w\x7f\xff\xc5\xfc\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA6802004GJ2UUuWUUuWgw\x86www\x87www\x87w\x96?\xf9\xff\xa9\x88\x7f\xff\x9fK\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA6892284GJ233S5\x87w\x87xx\x88\x87\x88vwwgww\x87w\x84?\xfb\xff\x98\x88\x8f\xff*\x9e\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
+      b'\xf1\x87SALFBA7005534GJ2eUuWfg\x86xxww\x87x\x88\x87\x88\x88w\x88\x87\x87O\xfc\xffuUO\xff\xa3k\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1',
+      b'\xf1\x87SALFBA7152454GJ2gvwgFf\x86hx\x88\x87\x88vfWfffffd?\xfa\xff\xba\x88o\xff,\xcf\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1',
+      b'\xf1\x87SALFBA7460044GJ2gx\x87\x88Vf\x86hx\x88\x87\x88wwwwgw\x86wd?\xfa\xff\x86U_\xff\xaf\x1f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SALFBA7485034GJ2ww\x87xww\x87xfwvgwwwwvfgf\xa5/\xfc\xff\xa9w_\xff40\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SAMDBA7743924GJ3wwwwww\x87xgwvw\x88\x88\x88\x88wwww\x85_\xfa\xff\x86f\x7f\xff0\x9d\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SAMDBA7817334GJ3Vgvwvfvgww\x87wwwwwwfgv\x97O\xfd\xff\x88\x88o\xff\x8e\xeb\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SAMDBA8054504GJ3gw\x87xffvgffffwwwweUVUf?\xfc\xffvU_\xff\xddl\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SAMFB41553621GC7ww\x87xUU\x85Xvwwg\x88\x88\x88\x88wwgw\x86\xaf\xfb\xffuDo\xff\xaa\x8f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SAMFB42555421GC7\x88\x88\x88\x88wvwgx\x88\x87\x88wwgw\x87wxw3\x8f\xfc\xff\x98f\x8f\xffga\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SAMFBA7978674GJ2gw\x87xgw\x97ywwwwvUGeUUeU\x87O\xfb\xff\x98w\x8f\xfffF\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SAMFBA8105254GJ2wx\x87\x88Vf\x86hx\x88\x87\x88wwwwwwww\x86O\xfa\xff\x99\x88\x7f\xffZG\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SAMFBA9283024GJ2wwwwEUuWwwgwwwwwwwww\x87/\xfb\xff\x98w\x8f\xff<\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SAMFBA9708354GJ2wwwwVf\x86h\x88wx\x87xww\x87\x88\x88\x88\x88w/\xfa\xff\x97w\x8f\xff\x86\xa0\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SANDB45316691GC6\x99\x99\x99\x99\x88\x88\xa8\x8avfwfwwww\x87wxwT\x9f\xfd\xff\x88wo\xff\x1c\xfa\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB3\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SANFB45889451GC7wx\x87\x88gw\x87x\x88\x88x\x88\x87wxw\x87wxw\x87\x8f\xfc\xffeU\x8f\xff+Q\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+    ],
+  },
+  CAR.SONATA_LF: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00LF__ SCC F-CUP      1.00 1.00 96401-C2200         ',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00LF ESC \t 11 \x17\x01\x13 58920-C2610',
+      b'\xf1\x00LF ESC \x0c 11 \x17\x01\x13 58920-C2610',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81606D5051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81606D5K51\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51',
+      b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5',
+      b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00',
+      b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
+      b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
+      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\x00\x00\x00\x00',
+      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5',
+      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8',
+    ],
+  },
+  CAR.TUCSON: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00TL__ FCA F-CUP      1.00 1.01 99110-D3500         ',
+      b'\xf1\x00TL__ FCA F-CUP      1.00 1.02 99110-D3510         ',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x8971TLC2NAIDDIR002\xf1\x8271TLC2NAIDDIR002',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TL  MFC  AT KOR LHD 1.00 1.02 95895-D3800 180719',
+      b'\xf1\x00TL  MFC  AT USA LHD 1.00 1.06 95895-D3800 190107',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x87KMLDCU585233TJ20wx\x87\x88x\x88\x98\x89vfwfwwww\x87f\x9f\xff\x98\xff\x7f\xf9\xf7s\xf1\x816T6G4051\x00\x00\xf1\x006T6J0_C2\x00\x006T6G4051\x00\x00TTL4G24NH2\x00\x00\x00\x00',
+      b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a',
+    ],
+  },
+  CAR.SANTA_FE: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1210         ',
+      b'\xf1\x00TM__ SCC F-CUP      1.00 1.01 99110-S2000         ',
+      b'\xf1\x00TM__ SCC F-CUP      1.00 1.02 99110-S2000         ',
+      b'\xf1\x00TM__ SCC F-CUP      1.00 1.03 99110-S2000         ',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600',
+      b'\xf1\x00TM ESC \x02 102\x18\x07\x01 58910-S2600',
+      b'\xf1\x00TM ESC \x02 103\x18\x11\x07 58910-S2600',
+      b'\xf1\x00TM ESC \x02 104\x19\x07\x07 58910-S2600',
+      b'\xf1\x00TM ESC \x03 103\x18\x11\x07 58910-S2600',
+      b'\xf1\x00TM ESC \x0c 103\x18\x11\x08 58910-S2650',
+      b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650',
+      b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650',
+      b'\xf1\x00TM ESC \r 104\x19\x07\x08 58910-S2650',
+      b'\xf1\x00TM ESC \r 105\x19\x05# 58910-S1500',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81606EA051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409',
+      b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8A12',
+      b'\xf1\x00TM  MDPS C 1.00 1.01 56340-S2000 9129',
+      b'\xf1\x00TM  MDPS R 1.00 1.02 57700-S1100 4TMDP102',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.01 99211-S1010 181207',
+      b'\xf1\x00TM  MFC  AT USA LHD 1.00 1.00 99211-S2000 180409',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00',
+      b'\xf1\x00bcsh8p54  U833\x00\x00\x00\x00\x00\x00TTM4V22US3_<]\xf1',
+      b'\xf1\x87LBJSGA7082574HG0\x87www\x98\x88\x88\x88\x99\xaa\xb9\x9afw\x86gx\x99\xa7\x89co\xf8\xffvU_\xffR\xaf\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\xa6\xe0\x91',
+      b'\xf1\x87LBKSGA0458404HG0vfvg\x87www\x89\x99\xa8\x99y\xaa\xa7\x9ax\x88\xa7\x88t_\xf9\xff\x86w\x8f\xff\x15x\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\x00\x00\x00',
+      b'\xf1\x87LDJUEA6010814HG1\x87w\x87x\x86gvw\x88\x88\x98\x88gw\x86wx\x88\x97\x88\x85o\xf8\xff\x86f_\xff\xd37\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g',
+      b'\xf1\x87LDJUEA6458264HG1ww\x87x\x97x\x87\x88\x88\x99\x98\x89g\x88\x86xw\x88\x97x\x86o\xf7\xffvw\x8f\xff3\x9a\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g',
+      b'\xf1\x87LDKUEA2045844HG1wwww\x98\x88x\x87\x88\x88\xa8\x88x\x99\x97\x89x\x88\xa7\x88U\x7f\xf8\xffvfO\xffC\x1e\xf1\x816W3E0051\x00\x00\xf1\x006W351_C2\x00\x006W3E0051\x00\x00TTM4T20NS3\x00\x00\x00\x00',
+      b'\xf1\x87LDKUEA9993304HG1\x87www\x97x\x87\x88\x99\x99\xa9\x99x\x99\xa7\x89w\x88\x97x\x86_\xf7\xffwwO\xffl#\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS1R\x7f\x90\n',
+      b'\xf1\x87LDLUEA6061564HG1\xa9\x99\x89\x98\x87wwwx\x88\x97\x88x\x99\xa7\x89x\x99\xa7\x89sO\xf9\xffvU_\xff<\xde\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed',
+      b'\xf1\x87LDLUEA6159884HG1\x88\x87hv\x99\x99y\x97\x89\xaa\xb8\x9ax\x99\x87\x89y\x99\xb7\x99\xa7?\xf7\xff\x97wo\xff\xf3\x05\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00',
+      b'\xf1\x87LDLUEA6852664HG1\x97wWu\x97www\x89\xaa\xc8\x9ax\x99\x97\x89x\x99\xa7\x89SO\xf7\xff\xa8\x88\x7f\xff\x03z\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed',
+      b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00',
+      b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed',
+      b'\xf1\x87SBJWAA5842214GG0\x88\x87\x88xww\x87x\x89\x99\xa8\x99\x88\x99\x98\x89w\x88\x87xw_\xfa\xfffU_\xff\xd1\x8d\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3',
+      b'\xf1\x87SBJWAA5890864GG0\xa9\x99\x89\x98\x98\x87\x98y\x89\x99\xa8\x99w\x88\x87xww\x87wvo\xfb\xffuD_\xff\x9f\xb5\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3',
+      b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x00\x00\x00\x00',
+      b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3',
+      b'\xf1\x87SBJWAA7780564GG0wvwgUUeVwwwwx\x88\x87\x88wwwwd_\xfc\xff\x86f\x7f\xff\xd7*\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0',
+      b'\xf1\x87SBJWAA8278284GG0ffvgUU\x85Xx\x88\x87\x88x\x88w\x88ww\x87w\x96o\xfd\xff\xa7U_\xff\xf2\xa0\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0',
+      b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6\x00\x00\x00\x00',
+      b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6x0\x17\xfe',
+      b'\xf1\x87SBLWAA4899564GG0VfvgUU\x85Xx\x88\x87\x88vfgf\x87wxwvO\xfb\xff\x97f\xb1\xffSB\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7\x00\x00\x00\x00',
+      b'\xf1\x87SBLWAA6622844GG0wwwwff\x86hwwwwx\x88\x87\x88\x88\x88\x88\x88\x98?\xfd\xff\xa9\x88\x7f\xffn\xe5\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7u\x1e{\x1c',
+      b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2\x00\x00\x00\x00',
+      b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2K\xdaV0',
+      b'\xf1\x87SDKXAA2443414GG1vfvgwv\x87h\x88\x88\x88\x88ww\x87wwwww\x99_\xfc\xffvD?\xffl\xd2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4G24NS6\x00\x00\x00\x00',
+    ],
+  },
+  CAR.SANTA_FE_2022: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
+      b'\xf1\x00TM__ SCC FHCUP      1.00 1.00 99110-S1500         ',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00TM ESC \x01 102!\x04\x03 58910-S2DA0',
+      b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0',
+      b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0',
+      b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
+      b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
+      b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
+      b'\xf1\x00TM ESC   103!\x030 58910-S1MA0',
+      b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0',
+      b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
+      b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0',
+      b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81HM6M1_0a0_G20',
+      b'\xf1\x81HM6M1_0a0_H00',
+      b'\xf1\x81HM6M2_0a0_G00',
+      b'\xf1\x82TACVN5GMI3XXXH0A',
+      b'\xf1\x82TACVN5GSI3XXXH0A',
+      b'\xf1\x82TMBZN5TMD3XXXG2E',
+      b'\xf1\x82TMCFD5MMCXXXXG0A',
+      b'\xf1\x87           \xf1\x81           ',
+      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
+      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50',
+      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A',
+      b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00TM  MDPS C 1.00 1.01 56310-S1AB0 4TSDC101',
+      b'\xf1\x00TM  MDPS C 1.00 1.01 56310-S1EB0 4TSDC101',
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56370-S2AA0 0B19',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.03 99211-S1500 210224',
+      b'\xf1\x00TM  MFC  AT MES LHD 1.00 1.05 99211-S1500 220126',
+      b'\xf1\x00TMA MFC  AT MEX LHD 1.00 1.01 99211-S2500 210205',
+      b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.00 99211-S2500 200720',
+      b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.01 99211-S2500 210205',
+      b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.03 99211-S2500 220414',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15',
+      b'\xf1\x00HT6WA280BLHT6WAD00A1STM2G25NH2\x00\x00\x00\x00\x00\x00\xf8\xc0\xc3\xaa',
+      b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc',
+      b'\xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6\x06\x88\xf7',
+      b'\xf1\x00T02601BL  T02800A1  VTMPT25XXX800NS4\xed\xaf\xed\xf5',
+      b'\xf1\x00T02601BL  T02900A1  VTMPT25XXW900NS1c\x918\xc5',
+      b'\xf1\x00T02601BL  T02900A1  VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
+      b'\xf1\x00T02601BL  T02900A1  VTMPT25XXX900NSA\xf3\xf4Uj',
+      b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6',
+      b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6\x06\x88\xf7',
+      b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1  \xf1\x00T02601BL  T02900A1  VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
+      b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SDMXCA8653204GN1EVugEUuWwwwwww\x87wwwwwv/\xfb\xff\xa8\x88\x9f\xff\xa5\x9c\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.SANTA_FE_HEV_2022: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-GA000 4TSHA100',
+      b'\xf1\x00TM  MDPS R 1.00 1.05 57700-CL000 4TSHP105',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.03 99211-S2500 220414',
+      b'\xf1\x00TMH MFC  AT EUR LHD 1.00 1.06 99211-S1500 220727',
+      b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
+      b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.06 99211-S1500 220727',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14',
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f',
+      b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x87391312MTC1',
+      b'\xf1\x87391312MTE0',
+      b'\xf1\x87391312MTL0',
+    ],
+  },
+  CAR.SANTA_FE_PHEV_2022: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00TMhe SCC FHCUP      1.00 1.01 99110-CL500         ',
+      b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310CLEC0\x00 4TSHC102',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
+      b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.06 99211-S1500 220727',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
+      b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe',
+      b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x87391312MTF0',
+      b'\xf1\x87391312MTF1',
+    ],
+  },
+  CAR.CUSTIN_1ST_GEN: {
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00KU__ SCC F-CUP      1.00 1.01 99110-O3000         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00KU  MDPS C 1.00 1.01 56310/O3100 4KUCC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00KU2 MFC  AT CHN LHD 1.00 1.02 99211-O3000 220923',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x87391212MEC0',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U928\x00\x00\x00\x00\x00\x00SKU0T15KB2\x92U\xf9M',
+    ],
+  },
+  CAR.KIA_STINGER: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5000         ',
+      b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5100         ',
+      b'\xf1\x00CK__ SCC F_CUP      1.00 1.02 96400-J5100         ',
+      b'\xf1\x00CK__ SCC F_CUP      1.00 1.03 96400-J5100         ',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00',
+      b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00',
+      b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5200 4C2CL104',
+      b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5220 4C2VL104',
+      b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5420 4C4VL104',
+      b'\xf1\x00CK  MDPS R 1.00 1.06 57700-J5220 4C2VL106',
+      b'\xf1\x00CK  MDPS R 1.00 1.06 57700-J5420 4C4VL106',
+      b'\xf1\x00CK  MDPS R 1.00 1.07 57700-J5220 4C2VL107',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CK  MFC  AT EUR LHD 1.00 1.03 95740-J5000 170822',
+      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.03 95740-J5000 170822',
+      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.04 95740-J5000 180504',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5',
+      b'\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
+      b'\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SCK0T33NB2\xb3\xee\xba\xdc',
+      b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
+      b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5',
+      b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
+      b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x89E21\x00\x00\x00\x00\x00\x00\x00\xf1\x82SCK0T33NB0',
+      b'\xf1\x87VDHLG17034412DK2vD6DfVvVTD$D\x99w\x88\x98EDEDeT6DgfO\xff\xc3=\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
+      b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
+      b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S',
+      b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2',
+      b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94',
+    ],
+  },
+  CAR.KIA_STINGER_2022: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CK__ SCC F-CUP      1.00 1.00 99110-J5500         ',
+      b'\xf1\x00CK__ SCC FHCUP      1.00 1.00 99110-J5500         ',
+      b'\xf1\x00CK__ SCC FHCUP      1.00 1.00 99110-J5600         ',
+      b'\xf1\x00CK__ SCC FHCUP      1.00 1.01 99110-J5100         ',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81640N2051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81HM6M1_0a0_H00',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5300 4C2CL503',
+      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5320 4C2VL503',
+      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5380 4C2VR503',
+      b'\xf1\x00CK  MDPS R 1.00 5.04 57700-J5520 4C4VL504',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CK  MFC  AT AUS RHD 1.00 1.00 99211-J5500 210622',
+      b'\xf1\x00CK  MFC  AT KOR LHD 1.00 1.00 99211-J5500 210622',
+      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.00 99211-J5500 210622',
+      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.03 99211-J5000 201209',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2',
+      b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00SCK0T33NH07\xdf\xf0\xc1',
+      b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00TCK0T33NH0%g~\xd3',
+      b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6',
+    ],
+  },
+  CAR.PALISADE: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00LX2 SCC FHCUP      1.00 1.04 99110-S8100         ',
+      b'\xf1\x00LX2_ SCC F-CUP      1.00 1.04 99110-S8100         ',
+      b'\xf1\x00LX2_ SCC F-CUP      1.00 1.05 99110-S8100         ',
+      b'\xf1\x00LX2_ SCC FHCU-      1.00 1.05 99110-S8100         ',
+      b'\xf1\x00LX2_ SCC FHCUP      1.00 1.00 99110-S8110         ',
+      b'\xf1\x00LX2_ SCC FHCUP      1.00 1.04 99110-S8100         ',
+      b'\xf1\x00LX2_ SCC FHCUP      1.00 1.05 99110-S8100         ',
+      b'\xf1\x00ON__ FCA FHCUP      1.00 1.01 99110-S9110         ',
+      b'\xf1\x00ON__ FCA FHCUP      1.00 1.02 99110-S9100         ',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360',
+      b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360',
+      b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330',
+      b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330',
+      b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330',
+      b'\xf1\x00LX ESC \x0b 103\x19\t\t 58910-S8350',
+      b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360',
+      b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360',
+      b'\xf1\x00ON ESC \x01 101\x19\t\x08 58910-S9360',
+      b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
+      b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320',
+      b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81640K0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81640S1051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103',
+      b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103',
+      b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103',
+      b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104',
+      b'\xf1\x00ON  MDPS C 1.00 1.00 56340-S9000 8B13',
+      b'\xf1\x00ON  MDPS C 1.00 1.01 56340-S9000 9201',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.00 99211-S8110 210226',
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.03 99211-S8100 190125',
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.05 99211-S8100 190909',
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.07 99211-S8100 200422',
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.08 99211-S8100 200903',
+      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9100 181105',
+      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.03 99211-S9100 200720',
+      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.04 99211-S9100 211227',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
+      b'\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
+      b'\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00TON2G38NB5j\x94.\xde',
+      b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1',
+      b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8",
+      b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
+      b'\xf1\x87LBLUFN655162KF36\x98\x88\x88\x88\x98\x88\x88\x88x\x99\xa7\x89x\x99\xa7\x89x\x99\x97\x89g\x7f\xf7\xffwU_\xff\xe9!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
+      b'\xf1\x87LBLUFN731381KF36\xb9\x99\x89\x98\x98\x88\x88\x88\x89\x99\xa8\x99\x88\x99\xa8\x89\x88\x88\x98\x88V\x7f\xf6\xff\x99w\x8f\xff\xad\xd8\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
+      b'\xf1\x87LDKVAA0028604HH1\xa8\x88x\x87vgvw\x88\x99\xa8\x89gw\x86ww\x88\x97x\x97o\xf9\xff\x97w\x7f\xffo\x02\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
+      b'\xf1\x87LDKVAA3068374HH1wwww\x87xw\x87y\x99\xa7\x99w\x88\x87xw\x88\x97x\x85\xaf\xfa\xffvU/\xffU\xdc\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
+      b'\xf1\x87LDKVBN382172KF26\x98\x88\x88\x88\xa8\x88\x88\x88x\x99\xa7\x89\x87\x88\x98x\x98\x99\xa9\x89\xa5_\xf6\xffDDO\xff\xcd\x16\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
+      b'\xf1\x87LDKVBN424201KF26\xba\xaa\x9a\xa9\x99\x99\x89\x98\x89\x99\xa8\x99\x88\x99\x98\x89\x88\x99\xa8\x89v\x7f\xf7\xffwf_\xffq\xa6\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
+      b'\xf1\x87LDKVBN540766KF37\x87wgv\x87w\x87xx\x99\x97\x89v\x88\x97h\x88\x88\x88\x88x\x7f\xf6\xffvUo\xff\xd3\x01\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
+      b'\xf1\x87LDLVAA4225634HH1\x98\x88\x88\x88eUeVx\x88\x87\x88g\x88\x86xx\x88\x87\x88\x86o\xf9\xff\x87w\x7f\xff\xf2\xf7\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
+      b'\xf1\x87LDLVAA4478824HH1\x87wwwvfvg\x89\x99\xa8\x99w\x88\x87x\x89\x99\xa8\x99\xa6o\xfa\xfffU/\xffu\x92\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
+      b'\xf1\x87LDLVAA4777834HH1\x98\x88x\x87\x87wwwx\x88\x87\x88x\x99\x97\x89x\x88\x97\x88\x86o\xfa\xff\x86fO\xff\x1d9\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
+      b'\xf1\x87LDLVAA5194534HH1ffvguUUUx\x88\xa7\x88h\x99\x96\x89x\x88\x97\x88ro\xf9\xff\x98wo\xff\xaaM\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
+      b'\xf1\x87LDLVAA5949924HH1\xa9\x99y\x97\x87wwwx\x99\x97\x89x\x99\xa7\x89x\x99\xa7\x89\x87_\xfa\xffeD?\xff\xf1\xfd\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
+      b'\xf1\x87LDLVBN560098KF26\x86fff\x87vgfg\x88\x96xfw\x86gfw\x86g\x95\xf6\xffeU_\xff\x92c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
+      b'\xf1\x87LDLVBN602045KF26\xb9\x99\x89\x98\x97vwgy\xaa\xb7\x9af\x88\x96hw\x99\xa7y\xa9\x7f\xf5\xff\x99w\x7f\xff,\xd3\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN628911KF26\xa9\x99\x89\x98\x98\x88\x88\x88y\x99\xa7\x99fw\x86gw\x88\x87x\x83\x7f\xf6\xff\x98wo\xff2\xda\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN645817KF37\x87www\x98\x87xwx\x99\x97\x89\x99\x99\x99\x99g\x88\x96x\xb6_\xf7\xff\x98fo\xff\xe2\x86\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN662115KF37\x98\x88\x88\x88\xa8\x88\x88\x88x\x99\x97\x89x\x99\xa7\x89\x88\x99\xa8\x89\x88\x7f\xf7\xfffD_\xff\xdc\x84\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN667933KF37\xb9\x99\x89\x98\xb9\x99\x99\x99x\x88\x87\x88w\x88\x87x\x88\x88\x98\x88\xcbo\xf7\xffe3/\xffQ!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN673087KF37\x97www\x86fvgx\x99\x97\x89\x99\xaa\xa9\x9ag\x88\x86x\xe9_\xf8\xff\x98w\x7f\xff"\xad\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN673841KF37\x98\x88x\x87\x86g\x86xy\x99\xa7\x99\x88\x99\xa8\x89w\x88\x97xdo\xf5\xff\x98\x88\x8f\xffT\xec\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN681363KF37\x98\x88\x88\x88\x97x\x87\x88y\xaa\xa7\x9a\x88\x88\x98\x88\x88\x88\x88\x88vo\xf6\xffvD\x7f\xff%v\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN713782KF37\x99\x99y\x97\x98\x88\x88\x88x\x88\x97\x88\x88\x99\x98\x89\x88\x99\xa8\x89\x87o\xf7\xffeU?\xff7,\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN713890KF26\xb9\x99\x89\x98\xa9\x99\x99\x99x\x99\x97\x89\x88\x99\xa8\x89\x88\x99\xb8\x89Do\xf7\xff\xa9\x88o\xffs\r\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN733215KF37\x99\x98y\x87\x97wwwi\x99\xa6\x99x\x99\xa7\x89V\x88\x95h\x86o\xf7\xffeDO\xff\x12\xe7\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN750044KF37\xca\xa9\x8a\x98\xa7wwwy\xaa\xb7\x9ag\x88\x96x\x88\x99\xa8\x89\xb9\x7f\xf6\xff\xa8w\x7f\xff\xbe\xde\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN752612KF37\xba\xaa\x8a\xa8\x87w\x87xy\xaa\xa7\x9a\x88\x99\x98\x89x\x88\x97\x88\x96o\xf6\xffvU_\xffh\x1b\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN755553KF37\x87xw\x87\x97w\x87xy\x99\xa7\x99\x99\x99\xa9\x99Vw\x95gwo\xf6\xffwUO\xff\xb5T\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
+      b'\xf1\x87LDLVBN757883KF37\x98\x87xw\x98\x87\x88xy\xaa\xb7\x9ag\x88\x96x\x89\x99\xa8\x99e\x7f\xf6\xff\xa9\x88o\xff5\x15\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
+      b'\xf1\x87LDMVBN778156KF37\x87vWe\xa9\x99\x99\x99y\x99\xb7\x99\x99\x99\x99\x99x\x99\x97\x89\xa8\x7f\xf8\xffwf\x7f\xff\x82_\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
+      b'\xf1\x87LDMVBN780576KF37\x98\x87hv\x97x\x97\x89x\x99\xa7\x89\x88\x99\x98\x89w\x88\x97x\x98\x7f\xf7\xff\xba\x88\x8f\xff\x1e0\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
+      b'\xf1\x87LDMVBN783485KF37\x87www\x87vwgy\x99\xa7\x99\x99\x99\xa9\x99Vw\x95g\x89_\xf6\xff\xa9w_\xff\xc5\xd6\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
+      b'\xf1\x87LDMVBN811844KF37\x87vwgvfffx\x99\xa7\x89Vw\x95gg\x88\xa6xe\x8f\xf6\xff\x97wO\xff\t\x80\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
+      b'\xf1\x87LDMVBN830601KF37\xa7www\xa8\x87xwx\x99\xa7\x89Uw\x85Ww\x88\x97x\x88o\xf6\xff\x8a\xaa\x7f\xff\xe2:\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
+      b'\xf1\x87LDMVBN848789KF37\x87w\x87x\x87w\x87xy\x99\xb7\x99\x87\x88\x98x\x88\x99\xa8\x89\x87\x7f\xf6\xfffUo\xff\xe3!\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
+      b'\xf1\x87LDMVBN851595KF37\x97wgvvfffx\x99\xb7\x89\x88\x99\x98\x89\x87\x88\x98x\x99\x7f\xf7\xff\x97w\x7f\xff@\xf3\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
+      b'\xf1\x87LDMVBN871852KF37\xb9\x99\x99\x99\xa8\x88\x88\x88y\x99\xa7\x99x\x99\xa7\x89\x88\x88\x98\x88\x89o\xf7\xff\xaa\x88o\xff\x0e\xed\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
+      b'\xf1\x87LDMVBN873175KF26\xa8\x88\x88\x88vfVex\x99\xb7\x89\x88\x99\x98\x89x\x88\x97\x88f\x7f\xf7\xff\xbb\xaa\x8f\xff,\x04\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
+      b'\xf1\x87LDMVBN879401KF26veVU\xa8\x88\x88\x88g\x88\xa6xVw\x95gx\x88\xa7\x88v\x8f\xf9\xff\xdd\xbb\xbf\xff\xb3\x99\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
+      b'\xf1\x87LDMVBN881314KF37\xa8\x88h\x86\x97www\x89\x99\xa8\x99w\x88\x97xx\x99\xa7\x89\xca\x7f\xf8\xff\xba\x99\x8f\xff\xd8v\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
+      b'\xf1\x87LDMVBN888651KF37\xa9\x99\x89\x98vfff\x88\x99\x98\x89w\x99\xa7y\x88\x88\x98\x88D\x8f\xf9\xff\xcb\x99\x8f\xff\xa5\x1e\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
+      b'\xf1\x87LDMVBN889419KF37\xa9\x99y\x97\x87w\x87xx\x88\x97\x88w\x88\x97x\x88\x99\x98\x89e\x9f\xf9\xffeUo\xff\x901\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
+      b'\xf1\x87LDMVBN895969KF37vefV\x87vgfx\x99\xa7\x89\x99\x99\xb9\x99f\x88\x96he_\xf7\xffxwo\xff\x14\xf9\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
+      b'\xf1\x87LDMVBN899222KF37\xa8\x88x\x87\x97www\x98\x99\x99\x89\x88\x99\x98\x89f\x88\x96hdo\xf7\xff\xbb\xaa\x9f\xff\xe2U\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
+      b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
+    ],
+  },
+  CAR.VELOSTER: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JS__ SCC H-CUP      1.00 1.02 95650-J3200         ',
+      b'\xf1\x00JS__ SCC HNCUP      1.00 1.02 95650-J3100         ',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816V8RAC00121.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x01TJS-JDK06F200H0A',
+      b'\x01TJS-JNU06F200H0A',
+      b'391282BJF5 ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00JSL MDPS C 1.00 1.03 56340-J3000 8308',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JS  LKAS AT KOR LHD 1.00 1.03 95740-J3000 K33',
+      b'\xf1\x00JS  LKAS AT USA LHD 1.00 1.02 95740-J3000 K32',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16KS2\x0e\xba\x1e\xa2',
+      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\x00\x00\x00\x00',
+      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\xba\x02\xb8\x80',
+    ],
+  },
+  CAR.GENESIS_G70: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IK__ SCC F-CUP      1.00 1.01 96400-G9100         ',
+      b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IK  MDPS R 1.00 1.06 57700-G9420 4I4VL106',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda',
+      b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\x7f\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda',
+    ],
+  },
+  CAR.GENESIS_G70_2020: {
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IK  MDPS R 1.00 1.07 57700-G9220 4I2VL107',
+      b'\xf1\x00IK  MDPS R 1.00 1.07 57700-G9420 4I4VL107',
+      b'\xf1\x00IK  MDPS R 1.00 1.08 57700-G9200 4I2CL108',
+      b'\xf1\x00IK  MDPS R 1.00 1.08 57700-G9420 4I4VL108',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
+      b'\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz',
+      b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00',
+      b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81',
+      b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ',
+      b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         \xf1\xa01.02',
+      b'\xf1\x00IK__ SCC FHCUP      1.00 1.02 96400-G9000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IK  MFC  AT KOR LHD 1.00 1.01 95740-G9000 170920',
+      b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.GENESIS_G80: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DH__ SCC F-CUP      1.00 1.01 96400-B1120         ',
+      b'\xf1\x00DH__ SCC FHCUP      1.00 1.01 96400-B1110         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DH  LKAS AT KOR LHD 1.01 1.02 95895-B1500 170810',
+      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.01 95895-B1500 161014',
+      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.02 95895-B1500 170810',
+      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.03 95895-B1500 180713',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0G33KH2\xae\xde\xd5!',
+      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH2j\x9dA\x1c',
+      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0T33NH3\x97\xe6\xbc\xb8',
+      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00TDH0G38NH3:-\xa9n',
+      b'\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SDH0T33NH4\xd7O\x9e\xc9',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81640A4051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.GENESIS_G90: {
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
+      b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00HI__ SCC F-CUP      1.00 1.01 96400-D2100         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00HI  LKAS AT USA LHD 1.00 1.00 95895-D2020 160302',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x810000000000\x00',
+    ],
+  },
+  CAR.KONA: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00OS__ SCC F-CUP      1.00 1.00 95655-J9200         ',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'"\x01TOS-0NU06F301J02',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00OS  MDPS C 1.00 1.05 56310J9030\x00 4OSDC105',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U2VE051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VE051\x00\x00DOS4T16NS3\x00\x00\x00\x00',
+    ],
+  },
+  CAR.KIA_CEED: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CD__ SCC F-CUP      1.00 1.02 99110-J7000         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00CD  MDPS C 1.00 1.06 56310-XX000 4CDEC106',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CD  LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x01TCD-JECU4F202H0K',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1\x00\x00\x00\x00',
+      b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1U\x867Z',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00CD ESC \x03 102\x18\x08\x05 58920-J7350',
+    ],
+  },
+  CAR.KIA_FORTE: {
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00BD  MDPS C 1.00 1.02 56310-XX000 4BD2C102',
+      b'\xf1\x00BD  MDPS C 1.00 1.08 56310/M6300 4BDDC108',
+      b'\xf1\x00BD  MDPS C 1.00 1.08 56310M6300\x00 4BDDC108',
+      b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00BD  LKAS AT USA LHD 1.00 1.04 95740-M6000 J33',
+      b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00BDPE_SCC FHCUPC     1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x00BD__ SCC H-CUP      1.00 1.02 99110-M6000         ',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x01TBDM1NU06F200H01',
+      b'391182B945\x00',
+      b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00',
+      b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00',
+      b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3",
+    ],
+  },
+  CAR.KIA_K5_2021: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
+      b'\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2000         ',
+      b'\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2100         ',
+      b'\xf1\x00DL3_ SCC FHCUP      1.00 1.04 99110-L2100         ',
+      b'\xf1\x8799110L2000\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2000         ',
+      b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
+      b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2100         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
+      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102',
+      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 4DLAC102',
+      b'\xf1\x8756310-L3110\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
+      b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
+      b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DL3 MFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
+      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.03 99210-L3000 200915',
+      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.04 99210-L3000 210208',
+      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.05 99210-L3000 211222',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00DL ESC \x01 104 \x07\x12 58910-L2200',
+      b'\xf1\x00DL ESC \x06 101 \x04\x02 58910-L3200',
+      b'\xf1\x00DL ESC \x06 103"\x08\x06 58910-L3200',
+      b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800',
+      b'\xf1\x8758910-L3200\xf1\x00DL ESC \x06 101 \x04\x02 58910-L3200',
+      b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600',
+      b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81HM6M2_0a0_DQ0',
+      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DLDWN5TMDCXXXJ1B',
+      b'\xf1\x87391212MKT0',
+      b'\xf1\x87391212MKT3',
+      b'\xf1\x87391212MKV0',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00HT6TA261BLHT6TAB00A1SDL0C20KS0\x00\x00\x00\x00\x00\x00\\\x9f\xa5\x15',
+      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8',
+      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL2T16NB2.\x13\xf6\xed',
+      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
+      b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  WDL3T25XXX730NS2b\x1f\xb8%',
+      b'\xf1\x87SALFEA5652514GK2UUeV\x88\x87\x88xxwg\x87ww\x87wwfwvd/\xfb\xffvU_\xff\x93\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8',
+      b'\xf1\x87SALFEA6046104GK2wvwgeTeFg\x88\x96xwwwwffvfe?\xfd\xff\x86fo\xff\x97A\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8',
+      b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
+    ],
+  },
+  CAR.KIA_K5_HEV_2020: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DLhe SCC FHCUP      1.00 1.02 99110-L7000         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102',
+      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.02 99210-L2000 200309',
+      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x87391162JLA0',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00PSBG2323  E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz',
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2',
+    ],
+  },
+  CAR.KONA_EV: {
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000',
+      b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
+      b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000',
+      b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000',
+      b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00OE2 LKAS AT EUR LHD 1.00 1.00 95740-K4200 200',
+      b'\xf1\x00OSE LKAS AT EUR LHD 1.00 1.00 95740-K4100 W40',
+      b'\xf1\x00OSE LKAS AT EUR RHD 1.00 1.00 95740-K4100 W40',
+      b'\xf1\x00OSE LKAS AT KOR LHD 1.00 1.00 95740-K4100 W40',
+      b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4300 W50',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00OS  MDPS C 1.00 1.03 56310/K4550 4OEDC103',
+      b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4000\x00 4OEDC104',
+      b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4050\x00 4OEDC104',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00OSev SCC F-CUP      1.00 1.00 99110-K4000         ',
+      b'\xf1\x00OSev SCC F-CUP      1.00 1.00 99110-K4100         ',
+      b'\xf1\x00OSev SCC F-CUP      1.00 1.01 99110-K4000         ',
+      b'\xf1\x00OSev SCC FNCUP      1.00 1.01 99110-K4000         ',
+    ],
+  },
+  CAR.KONA_EV_2022: {
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010',
+      b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010',
+      b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010',
+      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x02 101 \x11\x13 58520-K4010',
+      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
+      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00OSP LKA  AT AUS RHD 1.00 1.04 99211-J9200 904',
+      b'\xf1\x00OSP LKA  AT CND LHD 1.00 1.02 99211-J9110 802',
+      b'\xf1\x00OSP LKA  AT EUR LHD 1.00 1.04 99211-J9200 904',
+      b'\xf1\x00OSP LKA  AT EUR RHD 1.00 1.02 99211-J9110 802',
+      b'\xf1\x00OSP LKA  AT EUR RHD 1.00 1.04 99211-J9200 904',
+      b'\xf1\x00OSP LKA  AT USA LHD 1.00 1.04 99211-J9200 904',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310-K4271 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-K4500      \x00\x00\x00',
+    ],
+  },
+  CAR.KONA_EV_2ND_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SXev RDR -----      1.00 1.00 99110-BF000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SX2EMFC  AT KOR LHD 1.00 1.00 99211-BF000 230410',
+    ],
+  },
+  CAR.KIA_NIRO_EV: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
+      b'\xf1\x00DEev SCC F-CUP      1.00 1.02 96400-Q4000         ',
+      b'\xf1\x00DEev SCC F-CUP      1.00 1.02 96400-Q4100         ',
+      b'\xf1\x00DEev SCC F-CUP      1.00 1.03 96400-Q4100         ',
+      b'\xf1\x00DEev SCC FHCUP      1.00 1.03 96400-Q4000         ',
+      b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
+      b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4100         ',
+      b'\xf1\x8799110Q4500\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4500         ',
+      b'\xf1\x8799110Q4600\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4600         ',
+      b'\xf1\x8799110Q4600\xf1\x00DEev SCC FHCUP      1.00 1.00 99110-Q4600         ',
+      b'\xf1\x8799110Q4600\xf1\x00DEev SCC FNCUP      1.00 1.00 99110-Q4600         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00DE  MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104',
+      b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105',
+      b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4000 191211',
+      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4100 200706',
+      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.03 95740-Q4000 180821',
+      b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.03 95740-Q4000 180821',
+      b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.00 99211-Q4000 191211',
+      b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.01 99211-Q4500 210428',
+      b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.03 95740-Q4000 180821',
+    ],
+  },
+  CAR.KIA_NIRO_EV_2ND_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SG2_ RDR -----      1.00 1.01 99110-AT000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SG2EMFC  AT EUR LHD 1.01 1.09 99211-AT000 220801',
+      b'\xf1\x00SG2EMFC  AT USA LHD 1.01 1.09 99211-AT000 220801',
+    ],
+  },
+  CAR.KIA_NIRO_PHEV: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL2&[\xc3\x01',
+      b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00',
+      b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92',
+      b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00',
+      b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91",
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00DE  MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
+      b'\xf1\x00DE  MDPS C 1.00 1.09 56310G5301\x00 4DEHC109',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.00 95740-G5010 170117',
+      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.01 95740-G5010 170424',
+      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.05 99211-G5000 190826',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DEhe SCC F-CUP      1.00 1.02 99110-G5100         ',
+      b'\xf1\x00DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
+    ],
+  },
+  CAR.KIA_NIRO_PHEV_2022: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00DE  MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.00 99211-G5500 210428',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DEhe SCC F-CUP      1.00 1.00 99110-G5600         ',
+    ],
+  },
+  CAR.KIA_NIRO_HEV_2021: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\x00\x00\x00\x00',
+      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\xb9\xd3\xfaW',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00DE  MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DEH MFC  AT USA LHD 1.00 1.00 99211-G5500 210428',
+      b'\xf1\x00DEH MFC  AT USA LHD 1.00 1.07 99211-G5000 201221',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DEhe SCC FHCUP      1.00 1.00 99110-G5600         ',
+    ],
+  },
+  CAR.KIA_SELTOS: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x8799110Q5100\xf1\x00SP2_ SCC FHCUP      1.01 1.05 99110-Q5100         ',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x8758910-Q5450\xf1\x00SP ESC \x07 101\x19\t\x05 58910-Q5450',
+      b'\xf1\x8758910-Q5450\xf1\x00SP ESC \t 101\x19\t\x05 58910-Q5450',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x01TSP2KNL06F100J0K',
+      b'\x01TSP2KNL06F200J0K',
+      b'\xf1\x81616D2051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81616D5051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00SP2 MDPS C 1.00 1.04 56300Q5200          ',
+      b'\xf1\x00SP2 MDPS C 1.01 1.05 56300Q5200          ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SP2 MFC  AT USA LHD 1.00 1.04 99210-Q5000 191114',
+      b'\xf1\x00SP2 MFC  AT USA LHD 1.00 1.05 99210-Q5000 201012',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x87954A22D200\xf1\x81T01950A1  \xf1\x00T0190XBL  T01950A1  DSP2T16X4X950NS6\xd30\xa5\xb9',
+      b'\xf1\x87954A22D200\xf1\x81T01950A1  \xf1\x00T0190XBL  T01950A1  DSP2T16X4X950NS8\r\xfe\x9c\x8b',
+      b'\xf1\x87CZLUB49370612JF7h\xa8y\x87\x99\xa7hv\x99\x97fv\x88\x87x\x89x\x96O\xff\x88\xff\xff\xff.@\xf1\x816V2C2051\x00\x00\xf1\x006V2B0_C2\x00\x006V2C2051\x00\x00CSP4N20NS3\x00\x00\x00\x00',
+    ],
+  },
+  CAR.KIA_OPTIMA_G4: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4100         ',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6J0051\x00\x00\xf1\x006T6J0_C2\x00\x006T6J0051\x00\x00TJF0T20NSB\x00\x00\x00\x00',
+    ],
+  },
+  CAR.KIA_OPTIMA_G4_FL: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4110         ',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b"\xf1\x00JF ESC \t 11 \x18\x03' 58920-D5260",
+      b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32',
+      b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW',
+      b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',
+      b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.',
+      b'\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01',
+      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW',
+      b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',
+      b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.',
+      b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01',
+      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4',
+    ],
+  },
+  CAR.KIA_OPTIMA_H: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JFhe SCC FNCUP      1.00 1.00 96400-A8000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JFP LKAS AT EUR LHD 1.00 1.03 95895-A8100 160711',
+    ],
+  },
+  CAR.KIA_OPTIMA_H_G4_FL: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JFhe SCC FHCUP      1.00 1.01 99110-A8500         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JFH MFC  AT KOR LHD 1.00 1.01 95895-A8200 180323',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.ELANTRA: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00AD  LKAS AT USA LHD 1.01 1.01 95895-F2000 251',
+      b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\x00\x00\x00\x00',
+      b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\xc5\x92\x9e\x8a',
+      b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20SS2.~\x90\x87',
+      b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD\x00\x00\x00\x00',
+      b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD(\xfcA\x9d',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8161657051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816165D051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816165E051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x8161698051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00AD ESC \x11 11 \x18\x05\x06 58910-F2840',
+      b'\xf1\x00AD ESC \x11 12 \x15\t\t 58920-F2810',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00AD__ SCC H-CUP      1.00 1.00 99110-F2100         ',
+      b'\xf1\x00AD__ SCC H-CUP      1.00 1.01 96400-F2100         ',
+    ],
+  },
+  CAR.ELANTRA_GT_I30: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00PD  LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51',
+      b'\xf1\x00PD  LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk',
+      b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00PD  MDPS C 1.00 1.00 56310G3300\x00 4PDDC100',
+      b'\xf1\x00PD  MDPS C 1.00 1.04 56310/G3300 4PDDC104',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350',
+      b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00PD__ SCC F-CUP      1.00 1.00 96400-G3300         ',
+      b'\xf1\x00PD__ SCC FNCUP      1.01 1.00 96400-G3000         ',
+    ],
+  },
+  CAR.ELANTRA_2021: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CN7_ SCC F-CUP      1.00 1.01 99110-AA000         ',
+      b'\xf1\x00CN7_ SCC FHCUP      1.00 1.01 99110-AA000         ',
+      b'\xf1\x00CN7_ SCC FNCUP      1.00 1.01 99110-AA000         ',
+      b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP      1.00 1.01 99110-AA000         ',
+      b'\xf1\x8799110AA000\xf1\x00CN7_ SCC FHCUP      1.00 1.01 99110-AA000         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
+      b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.00 99210-AB000 200819',
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.01 99210-AB000 210205',
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AB000 220426',
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.06 99210-AA000 220111',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
+      b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800',
+      b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800',
+      b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\xe8\xba\xce\xfa',
+      b'\xf1\x87CXLQF40189012JL2f\x88\x86\x88\x88vUex\xb8\x88\x88\x88\x87\x88\x89fh?\xffz\xff\xff\xff\x08z\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87CXMQFM1916035JB2\x88vvgg\x87Wuwgev\xa9\x98\x88\x98h\x99\x9f\xffh\xff\xff\xff\xa5\xee\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87CXMQFM2135005JB2E\xb9\x89\x98W\xa9y\x97h\xa9\x98\x99wxvwh\x87\x7f\xffx\xff\xff\xff,,\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87CXMQFM2728305JB2E\x97\x87xw\x87vwgw\x84x\x88\x88w\x89EI\xbf\xff{\xff\xff\xff\xe6\x0e\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87CXMQFM3806705JB2\x89\x87wwx\x88g\x86\x99\x87\x86xwwv\x88yv\x7f\xffz\xff\xff\xffV\x15\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81HM6M2_0a0_FF0',
+      b'\xf1\x82CNCVD0AMFCXCSFFB',
+      b'\xf1\x82CNCWD0AMFCXCSFFA',
+      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80',
+      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0',
+    ],
+  },
+  CAR.ELANTRA_HEV_2021: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
+      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.05 99210-AA000 210930',
+      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.07 99210-AA000 220426',
+      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.08 99210-AA000 220728',
+      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.09 99210-AA000 221108',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
+      b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103',
+      b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104',
+      b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102',
+      b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00',
+      b'\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\xb9?A\xaa',
+      b'\xf1\x006U3L0_C2\x00\x006U3K9051\x00\x00HCN0G16NS1\x00\x00\x00\x00',
+      b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00',
+      b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\xb9?A\xaa',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.KONA_HEV: {
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00OS IEB \x01 104 \x11  58520-CM000',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00OShe SCC FNCUP      1.00 1.01 99110-CM000         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00OS  MDPS C 1.00 1.00 56310CM030\x00 4OHDC100',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HOS0G16DS1\x16\xc7\xb0\xd9',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.SONATA_HYBRID: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
+      b'\xf1\x00DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
+      b'\xf1\x8799110L5000\xf1\x00DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
+      b'\xf1\x8799110L5000\xf1\x00DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
+      b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',
+      b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103',
+      b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102',
+      b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.04 99211-L1000 191016',
+      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.05 99211-L1000 201109',
+      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.06 99211-L1000 210325',
+      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00PSBG2323  E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e',
+      b'\xf1\x00PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab',
+      b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E09\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2323  E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e',
+      b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
+      b'\xf1\x87PCU\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x87391062J002',
+      b'\xf1\x87391162J012',
+      b'\xf1\x87391162J013',
+      b'\xf1\x87391162J014',
+    ],
+  },
+  CAR.KIA_SORENTO: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00UM ESC \x0c 12 \x18\x05\x06 58910-C6330',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00UM__ SCC F-CUP      1.00 1.00 96400-C6500         ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x87LDKUAA0348164HE3\x87www\x87www\x88\x88\xa8\x88w\x88\x97xw\x88\x97x\x86o\xf8\xff\x87f\x7f\xff\x15\xe0\xf1\x81U811\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U811\x00\x00\x00\x00\x00\x00TUM4G33NL3V|DG',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.KIA_SORENTO_PHEV_4TH_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQhe SCC FHCUP      1.00 1.06 99110-P4000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.10 99210-P2000 210406',
+      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.11 99210-P2000 211217',
+    ],
+  },
+  CAR.KIA_EV6: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CV1 MFC  AT EUR LHD 1.00 1.05 99210-CV000 211027',
+      b'\xf1\x00CV1 MFC  AT EUR LHD 1.00 1.06 99210-CV000 220328',
+      b'\xf1\x00CV1 MFC  AT EUR RHD 1.00 1.00 99210-CV100 220630',
+      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.04 99210-CV000 210823',
+      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.05 99210-CV000 211027',
+      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.06 99210-CV000 220328',
+      b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.00 99210-CV100 220630',
+      b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.05 99210-CV000 211027',
+      b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.06 99210-CV000 220328',
+    ],
+  },
+  CAR.IONIQ_5: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
+      b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
+      b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.02 99211-GI010 211206',
+      b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.05 99211-GI010 220614',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI020 230719',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
+    ],
+  },
+  CAR.IONIQ_6: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CE  MFC  AT EUR LHD 1.00 1.03 99211-KL000 221011',
+      b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
+    ],
+  },
+  CAR.TUCSON_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
+      b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
+    ],
+  },
+  CAR.TUCSON_HYBRID_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
+      b'\xf1\x00NX4__               1.00 1.01 99110-N9000         ',
+      b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
+    ],
+  },
+  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665',
+      b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NQ5__               1.01 1.03 99110-CH000         ',
+    ],
+  },
+  CAR.SANTA_CRUZ_1ST_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.00 99110-K5000         ',
+      b'\xf1\x00NX4__               1.01 1.00 99110-K5000         ',
+    ],
+  },
+  CAR.KIA_SPORTAGE_5TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
+      b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662',
+      b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NQ5__               1.00 1.02 99110-P1000         ',
+      b'\xf1\x00NQ5__               1.00 1.03 99110-P1000         ',
+      b'\xf1\x00NQ5__               1.01 1.03 99110-P1000         ',
+    ],
+  },
+  CAR.GENESIS_GV70_1ST_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.01 99211-AR200 220125',
+      b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.01 99211-AR300 220125',
+      b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.04 99211-AR000 210204',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JK1_ SCC FHCUP      1.00 1.00 99110-AR200         ',
+      b'\xf1\x00JK1_ SCC FHCUP      1.00 1.00 99110-AR300         ',
+      b'\xf1\x00JK1_ SCC FHCUP      1.00 1.02 99110-AR000         ',
+    ],
+  },
+  CAR.GENESIS_GV60_EV_1ST_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.02 99211-CU000 211215',
+      b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.02 99211-CU100 211215',
+      b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.03 99211-CU000 221118',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JW1_ RDR -----      1.00 1.00 99110-CU000         ',
+    ],
+  },
+  CAR.KIA_SORENTO_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.00 99210-R5100 221019',
+      b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.03 99210-R5000 200903',
+      b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.05 99210-R5000 210623',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQ4_ SCC F-CUP      1.00 1.06 99110-P2000         ',
+      b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.06 99110-P2000         ',
+      b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.08 99110-P2000         ',
+    ],
+  },
+  CAR.KIA_NIRO_HEV_2ND_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SG2HMFC  AT USA LHD 1.01 1.08 99211-AT000 220531',
+      b'\xf1\x00SG2HMFC  AT USA LHD 1.01 1.09 99211-AT000 220801',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SG2_ RDR -----      1.00 1.01 99110-AT000         ',
+    ],
+  },
+  CAR.GENESIS_GV80: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JX1 MFC  AT USA LHD 1.00 1.02 99211-T6110 220513',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JX1_ SCC FHCUP      1.00 1.01 99110-T6100         ',
+    ],
+  },
+  CAR.KIA_CARNIVAL_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00KA4 MFC  AT KOR LHD 1.00 1.06 99210-R0000 220221',
+      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.00 99210-R0100 230105',
+      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.05 99210-R0000 201221',
+      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.06 99210-R0000 220221',
+      b'\xf1\x00KA4CMFC  AT CHN LHD 1.00 1.01 99211-I4000 210525',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00KA4_ SCC FHCUP      1.00 1.00 99110-R0100         ',
+      b'\xf1\x00KA4_ SCC FHCUP      1.00 1.03 99110-R0000         ',
+      b'\xf1\x00KA4c SCC FHCUP      1.00 1.01 99110-I4000         ',
+    ],
+  },
+  CAR.KIA_SORENTO_HEV_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.04 99210-P2000 200330',
+      b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.12 99210-P2000 230331',
+      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.11 99210-P2000 211217',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQhe SCC FHCUP      1.00 1.04 99110-P4000         ',
+      b'\xf1\x00MQhe SCC FHCUP      1.00 1.07 99110-P4000         ',
+    ],
+  },
+  CAR.KIA_K8_HEV_1ST_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00GL3HMFC  AT KOR LHD 1.00 1.03 99211-L8000 210907',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00GL3_ RDR -----      1.00 1.02 99110-L8000         ',
+    ],
+  },
+  CAR.STARIA_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00US4 MFC  AT KOR LHD 1.00 1.06 99211-CG000 230524',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00US4_ RDR -----      1.00 1.00 99110-CG000         ',
+    ],
+  },
+}
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 0bed14e65..07800a34c 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -13,6 +13,7 @@ from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.common.params import Params
 
 Ecu = car.CarParams.Ecu
+SafetyModel = car.CarParams.SafetyModel
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
@@ -20,6 +21,17 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
                 Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
 
 
+def set_safety_config_hyundai(candidate, CAN, can_fd=False):
+  platform = SafetyModel.hyundaiCanfd if can_fd else \
+             SafetyModel.hyundaiLegacy if candidate in LEGACY_SAFETY_MODE_CAR else \
+             SafetyModel.hyundai
+  cfgs = [get_safety_config(platform), ]
+  if CAN.ECAN >= 4:
+    cfgs.insert(0, get_safety_config(SafetyModel.noOutput))
+
+  return cfgs
+
+
 class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
@@ -40,7 +52,6 @@ class CarInterface(CarInterfaceBase):
     if candidate in CANFD_CAR:
       # detect HDA2 with ADAS Driving ECU
       if hda2:
-        ret.flags |= HyundaiFlags.CANFD_HDA2.value
         if 0x110 in fingerprint[CAN.CAM]:
           ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
       else:
@@ -154,13 +165,17 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1690.  # from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0
       ret.wheelbase = 3.055
       ret.steerRatio = 17.0  # from learner
+    elif candidate == CAR.STARIA_4TH_GEN:
+      ret.mass = 2205.
+      ret.wheelbase = 3.273
+      ret.steerRatio = 11.94  # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
 
     # Kia
     elif candidate == CAR.KIA_SORENTO:
       ret.mass = 1985.
       ret.wheelbase = 2.78
       ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
-    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN):
+    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_PHEV_2022):
       ret.mass = 3543. * CV.LB_TO_KG  # average of all the cars
       ret.wheelbase = 2.7
       ret.steerRatio = 13.6  # average of all the cars
@@ -286,30 +301,20 @@ class CarInterface(CarInterfaceBase):
       ret.enableBsm = 0x58b in fingerprint[0]
 
     # *** panda safety config ***
-    if candidate in CANFD_CAR:
-      cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
-      if CAN.ECAN >= 4:
-        cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
-      ret.safetyConfigs = cfgs
+    ret.safetyConfigs = set_safety_config_hyundai(candidate, CAN, can_fd=(candidate in CANFD_CAR))
 
-      if ret.flags & HyundaiFlags.CANFD_HDA2:
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
-        if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
-          ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
+    if hda2:
+      ret.flags |= HyundaiFlags.CANFD_HDA2.value
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
+
+    if candidate in CANFD_CAR:
+      if hda2 and ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
       if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
-      if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
-    else:
-      if candidate in LEGACY_SAFETY_MODE_CAR:
-        # these cars require a special panda safety mode due to missing counters and checksums in the messages
-        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
-      else:
-        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
-
-      if candidate in CAMERA_SCC_CAR:
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
 
+    if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC or candidate in CAMERA_SCC_CAR:
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
     if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
     if candidate in HYBRID_CAR:
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index ca5ab7761..b471e882c 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1,7 +1,6 @@
-# ruff: noqa: E501
 import re
 from dataclasses import dataclass
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag#, StrEnum
 from strenum import StrEnum
 from typing import Dict, List, Optional, Set, Tuple, Union
 
@@ -94,6 +93,7 @@ class CAR(StrEnum):
   SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022"
   SONATA = "HYUNDAI SONATA 2020"
   SONATA_LF = "HYUNDAI SONATA 2019"
+  STARIA_4TH_GEN = "HYUNDAI STARIA 4TH GEN"
   TUCSON = "HYUNDAI TUCSON 2019"
   PALISADE = "HYUNDAI PALISADE 2020"
   VELOSTER = "HYUNDAI VELOSTER 2019"
@@ -113,6 +113,7 @@ class CAR(StrEnum):
   KIA_NIRO_EV = "KIA NIRO EV 2020"
   KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
   KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
+  KIA_NIRO_PHEV_2022 = "KIA NIRO PLUG-IN HYBRID 2022"
   KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
   KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN"
   KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN"
@@ -190,8 +191,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
   CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
   CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
-  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo",
-                               car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
+  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
   # TODO: this is the 2024 US MY, not yet released
   CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
                                       car_parts=CarParts.common([CarHarness.hyundai_r])),
@@ -203,6 +203,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
   CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
                              car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.STARIA_4TH_GEN: HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
   CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
   CAR.TUCSON: [
     HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
@@ -249,8 +250,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
     HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
   ],
+  CAR.KIA_NIRO_PHEV_2022: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
   CAR.KIA_NIRO_HEV_2021: [
-    HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])),  # TODO: 2021 could be hyundai_d, verify
+    HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
+    HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
   ],
   CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
@@ -280,7 +283,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
   ],
   CAR.KIA_CARNIVAL_4TH_GEN: [
-    HyundaiCarInfo("Kia Carnival 2023-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
     HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
   ],
 
@@ -307,81 +310,6 @@ class Buttons:
   GAP_DIST = 3
   CANCEL = 4  # on newer models, this is a pause/resume button
 
-FINGERPRINTS = {
-  CAR.HYUNDAI_GENESIS: [{
-    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
-  },
-  {
-    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
-  },
-  {
-    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1268: 8, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1437: 8, 1456: 4
-  },
-  {
-    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4
-  },
-  {
-    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4
-  }],
-  CAR.SANTA_FE: [{
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
-  },
-  {
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
-  },
-  {
-    67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8
-  }],
-  CAR.SONATA: [
-    {67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8},
-  ],
-  CAR.SONATA_LF: [
-    {66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8},
-  ],
-  CAR.KIA_SORENTO: [{
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
-  }],
-  CAR.KIA_STINGER: [{
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
-  }],
-  CAR.GENESIS_G80: [{
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8
-  },
-  {
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 546: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1437: 8, 1456: 4, 1470: 8
-  },
-  {
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1162: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1193: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4, 1470: 8
-  }],
-  CAR.GENESIS_G90: [{
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
-  }],
-  CAR.IONIQ_EV_2020: [{
-    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
-  }],
-  CAR.IONIQ: [{
-    68:8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576:8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
-  }],
-  CAR.KONA_EV: [{
-    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
-  }],
-  CAR.KONA_EV_2022: [{
-    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8
-  }],
-  CAR.KIA_NIRO_EV: [{
-    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
-  }],
-  CAR.KIA_OPTIMA_H: [{
-    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
-  },
-  {
-    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
-  }],
-  CAR.PALISADE: [{
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8
-  }],
-}
-
 
 def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]:
   # Returns unique, platform-specific identification codes for a set of versions
@@ -402,7 +330,7 @@ def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[by
   return codes
 
 
-def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
+def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]:
   # Non-electric CAN FD platforms often do not have platform code specifiers needed
   # to distinguish between hybrid and ICE. All EVs so far are either exclusively
   # electric or specify electric in the platform code.
@@ -410,7 +338,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
   fuzzy_platform_blacklist = {str(c) for c in set(CANFD_CAR - EV_CAR)}
   candidates: Set[str] = set()
 
-  for candidate, fws in FW_VERSIONS.items():
+  for candidate, fws in offline_fw_versions.items():
     # Keep track of ECUs which pass all checks (platform codes, within date range)
     valid_found_ecus = set()
     valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
@@ -539,1577 +467,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
   match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
 )
 
-FW_VERSIONS = {
-  CAR.AZERA_6TH_GEN: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00IG__ SCC F-CU-      1.00 1.00 99110-G8100         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00IG  MDPS C 1.00 1.02 56310G8510\x00 4IGSC103',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00IG  MFC  AT MES LHD 1.00 1.04 99211-G8100 200511',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00bcsh8p54  U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.AZERA_HEV_6TH_GEN: {
-    (Ecu.fwdCamera, 0x7C4, None): [
-      b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.02 99211-G8100 191029',
-      b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.00 99211-G8000 180903',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00IG  MDPS C 1.00 1.00 56310M9600\x00 4IHSC100',
-      b'\xf1\x00IG  MDPS C 1.00 1.01 56310M9350\x00 4IH8C101',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00IGhe SCC FHCUP      1.00 1.00 99110-M9100         ',
-      b'\xf1\x00IGhe SCC FHCUP      1.00 1.01 99110-M9000         ',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`',
-      b'\xf1\x006T7N0_C2\x00\x006T7Q2051\x00\x00TIG2H24KA2\x12@\x11\xb7',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816H570051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.HYUNDAI_GENESIS: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DH LKAS 1.1 -150210',
-      b'\xf1\x00DH LKAS 1.4 -140110',
-      b'\xf1\x00DH LKAS 1.5 -140425',
-    ],
-  },
-  CAR.IONIQ: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2301 4AEHC107',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00AEH MFC  AT EUR LHD 1.00 1.00 95740-G2400 180222',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6F2051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x816U3H1051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H1051\x00\x00HAE0G16US2\x00\x00\x00\x00',
-    ],
-  },
-  CAR.IONIQ_PHEV_2019: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2100         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2501 4AEHC107',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\xdbD\r\x81',
-      b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\x00\x00\x00\x00',
-    ],
-  },
-  CAR.IONIQ_PHEV: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00AEhe SCC FHCUP      1.00 1.02 99110-G2100         ',
-      b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2200         ',
-      b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
-      b'\xf1\x00AEhe SCC F-CUP      1.00 1.02 99110-G2100         ',
-      b'\xf1\x00AEhe SCC FHCUP      1.00 1.00 99110-G2600         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2510 4APHC101',
-      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2560 4APHC101',
-      b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
-      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2310 4APHC101',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
-      b'\xf1\x00AEP MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
-      b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
-      b'\xf1\x00AEP MFC  AT EUR LHD 1.00 1.01 95740-G2600 190819',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x816U3J9051\000\000\xf1\0006U3H1_C2\000\0006U3J9051\000\000PAE0G16NL0\x82zT\xd2',
-      b'\xf1\x816U3J8051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00',
-      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00',
-      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00',
-      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt',
-      b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00',
-    ],
-  },
-  CAR.IONIQ_EV_2020: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00AEev SCC F-CUP      1.00 1.01 99110-G7000         ',
-      b'\xf1\x00AEev SCC F-CUP      1.00 1.00 99110-G7200         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G7310 4APEC101',
-      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G7560 4APEC101',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.01 95740-G2600 190819',
-      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.03 95740-G2500 190516',
-      b'\xf1\x00AEE MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
-      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2600 190730',
-    ],
-  },
-  CAR.IONIQ_EV_LTD: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00AEev SCC F-CUP      1.00 1.00 96400-G7000         ',
-      b'\xf1\x00AEev SCC F-CUP      1.00 1.00 96400-G7100         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00AE  MDPS C 1.00 1.02 56310G7300\x00 4AEEC102',
-      b'\xf1\x00AE  MDPS C 1.00 1.04 56310/G7501 4AEEC104',
-      b'\xf1\x00AE  MDPS C 1.00 1.03 56310/G7300 4AEEC103',
-      b'\xf1\x00AE  MDPS C 1.00 1.03 56310G7300\x00 4AEEC103',
-      b'\xf1\x00AE  MDPS C 1.00 1.04 56310/G7301 4AEEC104',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G7200 160418',
-      b'\xf1\x00AEE MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
-      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2300 170703',
-      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2400 180222',
-    ],
-  },
-  CAR.IONIQ_HEV_2022: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
-      b'\xf1\x00AEhe SCC FHCUP      1.00 1.00 99110-G2600         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00AEH MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00',
-      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x96\xda\xd4\xee',
-    ],
-  },
-  CAR.SONATA: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DN8_ SCC F-CU-      1.00 1.00 99110-L0000         ',
-      b'\xf1\x00DN8_ SCC F-CUP      1.00 1.00 99110-L0000         ',
-      b'\xf1\x00DN8_ SCC F-CUP      1.00 1.02 99110-L1000         ',
-      b'\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
-      b'\xf1\x00DN8_ SCC FHCUP      1.00 1.01 99110-L1000         ',
-      b'\xf1\x00DN8_ SCC FHCUP      1.00 1.02 99110-L1000         ',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
-      b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300',
-      b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300',
-      b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
-      b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
-      b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300',
-      b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100',
-      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
-      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
-      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
-      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
-      b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
-      b'\xf1\x00DN ESC \x06 107 \x07\x03 58910-L1300',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81HM6M1_0a0_F00',
-      b'\xf1\x82DNBVN5GMCCXXXDCA',
-      b'\xf1\x82DNBVN5GMCCXXXG2F',
-      b'\xf1\x82DNBWN5TMDCXXXG2E',
-      b'\xf1\x82DNCVN5GMCCXXXF0A',
-      b'\xf1\x82DNCVN5GMCCXXXG2B',
-      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
-      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DNDWN5TMDCXXXJ1A',
-      b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M10',
-      b'\xf1\x87391162M003',
-      b'\xf1\x87391162M013',
-      b'\xf1\x87391162M023',
-      b'\xf1\x87391162M010',
-      b'HM6M1_0a0_F00',
-      b'HM6M1_0a0_G20',
-      b'HM6M2_0a0_BD0',
-      b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B',
-      b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00',
-      b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00',
-      b'\xf1\x81HM6M1_0a0_G20',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',  # modified firmware
-      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102',
-      b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',  # modified firmware
-      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
-      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
-      b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
-      b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
-      b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
-      b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103',
-      b'\xf1\x8756310-L1030\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103',
-      b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
-      b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101',
-      b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
-      b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
-      b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105',
-      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
-      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.02 99211-L1000 190422',
-      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.04 99211-L1000 191016',
-      b'\xf1\x00DN8 MFC  AT RUS LHD 1.00 1.03 99211-L1000 190705',
-      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.00 99211-L0000 190716',
-      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L0000 191016',
-      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.03 99211-L0000 210603',
-      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.05 99211-L1000 201109',
-      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.06 99211-L1000 210325',
-      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1',
-      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16KB05\x95h%',
-      b'\xf1\x00HT6TA260BLHT6TA800A1TDN8C20KS4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x00HT6TA260BLHT6TA810A1TDN8M25GS0\x00\x00\x00\x00\x00\x00\xaa\x8c\xd9p',
-      b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92',
-      b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:',
-      b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[',
-      b'\xf1\x00HT6WA280BLHT6WAE10A1SDN8G25NB5\x00\x00\x00\x00\x00\x00\xe0t\xa9\xba',
-      b'\xf1\x00T02601BL  T02730A1  VDN8T25XXX730NS5\xf7_\x92\xf5',
-      b'\xf1\x00T02601BL  T02832A1  VDN8T25XXX832NS8G\x0e\xfeE',
-      b'\xf1\x00T02601BL  T02900A1  VDN8T25XXX900NSCF\xe4!Y',
-      b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VDN8T25XXX730NS5\xf7_\x92\xf5',
-      b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SAKFBA3356084GJ2\x86fvgUUuWgw\x86www\x87wffvf\xb6\xcf\xfc\xffeUO\xff\x12\x19\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SAKFBA3474944GJ2ffvgwwwwg\x88\x86x\x88\x88\x98\x88ffvfeo\xfa\xff\x86fo\xff\t\xae\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SAKFBA3475714GJ2Vfvgvg\x96yx\x88\x97\x88ww\x87ww\x88\x87xs_\xfb\xffvUO\xff\x0f\xff\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALDBA3510954GJ3ww\x87xUUuWx\x88\x87\x88\x87w\x88wvfwfc_\xf9\xff\x98wO\xffl\xe0\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA3573534GJ3\x89\x98\x89\x88EUuWgwvwwwwww\x88\x87xTo\xfa\xff\x86f\x7f\xffo\x0e\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA3601464GJ3\x88\x88\x88\x88ffvggwvwvw\x87gww\x87wvo\xfb\xff\x98\x88\x7f\xffjJ\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA3753044GJ3UUeVff\x86hwwwwvwwgvfgfvo\xf9\xfffU_\xffC\xae\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA3862294GJ3vfvgvefVxw\x87\x87w\x88\x87xwwwwc_\xf9\xff\x87w\x9f\xff\xd5\xdc\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA3873834GJ3fefVwuwWx\x88\x97\x88w\x88\x97xww\x87wU_\xfb\xff\x86f\x8f\xffN\x04\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA4525334GJ3\x89\x99\x99\x99fevWh\x88\x86\x88fwvgw\x88\x87xfo\xfa\xffuDo\xff\xd1>\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA4626804GJ3wwww\x88\x87\x88xx\x88\x87\x88wwgw\x88\x88\x98\x88\x95_\xf9\xffuDo\xff|\xe7\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA4803224GJ3wwwwwvwg\x88\x88\x98\x88wwww\x87\x88\x88xu\x9f\xfc\xff\x87f\x8f\xff\xea\xea\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA6212564GJ3\x87wwwUTuGg\x88\x86xx\x88\x87\x88\x87\x88\x98xu?\xf9\xff\x97f\x7f\xff\xb8\n\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA6347404GJ3wwwwff\x86hx\x88\x97\x88\x88\x88\x88\x88vfgf\x88?\xfc\xff\x86Uo\xff\xec/\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA6901634GJ3UUuWVeVUww\x87wwwwwvUge\x86/\xfb\xff\xbb\x99\x7f\xff]2\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALDBA7077724GJ3\x98\x88\x88\x88ww\x97ygwvwww\x87ww\x88\x87x\x87_\xfd\xff\xba\x99o\xff\x99\x01\xf1\x89HT6WA910A1\xf1\x82SDN8G25NB1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALFBA3525114GJ2wvwgvfvggw\x86wffvffw\x86g\x85_\xf9\xff\xa8wo\xffv\xcd\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA3624024GJ2\x88\x88\x88\x88wv\x87hx\x88\x97\x88x\x88\x97\x88ww\x87w\x86o\xfa\xffvU\x7f\xff\xd1\xec\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA3960824GJ2wwwwff\x86hffvfffffvfwfg_\xf9\xff\xa9\x88\x8f\xffb\x99\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA4011074GJ2fgvwwv\x87hw\x88\x87xww\x87wwfgvu_\xfa\xffefo\xff\x87\xc0\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA4121304GJ2x\x87xwff\x86hwwwwww\x87wwwww\x84_\xfc\xff\x98\x88\x9f\xffi\xa6\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA4195874GJ2EVugvf\x86hgwvwww\x87wgw\x86wc_\xfb\xff\x98\x88\x8f\xff\xe23\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA4625294GJ2eVefeUeVx\x88\x97\x88wwwwwwww\xa7o\xfb\xffvw\x9f\xff\xee.\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA4728774GJ2vfvg\x87vwgww\x87ww\x88\x97xww\x87w\x86_\xfb\xffeD?\xffk0\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA5129064GJ2vfvgwv\x87hx\x88\x87\x88ww\x87www\x87wd_\xfa\xffvfo\xff\x1d\x00\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA5454914GJ2\x98\x88\x88\x88\x87vwgx\x88\x87\x88xww\x87ffvf\xa7\x7f\xf9\xff\xa8w\x7f\xff\x1b\x90\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA5987784GJ2UVugDDtGx\x88\x87\x88w\x88\x87xwwwwd/\xfb\xff\x97fO\xff\xb0h\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA5987864GJ2fgvwUUuWgwvw\x87wxwwwww\x84/\xfc\xff\x97w\x7f\xff\xdf\x1d\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA6337644GJ2vgvwwv\x87hgffvwwwwwwww\x85O\xfa\xff\xa7w\x7f\xff\xc5\xfc\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA6802004GJ2UUuWUUuWgw\x86www\x87www\x87w\x96?\xf9\xff\xa9\x88\x7f\xff\x9fK\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA6892284GJ233S5\x87w\x87xx\x88\x87\x88vwwgww\x87w\x84?\xfb\xff\x98\x88\x8f\xff*\x9e\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
-      b'\xf1\x87SALFBA7005534GJ2eUuWfg\x86xxww\x87x\x88\x87\x88\x88w\x88\x87\x87O\xfc\xffuUO\xff\xa3k\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1',
-      b'\xf1\x87SALFBA7152454GJ2gvwgFf\x86hx\x88\x87\x88vfWfffffd?\xfa\xff\xba\x88o\xff,\xcf\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1',
-      b'\xf1\x87SALFBA7485034GJ2ww\x87xww\x87xfwvgwwwwvfgf\xa5/\xfc\xff\xa9w_\xff40\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x87SAMDBA7743924GJ3wwwwww\x87xgwvw\x88\x88\x88\x88wwww\x85_\xfa\xff\x86f\x7f\xff0\x9d\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SAMDBA7817334GJ3Vgvwvfvgww\x87wwwwwwfgv\x97O\xfd\xff\x88\x88o\xff\x8e\xeb\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SAMDBA8054504GJ3gw\x87xffvgffffwwwweUVUf?\xfc\xffvU_\xff\xddl\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB2\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SAMFB41553621GC7ww\x87xUU\x85Xvwwg\x88\x88\x88\x88wwgw\x86\xaf\xfb\xffuDo\xff\xaa\x8f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x87SAMFB42555421GC7\x88\x88\x88\x88wvwgx\x88\x87\x88wwgw\x87wxw3\x8f\xfc\xff\x98f\x8f\xffga\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x87SAMFBA7978674GJ2gw\x87xgw\x97ywwwwvUGeUUeU\x87O\xfb\xff\x98w\x8f\xfffF\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x87SAMFBA9283024GJ2wwwwEUuWwwgwwwwwwwww\x87/\xfb\xff\x98w\x8f\xff<\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x87SAMFBA9708354GJ2wwwwVf\x86h\x88wx\x87xww\x87\x88\x88\x88\x88w/\xfa\xff\x97w\x8f\xff\x86\xa0\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x87SANDB45316691GC6\x99\x99\x99\x99\x88\x88\xa8\x8avfwfwwww\x87wxwT\x9f\xfd\xff\x88wo\xff\x1c\xfa\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB3\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87SALFBA7460044GJ2gx\x87\x88Vf\x86hx\x88\x87\x88wwwwgw\x86wd?\xfa\xff\x86U_\xff\xaf\x1f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x87SAMFBA8105254GJ2wx\x87\x88Vf\x86hx\x88\x87\x88wwwwwwww\x86O\xfa\xff\x99\x88\x7f\xffZG\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x87SANFB45889451GC7wx\x87\x88gw\x87x\x88\x88x\x88\x87wxw\x87wxw\x87\x8f\xfc\xffeU\x8f\xff+Q\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
-      b'\xf1\x00T02601BL  T02900A1  VDN8T25XXX900NSA\xb9\x13\xf9p',
-    ],
-  },
-  CAR.SONATA_LF: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00LF__ SCC F-CUP      1.00 1.00 96401-C2200         ',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00LF ESC \f 11 \x17\x01\x13 58920-C2610',
-      b'\xf1\x00LF ESC \t 11 \x17\x01\x13 58920-C2610',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81606D5051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81606D5K51\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51',
-      b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5',
-      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\x00\x00\x00\x00',
-      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5',
-      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8',
-      b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00',
-      b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
-      b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
-    ],
-  },
-  CAR.TUCSON: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00TL__ FCA F-CUP      1.00 1.01 99110-D3500         ',
-      b'\xf1\x00TL__ FCA F-CUP      1.00 1.02 99110-D3510         ',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8971TLC2NAIDDIR002\xf1\x8271TLC2NAIDDIR002',
-      b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00TL  MFC  AT KOR LHD 1.00 1.02 95895-D3800 180719',
-      b'\xf1\x00TL  MFC  AT USA LHD 1.00 1.06 95895-D3800 190107',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a',
-      b'\xf1\x87KMLDCU585233TJ20wx\x87\x88x\x88\x98\x89vfwfwwww\x87f\x9f\xff\x98\xff\x7f\xf9\xf7s\xf1\x816T6G4051\x00\x00\xf1\x006T6J0_C2\x00\x006T6G4051\x00\x00TTL4G24NH2\x00\x00\x00\x00',
-    ],
-  },
-  CAR.SANTA_FE: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1210         ',
-      b'\xf1\x00TM__ SCC F-CUP      1.00 1.01 99110-S2000         ',
-      b'\xf1\x00TM__ SCC F-CUP      1.00 1.02 99110-S2000         ',
-      b'\xf1\x00TM__ SCC F-CUP      1.00 1.03 99110-S2000         ',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650',
-      b'\xf1\x00TM ESC \r 105\x19\x05# 58910-S1500',
-      b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650',
-      b'\xf1\x00TM ESC \r 104\x19\x07\x08 58910-S2650',
-      b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600',
-      b'\xf1\x00TM ESC \x02 102\x18\x07\x01 58910-S2600',
-      b'\xf1\x00TM ESC \x02 103\x18\x11\x07 58910-S2600',
-      b'\xf1\x00TM ESC \x02 104\x19\x07\x07 58910-S2600',
-      b'\xf1\x00TM ESC \x03 103\x18\x11\x07 58910-S2600',
-      b'\xf1\x00TM ESC \x0c 103\x18\x11\x08 58910-S2650',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81606EA051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81606G1051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409',
-      b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8A12',
-      b'\xf1\x00TM  MDPS C 1.00 1.01 56340-S2000 9129',
-      b'\xf1\x00TM  MDPS R 1.00 1.02 57700-S1100 4TMDP102',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.01 99211-S1010 181207',
-      b'\xf1\x00TM  MFC  AT USA LHD 1.00 1.00 99211-S2000 180409',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00bcsh8p54  U833\x00\x00\x00\x00\x00\x00TTM4V22US3_<]\xf1',
-      b'\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00',
-      b'\xf1\x87LBJSGA7082574HG0\x87www\x98\x88\x88\x88\x99\xaa\xb9\x9afw\x86gx\x99\xa7\x89co\xf8\xffvU_\xffR\xaf\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\xa6\xe0\x91',
-      b'\xf1\x87LBKSGA0458404HG0vfvg\x87www\x89\x99\xa8\x99y\xaa\xa7\x9ax\x88\xa7\x88t_\xf9\xff\x86w\x8f\xff\x15x\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\x00\x00\x00',
-      b'\xf1\x87LDJUEA6010814HG1\x87w\x87x\x86gvw\x88\x88\x98\x88gw\x86wx\x88\x97\x88\x85o\xf8\xff\x86f_\xff\xd37\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g',
-      b'\xf1\x87LDJUEA6458264HG1ww\x87x\x97x\x87\x88\x88\x99\x98\x89g\x88\x86xw\x88\x97x\x86o\xf7\xffvw\x8f\xff3\x9a\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g',
-      b'\xf1\x87LDKUEA2045844HG1wwww\x98\x88x\x87\x88\x88\xa8\x88x\x99\x97\x89x\x88\xa7\x88U\x7f\xf8\xffvfO\xffC\x1e\xf1\x816W3E0051\x00\x00\xf1\x006W351_C2\x00\x006W3E0051\x00\x00TTM4T20NS3\x00\x00\x00\x00',
-      b'\xf1\x87LDKUEA9993304HG1\x87www\x97x\x87\x88\x99\x99\xa9\x99x\x99\xa7\x89w\x88\x97x\x86_\xf7\xffwwO\xffl#\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS1R\x7f\x90\n',
-      b'\xf1\x87LDLUEA6061564HG1\xa9\x99\x89\x98\x87wwwx\x88\x97\x88x\x99\xa7\x89x\x99\xa7\x89sO\xf9\xffvU_\xff<\xde\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed',
-      b'\xf1\x87LDLUEA6159884HG1\x88\x87hv\x99\x99y\x97\x89\xaa\xb8\x9ax\x99\x87\x89y\x99\xb7\x99\xa7?\xf7\xff\x97wo\xff\xf3\x05\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00',
-      b'\xf1\x87LDLUEA6852664HG1\x97wWu\x97www\x89\xaa\xc8\x9ax\x99\x97\x89x\x99\xa7\x89SO\xf7\xff\xa8\x88\x7f\xff\x03z\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed',
-      b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00',
-      b'\xf1\x87LDLUEA6898374HG1fevW\x87wwwx\x88\x97\x88h\x88\x96\x88x\x88\xa7\x88ao\xf9\xff\x98\x99\x7f\xffD\xe2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS50\xcb\xc3\xed',
-      b'\xf1\x87SBJWAA5842214GG0\x88\x87\x88xww\x87x\x89\x99\xa8\x99\x88\x99\x98\x89w\x88\x87xw_\xfa\xfffU_\xff\xd1\x8d\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3',
-      b'\xf1\x87SBJWAA5890864GG0\xa9\x99\x89\x98\x98\x87\x98y\x89\x99\xa8\x99w\x88\x87xww\x87wvo\xfb\xffuD_\xff\x9f\xb5\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3',
-      b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x00\x00\x00\x00',
-      b'\xf1\x87SBJWAA6562474GG0ffvgeTeFx\x88\x97\x88ww\x87www\x87w\x84o\xfa\xff\x87fO\xff\xc2 \xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS1\x98{|\xe3',
-      b'\xf1\x87SBJWAA7780564GG0wvwgUUeVwwwwx\x88\x87\x88wwwwd_\xfc\xff\x86f\x7f\xff\xd7*\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0',
-      b'\xf1\x87SBJWAA8278284GG0ffvgUU\x85Xx\x88\x87\x88x\x88w\x88ww\x87w\x96o\xfd\xff\xa7U_\xff\xf2\xa0\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2G24NS2F\x84<\xc0',
-      b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6\x00\x00\x00\x00',
-      b'\xf1\x87SBLWAA4363244GG0wvwgwv\x87hgw\x86ww\x88\x87xww\x87wdo\xfb\xff\x86f\x7f\xff3$\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS6x0\x17\xfe',
-      b'\xf1\x87SBLWAA4899564GG0VfvgUU\x85Xx\x88\x87\x88vfgf\x87wxwvO\xfb\xff\x97f\xb1\xffSB\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7\x00\x00\x00\x00',
-      b'\xf1\x87SBLWAA6622844GG0wwwwff\x86hwwwwx\x88\x87\x88\x88\x88\x88\x88\x98?\xfd\xff\xa9\x88\x7f\xffn\xe5\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM2G24NS7u\x1e{\x1c',
-      b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2\x00\x00\x00\x00',
-      b'\xf1\x87SDJXAA7656854GG1DEtWUU\x85X\x88\x88\x98\x88w\x88\x87xx\x88\x87\x88\x96o\xfb\xff\x86f\x7f\xff.\xca\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4G24NS2K\xdaV0',
-      b'\xf1\x87SDKXAA2443414GG1vfvgwv\x87h\x88\x88\x88\x88ww\x87wwwww\x99_\xfc\xffvD?\xffl\xd2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4G24NS6\x00\x00\x00\x00',
-    ],
-  },
-  CAR.SANTA_FE_2022: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
-      b'\xf1\x00TM__ SCC FHCUP      1.00 1.00 99110-S1500         ',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00TM ESC \x01 102!\x04\x03 58910-S2DA0',
-      b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0',
-      b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
-      b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
-      b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0',
-      b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0',
-      b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
-      b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
-      b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
-      b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0',
-      b'\xf1\x00TM ESC   103!\x030 58910-S1MA0',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50',
-      b'\xf1\x81HM6M1_0a0_H00',
-      b'\xf1\x82TACVN5GMI3XXXH0A',
-      b'\xf1\x82TMBZN5TMD3XXXG2E',
-      b'\xf1\x82TACVN5GSI3XXXH0A',
-      b'\xf1\x82TMCFD5MMCXXXXG0A',
-      b'\xf1\x81HM6M1_0a0_G20',
-      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A',
-      b'\xf1\x81HM6M2_0a0_G00',
-      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
-      b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00',
-      b'\xf1\x87           \xf1\x81           ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00TM  MDPS C 1.00 1.02 56370-S2AA0 0B19',
-      b'\xf1\x00TM  MDPS C 1.00 1.01 56310-S1AB0 4TSDC101',
-      b'\xf1\x00TM  MDPS C 1.00 1.01 56310-S1EB0 4TSDC101',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00TM  MFC  AT MES LHD 1.00 1.05 99211-S1500 220126',
-      b'\xf1\x00TMA MFC  AT MEX LHD 1.00 1.01 99211-S2500 210205',
-      b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.00 99211-S2500 200720',
-      b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.03 99211-S1500 210224',
-      b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.01 99211-S2500 210205',
-      b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.03 99211-S2500 220414',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00HT6WA280BLHT6WAD00A1STM2G25NH2\x00\x00\x00\x00\x00\x00\xf8\xc0\xc3\xaa',
-      b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc',
-      b'\xf1\x00T02601BL  T02900A1  VTMPT25XXX900NSA\xf3\xf4Uj',
-      b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6\x06\x88\xf7',
-      b'\xf1\x87SDMXCA8653204GN1EVugEUuWwwwwww\x87wwwwwv/\xfb\xff\xa8\x88\x9f\xff\xa5\x9c\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6\x06\x88\xf7',
-      b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6',
-      b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15',
-      b'\xf1\x00T02601BL  T02900A1  VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
-      b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1  \xf1\x00T02601BL  T02900A1  VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
-      b'\xf1\x00T02601BL  T02800A1  VTMPT25XXX800NS4\xed\xaf\xed\xf5',
-      b'\xf1\x00T02601BL  T02900A1  VTMPT25XXW900NS1c\x918\xc5',
-    ],
-  },
-  CAR.SANTA_FE_HEV_2022: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
-      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
-      b'\xf1\x00TM  MDPS R 1.00 1.05 57700-CL000 4TSHP105',
-      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-GA000 4TSHA100',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00TMH MFC  AT EUR LHD 1.00 1.06 99211-S1500 220727',
-      b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
-      b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.06 99211-S1500 220727',
-      b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.03 99211-S2500 220414',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14',
-      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f',
-      b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x87391312MTC1',
-      b'\xf1\x87391312MTE0',
-      b'\xf1\x87391312MTL0',
-    ],
-  },
-  CAR.SANTA_FE_PHEV_2022: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
-      b'\xf1\x00TMhe SCC FHCUP      1.00 1.01 99110-CL500         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
-      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
-      b'\xf1\x00TM  MDPS C 1.00 1.02 56310CLEC0\x00 4TSHC102',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
-      b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.06 99211-S1500 220727',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe',
-      b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
-      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x87391312MTF0',
-      b'\xf1\x87391312MTF1',
-    ],
-  },
-  CAR.CUSTIN_1ST_GEN: {
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00KU__ SCC F-CUP      1.00 1.01 99110-O3000         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00KU  MDPS C 1.00 1.01 56310/O3100 4KUCC101',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00KU2 MFC  AT CHN LHD 1.00 1.02 99211-O3000 220923',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x87391212MEC0',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00bcsh8p54  U928\x00\x00\x00\x00\x00\x00SKU0T15KB2\x92U\xf9M',
-    ],
-  },
-  CAR.KIA_STINGER: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5100         ',
-      b'\xf1\x00CK__ SCC F_CUP      1.00 1.03 96400-J5100         ',
-      b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5000         ',
-      b'\xf1\x00CK__ SCC F_CUP      1.00 1.02 96400-J5100         ',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00',
-      b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00',
-      b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00',
-      b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5200 4C2CL104',
-      b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5220 4C2VL104',
-      b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5420 4C4VL104',
-      b'\xf1\x00CK  MDPS R 1.00 1.06 57700-J5420 4C4VL106',
-      b'\xf1\x00CK  MDPS R 1.00 1.07 57700-J5220 4C2VL107',
-      b'\xf1\x00CK  MDPS R 1.00 1.06 57700-J5220 4C2VL106',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.03 95740-J5000 170822',
-      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.04 95740-J5000 180504',
-      b'\xf1\x00CK  MFC  AT EUR LHD 1.00 1.03 95740-J5000 170822',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SCK0T33NB2\xb3\xee\xba\xdc',
-      b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
-      b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
-      b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x89E21\x00\x00\x00\x00\x00\x00\x00\xf1\x82SCK0T33NB0',
-      b'\xf1\x87VDHLG17034412DK2vD6DfVvVTD$D\x99w\x88\x98EDEDeT6DgfO\xff\xc3=\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
-      b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
-      b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2',
-      b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94',
-      b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S',
-      b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5',
-      b'\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5',
-      b'\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
-    ],
-  },
-  CAR.KIA_STINGER_2022: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00CK__ SCC F-CUP      1.00 1.00 99110-J5500         ',
-      b'\xf1\x00CK__ SCC FHCUP      1.00 1.00 99110-J5500         ',
-      b'\xf1\x00CK__ SCC FHCUP      1.00 1.00 99110-J5600         ',
-      b'\xf1\x00CK__ SCC FHCUP      1.00 1.01 99110-J5100         ',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81640N2051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81HM6M1_0a0_H00',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5380 4C2VR503',
-      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5300 4C2CL503',
-      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5320 4C2VL503',
-      b'\xf1\x00CK  MDPS R 1.00 5.04 57700-J5520 4C4VL504',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00CK  MFC  AT AUS RHD 1.00 1.00 99211-J5500 210622',
-      b'\xf1\x00CK  MFC  AT KOR LHD 1.00 1.00 99211-J5500 210622',
-      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.00 99211-J5500 210622',
-      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.03 99211-J5000 201209',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6',
-      b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00SCK0T33NH07\xdf\xf0\xc1',
-      b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2',
-      b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00TCK0T33NH0%g~\xd3',
-    ],
-  },
-  CAR.PALISADE: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00LX2_ SCC F-CUP      1.00 1.04 99110-S8100         ',
-      b'\xf1\x00LX2_ SCC F-CUP      1.00 1.05 99110-S8100         ',
-      b'\xf1\x00LX2 SCC FHCUP      1.00 1.04 99110-S8100         ',
-      b'\xf1\x00LX2_ SCC FHCU-      1.00 1.05 99110-S8100         ',
-      b'\xf1\x00LX2_ SCC FHCUP      1.00 1.00 99110-S8110         ',
-      b'\xf1\x00LX2_ SCC FHCUP      1.00 1.04 99110-S8100         ',
-      b'\xf1\x00LX2_ SCC FHCUP      1.00 1.05 99110-S8100         ',
-      b'\xf1\x00ON__ FCA FHCUP      1.00 1.02 99110-S9100         ',
-      b'\xf1\x00ON__ FCA FHCUP      1.00 1.01 99110-S9110         ',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360',
-      b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360',
-      b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330',
-      b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330',
-      b'\xf1\x00LX ESC \x0b 103\x19\t\t 58910-S8350',
-      b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330',
-      b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360',
-      b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360',
-      b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
-      b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
-      b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320',
-      b'\xf1\x00ON ESC \x01 101\x19\t\x08 58910-S9360',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81640K0051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81640S1051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103',
-      b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103',
-      b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103',
-      b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104',
-      b'\xf1\x00ON  MDPS C 1.00 1.00 56340-S9000 8B13',
-      b'\xf1\x00ON  MDPS C 1.00 1.01 56340-S9000 9201',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.03 99211-S8100 190125',
-      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.05 99211-S8100 190909',
-      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.07 99211-S8100 200422',
-      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.08 99211-S8100 200903',
-      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9100 181105',
-      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.03 99211-S9100 200720',
-      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.00 99211-S8110 210226',
-      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.04 99211-S9100 211227',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
-      b'\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
-      b'\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00TON2G38NB5j\x94.\xde',
-      b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1',
-      b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
-      b'\xf1\x87LBLUFN655162KF36\x98\x88\x88\x88\x98\x88\x88\x88x\x99\xa7\x89x\x99\xa7\x89x\x99\x97\x89g\x7f\xf7\xffwU_\xff\xe9!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
-      b'\xf1\x87LBLUFN731381KF36\xb9\x99\x89\x98\x98\x88\x88\x88\x89\x99\xa8\x99\x88\x99\xa8\x89\x88\x88\x98\x88V\x7f\xf6\xff\x99w\x8f\xff\xad\xd8\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
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-      b'\xf1\x87LDLVBN560098KF26\x86fff\x87vgfg\x88\x96xfw\x86gfw\x86g\x95\xf6\xffeU_\xff\x92c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
-      b'\xf1\x87LDLVBN602045KF26\xb9\x99\x89\x98\x97vwgy\xaa\xb7\x9af\x88\x96hw\x99\xa7y\xa9\x7f\xf5\xff\x99w\x7f\xff,\xd3\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN628911KF26\xa9\x99\x89\x98\x98\x88\x88\x88y\x99\xa7\x99fw\x86gw\x88\x87x\x83\x7f\xf6\xff\x98wo\xff2\xda\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN645817KF37\x87www\x98\x87xwx\x99\x97\x89\x99\x99\x99\x99g\x88\x96x\xb6_\xf7\xff\x98fo\xff\xe2\x86\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN662115KF37\x98\x88\x88\x88\xa8\x88\x88\x88x\x99\x97\x89x\x99\xa7\x89\x88\x99\xa8\x89\x88\x7f\xf7\xfffD_\xff\xdc\x84\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN667933KF37\xb9\x99\x89\x98\xb9\x99\x99\x99x\x88\x87\x88w\x88\x87x\x88\x88\x98\x88\xcbo\xf7\xffe3/\xffQ!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN673087KF37\x97www\x86fvgx\x99\x97\x89\x99\xaa\xa9\x9ag\x88\x86x\xe9_\xf8\xff\x98w\x7f\xff"\xad\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
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-      b'\xf1\x87LDLVBN681363KF37\x98\x88\x88\x88\x97x\x87\x88y\xaa\xa7\x9a\x88\x88\x98\x88\x88\x88\x88\x88vo\xf6\xffvD\x7f\xff%v\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN713782KF37\x99\x99y\x97\x98\x88\x88\x88x\x88\x97\x88\x88\x99\x98\x89\x88\x99\xa8\x89\x87o\xf7\xffeU?\xff7,\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN713890KF26\xb9\x99\x89\x98\xa9\x99\x99\x99x\x99\x97\x89\x88\x99\xa8\x89\x88\x99\xb8\x89Do\xf7\xff\xa9\x88o\xffs\r\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN733215KF37\x99\x98y\x87\x97wwwi\x99\xa6\x99x\x99\xa7\x89V\x88\x95h\x86o\xf7\xffeDO\xff\x12\xe7\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN750044KF37\xca\xa9\x8a\x98\xa7wwwy\xaa\xb7\x9ag\x88\x96x\x88\x99\xa8\x89\xb9\x7f\xf6\xff\xa8w\x7f\xff\xbe\xde\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN752612KF37\xba\xaa\x8a\xa8\x87w\x87xy\xaa\xa7\x9a\x88\x99\x98\x89x\x88\x97\x88\x96o\xf6\xffvU_\xffh\x1b\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN755553KF37\x87xw\x87\x97w\x87xy\x99\xa7\x99\x99\x99\xa9\x99Vw\x95gwo\xf6\xffwUO\xff\xb5T\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
-      b'\xf1\x87LDLVBN757883KF37\x98\x87xw\x98\x87\x88xy\xaa\xb7\x9ag\x88\x96x\x89\x99\xa8\x99e\x7f\xf6\xff\xa9\x88o\xff5\x15\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
-      b'\xf1\x87LDMVBN778156KF37\x87vWe\xa9\x99\x99\x99y\x99\xb7\x99\x99\x99\x99\x99x\x99\x97\x89\xa8\x7f\xf8\xffwf\x7f\xff\x82_\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
-      b'\xf1\x87LDMVBN780576KF37\x98\x87hv\x97x\x97\x89x\x99\xa7\x89\x88\x99\x98\x89w\x88\x97x\x98\x7f\xf7\xff\xba\x88\x8f\xff\x1e0\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
-      b'\xf1\x87LDMVBN783485KF37\x87www\x87vwgy\x99\xa7\x99\x99\x99\xa9\x99Vw\x95g\x89_\xf6\xff\xa9w_\xff\xc5\xd6\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
-      b'\xf1\x87LDMVBN811844KF37\x87vwgvfffx\x99\xa7\x89Vw\x95gg\x88\xa6xe\x8f\xf6\xff\x97wO\xff\t\x80\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
-      b'\xf1\x87LDMVBN830601KF37\xa7www\xa8\x87xwx\x99\xa7\x89Uw\x85Ww\x88\x97x\x88o\xf6\xff\x8a\xaa\x7f\xff\xe2:\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB4\xd6\xe8\xd7\xa6',
-      b'\xf1\x87LDMVBN848789KF37\x87w\x87x\x87w\x87xy\x99\xb7\x99\x87\x88\x98x\x88\x99\xa8\x89\x87\x7f\xf6\xfffUo\xff\xe3!\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN851595KF37\x97wgvvfffx\x99\xb7\x89\x88\x99\x98\x89\x87\x88\x98x\x99\x7f\xf7\xff\x97w\x7f\xff@\xf3\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN873175KF26\xa8\x88\x88\x88vfVex\x99\xb7\x89\x88\x99\x98\x89x\x88\x97\x88f\x7f\xf7\xff\xbb\xaa\x8f\xff,\x04\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN879401KF26veVU\xa8\x88\x88\x88g\x88\xa6xVw\x95gx\x88\xa7\x88v\x8f\xf9\xff\xdd\xbb\xbf\xff\xb3\x99\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN881314KF37\xa8\x88h\x86\x97www\x89\x99\xa8\x99w\x88\x97xx\x99\xa7\x89\xca\x7f\xf8\xff\xba\x99\x8f\xff\xd8v\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN888651KF37\xa9\x99\x89\x98vfff\x88\x99\x98\x89w\x99\xa7y\x88\x88\x98\x88D\x8f\xf9\xff\xcb\x99\x8f\xff\xa5\x1e\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN889419KF37\xa9\x99y\x97\x87w\x87xx\x88\x97\x88w\x88\x97x\x88\x99\x98\x89e\x9f\xf9\xffeUo\xff\x901\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN895969KF37vefV\x87vgfx\x99\xa7\x89\x99\x99\xb9\x99f\x88\x96he_\xf7\xffxwo\xff\x14\xf9\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDMVBN899222KF37\xa8\x88x\x87\x97www\x98\x99\x99\x89\x88\x99\x98\x89f\x88\x96hdo\xf7\xff\xbb\xaa\x9f\xff\xe2U\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8",
-      b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-      b'\xf1\x87LDLVAA4478824HH1\x87wwwvfvg\x89\x99\xa8\x99w\x88\x87x\x89\x99\xa8\x99\xa6o\xfa\xfffU/\xffu\x92\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
-      b'\xf1\x87LDMVBN871852KF37\xb9\x99\x99\x99\xa8\x88\x88\x88y\x99\xa7\x99x\x99\xa7\x89\x88\x88\x98\x88\x89o\xf7\xff\xaa\x88o\xff\x0e\xed\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
-    ],
-  },
-  CAR.VELOSTER: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JS__ SCC H-CUP      1.00 1.02 95650-J3200         ',
-      b'\xf1\x00JS__ SCC HNCUP      1.00 1.02 95650-J3100         ',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816V8RAC00121.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x01TJS-JNU06F200H0A',
-      b'\x01TJS-JDK06F200H0A',
-      b'391282BJF5 ',
-    ],
-    (Ecu.eps, 0x7d4, None): [b'\xf1\x00JSL MDPS C 1.00 1.03 56340-J3000 8308', ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JS  LKAS AT USA LHD 1.00 1.02 95740-J3000 K32',
-      b'\xf1\x00JS  LKAS AT KOR LHD 1.00 1.03 95740-J3000 K33',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\xba\x02\xb8\x80',
-      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\x00\x00\x00\x00',
-      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16KS2\016\xba\036\xa2',
-    ],
-  },
-  CAR.GENESIS_G70: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ',
-      b'\xf1\x00IK__ SCC F-CUP      1.00 1.01 96400-G9100         ',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00IK  MDPS R 1.00 1.06 57700-G9420 4I4VL106',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda',
-      b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda',
-    ],
-  },
-  CAR.GENESIS_G70_2020: {
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00IK  MDPS R 1.00 1.07 57700-G9220 4I2VL107',
-      b'\xf1\x00IK  MDPS R 1.00 1.07 57700-G9420 4I4VL107',
-      b'\xf1\x00IK  MDPS R 1.00 1.08 57700-G9420 4I4VL108',
-      b'\xf1\x00IK  MDPS R 1.00 1.08 57700-G9200 4I2CL108',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00',
-      b'\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
-      b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
-      b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81',
-      b'\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ',
-      b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         \xf1\xa01.02',
-      b'\xf1\x00IK__ SCC FHCUP      1.00 1.02 96400-G9000         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920',
-      b'\xf1\x00IK  MFC  AT KOR LHD 1.00 1.01 95740-G9000 170920',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.GENESIS_G80: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DH__ SCC F-CUP      1.00 1.01 96400-B1120         ',
-      b'\xf1\x00DH__ SCC FHCUP      1.00 1.01 96400-B1110         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.03 95895-B1500 180713',
-      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.02 95895-B1500 170810',
-      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.01 95895-B1500 161014',
-      b'\xf1\x00DH  LKAS AT KOR LHD 1.01 1.02 95895-B1500 170810',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SDH0T33NH4\xd7O\x9e\xc9',
-      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00TDH0G38NH3:-\xa9n',
-      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH2j\x9dA\x1c',
-      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0T33NH3\x97\xe6\xbc\xb8',
-      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0G33KH2\xae\xde\xd5!',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81640A4051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.GENESIS_G90: {
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
-      b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00HI__ SCC F-CUP      1.00 1.01 96400-D2100         '],
-    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00HI  LKAS AT USA LHD 1.00 1.00 95895-D2020 160302'],
-    (Ecu.engine, 0x7e0, None): [b'\xf1\x810000000000\x00'],
-  },
-  CAR.KONA: {
-    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP      1.00 1.00 95655-J9200         ', ],
-    (Ecu.abs, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ],
-    (Ecu.engine, 0x7e0, None): [b'"\x01TOS-0NU06F301J02', ],
-    (Ecu.eps, 0x7d4, None): [b'\xf1\x00OS  MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', ],
-    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21', ],
-    (Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2VE051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VE051\x00\x00DOS4T16NS3\x00\x00\x00\x00', ],
-  },
-  CAR.KIA_CEED:  {
-    (Ecu.fwdRadar, 0x7D0, None): [b'\xf1\000CD__ SCC F-CUP      1.00 1.02 99110-J7000         ', ],
-    (Ecu.eps, 0x7D4, None): [b'\xf1\000CD  MDPS C 1.00 1.06 56310-XX000 4CDEC106', ],
-    (Ecu.fwdCamera, 0x7C4, None): [b'\xf1\000CD  LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40', ],
-    (Ecu.engine, 0x7E0, None): [b'\001TCD-JECU4F202H0K', ],
-    (Ecu.transmission, 0x7E1, None): [
-      b'\xf1\x816U2V7051\000\000\xf1\0006U2V0_C2\000\0006U2V7051\000\000DCD0T14US1\000\000\000\000',
-      b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1U\x867Z',
-    ],
-    (Ecu.abs, 0x7D1, None): [b'\xf1\000CD ESC \003 102\030\b\005 58920-J7350', ],
-  },
-  CAR.KIA_FORTE: {
-    (Ecu.eps, 0x7D4, None): [
-      b'\xf1\x00BD  MDPS C 1.00 1.02 56310-XX000 4BD2C102',
-      b'\xf1\x00BD  MDPS C 1.00 1.08 56310/M6300 4BDDC108',
-      b'\xf1\x00BD  MDPS C 1.00 1.08 56310M6300\x00 4BDDC108',
-      b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103',
-    ],
-    (Ecu.fwdCamera, 0x7C4, None): [
-      b'\xf1\x00BD  LKAS AT USA LHD 1.00 1.04 95740-M6000 J33',
-      b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744',
-    ],
-    (Ecu.fwdRadar, 0x7D0, None): [
-      b'\xf1\x00BD__ SCC H-CUP      1.00 1.02 99110-M6000         ',
-      b'\xf1\x00BDPE_SCC FHCUPC     1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x01TBDM1NU06F200H01',
-      b'391182B945\x00',
-      b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00',
-      b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00',
-      b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3",
-    ],
-  },
-  CAR.KIA_K5_2021: {
-    (Ecu.fwdRadar, 0x7D0, None): [
-      b'\xf1\000DL3_ SCC FHCUP      1.00 1.03 99110-L2000         ',
-      b'\xf1\x8799110L2000\xf1\000DL3_ SCC FHCUP      1.00 1.03 99110-L2000         ',
-      b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
-      b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2100         ',
-      b'\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
-      b'\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2100         ',
-      b'\xf1\x00DL3_ SCC FHCUP      1.00 1.04 99110-L2100         ',
-    ],
-    (Ecu.eps, 0x7D4, None): [
-      b'\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
-      b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
-      b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102',
-      b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
-      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102',
-      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 4DLAC102',
-    ],
-    (Ecu.fwdCamera, 0x7C4, None): [
-      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.03 99210-L3000 200915',
-      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.04 99210-L3000 210208',
-      b'\xf1\x00DL3 MFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
-      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.05 99210-L3000 211222',
-    ],
-    (Ecu.abs, 0x7D1, None): [
-      b'\xf1\000DL ESC \006 101 \004\002 58910-L3200',
-      b'\xf1\x8758910-L3200\xf1\000DL ESC \006 101 \004\002 58910-L3200',
-      b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800',
-      b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600',
-      b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800',
-      b'\xf1\x00DL ESC \x01 104 \x07\x12 58910-L2200',
-      b'\xf1\x00DL ESC \x06 103"\x08\x06 58910-L3200',
-    ],
-    (Ecu.engine, 0x7E0, None): [
-      b'\xf1\x87391212MKT0',
-      b'\xf1\x87391212MKV0',
-      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DLDWN5TMDCXXXJ1B',
-      b'\xf1\x81HM6M2_0a0_DQ0',
-      b'\xf1\x87391212MKT3',
-    ],
-    (Ecu.transmission, 0x7E1, None): [
-      b'\xf1\000bcsh8p54  U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8',
-      b'\xf1\x87SALFEA5652514GK2UUeV\x88\x87\x88xxwg\x87ww\x87wwfwvd/\xfb\xffvU_\xff\x93\xd3\xf1\x81U913\000\000\000\000\000\000\xf1\000bcsh8p54  U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8',
-      b'\xf1\x87SALFEA6046104GK2wvwgeTeFg\x88\x96xwwwwffvfe?\xfd\xff\x86fo\xff\x97A\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8',
-      b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
-      b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  WDL3T25XXX730NS2b\x1f\xb8%',
-      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
-      b'\xf1\x00HT6TA261BLHT6TAB00A1SDL0C20KS0\x00\x00\x00\x00\x00\x00\\\x9f\xa5\x15',
-      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL2T16NB2.\x13\xf6\xed',
-    ],
-  },
-  CAR.KIA_K5_HEV_2020: {
-    (Ecu.fwdRadar, 0x7D0, None): [
-      b'\xf1\x00DLhe SCC FHCUP      1.00 1.02 99110-L7000         ',
-    ],
-    (Ecu.eps, 0x7D4, None): [
-      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102',
-      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102',
-    ],
-    (Ecu.fwdCamera, 0x7C4, None): [
-      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.02 99210-L2000 200309',
-      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
-    ],
-    (Ecu.engine, 0x7E0, None): [
-      b'\xf1\x87391162JLA0',
-    ],
-    (Ecu.transmission, 0x7E1, None): [
-      b'\xf1\x00PSBG2323  E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz',
-      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2',
-    ],
-  },
-  CAR.KONA_EV: {
-    (Ecu.abs, 0x7D1, None): [
-      b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000',
-      b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000',
-      b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
-      b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000',
-      b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000',
-    ],
-    (Ecu.fwdCamera, 0x7C4, None): [
-      b'\xf1\x00OE2 LKAS AT EUR LHD 1.00 1.00 95740-K4200 200',
-      b'\xf1\x00OSE LKAS AT EUR LHD 1.00 1.00 95740-K4100 W40',
-      b'\xf1\x00OSE LKAS AT EUR RHD 1.00 1.00 95740-K4100 W40',
-      b'\xf1\x00OSE LKAS AT KOR LHD 1.00 1.00 95740-K4100 W40',
-      b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4300 W50',
-    ],
-    (Ecu.eps, 0x7D4, None): [
-      b'\xf1\x00OS  MDPS C 1.00 1.03 56310/K4550 4OEDC103',
-      b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4000\x00 4OEDC104',
-      b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4050\x00 4OEDC104',
-    ],
-    (Ecu.fwdRadar, 0x7D0, None): [
-      b'\xf1\x00OSev SCC F-CUP      1.00 1.00 99110-K4000         ',
-      b'\xf1\x00OSev SCC F-CUP      1.00 1.00 99110-K4100         ',
-      b'\xf1\x00OSev SCC F-CUP      1.00 1.01 99110-K4000         ',
-      b'\xf1\x00OSev SCC FNCUP      1.00 1.01 99110-K4000         ',
-    ],
-  },
-  CAR.KONA_EV_2022: {
-    (Ecu.abs, 0x7D1, None): [
-      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x02 101 \x11\x13 58520-K4010',
-      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010',
-      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
-      b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010',
-      b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010',
-      b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010',
-    ],
-    (Ecu.fwdCamera, 0x7C4, None): [
-      b'\xf1\x00OSP LKA  AT CND LHD 1.00 1.02 99211-J9110 802',
-      b'\xf1\x00OSP LKA  AT EUR RHD 1.00 1.02 99211-J9110 802',
-      b'\xf1\x00OSP LKA  AT AUS RHD 1.00 1.04 99211-J9200 904',
-      b'\xf1\x00OSP LKA  AT EUR LHD 1.00 1.04 99211-J9200 904',
-      b'\xf1\x00OSP LKA  AT EUR RHD 1.00 1.04 99211-J9200 904',
-      b'\xf1\x00OSP LKA  AT USA LHD 1.00 1.04 99211-J9200 904',
-    ],
-    (Ecu.eps, 0x7D4, None): [
-      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
-      b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
-      b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102',
-      b'\xf1\x00OSP MDPS C 1.00 1.02 56310-K4271 4OEPC102',
-      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102',
-      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102',
-    ],
-    (Ecu.fwdRadar, 0x7D0, None): [
-      b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-K4500      \x00\x00\x00',
-    ],
-  },
-  CAR.KONA_EV_2ND_GEN: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00SXev RDR -----      1.00 1.00 99110-BF000         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00SX2EMFC  AT KOR LHD 1.00 1.00 99211-BF000 230410',
-    ],
-  },
-  CAR.KIA_NIRO_EV: {
-    (Ecu.fwdRadar, 0x7D0, None): [
-      b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
-      b'\xf1\x00DEev SCC F-CUP      1.00 1.02 96400-Q4000         ',
-      b'\xf1\x00DEev SCC F-CUP      1.00 1.02 96400-Q4100         ',
-      b'\xf1\x00DEev SCC F-CUP      1.00 1.03 96400-Q4100         ',
-      b'\xf1\x00DEev SCC FHCUP      1.00 1.03 96400-Q4000         ',
-      b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
-      b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4100         ',
-      b'\xf1\x8799110Q4500\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4500         ',
-      b'\xf1\x8799110Q4600\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4600         ',
-      b'\xf1\x8799110Q4600\xf1\x00DEev SCC FNCUP      1.00 1.00 99110-Q4600         ',
-      b'\xf1\x8799110Q4600\xf1\x00DEev SCC FHCUP      1.00 1.00 99110-Q4600         ',
-    ],
-    (Ecu.eps, 0x7D4, None): [
-      b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105',
-      b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105',
-      b'\xf1\x00DE  MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104',
-    ],
-    (Ecu.fwdCamera, 0x7C4, None): [
-      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4100 200706',
-      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4000 191211',
-      b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.00 99211-Q4000 191211',
-      b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.03 95740-Q4000 180821',
-      b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.01 99211-Q4500 210428',
-      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.03 95740-Q4000 180821',
-      b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.03 95740-Q4000 180821',
-    ],
-  },
-  CAR.KIA_NIRO_EV_2ND_GEN: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00SG2_ RDR -----      1.00 1.01 99110-AT000         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00SG2EMFC  AT EUR LHD 1.01 1.09 99211-AT000 220801',
-      b'\xf1\x00SG2EMFC  AT USA LHD 1.01 1.09 99211-AT000 220801',
-    ],
-  },
-  CAR.KIA_NIRO_PHEV: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91",
-      b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00',
-      b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00',
-      b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92',
-      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL2&[\xc3\x01',
-    ],
-    (Ecu.eps, 0x7D4, None): [
-      b'\xf1\x00DE  MDPS C 1.00 1.09 56310G5301\x00 4DEHC109',
-      b'\xf1\x00DE  MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
-    ],
-    (Ecu.fwdCamera, 0x7C4, None): [
-      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.01 95740-G5010 170424',
-      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.00 95740-G5010 170117',
-      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.05 99211-G5000 190826',
-    ],
-    (Ecu.fwdRadar, 0x7D0, None): [
-      b'\xf1\x00DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
-      b'\xf1\x00DEhe SCC F-CUP      1.00 1.02 99110-G5100         ',
-    ],
-  },
-  CAR.KIA_NIRO_HEV_2021: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\x00\x00\x00\x00',
-      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HDE0G16NL3\xb9\xd3\xfaW',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00DE  MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DEH MFC  AT USA LHD 1.00 1.07 99211-G5000 201221',
-      b'\xf1\x00DEH MFC  AT USA LHD 1.00 1.00 99211-G5500 210428',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DEhe SCC FHCUP      1.00 1.00 99110-G5600         ',
-    ],
-  },
-  CAR.KIA_SELTOS: {
-    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x8799110Q5100\xf1\000SP2_ SCC FHCUP      1.01 1.05 99110-Q5100         ',],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x8758910-Q5450\xf1\000SP ESC \a 101\031\t\005 58910-Q5450',
-      b'\xf1\x8758910-Q5450\xf1\000SP ESC \t 101\031\t\005 58910-Q5450',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81616D2051\000\000\000\000\000\000\000\000',
-      b'\xf1\x81616D5051\000\000\000\000\000\000\000\000',
-      b'\001TSP2KNL06F100J0K',
-      b'\001TSP2KNL06F200J0K',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\000SP2 MDPS C 1.00 1.04 56300Q5200          ',
-      b'\xf1\000SP2 MDPS C 1.01 1.05 56300Q5200          ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\000SP2 MFC  AT USA LHD 1.00 1.04 99210-Q5000 191114',
-      b'\xf1\000SP2 MFC  AT USA LHD 1.00 1.05 99210-Q5000 201012',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x87CZLUB49370612JF7h\xa8y\x87\x99\xa7hv\x99\x97fv\x88\x87x\x89x\x96O\xff\x88\xff\xff\xff.@\xf1\x816V2C2051\000\000\xf1\0006V2B0_C2\000\0006V2C2051\000\000CSP4N20NS3\000\000\000\000',
-      b'\xf1\x87954A22D200\xf1\x81T01950A1  \xf1\000T0190XBL  T01950A1  DSP2T16X4X950NS6\xd30\xa5\xb9',
-      b'\xf1\x87954A22D200\xf1\x81T01950A1  \xf1\000T0190XBL  T01950A1  DSP2T16X4X950NS8\r\xfe\x9c\x8b',
-    ],
-  },
-  CAR.KIA_OPTIMA_G4: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4100         ',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6J0051\x00\x00\xf1\x006T6J0_C2\x00\x006T6J0051\x00\x00TJF0T20NSB\x00\x00\x00\x00',
-    ],
-  },
-  CAR.KIA_OPTIMA_G4_FL: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4110         ',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180',
-      b"\xf1\x00JF ESC \t 11 \x18\x03' 58920-D5260",
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32',
-      b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW',
-      b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.',
-      b'\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01',
-      b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',
-      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW',
-      b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.',
-      b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01',
-      b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',
-      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4',
-    ],
-  },
-  CAR.KIA_OPTIMA_H: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JFhe SCC FNCUP      1.00 1.00 96400-A8000         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JFP LKAS AT EUR LHD 1.00 1.03 95895-A8100 160711',
-    ],
-  },
-  CAR.KIA_OPTIMA_H_G4_FL: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JFhe SCC FHCUP      1.00 1.01 99110-A8500         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JFH MFC  AT KOR LHD 1.00 1.01 95895-A8200 180323',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.ELANTRA: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31',
-      b'\xf1\x00AD  LKAS AT USA LHD 1.01 1.01 95895-F2000 251',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD(\xfcA\x9d',
-      b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD\x00\x00\x00\x00',
-      b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\x00\x00\x00\x00',
-      b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\xc5\x92\x9e\x8a',
-      b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20SS2.~\x90\x87',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8161698051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x8161657051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816165D051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816165E051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00AD ESC \x11 11 \x18\x05\x06 58910-F2840',
-      b'\xf1\x00AD ESC \x11 12 \x15\t\t 58920-F2810',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00AD__ SCC H-CUP      1.00 1.00 99110-F2100         ',
-      b'\xf1\x00AD__ SCC H-CUP      1.00 1.01 96400-F2100         ',
-    ],
-  },
-  CAR.ELANTRA_GT_I30: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00PD  LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
-      b'\xf1\x00PD  LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e',
-      b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00PD  MDPS C 1.00 1.04 56310/G3300 4PDDC104',
-      b'\xf1\x00PD  MDPS C 1.00 1.00 56310G3300\x00 4PDDC100',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350',
-      b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00PD__ SCC F-CUP      1.00 1.00 96400-G3300         ',
-      b'\xf1\x00PD__ SCC FNCUP      1.01 1.00 96400-G3000         ',
-    ],
-  },
-  CAR.ELANTRA_2021: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00CN7_ SCC F-CUP      1.00 1.01 99110-AA000         ',
-      b'\xf1\x00CN7_ SCC FHCUP      1.00 1.01 99110-AA000         ',
-      b'\xf1\x00CN7_ SCC FNCUP      1.00 1.01 99110-AA000         ',
-      b'\xf1\x8799110AA000\xf1\x00CN7_ SCC FHCUP      1.00 1.01 99110-AA000         ',
-      b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP      1.00 1.01 99110-AA000         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
-      b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.00 99210-AB000 200819',
-      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
-      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.01 99210-AB000 210205',
-      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.06 99210-AA000 220111',
-      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AB000 220426',
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
-      b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800',
-      b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800',
-      b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\xe8\xba\xce\xfa',
-      b'\xf1\x87CXMQFM2135005JB2E\xb9\x89\x98W\xa9y\x97h\xa9\x98\x99wxvwh\x87\177\xffx\xff\xff\xff,,\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87CXMQFM1916035JB2\x88vvgg\x87Wuwgev\xa9\x98\x88\x98h\x99\x9f\xffh\xff\xff\xff\xa5\xee\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87CXLQF40189012JL2f\x88\x86\x88\x88vUex\xb8\x88\x88\x88\x87\x88\x89fh?\xffz\xff\xff\xff\x08z\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87CXMQFM2728305JB2E\x97\x87xw\x87vwgw\x84x\x88\x88w\x89EI\xbf\xff{\xff\xff\xff\xe6\x0e\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x87CXMQFM3806705JB2\x89\x87wwx\x88g\x86\x99\x87\x86xwwv\x88yv\x7f\xffz\xff\xff\xffV\x15\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x82CNCWD0AMFCXCSFFA',
-      b'\xf1\x81HM6M2_0a0_FF0',
-      b'\xf1\x82CNCVD0AMFCXCSFFB',
-      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80',
-      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0',
-    ],
-  },
-  CAR.ELANTRA_HEV_2021: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.05 99210-AA000 210930',
-      b'\xf1\000CN7HMFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
-      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.07 99210-AA000 220426',
-      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.08 99210-AA000 220728',
-      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.09 99210-AA000 221108',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
-      b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103',
-      b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103',
-      b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102',
-      b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa',
-      b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\000\000\000\000',
-      b'\xf1\x816U3K3051\000\000\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa',
-      b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00',
-      b'\xf1\x006U3L0_C2\x00\x006U3K9051\x00\x00HCN0G16NS1\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ]
-  },
-  CAR.KONA_HEV: {
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00OS IEB \x01 104 \x11  58520-CM000',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00OShe SCC FNCUP      1.00 1.01 99110-CM000         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00OS  MDPS C 1.00 1.00 56310CM030\x00 4OHDC100',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HOS0G16DS1\x16\xc7\xb0\xd9',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
-    ]
-  },
-  CAR.SONATA_HYBRID: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
-      b'\xf1\x8799110L5000\xf1\x00DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
-      b'\xf1\000DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
-      b'\xf1\x8799110L5000\xf1\000DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102',
-      b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',
-      b'\xf1\x8756310-L5450\xf1\000DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103',
-      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
-      b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.04 99211-L1000 191016',
-      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.05 99211-L1000 201109',
-      b'\xf1\000DN8HMFC  AT USA LHD 1.00 1.06 99211-L1000 210325',
-      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\000PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
-      b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E09\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2323  E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e',
-      b'\xf1\000PSBG2323  E09\000\000\000\000\000\000\000TDN2H20SA5\x97R\x88\x9e',
-      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab',
-      b'\xf1\x87PCU\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab',
-      b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x87391162J012',
-      b'\xf1\x87391162J013',
-      b'\xf1\x87391162J014',
-      b'\xf1\x87391062J002',
-    ],
-  },
-  CAR.KIA_SORENTO: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01'
-    ],
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00UM ESC \x0c 12 \x18\x05\x06 58910-C6330'
-    ],
-    (Ecu.fwdRadar, 0x7D0, None): [
-      b'\xf1\x00UM__ SCC F-CUP      1.00 1.00 96400-C6500         '
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x87LDKUAA0348164HE3\x87www\x87www\x88\x88\xa8\x88w\x88\x97xw\x88\x97x\x86o\xf8\xff\x87f\x7f\xff\x15\xe0\xf1\x81U811\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U811\x00\x00\x00\x00\x00\x00TUM4G33NL3V|DG'
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00'
-    ],
-  },
-  CAR.KIA_SORENTO_PHEV_4TH_GEN: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00MQhe SCC FHCUP      1.00 1.06 99110-P4000         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.11 99210-P2000 211217',
-      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.10 99210-P2000 210406',
-    ],
-  },
-  CAR.KIA_EV6: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.05 99210-CV000 211027',
-      b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.06 99210-CV000 220328',
-      b'\xf1\x00CV1 MFC  AT EUR LHD 1.00 1.05 99210-CV000 211027',
-      b'\xf1\x00CV1 MFC  AT EUR LHD 1.00 1.06 99210-CV000 220328',
-      b'\xf1\x00CV1 MFC  AT EUR RHD 1.00 1.00 99210-CV100 220630',
-      b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.00 99210-CV100 220630',
-      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.04 99210-CV000 210823',
-      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.05 99210-CV000 211027',
-      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.06 99210-CV000 220328',
-    ],
-  },
-  CAR.IONIQ_5: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
-      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
-      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
-      b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.05 99211-GI010 220614',
-      b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
-      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
-      b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.02 99211-GI010 211206',
-      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
-      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
-    ],
-  },
-  CAR.IONIQ_6: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00CE  MFC  AT EUR LHD 1.00 1.03 99211-KL000 221011',
-      b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
-    ],
-  },
-  CAR.TUCSON_4TH_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
-      b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
-    ],
-  },
-  CAR.TUCSON_HYBRID_4TH_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W',
-      b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
-      b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
-      b'\xf1\x00NX4__               1.00 1.01 99110-N9000         ',
-    ],
-  },
-  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665',
-      b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NQ5__               1.01 1.03 99110-CH000         ',
-    ],
-  },
-  CAR.SANTA_CRUZ_1ST_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NX4__               1.00 1.00 99110-K5000         ',
-      b'\xf1\x00NX4__               1.01 1.00 99110-K5000         ',
-    ],
-  },
-  CAR.KIA_SPORTAGE_5TH_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662',
-      b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
-      b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NQ5__               1.00 1.02 99110-P1000         ',
-      b'\xf1\x00NQ5__               1.00 1.03 99110-P1000         ',
-      b'\xf1\x00NQ5__               1.01 1.03 99110-P1000         ',
-    ],
-  },
-  CAR.GENESIS_GV70_1ST_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.04 99211-AR000 210204',
-      b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.01 99211-AR200 220125',
-      b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.01 99211-AR300 220125',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JK1_ SCC FHCUP      1.00 1.02 99110-AR000         ',
-      b'\xf1\x00JK1_ SCC FHCUP      1.00 1.00 99110-AR200         ',
-      b'\xf1\x00JK1_ SCC FHCUP      1.00 1.00 99110-AR300         ',
-    ],
-  },
-  CAR.GENESIS_GV60_EV_1ST_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.02 99211-CU100 211215',
-      b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.02 99211-CU000 211215',
-      b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.03 99211-CU000 221118',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JW1_ RDR -----      1.00 1.00 99110-CU000         ',
-    ],
-  },
-  CAR.KIA_SORENTO_4TH_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.05 99210-R5000 210623',
-      b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.03 99210-R5000 200903',
-      b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.00 99210-R5100 221019',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.06 99110-P2000         ',
-      b'\xf1\x00MQ4_ SCC F-CUP      1.00 1.06 99110-P2000         ',
-      b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.08 99110-P2000         ',
-    ],
-  },
-  CAR.KIA_NIRO_HEV_2ND_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00SG2HMFC  AT USA LHD 1.01 1.08 99211-AT000 220531',
-      b'\xf1\x00SG2HMFC  AT USA LHD 1.01 1.09 99211-AT000 220801',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00SG2_ RDR -----      1.00 1.01 99110-AT000         ',
-    ],
-  },
-  CAR.GENESIS_GV80: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00JX1 MFC  AT USA LHD 1.00 1.02 99211-T6110 220513',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00JX1_ SCC FHCUP      1.00 1.01 99110-T6100         ',
-    ],
-  },
-  CAR.KIA_CARNIVAL_4TH_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.06 99210-R0000 220221',
-      b'\xf1\x00KA4CMFC  AT CHN LHD 1.00 1.01 99211-I4000 210525',
-      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.00 99210-R0100 230105',
-      b'\xf1\x00KA4 MFC  AT KOR LHD 1.00 1.06 99210-R0000 220221',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00KA4_ SCC FHCUP      1.00 1.03 99110-R0000         ',
-      b'\xf1\x00KA4c SCC FHCUP      1.00 1.01 99110-I4000         ',
-      b'\xf1\x00KA4_ SCC FHCUP      1.00 1.00 99110-R0100         ',
-    ],
-  },
-  CAR.KIA_SORENTO_HEV_4TH_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.12 99210-P2000 230331',
-      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.11 99210-P2000 211217',
-      b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.04 99210-P2000 200330',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00MQhe SCC FHCUP      1.00 1.07 99110-P4000         ',
-      b'\xf1\x00MQhe SCC FHCUP      1.00 1.04 99110-P4000         ',
-    ],
-  },
-  CAR.KIA_K8_HEV_1ST_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00GL3HMFC  AT KOR LHD 1.00 1.03 99211-L8000 210907',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00GL3_ RDR -----      1.00 1.02 99110-L8000         ',
-    ],
-  },
-}
 
 CHECKSUM = {
   "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,
@@ -2127,7 +484,8 @@ CAN_GEARS = {
 CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
              CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
              CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
-             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN}
+             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN,
+             CAR.STARIA_4TH_GEN}
 
 # The radar does SCC on these cars when HDA I, rather than the camera
 CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
@@ -2145,7 +503,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_N
               CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
               CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
               CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN,
-              CAR.AZERA_HEV_6TH_GEN}
+              CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022}
 
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
           CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
@@ -2228,4 +586,6 @@ DBC = {
   CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None),
   CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_NIRO_PHEV_2022: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
+  CAR.STARIA_4TH_GEN: dbc_dict('hyundai_canfd', None),
 }
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 004adad3b..016b9aae1 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -1,8 +1,11 @@
-import yaml
 import os
 import time
 import numpy as np
+# rick - use tomli instead of tomllib
+import tomli as tomllib
 from abc import abstractmethod, ABC
+# rick - use strenum here instead, other places will use helper code in manager.py
+from strenum import StrEnum
 from typing import Any, Dict, Optional, Tuple, List, Callable
 
 from cereal import car
@@ -15,6 +18,7 @@ from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, sca
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
+from openpilot.common.params import Params
 
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -26,21 +30,21 @@ ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
 FRICTION_THRESHOLD = 0.3
 
-TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml')
-TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml')
-TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml')
+TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml')
+TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml')
+TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.toml')
 
 
 def get_torque_params(candidate):
-  with open(TORQUE_SUBSTITUTE_PATH) as f:
-    sub = yaml.load(f, Loader=yaml.Loader)
+  with open(TORQUE_SUBSTITUTE_PATH, 'rb') as f:
+    sub = tomllib.load(f)
   if candidate in sub:
     candidate = sub[candidate]
 
-  with open(TORQUE_PARAMS_PATH) as f:
-    params = yaml.load(f, Loader=yaml.Loader)
-  with open(TORQUE_OVERRIDE_PATH) as f:
-    override = yaml.load(f, Loader=yaml.Loader)
+  with open(TORQUE_PARAMS_PATH, 'rb') as f:
+    params = tomllib.load(f)
+  with open(TORQUE_OVERRIDE_PATH, 'rb') as f:
+    override = tomllib.load(f)
 
   # Ensure no overlap
   if sum([candidate in x for x in [sub, params, override]]) > 1:
@@ -101,6 +105,13 @@ class CarInterfaceBase(ABC):
     ret = CarInterfaceBase.get_std_params(candidate)
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
 
+    # rick - override lat controller
+    dp_lat_controller = int(Params().get("dp_lat_controller"))
+    if dp_lat_controller == 1:  # indi
+      cls.configure_indi_tune(ret.lateralTuning)
+    elif dp_lat_controller == 2:  # lqr
+      cls.configure_lqr_tune(ret.lateralTuning)
+
     # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
     if not ret.notCar:
       ret.mass = ret.mass + STD_CARGO_KG
@@ -124,7 +135,6 @@ class CarInterfaceBase(ABC):
   @staticmethod
   def get_steer_feedforward_default(desired_angle, v_ego):
     # Proportional to realigning tire momentum: lateral acceleration.
-    # TODO: something with lateralPlan.curvatureRates
     return desired_angle * (v_ego**2)
 
   def get_steer_feedforward_function(self):
@@ -191,6 +201,30 @@ class CarInterfaceBase(ABC):
     tune.torque.latAccelOffset = 0.0
     tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
 
+  @staticmethod
+  def configure_lqr_tune(tune):
+    tune.init('lqr')
+    tune.lqr.scale = 1500.0
+    tune.lqr.ki = 0.05
+    tune.lqr.a = [0., 1., -0.22619643, 1.21822268]
+    tune.lqr.b = [-1.92006585e-04, 3.95603032e-05]
+    tune.lqr.c = [1., 0.]
+    tune.lqr.k = [-110.73572306, 451.22718255]
+    tune.lqr.l = [0.3233671, 0.3185757]
+    tune.lqr.dcGain = 0.002237852961363602
+
+  @staticmethod
+  def configure_indi_tune(tune):
+    tune.init('indi')
+    tune.indi.innerLoopGainBP = [0.]
+    tune.indi.innerLoopGainV = [4.0]
+    tune.indi.outerLoopGainBP = [0.]
+    tune.indi.outerLoopGainV = [3.0]
+    tune.indi.timeConstantBP = [0.]
+    tune.indi.timeConstantV = [1.0]
+    tune.indi.actuatorEffectivenessBP = [0.]
+    tune.indi.actuatorEffectivenessV = [1.0]
+
   @abstractmethod
   def _update(self, c: car.CarControl) -> car.CarState:
     pass
@@ -346,6 +380,8 @@ class CarStateBase(ABC):
 
   def update_speed_kf(self, v_ego_raw):
     if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0:  # Prevent large accelerations when car starts at non zero speed
+      # rick - set_x not available in this KF1D
+      # self.v_ego_kf.set_x([[v_ego_raw], [0.0]])
       self.v_ego_kf.x = [[v_ego_raw], [0.0]]
 
     v_ego_x = self.v_ego_kf.update(v_ego_raw)
@@ -433,9 +469,16 @@ class CarStateBase(ABC):
     return None
 
 
+INTERFACE_ATTR_FILE = {
+  "FINGERPRINTS": "fingerprints",
+  "FW_VERSIONS": "fingerprints",
+}
+
 # interface-specific helpers
 
-def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> Dict[str, Any]:
+# rick - modify `Dict[str | StrEnum, Any]` to `Dict[Union[str, StrEnum], Any]` for python 3.8
+from typing import Union
+def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> Dict[Union[str, StrEnum], Any]:
   # read all the folders in selfdrive/car and return a dict where:
   # - keys are all the car models or brand names
   # - values are attr values from all car folders
@@ -443,7 +486,7 @@ def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: boo
   for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]):
     try:
       brand_name = car_folder.split('/')[-1]
-      brand_values = __import__(f'openpilot.selfdrive.car.{brand_name}.values', fromlist=[attr])
+      brand_values = __import__(f'openpilot.selfdrive.car.{brand_name}.{INTERFACE_ATTR_FILE.get(attr, "values")}', fromlist=[attr])
       if hasattr(brand_values, attr) or not ignore_none:
         attr_data = getattr(brand_values, attr, None)
       else:
diff --git a/selfdrive/car/mazda/fingerprints.py b/selfdrive/car/mazda/fingerprints.py
new file mode 100644
index 000000000..aa91f0fb3
--- /dev/null
+++ b/selfdrive/car/mazda/fingerprints.py
@@ -0,0 +1,258 @@
+from cereal import car
+from openpilot.selfdrive.car.mazda.values import CAR
+
+Ecu = car.CarParams.Ecu
+
+FW_VERSIONS = {
+  CAR.CX5_2022: {
+    (Ecu.eps, 0x730, None): [
+      b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'PG69-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.CX5: {
+    (Ecu.eps, 0x730, None): [
+      b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KJ01-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KJ01-3210X-M-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'PA53-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PAR4-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2E-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2F-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2H-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2H-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2K-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX38-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX42-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX68-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYFA-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'SHKT-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KBJ5-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KL2K-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KN0W-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'B61L-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PA66-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX39-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX39-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB1-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB1-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB1-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB2-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB2-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB2-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB2-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.CX9: {
+    (Ecu.eps, 0x730, None): [
+      b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KJ01-3210X-L-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'PX23-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX24-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXM4-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXN8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXN8-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYD7-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYD8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYFM-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYFM-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'TK80-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'TK80-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'TK79-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'TK79-437K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'TM53-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'TN40-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-K\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'TK80-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'PXM4-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXM7-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYD5-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYD5-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYD6-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYD6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYFM-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYFM-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.MAZDA3: {
+    (Ecu.eps, 0x730, None): [
+      b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KR11-3210X-K-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'P5JD-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PY2P-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYJW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYKC-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYKE-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'B63C-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GHP9-67Y10---41\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'B45A-437AS-0-08\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'B61L-67XK2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-Q\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'P52G-21PS1-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PY2S-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYKA-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYKE-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.MAZDA6: {
+    (Ecu.eps, 0x730, None): [
+      b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GFBC-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX4F-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYH7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GDDM-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYH3-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.CX9_2021: {
+    (Ecu.eps, 0x730, None): [
+      b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'PXGW-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXGW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXM6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+}
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 25baf74ea..0a88245a9 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -1,4 +1,5 @@
 from dataclasses import dataclass, field
+# from enum import StrEnum
 from strenum import StrEnum
 from typing import Dict, List, Union
 
@@ -81,264 +82,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
 )
 
-FW_VERSIONS = {
-  CAR.CX5_2022: {
-    (Ecu.eps, 0x730, None): [
-      b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PG69-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-  CAR.CX5: {
-    (Ecu.eps, 0x730, None): [
-      b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KJ01-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KJ01-3210X-M-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'PA53-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PAR4-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYFA-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2F-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2H-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2H-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX2K-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX38-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX42-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX68-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'SHKT-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KBJ5-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KL2K-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KN0W-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'B61L-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PA66-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX39-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX39-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB1-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB1-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB1-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB2-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB2-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB2-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB2-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-
-  CAR.CX9 : {
-    (Ecu.eps, 0x730, None): [
-      b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KJ01-3210X-L-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'PX23-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX24-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXM4-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXN8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXN8-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYD7-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYD8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYFM-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYFM-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'TK80-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'TK80-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'TK79-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'TK79-437K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'TM53-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'TN40-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-K\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'TK80-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-   ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'PXM4-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXM7-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYFM-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYFM-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYD5-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYD5-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYD6-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYD6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-
-  CAR.MAZDA3: {
-    (Ecu.eps, 0x730, None): [
-      b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'KR11-3210X-K-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'P5JD-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PY2P-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYJW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYKC-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYKE-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'B63C-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GHP9-67Y10---41\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'B45A-437AS-0-08\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'B61L-67XK2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'B61L-67XK2-Q\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'PY2S-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'P52G-21PS1-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYKA-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYKE-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-
-  CAR.MAZDA6: {
-    (Ecu.eps, 0x730, None): [
-      b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GFBC-3210X-A-00\000\000\000\000\000\000\000\000\000',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PX4F-188K2-D\000\000\000\000\000\000\000\000\000\000\000\000',
-      b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYH7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-E\000\000\000\000\000\000\000\000\000\000\000\000',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GDDM-437K2-A\000\000\000\000\000\000\000\000\000\000\000\000',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-P\000\000\000\000\000\000\000\000\000\000\000\000',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PYH3-21PS1-D\000\000\000\000\000\000\000\000\000\000\000\000',
-      b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  },
-
-  CAR.CX9_2021 : {
-    (Ecu.eps, 0x730, None): [
-      b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'PXGW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXGW-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x764, None): [
-      b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x760, None): [
-      b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x706, None): [
-      b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXM6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-  }
-}
-
 
 DBC = {
   CAR.CX5: dbc_dict('mazda_2017', None),
diff --git a/selfdrive/car/mock/values.py b/selfdrive/car/mock/values.py
index 0823109e5..856253a56 100644
--- a/selfdrive/car/mock/values.py
+++ b/selfdrive/car/mock/values.py
@@ -1,3 +1,4 @@
+# from enum import StrEnum
 from strenum import StrEnum
 from typing import Dict, List, Optional, Union
 
diff --git a/selfdrive/car/nissan/fingerprints.py b/selfdrive/car/nissan/fingerprints.py
new file mode 100644
index 000000000..69e88be89
--- /dev/null
+++ b/selfdrive/car/nissan/fingerprints.py
@@ -0,0 +1,104 @@
+# ruff: noqa: E501
+from cereal import car
+from openpilot.selfdrive.car.nissan.values import CAR
+
+Ecu = car.CarParams.Ecu
+
+FINGERPRINTS = {
+  CAR.XTRAIL: [{
+    2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8
+  },
+  {
+    2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3, 1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8
+  }],
+  CAR.LEAF: [{
+    2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8, 643: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8
+  },
+  {
+    2: 5, 42: 8, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1008: 7, 1009: 8, 1010: 8, 1011: 7, 1012: 8, 1013: 8, 1019: 8, 1020: 8, 1021: 8, 1022: 8, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8
+  }],
+  CAR.LEAF_IC: [{
+    2: 5, 42: 6, 264: 3, 282: 8, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 756: 5, 758: 3, 761: 2, 783: 3, 830: 2, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 1001: 6, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6, 1792: 8, 1821: 8, 1822: 8, 1837: 8, 1838: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8
+  }],
+  CAR.ROGUE: [{
+    2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+  }],
+  CAR.ALTIMA: [{
+    2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 438: 8, 451: 8, 517: 8, 520: 2, 522: 8, 523: 6, 539: 8, 541: 7, 542: 8, 543: 8, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 570: 8, 576: 8, 577: 8, 582: 8, 583: 8, 584: 8, 586: 8, 587: 8, 588: 8, 589: 8, 590: 8, 591: 8, 592: 8, 600: 8, 601: 8, 610: 8, 611: 8, 612: 8, 614: 8, 615: 8, 616: 8, 617: 8, 622: 8, 623: 8, 634: 7, 638: 8, 645: 8, 648: 5, 654: 6, 658: 8, 659: 8, 660: 8, 661: 8, 665: 8, 666: 8, 674: 2, 675: 8, 676: 8, 682: 8, 683: 8, 684: 8, 685: 8, 686: 8, 687: 8, 689: 8, 690: 8, 703: 8, 708: 7, 709: 7, 711: 7, 712: 7, 713: 7, 714: 8, 715: 8, 716: 8, 717: 7, 718: 7, 719: 7, 720: 7, 723: 8, 726: 7, 727: 7, 728: 7, 735: 8, 746: 8, 748: 6, 749: 6, 750: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 779: 7, 781: 7, 782: 7, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1144: 7, 1145: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1258: 8, 1259: 8, 1266: 8, 1273: 7, 1306: 1, 1314: 8, 1323: 8, 1324: 8, 1342: 1, 1376: 8, 1401: 8, 1454: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+  }],
+}
+
+FW_VERSIONS = {
+  CAR.ALTIMA: {
+    (Ecu.fwdCamera, 0x707, None): [
+      b'284N86CA1D',
+    ],
+    (Ecu.eps, 0x742, None): [
+      b'6CA2B\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'237109HE2B',
+    ],
+    (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U29HE0A',
+    ],
+  },
+  CAR.LEAF: {
+    (Ecu.abs, 0x740, None): [
+      b'476606WK9B',
+    ],
+    (Ecu.eps, 0x742, None): [
+      b'5SN2A\xb7A\x05\x02N126F\x15\xb2\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.fwdCamera, 0x707, None): [
+      b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80',
+    ],
+    (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U26WK0C',
+    ],
+  },
+  CAR.LEAF_IC: {
+    (Ecu.fwdCamera, 0x707, None): [
+      b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
+      b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
+      b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80',
+    ],
+    (Ecu.abs, 0x740, None): [
+      b'476605SD2E',
+      b'476605SH1D',
+      b'476605SK2A',
+    ],
+    (Ecu.eps, 0x742, None): [
+      b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U25SF0C',
+      b'284U25SH3A',
+      b'284U25SK2D',
+    ],
+  },
+  CAR.XTRAIL: {
+    (Ecu.fwdCamera, 0x707, None): [
+      b'284N86FR2A',
+    ],
+    (Ecu.abs, 0x740, None): [
+      b'6FU0AD\x11\x02\x00\x02e\x95e\x80iQ#\x01\x00\x00\x00\x00\x00\x80',
+      b'6FU1BD\x11\x02\x00\x02e\x95e\x80iX#\x01\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.eps, 0x742, None): [
+      b'6FP2A\x99A\x05\x02N123F\x18\x02\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.combinationMeter, 0x743, None): [
+      b'6FR2A\x18B\x05\x17\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'6FR9A\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'6FU9B\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U26FR0E',
+    ],
+  },
+}
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
index 067217f70..64e175083 100644
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -1,5 +1,5 @@
-# ruff: noqa: E501
 from dataclasses import dataclass, field
+# from enum import StrEnum
 from strenum import StrEnum
 from typing import Dict, List, Optional, Union
 
@@ -46,41 +46,6 @@ CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
   CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
 }
 
-FINGERPRINTS = {
-  CAR.XTRAIL: [
-    {
-      2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8
-    },
-    {
-      2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3, 1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8
-    },
-  ],
-  CAR.LEAF: [
-    {
-      2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8, 643: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8
-    },
-    # 2020 Leaf SV Plus
-    {
-      2: 5, 42: 8, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1008: 7, 1009: 8, 1010: 8, 1011: 7, 1012: 8, 1013: 8, 1019: 8, 1020: 8, 1021: 8, 1022: 8, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8
-    },
-  ],
-  CAR.LEAF_IC: [
-    {
-      2: 5, 42: 6, 264: 3, 282: 8, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 756: 5, 758: 3, 761: 2, 783: 3, 830: 2, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 1001: 6, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6, 1792: 8, 1821: 8, 1822: 8, 1837: 8, 1838: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8
-    },
-  ],
-  CAR.ROGUE: [
-    {
-      2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-    },
-  ],
-  CAR.ALTIMA: [
-    {
-      2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 438: 8, 451: 8, 517: 8, 520: 2, 522: 8, 523: 6, 539: 8, 541: 7, 542: 8, 543: 8, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 570: 8, 576: 8, 577: 8, 582: 8, 583: 8, 584: 8, 586: 8, 587: 8, 588: 8, 589: 8, 590: 8, 591: 8, 592: 8, 600: 8, 601: 8, 610: 8, 611: 8, 612: 8, 614: 8, 615: 8, 616: 8, 617: 8, 622: 8, 623: 8, 634: 7, 638: 8, 645: 8, 648: 5, 654: 6, 658: 8, 659: 8, 660: 8, 661: 8, 665: 8, 666: 8, 674: 2, 675: 8, 676: 8, 682: 8, 683: 8, 684: 8, 685: 8, 686: 8, 687: 8, 689: 8, 690: 8, 703: 8, 708: 7, 709: 7, 711: 7, 712: 7, 713: 7, 714: 8, 715: 8, 716: 8, 717: 7, 718: 7, 719: 7, 720: 7, 723: 8, 726: 7, 727: 7, 728: 7, 735: 8, 746: 8, 748: 6, 749: 6, 750: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 779: 7, 781: 7, 782: 7, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1144: 7, 1145: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1258: 8, 1259: 8, 1266: 8, 1273: 7, 1306: 1, 1314: 8, 1323: 8, 1324: 8, 1342: 1, 1376: 8, 1401: 8, 1454: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-    },
-  ]
-}
-
 # Default diagnostic session
 NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81])
 NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0x81])
@@ -95,104 +60,37 @@ NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
 NISSAN_RX_OFFSET = 0x20
 
 FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[
+  requests=[request for bus, logging in ((0, True), (1, False)) for request in [
     Request(
       [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
       [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
+      bus=bus,
+      logging=logging,
     ),
     Request(
       [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
       [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
       rx_offset=NISSAN_RX_OFFSET,
+      bus=bus,
+      logging=logging,
     ),
     # Rogue's engine solely responds to this
     Request(
       [NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP],
       [NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP],
+      bus=bus,
+      logging=logging,
     ),
     Request(
       [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
       rx_offset=NISSAN_RX_OFFSET,
+      bus=bus,
+      logging=logging,
     ),
-  ],
+  ]],
 )
 
-FW_VERSIONS = {
-  CAR.ALTIMA: {
-    (Ecu.fwdCamera, 0x707, None): [
-      b'284N86CA1D',
-    ],
-    (Ecu.eps, 0x742, None): [
-      b'6CA2B\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'237109HE2B',
-    ],
-    (Ecu.gateway, 0x18dad0f1, None): [
-      b'284U29HE0A',
-    ],
-  },
-    CAR.LEAF: {
-    (Ecu.abs, 0x740, None): [
-      b'476606WK9B',
-    ],
-    (Ecu.eps, 0x742, None): [
-      b'5SN2A\xb7A\x05\x02N126F\x15\xb2\x00\x00\x00\x00\x00\x00\x00\x80',
-    ],
-    (Ecu.fwdCamera, 0x707, None): [
-      b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80',
-    ],
-    (Ecu.gateway, 0x18dad0f1, None): [
-      b'284U26WK0C',
-    ],
-  },
-  CAR.LEAF_IC: {
-    (Ecu.fwdCamera, 0x707, None): [
-      b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
-      b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80',
-      b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
-    ],
-    (Ecu.abs, 0x740, None): [
-      b'476605SH1D',
-      b'476605SK2A',
-      b'476605SD2E',
-    ],
-    (Ecu.eps, 0x742, None): [
-      b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80',
-      b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80',
-      b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
-    ],
-    (Ecu.gateway, 0x18dad0f1, None): [
-      b'284U25SH3A',
-      b'284U25SK2D',
-      b'284U25SF0C',
-    ],
-  },
-  CAR.XTRAIL: {
-    (Ecu.fwdCamera, 0x707, None): [
-      b'284N86FR2A',
-    ],
-    (Ecu.abs, 0x740, None): [
-      b'6FU1BD\x11\x02\x00\x02e\x95e\x80iX#\x01\x00\x00\x00\x00\x00\x80',
-      b'6FU0AD\x11\x02\x00\x02e\x95e\x80iQ#\x01\x00\x00\x00\x00\x00\x80',
-    ],
-    (Ecu.eps, 0x742, None): [
-      b'6FP2A\x99A\x05\x02N123F\x18\x02\x00\x00\x00\x00\x00\x00\x00\x80',
-    ],
-    (Ecu.combinationMeter, 0x743, None): [
-      b'6FR2A\x18B\x05\x17\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'6FU9B\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
-      b'6FR9A\xa0A\x06\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x80',
-    ],
-    (Ecu.gateway, 0x18dad0f1, None): [
-      b'284U26FR0E',
-    ],
-  },
-}
-
 DBC = {
   CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None),
   CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None),
diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py
new file mode 100644
index 000000000..aaee2e1c7
--- /dev/null
+++ b/selfdrive/car/subaru/fingerprints.py
@@ -0,0 +1,544 @@
+from cereal import car
+from openpilot.selfdrive.car.subaru.values import CAR
+
+Ecu = car.CarParams.Ecu
+
+FW_VERSIONS = {
+  CAR.ASCENT: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa5 \x19\x02\x00',
+      b'\xa5 !\x02\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x05\xc0\xd0\x00',
+      b'\x85\xc0\xd0\x00',
+      b'\x95\xc0\xd0\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00d\xb9\x00\x00\x00\x00',
+      b'\x00\x00d\xb9\x1f@ \x10',
+      b'\x00\x00e@\x00\x00\x00\x00',
+      b'\x00\x00e@\x1f@ $',
+      b"\x00\x00e~\x1f@ '",
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xbb,\xa0t\x07',
+      b'\xd1,\xa0q\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\x00\xfe\xf7\x00\x00',
+      b'\x01\xfe\xf7\x00\x00',
+      b'\x01\xfe\xf9\x00\x00',
+      b'\x01\xfe\xfa\x00\x00',
+    ],
+  },
+  CAR.ASCENT_2023: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa5 #\x03\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'%\xc0\xd0\x11',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x05!\x08\x1dK\x05!\x08\x01/',
+    ],
+    (Ecu.engine, 0x7a2, None): [
+      b'\xe5,\xa0P\x07',
+    ],
+    (Ecu.transmission, 0x7a3, None): [
+      b'\x04\xfe\xf3\x00\x00',
+    ],
+  },
+  CAR.LEGACY: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa1  \x02\x01',
+      b'\xa1  \x02\x02',
+      b'\xa1  \x03\x03',
+      b'\xa1  \x04\x01',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x9b\xc0\x11\x00',
+      b'\x9b\xc0\x11\x02',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00e\x80\x00\x1f@ \x19\x00',
+      b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xde"a0\x07',
+      b'\xde,\xa0@\x07',
+      b'\xe2"aq\x07',
+      b'\xe2,\xa0@\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xa5\xf6\x05@\x00',
+      b'\xa5\xfe\xc7@\x00',
+      b'\xa7\xf6\x04@\x00',
+      b'\xa7\xfe\xc4@\x00',
+    ],
+  },
+  CAR.IMPREZA: {
+    (Ecu.abs, 0x7b0, None): [
+      b'z\x84\x19\x90\x00',
+      b'z\x94\x08\x90\x00',
+      b'z\x94\x08\x90\x01',
+      b'z\x94\x0c\x90\x00',
+      b'z\x94\x0c\x90\x01',
+      b'z\x94.\x90\x00',
+      b'z\x94?\x90\x00',
+      b'z\x9c\x19\x80\x01',
+      b'\xa2 \x185\x00',
+      b'\xa2 \x193\x00',
+      b'\xa2 \x194\x00',
+      b'\xa2 \x19`\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'z\xc0\x00\x00',
+      b'z\xc0\x04\x00',
+      b'z\xc0\x08\x00',
+      b'z\xc0\n\x00',
+      b'z\xc0\x0c\x00',
+      b'\x8a\xc0\x00\x00',
+      b'\x8a\xc0\x10\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00c\xf4\x00\x00\x00\x00',
+      b'\x00\x00c\xf4\x1f@ \x07',
+      b'\x00\x00d)\x00\x00\x00\x00',
+      b'\x00\x00d)\x1f@ \x07',
+      b'\x00\x00dd\x00\x00\x00\x00',
+      b'\x00\x00dd\x1f@ \x0e',
+      b'\x00\x00d\xb5\x1f@ \x0e',
+      b'\x00\x00d\xdc\x00\x00\x00\x00',
+      b'\x00\x00d\xdc\x1f@ \x0e',
+      b'\x00\x00e\x02\x1f@ \x14',
+      b'\x00\x00e\x1c\x00\x00\x00\x00',
+      b'\x00\x00e\x1c\x1f@ \x14',
+      b'\x00\x00e+\x00\x00\x00\x00',
+      b'\x00\x00e+\x1f@ \x14',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xaa\x00Bu\x07',
+      b'\xaa\x01bt\x07',
+      b'\xaa!`u\x07',
+      b'\xaa!au\x07',
+      b'\xaa!av\x07',
+      b'\xaa!aw\x07',
+      b'\xaa!dq\x07',
+      b'\xaa!ds\x07',
+      b'\xaa!dt\x07',
+      b'\xaaafs\x07',
+      b'\xbe!as\x07',
+      b'\xbe!at\x07',
+      b'\xbeacr\x07',
+      b'\xc5!`r\x07',
+      b'\xc5!`s\x07',
+      b'\xc5!ap\x07',
+      b'\xc5!ar\x07',
+      b'\xc5!as\x07',
+      b'\xc5!dr\x07',
+      b'\xc5!ds\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xe3\xd0\x081\x00',
+      b'\xe3\xd5\x161\x00',
+      b'\xe3\xe5F1\x00',
+      b'\xe3\xf5\x06\x00\x00',
+      b'\xe3\xf5\x07\x00\x00',
+      b'\xe3\xf5C\x00\x00',
+      b'\xe3\xf5F\x00\x00',
+      b'\xe3\xf5G\x00\x00',
+      b'\xe4\xe5\x061\x00',
+      b'\xe4\xf5\x02\x00\x00',
+      b'\xe4\xf5\x07\x00\x00',
+      b'\xe5\xf5\x04\x00\x00',
+      b'\xe5\xf5$\x00\x00',
+      b'\xe5\xf5B\x00\x00',
+    ],
+  },
+  CAR.IMPREZA_2020: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa2 \x193\x00',
+      b'\xa2 \x194\x00',
+      b'\xa2  `\x00',
+      b'\xa2 !3\x00',
+      b'\xa2 !`\x00',
+      b'\xa2 !i\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\n\xc0\x04\x00',
+      b'\n\xc0\x04\x01',
+      b'\x9a\xc0\x00\x00',
+      b'\x9a\xc0\x04\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00eb\x1f@ "',
+      b'\x00\x00eq\x00\x00\x00\x00',
+      b'\x00\x00eq\x1f@ "',
+      b'\x00\x00e\x8f\x00\x00\x00\x00',
+      b'\x00\x00e\x8f\x1f@ )',
+      b'\x00\x00e\x92\x00\x00\x00\x00',
+      b'\x00\x00e\xa4\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xca!`0\x07',
+      b'\xca!`p\x07',
+      b'\xca!ap\x07',
+      b'\xca!f@\x07',
+      b'\xca!fp\x07',
+      b'\xcc!`p\x07',
+      b'\xcc!fp\x07',
+      b'\xcc"f0\x07',
+      b'\xe6!`@\x07',
+      b'\xe6!fp\x07',
+      b'\xe6"f0\x07',
+      b'\xe6"fp\x07',
+      b'\xf3"f@\x07',
+      b'\xf3"fp\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xe6\xf5\x04\x00\x00',
+      b'\xe6\xf5$\x00\x00',
+      b'\xe6\xf5D0\x00',
+      b'\xe7\xf5\x04\x00\x00',
+      b'\xe7\xf5D0\x00',
+      b'\xe7\xf6B0\x00',
+      b'\xe9\xf5"\x00\x00',
+      b'\xe9\xf5B0\x00',
+      b'\xe9\xf6B0\x00',
+      b'\xe9\xf6F0\x00',
+    ],
+  },
+  CAR.CROSSTREK_HYBRID: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa2 \x19e\x01',
+      b'\xa2 !e\x01',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\n\xc2\x01\x00',
+      b'\x9a\xc2\x01\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00el\x1f@ #',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xd7!`@\x07',
+      b'\xd7!`p\x07',
+      b'\xf4!`0\x07',
+    ],
+  },
+  CAR.FORESTER: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa3 \x18\x14\x00',
+      b'\xa3 \x18&\x00',
+      b'\xa3 \x19\x14\x00',
+      b'\xa3 \x19&\x00',
+      b'\xa3  \x14\x00',
+      b'\xa3  \x14\x01',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x8d\xc0\x00\x00',
+      b'\x8d\xc0\x04\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00e!\x00\x00\x00\x00',
+      b'\x00\x00e!\x1f@ \x11',
+      b'\x00\x00e^\x00\x00\x00\x00',
+      b'\x00\x00e^\x1f@ !',
+      b'\x00\x00e`\x1f@  ',
+      b'\x00\x00e\x97\x00\x00\x00\x00',
+      b'\x00\x00e\x97\x1f@ 0',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xb6"`A\x07',
+      b'\xb6\xa2`A\x07',
+      b'\xcb"`@\x07',
+      b'\xcb"`p\x07',
+      b'\xcf"`0\x07',
+      b'\xcf"`p\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\x1a\xe6B1\x00',
+      b'\x1a\xe6F1\x00',
+      b'\x1a\xf6B0\x00',
+      b'\x1a\xf6B`\x00',
+      b'\x1a\xf6F`\x00',
+      b'\x1a\xf6b0\x00',
+      b'\x1a\xf6b`\x00',
+    ],
+  },
+  CAR.FORESTER_HYBRID: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa3 \x19T\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x8d\xc2\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00eY\x1f@ !',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xd2\xa1`r\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\x1b\xa7@a\x00',
+    ],
+  },
+  CAR.FORESTER_PREGLOBAL: {
+    (Ecu.abs, 0x7b0, None): [
+      b'm\x97\x14@',
+      b'}\x97\x14@',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'm\xc0\x10\x00',
+      b'}\xc0\x10\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00c\xe9\x00\x00\x00\x00',
+      b'\x00\x00c\xe9\x1f@ \x03',
+      b'\x00\x00d5\x1f@ \t',
+      b'\x00\x00d\xd3\x1f@ \t',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xa7"@p\x07',
+      b'\xa7)\xa0q\x07',
+      b'\xba"@@\x07',
+      b'\xba"@p\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\x1a\xf6F`\x00',
+      b'\xda\xf2`\x80\x00',
+      b'\xda\xfd\xe0\x80\x00',
+      b'\xdc\xf2@`\x00',
+      b'\xdc\xf2``\x00',
+      b'\xdc\xf2`\x80\x00',
+      b'\xdc\xf2`\x81\x00',
+    ],
+  },
+  CAR.LEGACY_PREGLOBAL: {
+    (Ecu.abs, 0x7b0, None): [
+      b'[\x97D\x00',
+      b'[\xba\xc4\x03',
+      b'k\x97D\x00',
+      b'k\x9aD\x00',
+      b'{\x97D\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'K\xb0\x00\x01',
+      b'[\xb0\x00\x01',
+      b'k\xb0\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00c\x94\x1f@\x10\x08',
+      b'\x00\x00c\xb7\x1f@\x10\x16',
+      b'\x00\x00c\xec\x1f@ \x04',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xa0"@q\x07',
+      b'\xa0+@p\x07',
+      b'\xab*@r\x07',
+      b'\xab+@p\x07',
+      b'\xb4"@0\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xbd\xf2\x00`\x00',
+      b'\xbe\xf2\x00p\x00',
+      b'\xbe\xfb\xc0p\x00',
+      b'\xbf\xf2\x00\x80\x00',
+      b'\xbf\xfb\xc0\x80\x00',
+    ],
+  },
+  CAR.OUTBACK_PREGLOBAL: {
+    (Ecu.abs, 0x7b0, None): [
+      b'[\xba\xac\x03',
+      b'[\xf7\xac\x00',
+      b'[\xf7\xac\x03',
+      b'[\xf7\xbc\x03',
+      b'k\x97\xac\x00',
+      b'k\x9a\xac\x00',
+      b'{\x97\xac\x00',
+      b'{\x9a\xac\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'K\xb0\x00\x00',
+      b'K\xb0\x00\x02',
+      b'[\xb0\x00\x00',
+      b'k\xb0\x00\x00',
+      b'{\xb0\x00\x01',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00c\x90\x1f@\x10\x0e',
+      b'\x00\x00c\x94\x00\x00\x00\x00',
+      b'\x00\x00c\x94\x1f@\x10\x08',
+      b'\x00\x00c\xb7\x1f@\x10\x16',
+      b'\x00\x00c\xd1\x1f@\x10\x17',
+      b'\x00\x00c\xec\x1f@ \x04',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xa0"@\x80\x07',
+      b'\xa0*@q\x07',
+      b'\xa0*@u\x07',
+      b'\xa0+@@\x07',
+      b'\xa0bAq\x07',
+      b'\xab"@@\x07',
+      b'\xab"@s\x07',
+      b'\xab*@@\x07',
+      b'\xab+@@\x07',
+      b'\xb4"@0\x07',
+      b'\xb4"@p\x07',
+      b'\xb4"@r\x07',
+      b'\xb4+@p\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xbd\xf2@`\x00',
+      b'\xbd\xf2@\x81\x00',
+      b'\xbd\xfb\xe0\x80\x00',
+      b'\xbe\xf2@p\x00',
+      b'\xbe\xf2@\x80\x00',
+      b'\xbe\xfb\xe0p\x00',
+      b'\xbf\xe2@\x80\x00',
+      b'\xbf\xf2@\x80\x00',
+      b'\xbf\xfb\xe0b\x00',
+    ],
+  },
+  CAR.OUTBACK_PREGLOBAL_2018: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\x8b\x97\xac\x00',
+      b'\x8b\x97\xbc\x00',
+      b'\x8b\x99\xac\x00',
+      b'\x8b\x9a\xac\x00',
+      b'\x9b\x97\xac\x00',
+      b'\x9b\x97\xbe\x10',
+      b'\x9b\x9a\xac\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'{\xb0\x00\x00',
+      b'{\xb0\x00\x01',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00df\x1f@ \n',
+      b'\x00\x00d\x95\x00\x00\x00\x00',
+      b'\x00\x00d\x95\x1f@ \x0f',
+      b'\x00\x00d\xfe\x00\x00\x00\x00',
+      b'\x00\x00d\xfe\x1f@ \x15',
+      b'\x00\x00e\x19\x1f@ \x15',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xb5"@P\x07',
+      b'\xb5"@p\x07',
+      b'\xb5+@@\x07',
+      b'\xb5b@1\x07',
+      b'\xb5q\xe0@\x07',
+      b'\xc4"@0\x07',
+      b'\xc4+@0\x07',
+      b'\xc4b@p\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xbb\xf2@`\x00',
+      b'\xbb\xfb\xe0`\x00',
+      b'\xbc\xaf\xe0`\x00',
+      b'\xbc\xe2@\x80\x00',
+      b'\xbc\xf2@\x80\x00',
+      b'\xbc\xf2@\x81\x00',
+      b'\xbc\xfb\xe0`\x00',
+      b'\xbc\xfb\xe0\x80\x00',
+    ],
+  },
+  CAR.OUTBACK: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa1  \x06\x00',
+      b'\xa1  \x06\x01',
+      b'\xa1  \x06\x02',
+      b'\xa1  \x07\x00',
+      b'\xa1  \x07\x02',
+      b'\xa1  \x08\x00',
+      b'\xa1  \x08\x01',
+      b'\xa1  \x08\x02',
+      b'\xa1 "\t\x00',
+      b'\xa1 "\t\x01',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x1b\xc0\x10\x00',
+      b'\x9b\xc0\x10\x00',
+      b'\x9b\xc0 \x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00eJ\x00\x00\x00\x00\x00\x00',
+      b'\x00\x00eJ\x00\x1f@ \x19\x00',
+      b'\x00\x00e\x80\x00\x1f@ \x19\x00',
+      b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00',
+      b'\x00\x00e\x9a\x00\x1f@ 1\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xbc"`@\x07',
+      b'\xbc"`q\x07',
+      b'\xbc,\xa0q\x07',
+      b'\xbc,\xa0u\x07',
+      b'\xde"`0\x07',
+      b'\xde,\xa0@\x07',
+      b'\xe2"`0\x07',
+      b'\xe2"`p\x07',
+      b'\xe3,\xa0@\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xa5\xf6D@\x00',
+      b'\xa5\xfe\xf6@\x00',
+      b'\xa5\xfe\xf7@\x00',
+      b'\xa5\xfe\xf8@\x00',
+      b'\xa7\x8e\xf40\x00',
+      b'\xa7\xf6D@\x00',
+      b'\xa7\xfe\xf4@\x00',
+    ],
+  },
+  CAR.FORESTER_2022: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa3 !v\x00',
+      b'\xa3 !x\x00',
+      b'\xa3 "v\x00',
+      b'\xa3 "x\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'-\xc0\x040',
+      b'-\xc0%0',
+      b'=\xc0%\x02',
+      b'=\xc04\x02',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x04!\x01\x1eD\x07!\x00\x04,',
+      b'\x04!\x08\x01.\x07!\x08\x022',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xd5"`0\x07',
+      b'\xd5"a0\x07',
+      b'\xf1"`q\x07',
+      b'\xf1"aq\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\x1d\x86B0\x00',
+      b'\x1d\xf6B0\x00',
+      b'\x1e\x86B0\x00',
+      b'\x1e\xf6D0\x00',
+    ],
+  },
+  CAR.OUTBACK_2023: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa1 #\x14\x00',
+      b'\xa1 #\x17\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'+\xc0\x10\x11\x00',
+      b'+\xc0\x12\x11\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\t!\x08\x046\x05!\x08\x01/',
+    ],
+    (Ecu.engine, 0x7a2, None): [
+      b'\xed,\xa0q\x07',
+      b'\xed,\xa2q\x07',
+    ],
+    (Ecu.transmission, 0x7a3, None): [
+      b'\xa8\x8e\xf41\x00',
+      b'\xa8\xfe\xf41\x00',
+    ],
+  },
+}
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 53287638c..eac92cdd9 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -122,11 +122,11 @@ class CarInterface(CarInterfaceBase):
     else:
       raise ValueError(f"unknown car: {candidate}")
 
-    #ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
+    ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
 
     if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
-      ret.flags |= SubaruFlags.DISABLE_EYESIGHT
+      ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value
 
     if ret.openpilotLongitudinalControl:
       ret.longitudinalTuning.kpBP = [0., 5., 35.]
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index b851bcc08..290737c3e 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -48,8 +48,7 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long
     values["Cruise_Soft_Disable"] = 0
     values["Cruise_Fault"] = 0
 
-    if brake_cmd:
-      values["Cruise_Brake_Active"] = 1
+    values["Cruise_Brake_Active"] = brake_cmd
 
   if pcm_cancel_cmd:
     values["Cruise_Cancel"] = 1
@@ -153,14 +152,14 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l
 
   values["COUNTER"] = frame % 0x10
 
-  if enabled and long_active:
+  if long_enabled:
     values["Cruise_State"] = 0
-    values["Cruise_Activated"] = 1
+    values["Cruise_Activated"] = enabled
     values["Cruise_Disengaged"] = 0
     values["Car_Follow"] = int(lead_visible)
 
-  if long_enabled:
     values["PCB_Off"] = 1 # AEB is not presevered, so show the PCB_Off on dash
+    values["LDW_Off"] = 0
     values["Cruise_Fault"] = 0
 
   # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
@@ -186,15 +185,12 @@ def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brak
 
   if long_enabled:
     values["Cruise_Brake_Fault"] = 0
+    values["Cruise_Activated"] = long_active
 
-    if long_active:
-      values["Cruise_Activated"] = 1
+    values["Brake_Pressure"] = brake_value
 
-  values["Brake_Pressure"] = brake_value
-
-  if brake_value > 0:
-    values["Cruise_Brake_Active"] = 1
-    values["Cruise_Brake_Lights"] = 1 if brake_value >= 70 else 0
+    values["Cruise_Brake_Active"] = brake_value > 0
+    values["Cruise_Brake_Lights"] = brake_value >= 70
 
   return packer.make_can_msg("ES_Brake", CanBus.main, values)
 
@@ -204,7 +200,6 @@ def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cr
     "Signal1",
     "Cruise_Fault",
     "Cruise_RPM",
-    "Signal2",
     "Cruise_Activated",
     "Brake_Lights",
     "Cruise_Hold",
@@ -217,8 +212,7 @@ def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cr
     values["Cruise_RPM"] = cruise_rpm
     values["Cruise_Fault"] = 0
 
-    if long_active:
-      values["Cruise_Activated"] = 1
+    values["Cruise_Activated"] = long_active
 
   return packer.make_can_msg("ES_Status", CanBus.main, values)
 
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index f3dd5abde..3aabe3ffe 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -1,5 +1,5 @@
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag#, StrEnum
 from strenum import StrEnum
 from typing import Dict, List, Union
 
@@ -94,6 +94,9 @@ class Footnote(Enum):
   GLOBAL = CarFootnote(
     "In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.",
     Column.PACKAGE)
+  EXP_LONG = CarFootnote(
+    "Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.",
+    Column.LONGITUDINAL)
 
 
 @dataclass
@@ -105,6 +108,9 @@ class SubaruCarInfo(CarInfo):
   def init_make(self, CP: car.CarParams):
     self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool])
 
+    if CP.experimentalLongitudinalAvailable:
+      self.footnotes.append(Footnote.EXP_LONG)
+
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
   CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
@@ -157,578 +163,17 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
       bus=0,
-      logging=True,
     ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
       bus=1,
-      logging=True,
       obd_multiplexing=False,
     ),
   ],
 )
 
-FW_VERSIONS = {
-  CAR.ASCENT: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa5 \x19\x02\x00',
-      b'\xa5 !\002\000',
-      b'\xf1\x82\xa5 \x19\x02\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'\x85\xc0\xd0\x00',
-      b'\005\xc0\xd0\000',
-      b'\x95\xc0\xd0\x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00d\xb9\x1f@ \x10',
-      b'\000\000e~\037@ \'',
-      b'\x00\x00e@\x1f@ $',
-      b'\x00\x00d\xb9\x00\x00\x00\x00',
-      b'\x00\x00e@\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xbb,\xa0t\a',
-      b'\xf1\x82\xbb,\xa0t\x87',
-      b'\xf1\x82\xbb,\xa0t\a',
-      b'\xf1\x82\xd9,\xa0@\a',
-      b'\xf1\x82\xd1,\xa0q\x07',
-      b'\xd1,\xa0q\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\x00\xfe\xf7\x00\x00',
-      b'\001\xfe\xf9\000\000',
-      b'\x01\xfe\xf7\x00\x00',
-      b'\x01\xfe\xfa\x00\x00',
-    ],
-  },
-  CAR.ASCENT_2023: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa5 #\x03\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'%\xc0\xd0\x11',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x05!\x08\x1dK\x05!\x08\x01/',
-    ],
-    (Ecu.engine, 0x7a2, None): [
-      b'\xe5,\xa0P\x07',
-    ],
-    (Ecu.transmission, 0x7a3, None): [
-      b'\x04\xfe\xf3\x00\x00',
-    ],
-  },
-  CAR.LEGACY: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa1\\  x04\x01',
-      b'\xa1  \x03\x03',
-      b'\xa1  \x02\x01',
-      b'\xa1  \x02\x02',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'\x9b\xc0\x11\x00',
-      b'\x9b\xc0\x11\x02',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00e\x80\x00\x1f@ \x19\x00',
-      b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xde\"a0\x07',
-      b'\xe2"aq\x07',
-      b'\xde,\xa0@\x07',
-      b'\xe2,\xa0@\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xa5\xf6\x05@\x00',
-      b'\xa7\xf6\x04@\x00',
-      b'\xa5\xfe\xc7@\x00',
-      b'\xa7\xfe\xc4@\x00',
-    ],
-  },
-  CAR.IMPREZA: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\x7a\x94\x3f\x90\x00',
-      b'\xa2 \x185\x00',
-      b'\xa2 \x193\x00',
-      b'\xa2 \x194\x00',
-      b'z\x94.\x90\x00',
-      b'z\x94\b\x90\x01',
-      b'\xa2 \x19`\x00',
-      b'z\x94\f\x90\001',
-      b'z\x9c\x19\x80\x01',
-      b'z\x94\x08\x90\x00',
-      b'z\x84\x19\x90\x00',
-      b'\xf1\x00\xb2\x06\x04',
-      b'z\x94\x0c\x90\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'\x7a\xc0\x0c\x00',
-      b'z\xc0\x08\x00',
-      b'\x8a\xc0\x00\x00',
-      b'z\xc0\x04\x00',
-      b'z\xc0\x00\x00',
-      b'\x8a\xc0\x10\x00',
-      b'z\xc0\n\x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00\x64\xb5\x1f\x40\x20\x0e',
-      b'\x00\x00d\xdc\x1f@ \x0e',
-      b'\x00\x00e\x1c\x1f@ \x14',
-      b'\x00\x00d)\x1f@ \a',
-      b'\x00\x00e+\x1f@ \x14',
-      b'\000\000e+\000\000\000\000',
-      b'\000\000dd\037@ \016',
-      b'\000\000e\002\037@ \024',
-      b'\x00\x00d)\x00\x00\x00\x00',
-      b'\x00\x00c\xf4\x00\x00\x00\x00',
-      b'\x00\x00d\xdc\x00\x00\x00\x00',
-      b'\x00\x00dd\x00\x00\x00\x00',
-      b'\x00\x00c\xf4\x1f@ \x07',
-      b'\x00\x00e\x1c\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xaa\x61\x66\x73\x07',
-      b'\xbeacr\a',
-      b'\xc5!`r\a',
-      b'\xaa!ds\a',
-      b'\xaa!`u\a',
-      b'\xaa!dq\a',
-      b'\xaa!dt\a',
-      b'\xc5!ar\a',
-      b'\xbe!as\a',
-      b'\xc5!as\x07',
-      b'\xc5!ds\a',
-      b'\xc5!`s\a',
-      b'\xaa!au\a',
-      b'\xbe!at\a',
-      b'\xaa\x00Bu\x07',
-      b'\xc5!dr\x07',
-      b'\xaa!aw\x07',
-      b'\xaa!av\x07',
-      b'\xaa\x01bt\x07',
-      b'\xc5!ap\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xe3\xe5\x46\x31\x00',
-      b'\xe4\xe5\x061\x00',
-      b'\xe5\xf5\x04\x00\x00',
-      b'\xe3\xf5G\x00\x00',
-      b'\xe3\xf5\a\x00\x00',
-      b'\xe3\xf5C\x00\x00',
-      b'\xe5\xf5B\x00\x00',
-      b'\xe5\xf5$\000\000',
-      b'\xe4\xf5\a\000\000',
-      b'\xe3\xf5F\000\000',
-      b'\xe4\xf5\002\000\000',
-      b'\xe3\xd0\x081\x00',
-      b'\xe3\xf5\x06\x00\x00',
-      b'\xe3\xd5\x161\x00',
-    ],
-  },
-  CAR.IMPREZA_2020: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa2 \0314\000',
-      b'\xa2 \0313\000',
-      b'\xa2 !i\000',
-      b'\xa2 !`\000',
-      b'\xf1\x00\xb2\x06\x04',
-      b'\xa2  `\x00',
-      b'\xa2 !3\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'\x9a\xc0\000\000',
-      b'\n\xc0\004\000',
-      b'\x9a\xc0\x04\x00',
-      b'\n\xc0\x04\x01',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\000\000eb\037@ \"',
-      b'\x00\x00e\x8f\x1f@ )',
-      b'\x00\x00eq\x1f@ "',
-      b'\x00\x00eq\x00\x00\x00\x00',
-      b'\x00\x00e\x8f\x00\x00\x00\x00',
-      b'\x00\x00e\x92\x00\x00\x00\x00',
-      b'\x00\x00e\xa4\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xca!ap\a',
-      b'\xca!`p\a',
-      b'\xca!`0\a',
-      b'\xcc\"f0\a',
-      b'\xcc!fp\a',
-      b'\xcc!`p\x07',
-      b'\xca!f@\x07',
-      b'\xca!fp\x07',
-      b'\xf3"f@\x07',
-      b'\xe6!fp\x07',
-      b'\xf3"fp\x07',
-      b'\xe6"f0\x07',
-      b'\xe6"fp\x07',
-      b'\xe6!`@\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xe6\xf5\004\000\000',
-      b'\xe6\xf5$\000\000',
-      b'\xe7\xf5\x04\x00\x00',
-      b'\xe7\xf6B0\000',
-      b'\xe7\xf5D0\000',
-      b'\xf1\x00\xd7\x10@',
-      b'\xe6\xf5D0\x00',
-      b'\xe9\xf6F0\x00',
-      b'\xe9\xf5B0\x00',
-      b'\xe9\xf6B0\x00',
-      b'\xe9\xf5"\x00\x00',
-    ],
-  },
-  CAR.CROSSTREK_HYBRID: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa2 \x19e\x01',
-      b'\xa2 !e\x01',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'\x9a\xc2\x01\x00',
-      b'\n\xc2\x01\x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00el\x1f@ #',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xd7!`@\x07',
-      b'\xd7!`p\a',
-      b'\xf4!`0\x07',
-    ],
-  },
-  CAR.FORESTER: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa3 \x18\x14\x00',
-      b'\xa3  \024\000',
-      b'\xa3 \031\024\000',
-      b'\xa3  \x14\x01',
-      b'\xf1\x00\xbb\r\x05',
-      b'\xa3 \x18&\x00',
-      b'\xa3 \x19&\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'\x8d\xc0\x04\x00',
-      b'\x8d\xc0\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00e!\x1f@ \x11',
-      b'\x00\x00e\x97\x1f@ 0',
-      b'\000\000e`\037@  ',
-      b'\xf1\x00\xac\x02\x00',
-      b'\x00\x00e!\x00\x00\x00\x00',
-      b'\x00\x00e\x97\x00\x00\x00\x00',
-      b'\x00\x00e^\x1f@ !',
-      b'\x00\x00e^\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xb6"`A\x07',
-      b'\xcf"`0\x07',
-      b'\xcb\"`@\a',
-      b'\xcb\"`p\a',
-      b'\xf1\x00\xa2\x10\n',
-      b'\xcf"`p\x07',
-      b'\xb6\xa2`A\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\032\xf6B0\000',
-      b'\x1a\xf6F`\x00',
-      b'\032\xf6b`\000',
-      b'\x1a\xf6B`\x00',
-      b'\x1a\xf6b0\x00',
-      b'\x1a\xe6B1\x00',
-      b'\x1a\xe6F1\x00',
-    ],
-  },
-  CAR.FORESTER_HYBRID: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa3 \x19T\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'\x8d\xc2\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00eY\x1f@ !',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xd2\xa1`r\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-       b'\x1b\xa7@a\x00',
-    ],
-  },
-  CAR.FORESTER_PREGLOBAL: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\x7d\x97\x14\x40',
-      b'\xf1\x00\xbb\x0c\x04',
-      b'm\x97\x14@',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'}\xc0\x10\x00',
-      b'm\xc0\x10\x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00\x64\x35\x1f\x40\x20\x09',
-      b'\x00\x00c\xe9\x1f@ \x03',
-      b'\x00\x00d\xd3\x1f@ \t',
-      b'\x00\x00c\xe9\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xba"@p\a',
-      b'\xa7)\xa0q\a',
-      b'\xf1\x82\xa7)\xa0q\a',
-      b'\xba"@@\a',
-      b'\xa7"@p\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xdc\xf2\x60\x60\x00',
-      b'\xdc\xf2@`\x00',
-      b'\xda\xfd\xe0\x80\x00',
-      b'\xdc\xf2`\x81\000',
-      b'\xdc\xf2`\x80\x00',
-      b'\x1a\xf6F`\x00',
-      b'\xda\xf2`\x80\x00',
-    ],
-  },
-  CAR.LEGACY_PREGLOBAL: {
-    (Ecu.abs, 0x7b0, None): [
-      b'k\x97D\x00',
-      b'[\xba\xc4\x03',
-      b'{\x97D\x00',
-      b'[\x97D\000',
-      b'k\x9aD\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'[\xb0\x00\x01',
-      b'K\xb0\x00\x01',
-      b'k\xb0\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00c\xb7\x1f@\x10\x16',
-      b'\x00\x00c\x94\x1f@\x10\x08',
-      b'\x00\x00c\xec\x1f@ \x04',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xab*@r\a',
-      b'\xa0+@p\x07',
-      b'\xb4"@0\x07',
-      b'\xa0"@q\a',
-      b'\xab+@p\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xbe\xf2\x00p\x00',
-      b'\xbf\xfb\xc0\x80\x00',
-      b'\xbd\xf2\x00`\x00',
-      b'\xbf\xf2\000\x80\000',
-      b'\xbe\xfb\xc0p\x00',
-    ],
-  },
-  CAR.OUTBACK_PREGLOBAL: {
-    (Ecu.abs, 0x7b0, None): [
-      b'{\x9a\xac\x00',
-      b'k\x97\xac\x00',
-      b'\x5b\xf7\xbc\x03',
-      b'[\xf7\xac\x03',
-      b'{\x97\xac\x00',
-      b'k\x9a\xac\000',
-      b'[\xba\xac\x03',
-      b'[\xf7\xac\000',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'k\xb0\x00\x00',
-      b'[\xb0\x00\x00',
-      b'\x4b\xb0\x00\x02',
-      b'K\xb0\x00\x00',
-      b'{\xb0\x00\x01',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00c\xec\x1f@ \x04',
-      b'\x00\x00c\xd1\x1f@\x10\x17',
-      b'\xf1\x00\xf0\xe0\x0e',
-      b'\x00\x00c\x94\x00\x00\x00\x00',
-      b'\x00\x00c\x94\x1f@\x10\b',
-      b'\x00\x00c\xb7\x1f@\x10\x16',
-      b'\000\000c\x90\037@\020\016',
-      b'\x00\x00c\xec\x37@\x04',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xb4+@p\a',
-      b'\xab\"@@\a',
-      b'\xa0\x62\x41\x71\x07',
-      b'\xa0*@q\a',
-      b'\xab*@@\a',
-      b'\xb4"@0\a',
-      b'\xb4"@p\a',
-      b'\xab"@s\a',
-      b'\xab+@@\a',
-      b'\xb4"@r\a',
-      b'\xa0+@@\x07',
-      b'\xa0\"@\x80\a',
-      b'\xa0*@u\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xbd\xfb\xe0\x80\x00',
-      b'\xbe\xf2@\x80\x00',
-      b'\xbf\xe2\x40\x80\x00',
-      b'\xbf\xf2@\x80\x00',
-      b'\xbe\xf2@p\x00',
-      b'\xbd\xf2@`\x00',
-      b'\xbd\xf2@\x81\000',
-      b'\xbe\xfb\xe0p\000',
-      b'\xbf\xfb\xe0b\x00',
-    ],
-  },
-  CAR.OUTBACK_PREGLOBAL_2018: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\x8b\x97\xac\x00',
-      b'\x8b\x9a\xac\x00',
-      b'\x9b\x97\xac\x00',
-      b'\x8b\x97\xbc\x00',
-      b'\x8b\x99\xac\x00',
-      b'\x9b\x9a\xac\000',
-      b'\x9b\x97\xbe\x10',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'{\xb0\x00\x00',
-      b'{\xb0\x00\x01',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00df\x1f@ \n',
-      b'\x00\x00d\xfe\x1f@ \x15',
-      b'\x00\x00d\x95\x00\x00\x00\x00',
-      b'\x00\x00d\x95\x1f@ \x0f',
-      b'\x00\x00d\xfe\x00\x00\x00\x00',
-      b'\x00\x00e\x19\x1f@ \x15',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xb5"@p\a',
-      b'\xb5+@@\a',
-      b'\xb5"@P\a',
-      b'\xc4"@0\a',
-      b'\xb5b@1\x07',
-      b'\xb5q\xe0@\a',
-      b'\xc4+@0\a',
-      b'\xc4b@p\a',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xbc\xf2@\x81\x00',
-      b'\xbc\xfb\xe0\x80\x00',
-      b'\xbc\xf2@\x80\x00',
-      b'\xbb\xf2@`\x00',
-      b'\xbc\xe2@\x80\x00',
-      b'\xbc\xfb\xe0`\x00',
-      b'\xbc\xaf\xe0`\x00',
-      b'\xbb\xfb\xe0`\000',
-    ],
-  },
-  CAR.OUTBACK: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa1  \x06\x01',
-      b'\xa1  \a\x00',
-      b'\xa1  \b\001',
-      b'\xa1  \x06\x00',
-      b'\xa1 "\t\x01',
-      b'\xa1  \x08\x02',
-      b'\xa1 \x06\x02',
-      b'\xa1  \x07\x02',
-      b'\xa1  \x08\x00',
-      b'\xa1 "\t\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'\x9b\xc0\x10\x00',
-      b'\x9b\xc0\x20\x00',
-      b'\x1b\xc0\x10\x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x00\x00eJ\x00\x1f@ \x19\x00',
-      b'\000\000e\x80\000\037@ \031\000',
-      b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00',
-      b'\x00\x00e\x9a\x00\x1f@ 1\x00',
-      b'\x00\x00eJ\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xbc,\xa0q\x07',
-      b'\xbc\"`@\a',
-      b'\xde"`0\a',
-      b'\xf1\x82\xbc,\xa0q\a',
-      b'\xf1\x82\xe3,\xa0@\x07',
-      b'\xe2"`0\x07',
-      b'\xe2"`p\x07',
-      b'\xf1\x82\xe2,\xa0@\x07',
-      b'\xbc"`q\x07',
-      b'\xe3,\xa0@\x07',
-      b'\xbc,\xa0u\x07',
-      b'\xde,\xa0@\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xa5\xfe\xf7@\x00',
-      b'\xa5\xf6D@\x00',
-      b'\xa5\xfe\xf6@\x00',
-      b'\xa7\x8e\xf40\x00',
-      b'\xf1\x82\xa7\xf6D@\x00',
-      b'\xa7\xf6D@\x00',
-      b'\xa7\xfe\xf4@\x00',
-      b'\xa5\xfe\xf8@\x00',
-    ],
-  },
-  CAR.FORESTER_2022: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa3 !x\x00',
-      b'\xa3 !v\x00',
-      b'\xa3 "v\x00',
-      b'\xa3 "x\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'-\xc0%0',
-      b'-\xc0\x040',
-      b'=\xc0%\x02',
-      b'=\xc04\x02',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\x04!\x01\x1eD\x07!\x00\x04,',
-      b'\x04!\x08\x01.\x07!\x08\x022',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xd5"a0\x07',
-      b'\xd5"`0\x07',
-      b'\xf1"aq\x07',
-      b'\xf1"`q\x07',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\x1d\x86B0\x00',
-      b'\x1d\xf6B0\x00',
-      b'\x1e\x86B0\x00',
-      b'\x1e\xf6D0\x00',
-    ],
-  },
-  CAR.OUTBACK_2023: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\xa1 #\x14\x00',
-      b'\xa1 #\x17\x00',
-    ],
-    (Ecu.eps, 0x746, None): [
-      b'+\xc0\x10\x11\x00',
-      b'+\xc0\x12\x11\x00',
-    ],
-    (Ecu.fwdCamera, 0x787, None): [
-      b'\t!\x08\x046\x05!\x08\x01/',
-    ],
-    (Ecu.engine, 0x7a2, None): [
-      b'\xed,\xa0q\x07',
-      b'\xed,\xa2q\x07',
-    ],
-    (Ecu.transmission, 0x7a3, None): [
-      b'\xa8\x8e\xf41\x00',
-      b'\xa8\xfe\xf41\x00',
-    ]
-  }
-}
-
 DBC = {
   CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
   CAR.ASCENT_2023: dbc_dict('subaru_global_2017_generated', None),
diff --git a/selfdrive/car/tesla/fingerprints.py b/selfdrive/car/tesla/fingerprints.py
new file mode 100644
index 000000000..772ca59ef
--- /dev/null
+++ b/selfdrive/car/tesla/fingerprints.py
@@ -0,0 +1,28 @@
+# ruff: noqa: E501
+from cereal import car
+from openpilot.selfdrive.car.tesla.values import CAR
+
+Ecu = car.CarParams.Ecu
+
+FINGERPRINTS = {
+  CAR.AP1_MODELS: [{
+    1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4
+  }],
+}
+
+FW_VERSIONS = {
+  CAR.AP2_MODELS: {
+    (Ecu.adas, 0x649, None): [
+      b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11',
+    ],
+    (Ecu.electricBrakeBooster, 0x64d, None): [
+      b'1037123-00-A',
+    ],
+    (Ecu.fwdRadar, 0x671, None): [
+      b'\x01\x00W\x00\x00\x00\x07\x00\x00\x00\x00\x08\x01\x00\x00\x00\x07\xff\xfe',
+    ],
+    (Ecu.eps, 0x730, None): [
+      b'\x10#\x01',
+    ],
+  },
+}
diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py
index fee8d127f..b2cffd031 100644
--- a/selfdrive/car/tesla/values.py
+++ b/selfdrive/car/tesla/values.py
@@ -1,5 +1,5 @@
-# ruff: noqa: E501
 from collections import namedtuple
+# from enum import StrEnum
 from strenum import StrEnum
 from typing import Dict, List, Union
 
@@ -23,13 +23,6 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
   CAR.AP2_MODELS: CarInfo("Tesla AP2 Model S", "All"),
 }
 
-FINGERPRINTS = {
-  CAR.AP1_MODELS: [
-    {
-      1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4
-    },
-  ],
-}
 
 DBC = {
   CAR.AP2_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
@@ -55,22 +48,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ]
 )
 
-FW_VERSIONS = {
-  CAR.AP2_MODELS: {
-    (Ecu.adas, 0x649, None): [
-      b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11',
-    ],
-    (Ecu.electricBrakeBooster, 0x64d, None): [
-      b'1037123-00-A',
-    ],
-    (Ecu.fwdRadar, 0x671, None): [
-      b'\x01\x00W\x00\x00\x00\x07\x00\x00\x00\x00\x08\x01\x00\x00\x00\x07\xff\xfe',
-    ],
-    (Ecu.eps, 0x730, None): [
-      b'\x10#\x01',
-    ],
-  },
-}
 
 class CANBUS:
   # Lateral harness
diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml
new file mode 100644
index 000000000..5cdebc170
--- /dev/null
+++ b/selfdrive/car/torque_data/override.toml
@@ -0,0 +1,76 @@
+legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
+### angle control
+# Nissan appears to have torque
+"NISSAN X-TRAIL 2017" = [nan, 1.5, nan]
+"NISSAN ALTIMA 2020" = [nan, 1.5, nan]
+"NISSAN LEAF 2018 Instrument Cluster" = [nan, 1.5, nan]
+"NISSAN LEAF 2018" = [nan, 1.5, nan]
+"NISSAN ROGUE 2019" = [nan, 1.5, nan]
+
+# New subarus angle based controllers
+"SUBARU FORESTER 2022" = [nan, 3.0, nan]
+"SUBARU OUTBACK 7TH GEN" = [nan, 3.0, nan]
+"SUBARU ASCENT 2023" = [nan, 3.0, nan]
+
+# Toyota LTA also has torque
+"TOYOTA RAV4 2023" = [nan, 3.0, nan]
+
+# Tesla has high torque
+"TESLA AP1 MODEL S" = [nan, 2.5, nan]
+"TESLA AP2 MODEL S" = [nan, 2.5, nan]
+
+# Guess
+"FORD BRONCO SPORT 1ST GEN" = [nan, 1.5, nan]
+"FORD ESCAPE 4TH GEN" = [nan, 1.5, nan]
+"FORD EXPLORER 6TH GEN" = [nan, 1.5, nan]
+"FORD F-150 14TH GEN" = [nan, 1.5, nan]
+"FORD FOCUS 4TH GEN" = [nan, 1.5, nan]
+"FORD MAVERICK 1ST GEN" = [nan, 1.5, nan]
+"FORD F-150 LIGHTNING 1ST GEN" = [nan, 1.5, nan]
+"FORD MUSTANG MACH-E 1ST GEN" = [nan, 1.5, nan]
+###
+
+# No steering wheel
+"COMMA BODY" = [nan, 1000, nan]
+
+# Totally new cars
+"RAM 1500 5TH GEN" = [2.0, 2.0, 0.05]
+"RAM HD 5TH GEN" = [1.4, 1.4, 0.05]
+"SUBARU OUTBACK 6TH GEN" = [2.0, 2.0, 0.2]
+"CADILLAC ESCALADE 2017" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
+"CADILLAC ESCALADE ESV 2019" = [1.15, 1.3, 0.2]
+"CHEVROLET BOLT EUV 2022" = [2.0, 2.0, 0.05]
+"CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112]
+"CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16]
+"CHEVROLET EQUINOX 2019" = [2.0, 2.0, 0.05]
+"VOLKSWAGEN PASSAT NMS" = [2.5, 2.5, 0.1]
+"VOLKSWAGEN SHARAN 2ND GEN" = [2.5, 2.5, 0.1]
+"HYUNDAI SANTA CRUZ 1ST GEN" = [2.7, 2.7, 0.1]
+"KIA SPORTAGE 5TH GEN" = [2.7, 2.7, 0.1]
+"KIA SPORTAGE HYBRID 5TH GEN" = [2.5, 2.5, 0.1]
+"GENESIS GV70 1ST GEN" = [2.42, 2.42, 0.1]
+"KIA SORENTO PLUG-IN HYBRID 4TH GEN" = [2.5, 2.5, 0.1]
+"GENESIS GV60 ELECTRIC 1ST GEN" = [2.5, 2.5, 0.1]
+"KIA SORENTO 4TH GEN" = [2.5, 2.5, 0.1]
+"KIA NIRO HYBRID 2ND GEN" = [2.42, 2.5, 0.12]
+"KIA NIRO EV 2ND GEN" = [2.05, 2.5, 0.14]
+"GENESIS GV80 2023" = [2.5, 2.5, 0.1]
+"KIA CARNIVAL 4TH GEN" = [1.75, 1.75, 0.15]
+"GMC ACADIA DENALI 2018" = [1.6, 1.6, 0.2]
+"LEXUS IS 2023" = [2.0, 2.0, 0.1]
+"KIA SORENTO HYBRID 4TH GEN" = [2.5, 2.5, 0.1]
+"HYUNDAI KONA ELECTRIC 2ND GEN" = [2.5, 2.5, 0.1]
+"HYUNDAI IONIQ 6 2023" = [2.5, 2.5, 0.1]
+"HYUNDAI AZERA 6TH GEN" = [1.8, 1.8, 0.1]
+"HYUNDAI AZERA HYBRID 6TH GEN" = [1.8, 1.8, 0.1]
+"KIA K8 HYBRID 1ST GEN" = [2.5, 2.5, 0.1]
+"HYUNDAI CUSTIN 1ST GEN" = [2.5, 2.5, 0.1]
+"LEXUS GS F 2016" = [2.5, 2.5, 0.08]
+"HYUNDAI STARIA 4TH GEN" = [1.8, 2.0, 0.15]
+
+# Dashcam or fallback configured as ideal car
+"mock" = [10.0, 10, 0.0]
+
+# Manually checked
+"HONDA CIVIC 2022" = [2.5, 1.2, 0.15]
+"HONDA HR-V 2023" = [2.5, 1.2, 0.2]
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
deleted file mode 100644
index 12b483cfa..000000000
--- a/selfdrive/car/torque_data/override.yaml
+++ /dev/null
@@ -1,73 +0,0 @@
-legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
-### angle control
-# Nissan appears to have torque
-NISSAN X-TRAIL 2017: [.nan, 1.5, .nan]
-NISSAN ALTIMA 2020: [.nan, 1.5, .nan]
-NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
-NISSAN LEAF 2018: [.nan, 1.5, .nan]
-NISSAN ROGUE 2019: [.nan, 1.5, .nan]
-
-# New subarus angle based controllers
-SUBARU FORESTER 2022: [.nan, 3.0, .nan]
-SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan]
-SUBARU ASCENT 2023: [.nan, 3.0, .nan]
-
-# Toyota LTA also has torque
-TOYOTA RAV4 2023: [.nan, 3.0, .nan]
-
-# Tesla has high torque
-TESLA AP1 MODEL S: [.nan, 2.5, .nan]
-TESLA AP2 MODEL S: [.nan, 2.5, .nan]
-
-# Guess
-FORD BRONCO SPORT 1ST GEN: [.nan, 1.5, .nan]
-FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
-FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan]
-FORD F-150 14TH GEN: [.nan, 1.5, .nan]
-FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
-FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan]
-###
-
-# No steering wheel
-COMMA BODY: [.nan, 1000, .nan]
-
-# Totally new cars
-RAM 1500 5TH GEN: [2.0, 2.0, 0.05]
-RAM HD 5TH GEN: [1.4, 1.4, 0.05]
-SUBARU OUTBACK 6TH GEN: [2.0, 2.0, 0.2]
-CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694]
-CADILLAC ESCALADE ESV 2019: [1.15, 1.3, 0.2]
-CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
-CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
-CHEVROLET TRAILBLAZER 2021: [1.33, 1.9, 0.16]
-CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
-VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
-VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1]
-HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.1]
-KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.1]
-KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.1]
-GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1]
-KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1]
-GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1]
-KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1]
-KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12]
-KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14]
-GENESIS GV80 2023: [2.5, 2.5, 0.1]
-KIA CARNIVAL 4TH GEN: [1.75, 1.75, 0.15]
-GMC ACADIA DENALI 2018: [1.6, 1.6, 0.2]
-LEXUS IS 2023: [2.0, 2.0, 0.1]
-KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1]
-HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1]
-HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1]
-HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1]
-HYUNDAI AZERA HYBRID 6TH GEN: [1.8, 1.8, 0.1]
-KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1]
-HYUNDAI CUSTIN 1ST GEN: [2.5, 2.5, 0.1]
-LEXUS GS F 2016: [2.5, 2.5, 0.08]
-
-# Dashcam or fallback configured as ideal car
-mock: [10.0, 10, 0.0]
-
-# Manually checked
-HONDA CIVIC 2022: [2.5, 1.2, 0.15]
-HONDA HR-V 2023: [2.5, 1.2, 0.2]
diff --git a/selfdrive/car/torque_data/params.toml b/selfdrive/car/torque_data/params.toml
new file mode 100644
index 000000000..564f50df5
--- /dev/null
+++ b/selfdrive/car/torque_data/params.toml
@@ -0,0 +1,86 @@
+legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
+"ACURA ILX 2016" = [1.524988973896102, 0.519011053086259, 0.34236219253028]
+"ACURA RDX 2018" = [0.9987728568686902, 0.5323765166196301, 0.303218805715844]
+"ACURA RDX 2020" = [1.4314459806646749, 0.33874701282109954, 0.18048847083897598]
+"AUDI A3 3RD GEN" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
+"AUDI Q3 2ND GEN" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
+"CHEVROLET VOLT PREMIER 2017" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
+"CHRYSLER PACIFICA 2018" = [2.07140, 1.3366521181047952, 0.13776367250652022]
+"CHRYSLER PACIFICA 2020" = [1.86206, 1.509076559398423, 0.14328246159386085]
+"CHRYSLER PACIFICA HYBRID 2017" = [1.79422, 1.06831764583744, 0.116237]
+"CHRYSLER PACIFICA HYBRID 2018" = [2.08887, 1.2943025830995154, 0.114818]
+"CHRYSLER PACIFICA HYBRID 2019" = [1.90120, 1.1958788168371808, 0.131520]
+"GENESIS G70 2018" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
+"HONDA ACCORD 2018" = [1.7135052593468778, 0.3461280068322071, 0.21579936052863807]
+"HONDA ACCORD HYBRID 2018" = [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
+"HONDA CIVIC (BOSCH) 2019" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
+"HONDA CIVIC 2016" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
+"HONDA CR-V 2016" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
+"HONDA CR-V 2017" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
+"HONDA CR-V HYBRID 2019" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083]
+"HONDA FIT 2018" = [1.5719981427109775, 0.5712761407108976, 0.110773383324281]
+"HONDA HRV 2019" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
+"HONDA INSIGHT 2019" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
+"HONDA ODYSSEY 2018" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
+"HONDA PILOT 2017" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
+"HONDA RIDGELINE 2017" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
+"HYUNDAI ELANTRA 2021" = [3.169, 2.1259108157250735, 0.0819]
+"HYUNDAI GENESIS 2015-2016" = [2.7807965280270794, 2.325, 0.0984484465421171]
+"HYUNDAI IONIQ 5 2022" = [3.172929, 2.713050, 0.096019]
+"HYUNDAI IONIQ ELECTRIC LIMITED 2019" = [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
+"HYUNDAI IONIQ PHEV 2020" = [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
+"HYUNDAI IONIQ PLUG-IN HYBRID 2019" = [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
+"HYUNDAI KONA ELECTRIC 2019" = [3.078814714619148, 2.307336938253934, 0.12359762054065548]
+"HYUNDAI PALISADE 2020" = [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
+"HYUNDAI SANTA FE 2019" = [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
+"HYUNDAI SANTA FE HYBRID 2022" = [3.501877602644835, 2.729064118456137, 0.10384068104538963]
+"HYUNDAI SANTA FE PlUG-IN HYBRID 2022" = [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
+"HYUNDAI SONATA 2019" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
+"HYUNDAI SONATA 2020" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
+"HYUNDAI SONATA HYBRID 2021" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
+"HYUNDAI TUCSON HYBRID 4TH GEN" = [2.960174, 2.860284, 0.108745]
+"JEEP GRAND CHEROKEE 2019" = [2.30972, 1.289689569171081, 0.117048]
+"JEEP GRAND CHEROKEE V6 2018" = [2.27116, 1.4057367824262523, 0.11725947414922003]
+"KIA EV6 2022" = [3.2, 2.093457, 0.05]
+"KIA K5 2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716]
+"KIA NIRO EV 2020" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
+"KIA SORENTO GT LINE 2018" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
+"KIA STINGER GT2 2018" = [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
+"LEXUS ES 2019" = [2.0357564999999997, 1.999082295195227, 0.101533]
+"LEXUS NX 2018" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
+"LEXUS NX 2020" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
+"LEXUS RX 2016" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034]
+"LEXUS RX 2020" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
+"MAZDA CX-9 2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
+"SKODA SUPERB 3RD GEN" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
+"SUBARU FORESTER 2019" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
+"SUBARU IMPREZA LIMITED 2019" = [1.0670704910352047, 0.8234374840709592, 0.20986563268614938]
+"SUBARU IMPREZA SPORT 2020" = [2.6068223389108303, 2.134872342760203, 0.15261513193561627]
+"TOYOTA AVALON 2016" = [2.5185770183845646, 1.7153346784214922, 0.10603968787111022]
+"TOYOTA AVALON 2019" = [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
+"TOYOTA AVALON 2022" = [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
+"TOYOTA C-HR 2018" = [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
+"TOYOTA C-HR 2021" = [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
+"TOYOTA CAMRY 2018" = [2.0568162685952505, 1.7576185169559122, 0.108878753]
+"TOYOTA CAMRY 2021" = [2.3548324999999997, 2.368900128946771, 0.118436]
+"TOYOTA COROLLA 2017" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
+"TOYOTA COROLLA TSS2 2019" = [1.991132339206426, 1.868866242720403, 0.19570063298031432]
+"TOYOTA HIGHLANDER 2017" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398]
+"TOYOTA HIGHLANDER 2020" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
+"TOYOTA MIRAI 2021" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
+"TOYOTA PRIUS 2017" = [1.60, 1.5023147650693636, 0.151515]
+"TOYOTA PRIUS TSS2 2021" = [1.972600, 1.9104337425537743, 0.170968]
+"TOYOTA RAV4 2017" = [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
+"TOYOTA RAV4 2019" = [2.279239424615458, 2.087101966779332, 0.13682208413446817]
+"TOYOTA RAV4 2019 8965" = [2.3080951748210854, 2.1189367835820603, 0.12942102328134028]
+"TOYOTA RAV4 2019 x02" = [2.762293266024922, 2.243615865975329, 0.11113568178327986]
+"TOYOTA RAV4 HYBRID 2017" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
+"TOYOTA RAV4 2022" = [2.241883248393209, 1.9304407208090029, 0.112174]
+"TOYOTA RAV4 2022 x02" = [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
+"TOYOTA SIENNA 2018" = [1.689726, 1.3208264576110418, 0.140456]
+"VOLKSWAGEN ARTEON 1ST GEN" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
+"VOLKSWAGEN ATLAS 1ST GEN" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
+"VOLKSWAGEN GOLF 7TH GEN" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
+"VOLKSWAGEN JETTA 7TH GEN" = [1.2271623034089392, 1.216955117387, 0.19437384688370712]
+"VOLKSWAGEN PASSAT 8TH GEN" = [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
+"VOLKSWAGEN TIGUAN 2ND GEN" = [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]
diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml
deleted file mode 100644
index 7bd83025f..000000000
--- a/selfdrive/car/torque_data/params.yaml
+++ /dev/null
@@ -1,88 +0,0 @@
-ACURA ILX 2016: [1.524988973896102, 0.519011053086259, 0.34236219253028]
-ACURA RDX 2018: [0.9987728568686902, 0.5323765166196301, 0.303218805715844]
-ACURA RDX 2020: [1.4314459806646749, 0.33874701282109954, 0.18048847083897598]
-AUDI A3 3RD GEN: [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
-AUDI Q3 2ND GEN: [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
-CHEVROLET VOLT PREMIER 2017: [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
-CHRYSLER PACIFICA 2018: [2.07140, 1.3366521181047952, 0.13776367250652022]
-CHRYSLER PACIFICA 2020: [1.86206, 1.509076559398423, 0.14328246159386085]
-CHRYSLER PACIFICA HYBRID 2017: [1.79422, 1.06831764583744, 0.116237]
-CHRYSLER PACIFICA HYBRID 2018: [2.08887, 1.2943025830995154, 0.114818]
-CHRYSLER PACIFICA HYBRID 2019: [1.90120, 1.1958788168371808, 0.131520]
-GENESIS G70 2018: [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
-HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807]
-HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
-HONDA CIVIC (BOSCH) 2019: [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
-HONDA CIVIC 2016: [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
-HONDA CR-V 2016: [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
-HONDA CR-V 2017: [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
-HONDA CR-V HYBRID 2019: [2.072034634644233, 0.7152085160516978, 0.20237105008376083]
-HONDA FIT 2018: [1.5719981427109775, 0.5712761407108976, 0.110773383324281]
-HONDA HRV 2019: [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
-HONDA INSIGHT 2019: [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
-HONDA ODYSSEY 2018: [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
-HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
-HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
-HYUNDAI ELANTRA 2021: [3.169, 2.1259108157250735, 0.0819]
-HYUNDAI GENESIS 2015-2016: [2.7807965280270794, 2.325, 0.0984484465421171]
-HYUNDAI IONIQ 5 2022: [3.172929, 2.713050, 0.096019]
-HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
-HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
-HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
-HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 2.307336938253934, 0.12359762054065548]
-HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
-HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
-HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963]
-HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
-HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
-HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
-HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
-HYUNDAI TUCSON HYBRID 4TH GEN: [2.960174, 2.860284, 0.108745]
-JEEP GRAND CHEROKEE 2019: [2.30972, 1.289689569171081, 0.117048]
-JEEP GRAND CHEROKEE V6 2018: [2.27116, 1.4057367824262523, 0.11725947414922003]
-KIA EV6 2022: [3.2, 2.093457, 0.05]
-KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716]
-KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
-KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
-KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
-LEXUS ES 2019: [2.0357564999999997, 1.999082295195227, 0.101533]
-LEXUS NX 2018: [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
-LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
-LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
-LEXUS RX 2020: [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
-LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
-MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
-SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
-SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
-SUBARU IMPREZA LIMITED 2019: [1.0670704910352047, 0.8234374840709592, 0.20986563268614938]
-SUBARU IMPREZA SPORT 2020: [2.6068223389108303, 2.134872342760203, 0.15261513193561627]
-TOYOTA AVALON 2016: [2.5185770183845646, 1.7153346784214922, 0.10603968787111022]
-TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
-TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
-TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
-TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
-TOYOTA CAMRY 2018: [2.0568162685952505, 1.7576185169559122, 0.108878753]
-TOYOTA CAMRY 2021: [2.3548324999999997, 2.368900128946771, 0.118436]
-TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
-TOYOTA COROLLA TSS2 2019: [1.991132339206426, 1.868866242720403, 0.19570063298031432]
-TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
-TOYOTA HIGHLANDER 2020: [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
-TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600]
-TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
-TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515]
-TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968]
-TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
-TOYOTA RAV4 2019: [2.279239424615458, 2.087101966779332, 0.13682208413446817]
-TOYOTA RAV4 2019 8965: [2.3080951748210854, 2.1189367835820603, 0.12942102328134028]
-TOYOTA RAV4 2019 x02: [2.762293266024922, 2.243615865975329, 0.11113568178327986]
-TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
-TOYOTA RAV4 2022: [2.241883248393209, 1.9304407208090029, 0.112174]
-TOYOTA RAV4 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
-TOYOTA SIENNA 2018: [1.689726, 1.3208264576110418, 0.140456]
-VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
-VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
-VOLKSWAGEN GOLF 7TH GEN: [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
-VOLKSWAGEN JETTA 7TH GEN: [1.2271623034089392, 1.216955117387, 0.19437384688370712]
-VOLKSWAGEN PASSAT 8TH GEN: [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
-VOLKSWAGEN TIGUAN 2ND GEN: [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]
-legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml
new file mode 100644
index 000000000..2e4513a48
--- /dev/null
+++ b/selfdrive/car/torque_data/substitute.toml
@@ -0,0 +1,83 @@
+legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
+"MAZDA 3" = "MAZDA CX-9 2021"
+"MAZDA 6" = "MAZDA CX-9 2021"
+"MAZDA CX-5" = "MAZDA CX-9 2021"
+"MAZDA CX-5 2022" = "MAZDA CX-9 2021"
+"MAZDA CX-9" = "MAZDA CX-9 2021"
+
+"TOYOTA ALPHARD 2020" = "TOYOTA SIENNA 2018"
+"TOYOTA PRIUS v 2017" = "TOYOTA PRIUS 2017"
+"LEXUS IS 2018" = "LEXUS NX 2018"
+"LEXUS CT HYBRID 2018" = "LEXUS NX 2018"
+"LEXUS ES 2018" = "TOYOTA CAMRY 2018"
+"LEXUS RC 2020" = "LEXUS NX 2020"
+
+"KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020"
+"KIA OPTIMA 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020"
+"KIA OPTIMA HYBRID 2017 & SPORTS 2019" = "HYUNDAI SONATA 2020"
+"KIA OPTIMA HYBRID 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020"
+"KIA FORTE E 2018 & GT 2021" = "HYUNDAI SONATA 2020"
+"KIA CEED INTRO ED 2019" = "HYUNDAI SONATA 2020"
+"KIA SELTOS 2021" = "HYUNDAI SONATA 2020"
+"KIA NIRO HYBRID 2019" = "KIA NIRO EV 2020"
+"KIA NIRO PLUG-IN HYBRID 2022" = "KIA NIRO EV 2020"
+"KIA NIRO HYBRID 2021" = "KIA NIRO EV 2020"
+"HYUNDAI VELOSTER 2019" = "HYUNDAI SONATA 2019"
+"HYUNDAI KONA 2020" = "HYUNDAI KONA ELECTRIC 2019"
+"HYUNDAI KONA HYBRID 2020" = "HYUNDAI KONA ELECTRIC 2019"
+"HYUNDAI KONA ELECTRIC 2022" = "HYUNDAI KONA ELECTRIC 2019"
+"HYUNDAI IONIQ HYBRID 2017-2019" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
+"HYUNDAI IONIQ HYBRID 2020-2022" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
+"HYUNDAI IONIQ ELECTRIC 2020" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
+"HYUNDAI ELANTRA 2017" = "HYUNDAI SONATA 2019"
+"HYUNDAI I30 N LINE 2019 & GT 2018 DCT" = "HYUNDAI SONATA 2019"
+"HYUNDAI ELANTRA HYBRID 2021" = "HYUNDAI SONATA 2020"
+"HYUNDAI TUCSON 2019" = "HYUNDAI SANTA FE 2019"
+"HYUNDAI TUCSON 4TH GEN" = "HYUNDAI TUCSON HYBRID 4TH GEN"
+"HYUNDAI SANTA FE 2022" = "HYUNDAI SANTA FE HYBRID 2022"
+"KIA K5 HYBRID 2020" = "KIA K5 2021"
+"KIA STINGER 2022" = "KIA STINGER GT2 2018"
+"GENESIS G90 2017" = "GENESIS G70 2018"
+"GENESIS G80 2017" = "GENESIS G70 2018"
+"GENESIS G70 2020" = "HYUNDAI SONATA 2020"
+
+"HONDA FREED 2020" = "HONDA ODYSSEY 2018"
+"HONDA CR-V EU 2016" = "HONDA CR-V 2016"
+"HONDA CIVIC SEDAN 1.6 DIESEL 2019" = "HONDA CIVIC (BOSCH) 2019"
+"HONDA E 2020" = "HONDA CIVIC (BOSCH) 2019"
+"HONDA ODYSSEY CHN 2019" = "HONDA ODYSSEY 2018"
+
+"BUICK LACROSSE 2017" = "CHEVROLET VOLT PREMIER 2017"
+"BUICK REGAL ESSENCE 2018" = "CHEVROLET VOLT PREMIER 2017"
+"CADILLAC ESCALADE ESV 2016" = "CHEVROLET VOLT PREMIER 2017"
+"CADILLAC ATS Premium Performance 2018" = "CHEVROLET VOLT PREMIER 2017"
+"CHEVROLET MALIBU PREMIER 2017" = "CHEVROLET VOLT PREMIER 2017"
+"HOLDEN ASTRA RS-V BK 2017" = "CHEVROLET VOLT PREMIER 2017"
+
+"SKODA FABIA 4TH GEN" = "VOLKSWAGEN GOLF 7TH GEN"
+"SKODA OCTAVIA 3RD GEN" = "SKODA SUPERB 3RD GEN"
+"SKODA SCALA 1ST GEN" = "SKODA SUPERB 3RD GEN"
+"SKODA KODIAQ 1ST GEN" = "SKODA SUPERB 3RD GEN"
+"SKODA KAROQ 1ST GEN" = "SKODA SUPERB 3RD GEN"
+"SKODA KAMIQ 1ST GEN" = "SKODA SUPERB 3RD GEN"
+"VOLKSWAGEN CRAFTER 2ND GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
+"VOLKSWAGEN T-ROC 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
+"VOLKSWAGEN T-CROSS 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
+"VOLKSWAGEN TOURAN 2ND GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
+"VOLKSWAGEN TRANSPORTER T6.1" = "VOLKSWAGEN TIGUAN 2ND GEN"
+"AUDI Q2 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
+"VOLKSWAGEN TAOS 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
+"VOLKSWAGEN POLO 6TH GEN" = "VOLKSWAGEN GOLF 7TH GEN"
+"SEAT LEON 3RD GEN" = "VOLKSWAGEN GOLF 7TH GEN"
+"SEAT ATECA 1ST GEN" = "VOLKSWAGEN GOLF 7TH GEN"
+
+"SUBARU CROSSTREK HYBRID 2020" = "SUBARU IMPREZA SPORT 2020"
+"SUBARU FORESTER HYBRID 2020" = "SUBARU IMPREZA SPORT 2020"
+"SUBARU LEGACY 7TH GEN" = "SUBARU OUTBACK 6TH GEN"
+
+# Old subarus don't have much data guessing it's like low torque impreza"
+"SUBARU OUTBACK 2018 - 2019" = "SUBARU IMPREZA LIMITED 2019"
+"SUBARU OUTBACK 2015 - 2017" = "SUBARU IMPREZA LIMITED 2019"
+"SUBARU FORESTER 2017 - 2018" = "SUBARU IMPREZA LIMITED 2019"
+"SUBARU LEGACY 2015 - 2018" = "SUBARU IMPREZA LIMITED 2019"
+"SUBARU ASCENT LIMITED 2019" = "SUBARU FORESTER 2019"
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
deleted file mode 100644
index c7a1566b3..000000000
--- a/selfdrive/car/torque_data/substitute.yaml
+++ /dev/null
@@ -1,82 +0,0 @@
-MAZDA 3: MAZDA CX-9 2021
-MAZDA 6: MAZDA CX-9 2021
-MAZDA CX-5: MAZDA CX-9 2021
-MAZDA CX-5 2022: MAZDA CX-9 2021
-MAZDA CX-9: MAZDA CX-9 2021
-
-TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018
-TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017
-LEXUS IS 2018: LEXUS NX 2018
-LEXUS CT HYBRID 2018 : LEXUS NX 2018
-LEXUS ES 2018: TOYOTA CAMRY 2018
-LEXUS ES HYBRID 2018: TOYOTA CAMRY 2018
-LEXUS RC 2020: LEXUS NX 2020
-
-KIA OPTIMA 4TH GEN: HYUNDAI SONATA 2020
-KIA OPTIMA 4TH GEN FACELIFT: HYUNDAI SONATA 2020
-KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020
-KIA OPTIMA HYBRID 4TH GEN FACELIFT: HYUNDAI SONATA 2020
-KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020
-KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020
-KIA SELTOS 2021: HYUNDAI SONATA 2020
-KIA NIRO HYBRID 2019: KIA NIRO EV 2020
-KIA NIRO HYBRID 2021: KIA NIRO EV 2020
-HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
-HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
-HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
-HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
-HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
-HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
-HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
-HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
-HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
-HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
-HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
-HYUNDAI TUCSON 4TH GEN: HYUNDAI TUCSON HYBRID 4TH GEN
-HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022
-KIA K5 HYBRID 2020: KIA K5 2021
-KIA STINGER 2022: KIA STINGER GT2 2018
-GENESIS G90 2017: GENESIS G70 2018
-GENESIS G80 2017: GENESIS G70 2018
-GENESIS G70 2020: HYUNDAI SONATA 2020
-
-HONDA FREED 2020: HONDA ODYSSEY 2018
-HONDA CR-V EU 2016: HONDA CR-V 2016
-HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019
-HONDA E 2020: HONDA CIVIC (BOSCH) 2019
-HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018
-
-BUICK LACROSSE 2017: CHEVROLET VOLT PREMIER 2017
-BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017
-CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017
-CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017
-CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017
-HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017
-
-SKODA FABIA 4TH GEN: VOLKSWAGEN GOLF 7TH GEN
-SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN
-SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN
-SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN
-SKODA KAROQ 1ST GEN: SKODA SUPERB 3RD GEN
-SKODA KAMIQ 1ST GEN: SKODA SUPERB 3RD GEN
-VOLKSWAGEN CRAFTER 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN
-VOLKSWAGEN T-ROC 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
-VOLKSWAGEN T-CROSS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
-VOLKSWAGEN TOURAN 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN
-VOLKSWAGEN TRANSPORTER T6.1: VOLKSWAGEN TIGUAN 2ND GEN
-AUDI Q2 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
-VOLKSWAGEN TAOS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
-VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN
-SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN
-SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN
-
-SUBARU CROSSTREK HYBRID 2020: SUBARU IMPREZA SPORT 2020
-SUBARU FORESTER HYBRID 2020: SUBARU IMPREZA SPORT 2020
-SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN
-
-# Old subarus don't have much data guessing it's like low torque impreza
-SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019
-SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019
-SUBARU FORESTER 2017 - 2018: SUBARU IMPREZA LIMITED 2019
-SUBARU LEGACY 2015 - 2018: SUBARU IMPREZA LIMITED 2019
-SUBARU ASCENT LIMITED 2019: SUBARU FORESTER 2019
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index b1af7bf02..5333b6b16 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -199,7 +199,7 @@ class CarController:
     if self.CP.enableGasInterceptor and CC.longActive:
       MAX_INTERCEPTOR_GAS = 0.5
       # RAV4 has very sensitive gas pedal
-      if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH):
+      if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER):
         PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
       elif self.CP.carFingerprint in (CAR.COROLLA,):
         PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
new file mode 100644
index 000000000..fc24f0e72
--- /dev/null
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -0,0 +1,1628 @@
+from cereal import car
+from openpilot.selfdrive.car.toyota.values import CAR
+
+Ecu = car.CarParams.Ecu
+
+FW_VERSIONS = {
+  CAR.AVALON: {
+    (Ecu.abs, 0x7b0, None): [
+      b'F152607060\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881510701300\x00\x00\x00\x00',
+      b'881510705100\x00\x00\x00\x00',
+      b'881510705200\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B41051\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0230721100\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230721200\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702000\x00\x00\x00\x00',
+      b'8821F4702100\x00\x00\x00\x00',
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F0701100\x00\x00\x00\x00',
+      b'8646F0703000\x00\x00\x00\x00',
+    ],
+  },
+  CAR.AVALON_2019: {
+    (Ecu.abs, 0x7b0, None): [
+      b'F152607110\x00\x00\x00\x00\x00\x00',
+      b'F152607140\x00\x00\x00\x00\x00\x00',
+      b'F152607171\x00\x00\x00\x00\x00\x00',
+      b'F152607180\x00\x00\x00\x00\x00\x00',
+      b'F152641040\x00\x00\x00\x00\x00\x00',
+      b'F152641050\x00\x00\x00\x00\x00\x00',
+      b'F152641061\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881510703200\x00\x00\x00\x00',
+      b'881510704200\x00\x00\x00\x00',
+      b'881514107100\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B07010\x00\x00\x00\x00\x00\x00',
+      b'8965B41070\x00\x00\x00\x00\x00\x00',
+      b'8965B41080\x00\x00\x00\x00\x00\x00',
+      b'8965B41090\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630725100\x00\x00\x00\x00',
+      b'\x01896630725200\x00\x00\x00\x00',
+      b'\x01896630725300\x00\x00\x00\x00',
+      b'\x01896630735100\x00\x00\x00\x00',
+      b'\x01896630738000\x00\x00\x00\x00',
+      b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F0702100\x00\x00\x00\x00',
+    ],
+  },
+  CAR.AVALON_TSS2: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F152607240\x00\x00\x00\x00\x00\x00',
+      b'\x01F152607250\x00\x00\x00\x00\x00\x00',
+      b'\x01F152607280\x00\x00\x00\x00\x00\x00',
+      b'F152641080\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B41110\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x018966306Q6000\x00\x00\x00\x00',
+      b'\x01896630742000\x00\x00\x00\x00',
+      b'\x01896630743000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F6201200\x00\x00\x00\x00',
+      b'\x018821F6201300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+      b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+    ],
+  },
+  CAR.CAMRY: {
+    (Ecu.engine, 0x700, None): [
+      b'\x018966306L3100\x00\x00\x00\x00',
+      b'\x018966306L4200\x00\x00\x00\x00',
+      b'\x018966306L5200\x00\x00\x00\x00',
+      b'\x018966306L9000\x00\x00\x00\x00',
+      b'\x018966306P8000\x00\x00\x00\x00',
+      b'\x018966306Q3100\x00\x00\x00\x00',
+      b'\x018966306Q4000\x00\x00\x00\x00',
+      b'\x018966306Q4100\x00\x00\x00\x00',
+      b'\x018966306Q4200\x00\x00\x00\x00',
+      b'\x018966306Q6000\x00\x00\x00\x00',
+      b'\x018966333N1100\x00\x00\x00\x00',
+      b'\x018966333N4300\x00\x00\x00\x00',
+      b'\x018966333P3100\x00\x00\x00\x00',
+      b'\x018966333P3200\x00\x00\x00\x00',
+      b'\x018966333P4200\x00\x00\x00\x00',
+      b'\x018966333P4300\x00\x00\x00\x00',
+      b'\x018966333P4400\x00\x00\x00\x00',
+      b'\x018966333P4500\x00\x00\x00\x00',
+      b'\x018966333P4700\x00\x00\x00\x00',
+      b'\x018966333P4900\x00\x00\x00\x00',
+      b'\x018966333Q6000\x00\x00\x00\x00',
+      b'\x018966333Q6200\x00\x00\x00\x00',
+      b'\x018966333Q6300\x00\x00\x00\x00',
+      b'\x018966333Q6500\x00\x00\x00\x00',
+      b'\x018966333Q9200\x00\x00\x00\x00',
+      b'\x018966333W6000\x00\x00\x00\x00',
+      b'\x018966333X0000\x00\x00\x00\x00',
+      b'\x018966333X4000\x00\x00\x00\x00',
+      b'\x01896633T16000\x00\x00\x00\x00',
+      b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306B2300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306B2500\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306N8100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306N8200\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306N8300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306N8400\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306R5000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306R5000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966306R6000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966306R6000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966306S0000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966306S1100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x02333P1100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'8821F0601200    ',
+      b'8821F0601300    ',
+      b'8821F0601400    ',
+      b'8821F0601500    ',
+      b'8821F0602000    ',
+      b'8821F0603300    ',
+      b'8821F0603400    ',
+      b'8821F0604000    ',
+      b'8821F0604100    ',
+      b'8821F0604200    ',
+      b'8821F0605200    ',
+      b'8821F0606200    ',
+      b'8821F0607200    ',
+      b'8821F0608000    ',
+      b'8821F0608200    ',
+      b'8821F0609000    ',
+      b'8821F0609100    ',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152606210\x00\x00\x00\x00\x00\x00',
+      b'F152606230\x00\x00\x00\x00\x00\x00',
+      b'F152606270\x00\x00\x00\x00\x00\x00',
+      b'F152606290\x00\x00\x00\x00\x00\x00',
+      b'F152606410\x00\x00\x00\x00\x00\x00',
+      b'F152633214\x00\x00\x00\x00\x00\x00',
+      b'F152633540\x00\x00\x00\x00\x00\x00',
+      b'F152633660\x00\x00\x00\x00\x00\x00',
+      b'F152633712\x00\x00\x00\x00\x00\x00',
+      b'F152633713\x00\x00\x00\x00\x00\x00',
+      b'F152633A10\x00\x00\x00\x00\x00\x00',
+      b'F152633A20\x00\x00\x00\x00\x00\x00',
+      b'F152633B51\x00\x00\x00\x00\x00\x00',
+      b'F152633B60\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B33540\x00\x00\x00\x00\x00\x00',
+      b'8965B33542\x00\x00\x00\x00\x00\x00',
+      b'8965B33550\x00\x00\x00\x00\x00\x00',
+      b'8965B33551\x00\x00\x00\x00\x00\x00',
+      b'8965B33580\x00\x00\x00\x00\x00\x00',
+      b'8965B33581\x00\x00\x00\x00\x00\x00',
+      b'8965B33611\x00\x00\x00\x00\x00\x00',
+      b'8965B33621\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F0601200    ',
+      b'8821F0601300    ',
+      b'8821F0601400    ',
+      b'8821F0601500    ',
+      b'8821F0602000    ',
+      b'8821F0603300    ',
+      b'8821F0603400    ',
+      b'8821F0604000    ',
+      b'8821F0604100    ',
+      b'8821F0604200    ',
+      b'8821F0605200    ',
+      b'8821F0606200    ',
+      b'8821F0607200    ',
+      b'8821F0608000    ',
+      b'8821F0608200    ',
+      b'8821F0609000    ',
+      b'8821F0609100    ',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F0601200    ',
+      b'8646F0601300    ',
+      b'8646F0601400    ',
+      b'8646F0603400    ',
+      b'8646F0603500    ',
+      b'8646F0604100    ',
+      b'8646F0605000    ',
+      b'8646F0606000    ',
+      b'8646F0606100    ',
+      b'8646F0607000    ',
+      b'8646F0607100    ',
+    ],
+  },
+  CAR.CAMRY_TSS2: {
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B33630\x00\x00\x00\x00\x00\x00',
+      b'8965B33640\x00\x00\x00\x00\x00\x00',
+      b'8965B33650\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F152606370\x00\x00\x00\x00\x00\x00',
+      b'\x01F152606390\x00\x00\x00\x00\x00\x00',
+      b'\x01F152606400\x00\x00\x00\x00\x00\x00',
+      b'\x01F152606431\x00\x00\x00\x00\x00\x00',
+      b'F152633310\x00\x00\x00\x00\x00\x00',
+      b'F152633D00\x00\x00\x00\x00\x00\x00',
+      b'F152633D60\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x018966306Q5000\x00\x00\x00\x00',
+      b'\x018966306Q6000\x00\x00\x00\x00',
+      b'\x018966306Q7000\x00\x00\x00\x00',
+      b'\x018966306Q9000\x00\x00\x00\x00',
+      b'\x018966306R3000\x00\x00\x00\x00',
+      b'\x018966306R8000\x00\x00\x00\x00',
+      b'\x018966306T0000\x00\x00\x00\x00',
+      b'\x018966306T3100\x00\x00\x00\x00',
+      b'\x018966306T3200\x00\x00\x00\x00',
+      b'\x018966306T4000\x00\x00\x00\x00',
+      b'\x018966306T4100\x00\x00\x00\x00',
+      b'\x018966306V1000\x00\x00\x00\x00',
+      b'\x01896633T20000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F6201200\x00\x00\x00\x00',
+      b'\x018821F6201300\x00\x00\x00\x00',
+      b'\x018821F6201400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F0602200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F0602300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+      b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+      b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+      b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+    ],
+  },
+  CAR.CHR: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896631017100\x00\x00\x00\x00',
+      b'\x01896631017200\x00\x00\x00\x00',
+      b'\x01896631021100\x00\x00\x00\x00',
+      b'\x0189663F413100\x00\x00\x00\x00',
+      b'\x0189663F414100\x00\x00\x00\x00',
+      b'\x0189663F438000\x00\x00\x00\x00',
+      b'\x02896631013200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F405000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F405100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F418000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F423000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F431000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'8821F0W01000    ',
+      b'8821F0W01100    ',
+      b'8821FF401600    ',
+      b'8821FF402300    ',
+      b'8821FF402400    ',
+      b'8821FF404000    ',
+      b'8821FF404100    ',
+      b'8821FF405000    ',
+      b'8821FF405100    ',
+      b'8821FF406000    ',
+      b'8821FF407100    ',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152610012\x00\x00\x00\x00\x00\x00',
+      b'F152610013\x00\x00\x00\x00\x00\x00',
+      b'F152610014\x00\x00\x00\x00\x00\x00',
+      b'F152610020\x00\x00\x00\x00\x00\x00',
+      b'F152610040\x00\x00\x00\x00\x00\x00',
+      b'F152610153\x00\x00\x00\x00\x00\x00',
+      b'F152610190\x00\x00\x00\x00\x00\x00',
+      b'F152610200\x00\x00\x00\x00\x00\x00',
+      b'F152610210\x00\x00\x00\x00\x00\x00',
+      b'F152610220\x00\x00\x00\x00\x00\x00',
+      b'F152610230\x00\x00\x00\x00\x00\x00',
+      b'F1526F4034\x00\x00\x00\x00\x00\x00',
+      b'F1526F4044\x00\x00\x00\x00\x00\x00',
+      b'F1526F4073\x00\x00\x00\x00\x00\x00',
+      b'F1526F4121\x00\x00\x00\x00\x00\x00',
+      b'F1526F4122\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B10011\x00\x00\x00\x00\x00\x00',
+      b'8965B10020\x00\x00\x00\x00\x00\x00',
+      b'8965B10040\x00\x00\x00\x00\x00\x00',
+      b'8965B10050\x00\x00\x00\x00\x00\x00',
+      b'8965B10070\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0331024000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
+      b'\x0331024000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
+      b'\x0331036000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
+      b'\x033F401100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203102\x00\x00\x00\x00',
+      b'\x033F401200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
+      b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
+      b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F0W01000    ',
+      b'8821F0W01100    ',
+      b'8821FF401600    ',
+      b'8821FF402300    ',
+      b'8821FF402400    ',
+      b'8821FF404000    ',
+      b'8821FF404100    ',
+      b'8821FF405000    ',
+      b'8821FF405100    ',
+      b'8821FF406000    ',
+      b'8821FF407100    ',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646FF401700    ',
+      b'8646FF401800    ',
+      b'8646FF402100    ',
+      b'8646FF404000    ',
+      b'8646FF406000    ',
+      b'8646FF407000    ',
+      b'8646FF407100    ',
+    ],
+  },
+  CAR.CHR_TSS2: {
+    (Ecu.abs, 0x7b0, None): [
+      b'F152610041\x00\x00\x00\x00\x00\x00',
+      b'F152610260\x00\x00\x00\x00\x00\x00',
+      b'F1526F4270\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B10091\x00\x00\x00\x00\x00\x00',
+      b'8965B10092\x00\x00\x00\x00\x00\x00',
+      b'8965B10110\x00\x00\x00\x00\x00\x00',
+      b'8965B10111\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x0189663F438000\x00\x00\x00\x00',
+      b'\x0189663F459000\x00\x00\x00\x00',
+      b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0331014000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821FF410200\x00\x00\x00\x00',
+      b'\x018821FF410300\x00\x00\x00\x00',
+      b'\x018821FF410500\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646FF410200\x00\x00\x00\x008646GF408200\x00\x00\x00\x00',
+      b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00',
+      b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00',
+    ],
+  },
+  CAR.COROLLA: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230ZC2100\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230ZC2200\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230ZC2300\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230ZC3000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230ZC3100\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230ZC3200\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230ZC3300\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0330ZC1200\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881510201100\x00\x00\x00\x00',
+      b'881510201200\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152602190\x00\x00\x00\x00\x00\x00',
+      b'F152602191\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B02181\x00\x00\x00\x00\x00\x00',
+      b'8965B02191\x00\x00\x00\x00\x00\x00',
+      b'8965B48150\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702100\x00\x00\x00\x00',
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F0201101\x00\x00\x00\x00',
+      b'8646F0201200\x00\x00\x00\x00',
+    ],
+  },
+  CAR.COROLLA_TSS2: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630A22000\x00\x00\x00\x00',
+      b'\x01896630ZG2000\x00\x00\x00\x00',
+      b'\x01896630ZG5000\x00\x00\x00\x00',
+      b'\x01896630ZG5100\x00\x00\x00\x00',
+      b'\x01896630ZG5200\x00\x00\x00\x00',
+      b'\x01896630ZG5300\x00\x00\x00\x00',
+      b'\x01896630ZJ1000\x00\x00\x00\x00',
+      b'\x01896630ZP1000\x00\x00\x00\x00',
+      b'\x01896630ZP2000\x00\x00\x00\x00',
+      b'\x01896630ZQ5000\x00\x00\x00\x00',
+      b'\x01896630ZU8000\x00\x00\x00\x00',
+      b'\x01896630ZU9000\x00\x00\x00\x00',
+      b'\x01896630ZX4000\x00\x00\x00\x00',
+      b'\x018966312L8000\x00\x00\x00\x00',
+      b'\x018966312M0000\x00\x00\x00\x00',
+      b'\x018966312M9000\x00\x00\x00\x00',
+      b'\x018966312P9000\x00\x00\x00\x00',
+      b'\x018966312P9100\x00\x00\x00\x00',
+      b'\x018966312P9200\x00\x00\x00\x00',
+      b'\x018966312P9300\x00\x00\x00\x00',
+      b'\x018966312Q2300\x00\x00\x00\x00',
+      b'\x018966312Q8000\x00\x00\x00\x00',
+      b'\x018966312R0000\x00\x00\x00\x00',
+      b'\x018966312R0100\x00\x00\x00\x00',
+      b'\x018966312R0200\x00\x00\x00\x00',
+      b'\x018966312R1000\x00\x00\x00\x00',
+      b'\x018966312R1100\x00\x00\x00\x00',
+      b'\x018966312R3100\x00\x00\x00\x00',
+      b'\x018966312S5000\x00\x00\x00\x00',
+      b'\x018966312S7000\x00\x00\x00\x00',
+      b'\x018966312W3000\x00\x00\x00\x00',
+      b'\x018966312W9000\x00\x00\x00\x00',
+      b'\x01896637621000\x00\x00\x00\x00',
+      b'\x01896637623000\x00\x00\x00\x00',
+      b'\x01896637624000\x00\x00\x00\x00',
+      b'\x01896637626000\x00\x00\x00\x00',
+      b'\x01896637639000\x00\x00\x00\x00',
+      b'\x01896637643000\x00\x00\x00\x00',
+      b'\x01896637644000\x00\x00\x00\x00',
+      b'\x01896637648000\x00\x00\x00\x00',
+      b'\x02896630A07000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630A21000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZK8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZQ3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZR2000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZT8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZT9000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZZ0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312K6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312L0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312Q3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312Q3100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x038966312L7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
+      b'\x038966312N1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
+      b'\x038966312T3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0230A10000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230A11000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230ZN4000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230ZN5000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02312K4000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02312U5000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x03312K7000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
+      b'\x03312M3000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
+      b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
+      b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
+      b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
+      b'\x03312N6100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
+      b'\x03312N6100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
+      b'\x03312N6200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
+      b'\x03312N6200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
+      b'\x03312N6200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x018965B12350\x00\x00\x00\x00\x00\x00',
+      b'\x018965B12470\x00\x00\x00\x00\x00\x00',
+      b'\x018965B12490\x00\x00\x00\x00\x00\x00',
+      b'\x018965B12500\x00\x00\x00\x00\x00\x00',
+      b'\x018965B12510\x00\x00\x00\x00\x00\x00',
+      b'\x018965B12520\x00\x00\x00\x00\x00\x00',
+      b'\x018965B12530\x00\x00\x00\x00\x00\x00',
+      b'\x018965B1254000\x00\x00\x00\x00',
+      b'\x018965B1255000\x00\x00\x00\x00',
+      b'\x018965B1256000\x00\x00\x00\x00',
+      b'8965B12361\x00\x00\x00\x00\x00\x00',
+      b'8965B12451\x00\x00\x00\x00\x00\x00',
+      b'8965B16011\x00\x00\x00\x00\x00\x00',
+      b'8965B16101\x00\x00\x00\x00\x00\x00',
+      b'8965B16170\x00\x00\x00\x00\x00\x00',
+      b'8965B76012\x00\x00\x00\x00\x00\x00',
+      b'8965B76050\x00\x00\x00\x00\x00\x00',
+      b'8965B76091\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F152602280\x00\x00\x00\x00\x00\x00',
+      b'\x01F152602470\x00\x00\x00\x00\x00\x00',
+      b'\x01F152602560\x00\x00\x00\x00\x00\x00',
+      b'\x01F152602590\x00\x00\x00\x00\x00\x00',
+      b'\x01F152602650\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260A010\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260A050\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260A070\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612641\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612651\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612862\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612B10\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612B51\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612B60\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612B61\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612B62\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612B70\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612B71\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612B81\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612B90\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612B91\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612C00\x00\x00\x00\x00\x00\x00',
+      b'\x01F152676250\x00\x00\x00\x00\x00\x00',
+      b'F152612590\x00\x00\x00\x00\x00\x00',
+      b'F152612691\x00\x00\x00\x00\x00\x00',
+      b'F152612692\x00\x00\x00\x00\x00\x00',
+      b'F152612700\x00\x00\x00\x00\x00\x00',
+      b'F152612710\x00\x00\x00\x00\x00\x00',
+      b'F152612790\x00\x00\x00\x00\x00\x00',
+      b'F152612800\x00\x00\x00\x00\x00\x00',
+      b'F152612820\x00\x00\x00\x00\x00\x00',
+      b'F152612840\x00\x00\x00\x00\x00\x00',
+      b'F152612842\x00\x00\x00\x00\x00\x00',
+      b'F152612890\x00\x00\x00\x00\x00\x00',
+      b'F152612A00\x00\x00\x00\x00\x00\x00',
+      b'F152612A10\x00\x00\x00\x00\x00\x00',
+      b'F152612D00\x00\x00\x00\x00\x00\x00',
+      b'F152616011\x00\x00\x00\x00\x00\x00',
+      b'F152616030\x00\x00\x00\x00\x00\x00',
+      b'F152616060\x00\x00\x00\x00\x00\x00',
+      b'F152642540\x00\x00\x00\x00\x00\x00',
+      b'F152676293\x00\x00\x00\x00\x00\x00',
+      b'F152676303\x00\x00\x00\x00\x00\x00',
+      b'F152676304\x00\x00\x00\x00\x00\x00',
+      b'F152676371\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301100\x00\x00\x00\x00',
+      b'\x018821F3301200\x00\x00\x00\x00',
+      b'\x018821F3301300\x00\x00\x00\x00',
+      b'\x018821F3301400\x00\x00\x00\x00',
+      b'\x018821F6201400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F1201200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F1201300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F1201400\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+      b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+      b'\x028646F1206000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+      b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F1601200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F7603100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F7603200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F7603300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F7605100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+    ],
+  },
+  CAR.HIGHLANDER: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630E09000\x00\x00\x00\x00',
+      b'\x01896630E43000\x00\x00\x00\x00',
+      b'\x01896630E43100\x00\x00\x00\x00',
+      b'\x01896630E43200\x00\x00\x00\x00',
+      b'\x01896630E44200\x00\x00\x00\x00',
+      b'\x01896630E44400\x00\x00\x00\x00',
+      b'\x01896630E45000\x00\x00\x00\x00',
+      b'\x01896630E45100\x00\x00\x00\x00',
+      b'\x01896630E45200\x00\x00\x00\x00',
+      b'\x01896630E46000\x00\x00\x00\x00',
+      b'\x01896630E46200\x00\x00\x00\x00',
+      b'\x01896630E74000\x00\x00\x00\x00',
+      b'\x01896630E75000\x00\x00\x00\x00',
+      b'\x01896630E76000\x00\x00\x00\x00',
+      b'\x01896630E77000\x00\x00\x00\x00',
+      b'\x01896630E83000\x00\x00\x00\x00',
+      b'\x01896630E84000\x00\x00\x00\x00',
+      b'\x01896630E85000\x00\x00\x00\x00',
+      b'\x01896630E86000\x00\x00\x00\x00',
+      b'\x01896630E88000\x00\x00\x00\x00',
+      b'\x01896630EA0000\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230E40100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230E51000\x00\x00\x00\x00\x00\x00\x00\x0050E17000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230EA2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230EA2100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B48140\x00\x00\x00\x00\x00\x00',
+      b'8965B48150\x00\x00\x00\x00\x00\x00',
+      b'8965B48160\x00\x00\x00\x00\x00\x00',
+      b'8965B48210\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F15260E011\x00\x00\x00\x00\x00\x00',
+      b'F152648541\x00\x00\x00\x00\x00\x00',
+      b'F152648542\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881510E01100\x00\x00\x00\x00',
+      b'881510E01200\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702100\x00\x00\x00\x00',
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F0E01200\x00\x00\x00\x00',
+      b'8646F0E01300\x00\x00\x00\x00',
+    ],
+  },
+  CAR.HIGHLANDER_TSS2: {
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B48241\x00\x00\x00\x00\x00\x00',
+      b'8965B48310\x00\x00\x00\x00\x00\x00',
+      b'8965B48320\x00\x00\x00\x00\x00\x00',
+      b'8965B48400\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260E051\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260E05300\x00\x00\x00\x00',
+      b'\x01F15260E061\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260E110\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260E170\x00\x00\x00\x00\x00\x00',
+      b'\x01F15264872300\x00\x00\x00\x00',
+      b'\x01F15264872400\x00\x00\x00\x00',
+      b'\x01F15264872500\x00\x00\x00\x00',
+      b'\x01F15264872600\x00\x00\x00\x00',
+      b'\x01F15264872700\x00\x00\x00\x00',
+      b'\x01F15264873500\x00\x00\x00\x00',
+      b'\x01F152648C6300\x00\x00\x00\x00',
+      b'\x01F152648J4000\x00\x00\x00\x00',
+      b'\x01F152648J5000\x00\x00\x00\x00',
+      b'\x01F152648J6000\x00\x00\x00\x00',
+      b'\x01F152648J7000\x00\x00\x00\x00',
+      b'\x01F152648L5000\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630E62100\x00\x00\x00\x00',
+      b'\x01896630E62200\x00\x00\x00\x00',
+      b'\x01896630E64100\x00\x00\x00\x00',
+      b'\x01896630E64200\x00\x00\x00\x00',
+      b'\x01896630E64400\x00\x00\x00\x00',
+      b'\x01896630E67000\x00\x00\x00\x00',
+      b'\x01896630EA1000\x00\x00\x00\x00',
+      b'\x01896630EB1000\x00\x00\x00\x00',
+      b'\x01896630EB1100\x00\x00\x00\x00',
+      b'\x01896630EB1200\x00\x00\x00\x00',
+      b'\x01896630EB2000\x00\x00\x00\x00',
+      b'\x01896630EB2100\x00\x00\x00\x00',
+      b'\x01896630EB2200\x00\x00\x00\x00',
+      b'\x01896630EC4000\x00\x00\x00\x00',
+      b'\x01896630ED9000\x00\x00\x00\x00',
+      b'\x01896630ED9100\x00\x00\x00\x00',
+      b'\x01896630EE1000\x00\x00\x00\x00',
+      b'\x01896630EE1100\x00\x00\x00\x00',
+      b'\x01896630EE4000\x00\x00\x00\x00',
+      b'\x01896630EE4100\x00\x00\x00\x00',
+      b'\x01896630EE5000\x00\x00\x00\x00',
+      b'\x01896630EE6000\x00\x00\x00\x00',
+      b'\x01896630EE7000\x00\x00\x00\x00',
+      b'\x01896630EF8000\x00\x00\x00\x00',
+      b'\x01896630EG3000\x00\x00\x00\x00',
+      b'\x01896630EG5000\x00\x00\x00\x00',
+      b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301400\x00\x00\x00\x00',
+      b'\x018821F6201200\x00\x00\x00\x00',
+      b'\x018821F6201300\x00\x00\x00\x00',
+      b'\x018821F6201400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0E02100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F4803000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+      b'\x028646F4803000\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F4803200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_IS: {
+    (Ecu.engine, 0x700, None): [
+      b'\x018966353M7000\x00\x00\x00\x00',
+      b'\x018966353M7100\x00\x00\x00\x00',
+      b'\x018966353Q2000\x00\x00\x00\x00',
+      b'\x018966353Q2300\x00\x00\x00\x00',
+      b'\x018966353Q4000\x00\x00\x00\x00',
+      b'\x018966353R1100\x00\x00\x00\x00',
+      b'\x018966353R7100\x00\x00\x00\x00',
+      b'\x018966353R8000\x00\x00\x00\x00',
+      b'\x018966353R8100\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0232480000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02353P7000\x00\x00\x00\x00\x00\x00\x00\x00530J5000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02353P9000\x00\x00\x00\x00\x00\x00\x00\x00553C1000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152653300\x00\x00\x00\x00\x00\x00',
+      b'F152653301\x00\x00\x00\x00\x00\x00',
+      b'F152653310\x00\x00\x00\x00\x00\x00',
+      b'F152653330\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881515306200\x00\x00\x00\x00',
+      b'881515306400\x00\x00\x00\x00',
+      b'881515306500\x00\x00\x00\x00',
+      b'881515307400\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B53270\x00\x00\x00\x00\x00\x00',
+      b'8965B53271\x00\x00\x00\x00\x00\x00',
+      b'8965B53280\x00\x00\x00\x00\x00\x00',
+      b'8965B53281\x00\x00\x00\x00\x00\x00',
+      b'8965B53311\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702100\x00\x00\x00\x00',
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F5301101\x00\x00\x00\x00',
+      b'8646F5301200\x00\x00\x00\x00',
+      b'8646F5301300\x00\x00\x00\x00',
+      b'8646F5301400\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_IS_TSS2: {
+    (Ecu.engine, 0x700, None): [
+      b'\x018966353S1000\x00\x00\x00\x00',
+      b'\x018966353S2000\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15265337200\x00\x00\x00\x00',
+      b'\x01F15265342000\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B53450\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F6201200\x00\x00\x00\x00',
+      b'\x018821F6201300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F5303300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+    ],
+  },
+  CAR.PRIUS: {
+    (Ecu.engine, 0x700, None): [
+      b'\x02896634761000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634761100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634761200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634762000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634762100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634763000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634763100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634765000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634765100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634769000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634769100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634769200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634770000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634770100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634774000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634774100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634774200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634782000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896634784000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966347A0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966347A5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966347A8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966347B0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x03896634759100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
+      b'\x03896634759200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
+      b'\x03896634759200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
+      b'\x03896634759300\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
+      b'\x03896634759300\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
+      b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701002\x00\x00\x00\x00',
+      b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
+      b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
+      b'\x03896634760100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
+      b'\x03896634760200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
+      b'\x03896634760200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
+      b'\x03896634760300\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
+      b'\x03896634768000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703001\x00\x00\x00\x00',
+      b'\x03896634768000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00',
+      b'\x03896634768100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00',
+      b'\x03896634785000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4705001\x00\x00\x00\x00',
+      b'\x03896634785000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
+      b'\x03896634786000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4705001\x00\x00\x00\x00',
+      b'\x03896634786000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
+      b'\x03896634789000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00',
+      b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
+      b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707001\x00\x00\x00\x00',
+      b'\x038966347B6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
+      b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B47021\x00\x00\x00\x00\x00\x00',
+      b'8965B47022\x00\x00\x00\x00\x00\x00',
+      b'8965B47023\x00\x00\x00\x00\x00\x00',
+      b'8965B47050\x00\x00\x00\x00\x00\x00',
+      b'8965B47060\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152647290\x00\x00\x00\x00\x00\x00',
+      b'F152647300\x00\x00\x00\x00\x00\x00',
+      b'F152647310\x00\x00\x00\x00\x00\x00',
+      b'F152647414\x00\x00\x00\x00\x00\x00',
+      b'F152647415\x00\x00\x00\x00\x00\x00',
+      b'F152647416\x00\x00\x00\x00\x00\x00',
+      b'F152647417\x00\x00\x00\x00\x00\x00',
+      b'F152647470\x00\x00\x00\x00\x00\x00',
+      b'F152647490\x00\x00\x00\x00\x00\x00',
+      b'F152647682\x00\x00\x00\x00\x00\x00',
+      b'F152647683\x00\x00\x00\x00\x00\x00',
+      b'F152647684\x00\x00\x00\x00\x00\x00',
+      b'F152647862\x00\x00\x00\x00\x00\x00',
+      b'F152647863\x00\x00\x00\x00\x00\x00',
+      b'F152647864\x00\x00\x00\x00\x00\x00',
+      b'F152647865\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881514702300\x00\x00\x00\x00',
+      b'881514702400\x00\x00\x00\x00',
+      b'881514703100\x00\x00\x00\x00',
+      b'881514704100\x00\x00\x00\x00',
+      b'881514706000\x00\x00\x00\x00',
+      b'881514706100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702000\x00\x00\x00\x00',
+      b'8821F4702100\x00\x00\x00\x00',
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F4701300\x00\x00\x00\x00',
+      b'8646F4702001\x00\x00\x00\x00',
+      b'8646F4702100\x00\x00\x00\x00',
+      b'8646F4702200\x00\x00\x00\x00',
+      b'8646F4705000\x00\x00\x00\x00',
+      b'8646F4705200\x00\x00\x00\x00',
+    ],
+  },
+  CAR.PRIUS_V: {
+    (Ecu.abs, 0x7b0, None): [
+      b'F152647280\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0234781000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881514705100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F4703300\x00\x00\x00\x00',
+    ],
+  },
+  CAR.RAV4: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\x02342Q1000\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02342Q1100\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02342Q1200\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02342Q1300\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02342Q2000\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02342Q2100\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02342Q2200\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02342Q4000\x00\x00\x00\x00\x00\x00\x00\x0054215000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B42063\x00\x00\x00\x00\x00\x00',
+      b'8965B42073\x00\x00\x00\x00\x00\x00',
+      b'8965B42082\x00\x00\x00\x00\x00\x00',
+      b'8965B42083\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F15260R102\x00\x00\x00\x00\x00\x00',
+      b'F15260R103\x00\x00\x00\x00\x00\x00',
+      b'F152642492\x00\x00\x00\x00\x00\x00',
+      b'F152642493\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881514201200\x00\x00\x00\x00',
+      b'881514201300\x00\x00\x00\x00',
+      b'881514201400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702000\x00\x00\x00\x00',
+      b'8821F4702100\x00\x00\x00\x00',
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F4201100\x00\x00\x00\x00',
+      b'8646F4201200\x00\x00\x00\x00',
+      b'8646F4202001\x00\x00\x00\x00',
+      b'8646F4202100\x00\x00\x00\x00',
+      b'8646F4204000\x00\x00\x00\x00',
+    ],
+  },
+  CAR.RAV4H: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\x02342N9000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02342N9100\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02342P0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B42102\x00\x00\x00\x00\x00\x00',
+      b'8965B42103\x00\x00\x00\x00\x00\x00',
+      b'8965B42112\x00\x00\x00\x00\x00\x00',
+      b'8965B42162\x00\x00\x00\x00\x00\x00',
+      b'8965B42163\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152642090\x00\x00\x00\x00\x00\x00',
+      b'F152642110\x00\x00\x00\x00\x00\x00',
+      b'F152642120\x00\x00\x00\x00\x00\x00',
+      b'F152642400\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881514202200\x00\x00\x00\x00',
+      b'881514202300\x00\x00\x00\x00',
+      b'881514202400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702000\x00\x00\x00\x00',
+      b'8821F4702100\x00\x00\x00\x00',
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F4201100\x00\x00\x00\x00',
+      b'8646F4201200\x00\x00\x00\x00',
+      b'8646F4202001\x00\x00\x00\x00',
+      b'8646F4202100\x00\x00\x00\x00',
+      b'8646F4204000\x00\x00\x00\x00',
+    ],
+  },
+  CAR.RAV4_TSS2: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630R58000\x00\x00\x00\x00',
+      b'\x01896630R58100\x00\x00\x00\x00',
+      b'\x018966342E2000\x00\x00\x00\x00',
+      b'\x018966342M5000\x00\x00\x00\x00',
+      b'\x018966342M8000\x00\x00\x00\x00',
+      b'\x018966342S9000\x00\x00\x00\x00',
+      b'\x018966342T1000\x00\x00\x00\x00',
+      b'\x018966342T6000\x00\x00\x00\x00',
+      b'\x018966342T9000\x00\x00\x00\x00',
+      b'\x018966342U4000\x00\x00\x00\x00',
+      b'\x018966342U4100\x00\x00\x00\x00',
+      b'\x018966342U5100\x00\x00\x00\x00',
+      b'\x018966342V0000\x00\x00\x00\x00',
+      b'\x018966342V3000\x00\x00\x00\x00',
+      b'\x018966342V3100\x00\x00\x00\x00',
+      b'\x018966342V3200\x00\x00\x00\x00',
+      b'\x018966342W5000\x00\x00\x00\x00',
+      b'\x018966342W7000\x00\x00\x00\x00',
+      b'\x018966342W8000\x00\x00\x00\x00',
+      b'\x018966342X5000\x00\x00\x00\x00',
+      b'\x018966342X6000\x00\x00\x00\x00',
+      b'\x01896634A05000\x00\x00\x00\x00',
+      b'\x01896634A15000\x00\x00\x00\x00',
+      b'\x01896634A19000\x00\x00\x00\x00',
+      b'\x01896634A19100\x00\x00\x00\x00',
+      b'\x01896634A20000\x00\x00\x00\x00',
+      b'\x01896634A20100\x00\x00\x00\x00',
+      b'\x01896634A22000\x00\x00\x00\x00',
+      b'\x01896634A22100\x00\x00\x00\x00',
+      b'\x01896634A25000\x00\x00\x00\x00',
+      b'\x01896634A30000\x00\x00\x00\x00',
+      b'\x01896634A44000\x00\x00\x00\x00',
+      b'\x01896634A45000\x00\x00\x00\x00',
+      b'\x01896634A46000\x00\x00\x00\x00',
+      b'\x028966342M7000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
+      b'\x028966342T0000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
+      b'\x028966342V1000\x00\x00\x00\x00897CF1202001\x00\x00\x00\x00',
+      b'\x028966342W4001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
+      b'\x028966342Y8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
+      b'\x028966342Z8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
+      b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896634A13101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896634A14001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
+      b'\x02896634A14001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896634A14101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896634A18000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
+      b'\x02896634A18100\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
+      b'\x02896634A23000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02896634A23001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
+      b'\x02896634A23101\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
+      b'\x02896634A43000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00',
+      b'\x02896634A47000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260R210\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R220\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R290\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R292\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R300\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R302\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642551\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642561\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642601\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642700\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642701\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642710\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642711\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642750\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642751\x00\x00\x00\x00\x00\x00',
+      b'F152642290\x00\x00\x00\x00\x00\x00',
+      b'F152642291\x00\x00\x00\x00\x00\x00',
+      b'F152642322\x00\x00\x00\x00\x00\x00',
+      b'F152642330\x00\x00\x00\x00\x00\x00',
+      b'F152642331\x00\x00\x00\x00\x00\x00',
+      b'F152642520\x00\x00\x00\x00\x00\x00',
+      b'F152642521\x00\x00\x00\x00\x00\x00',
+      b'F152642531\x00\x00\x00\x00\x00\x00',
+      b'F152642532\x00\x00\x00\x00\x00\x00',
+      b'F152642540\x00\x00\x00\x00\x00\x00',
+      b'F152642541\x00\x00\x00\x00\x00\x00',
+      b'F152642542\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x028965B0R01200\x00\x00\x00\x008965B0R02200\x00\x00\x00\x00',
+      b'\x028965B0R01300\x00\x00\x00\x008965B0R02300\x00\x00\x00\x00',
+      b'\x028965B0R01400\x00\x00\x00\x008965B0R02400\x00\x00\x00\x00',
+      b'8965B42170\x00\x00\x00\x00\x00\x00',
+      b'8965B42171\x00\x00\x00\x00\x00\x00',
+      b'8965B42180\x00\x00\x00\x00\x00\x00',
+      b'8965B42181\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301100\x00\x00\x00\x00',
+      b'\x018821F3301200\x00\x00\x00\x00',
+      b'\x018821F3301300\x00\x00\x00\x00',
+      b'\x018821F3301400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F4203200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F4203300\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F4203500\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F4203700\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+    ],
+  },
+  CAR.RAV4_TSS2_2022: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260R350\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R361\x00\x00\x00\x00\x00\x00',
+      b'\x01F15264283100\x00\x00\x00\x00',
+      b'\x01F15264283200\x00\x00\x00\x00',
+      b'\x01F15264286100\x00\x00\x00\x00',
+      b'\x01F15264286200\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00',
+      b'8965B42172\x00\x00\x00\x00\x00\x00',
+      b'8965B42182\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x01896634A02001\x00\x00\x00\x00',
+      b'\x01896634A03000\x00\x00\x00\x00',
+      b'\x01896634A08000\x00\x00\x00\x00',
+      b'\x01896634A61000\x00\x00\x00\x00',
+      b'\x01896634A62000\x00\x00\x00\x00',
+      b'\x01896634A62100\x00\x00\x00\x00',
+      b'\x01896634A63000\x00\x00\x00\x00',
+      b'\x01896634A88000\x00\x00\x00\x00',
+      b'\x01896634A89000\x00\x00\x00\x00',
+      b'\x01896634A89100\x00\x00\x00\x00',
+      b'\x01896634AA0000\x00\x00\x00\x00',
+      b'\x01896634AA0100\x00\x00\x00\x00',
+      b'\x01896634AA1000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F0R01100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
+    ],
+  },
+  CAR.RAV4_TSS2_2023: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R51000\x00\x00\x00\x00',
+      b'\x01F15264283200\x00\x00\x00\x00',
+      b'\x01F15264283300\x00\x00\x00\x00',
+      b'\x01F152642F1000\x00\x00\x00\x00',
+      b'\x01F152642F8000\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
+      b'8965B42371\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x01896634A88100\x00\x00\x00\x00',
+      b'\x01896634A89100\x00\x00\x00\x00',
+      b'\x01896634AE1001\x00\x00\x00\x00',
+      b'\x01896634AF0000\x00\x00\x00\x00',
+      b'\x01896634AJ2000\x00\x00\x00\x00',
+      b'\x01896634AL5000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F0R03100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
+      b'\x028646F0R05200\x00\x00\x00\x008646G0R02200\x00\x00\x00\x00',
+      b'\x028646F0R11000\x00\x00\x00\x008646G0R04000\x00\x00\x00\x00',
+    ],
+  },
+  CAR.SIENNA: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630832100\x00\x00\x00\x00',
+      b'\x01896630832200\x00\x00\x00\x00',
+      b'\x01896630838000\x00\x00\x00\x00',
+      b'\x01896630838100\x00\x00\x00\x00',
+      b'\x01896630842000\x00\x00\x00\x00',
+      b'\x01896630843000\x00\x00\x00\x00',
+      b'\x01896630851000\x00\x00\x00\x00',
+      b'\x01896630851100\x00\x00\x00\x00',
+      b'\x01896630851200\x00\x00\x00\x00',
+      b'\x01896630852000\x00\x00\x00\x00',
+      b'\x01896630852100\x00\x00\x00\x00',
+      b'\x01896630859000\x00\x00\x00\x00',
+      b'\x01896630860000\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B45070\x00\x00\x00\x00\x00\x00',
+      b'8965B45080\x00\x00\x00\x00\x00\x00',
+      b'8965B45082\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152608130\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881510801100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702100\x00\x00\x00\x00',
+      b'8821F4702200\x00\x00\x00\x00',
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F0801100\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_CTH: {
+    (Ecu.dsu, 0x791, None): [
+      b'881517601100\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152676144\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0237635000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F7601100\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_ES_TSS2: {
+    (Ecu.engine, 0x700, None): [
+      b'\x018966306U6000\x00\x00\x00\x00',
+      b'\x018966333T5000\x00\x00\x00\x00',
+      b'\x018966333T5100\x00\x00\x00\x00',
+      b'\x018966333X6000\x00\x00\x00\x00',
+      b'\x01896633T07000\x00\x00\x00\x00',
+      b'\x01896633T38000\x00\x00\x00\x00',
+      b'\x01896633T58000\x00\x00\x00\x00',
+      b'\x028966333S8000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966333W1000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F152606281\x00\x00\x00\x00\x00\x00',
+      b'\x01F152606340\x00\x00\x00\x00\x00\x00',
+      b'\x01F152606461\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260646200\x00\x00\x00\x00',
+      b'F152633423\x00\x00\x00\x00\x00\x00',
+      b'F152633680\x00\x00\x00\x00\x00\x00',
+      b'F152633681\x00\x00\x00\x00\x00\x00',
+      b'F152633F50\x00\x00\x00\x00\x00\x00',
+      b'F152633F51\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B33252\x00\x00\x00\x00\x00\x00',
+      b'8965B33590\x00\x00\x00\x00\x00\x00',
+      b'8965B33690\x00\x00\x00\x00\x00\x00',
+      b'8965B33721\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301100\x00\x00\x00\x00',
+      b'\x018821F3301200\x00\x00\x00\x00',
+      b'\x018821F3301300\x00\x00\x00\x00',
+      b'\x018821F3301400\x00\x00\x00\x00',
+      b'\x018821F6201200\x00\x00\x00\x00',
+      b'\x018821F6201300\x00\x00\x00\x00',
+      b'\x018821F6201400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0610000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+      b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F3303100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F3303200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F3304100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F3304200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+      b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+      b'\x028646F3309100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_ES: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02333R0000\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152606202\x00\x00\x00\x00\x00\x00',
+      b'F152633171\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881513309400\x00\x00\x00\x00',
+      b'881513309500\x00\x00\x00\x00',
+      b'881513310400\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B33502\x00\x00\x00\x00\x00\x00',
+      b'8965B33512\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4701100\x00\x00\x00\x00',
+      b'8821F4701200\x00\x00\x00\x00',
+      b'8821F4701300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F3302001\x00\x00\x00\x00',
+      b'8646F3302100\x00\x00\x00\x00',
+      b'8646F3302200\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_GS_F: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0233075200\x00\x00\x00\x00\x00\x00\x00\x00530B9000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152630700\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881513016200\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B30551\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F3002100\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_NX: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896637850000\x00\x00\x00\x00',
+      b'\x01896637851000\x00\x00\x00\x00',
+      b'\x01896637852000\x00\x00\x00\x00',
+      b'\x01896637854000\x00\x00\x00\x00',
+      b'\x01896637873000\x00\x00\x00\x00',
+      b'\x01896637878000\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0237841000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0237842000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0237880000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0237882000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0237886000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152678130\x00\x00\x00\x00\x00\x00',
+      b'F152678140\x00\x00\x00\x00\x00\x00',
+      b'F152678160\x00\x00\x00\x00\x00\x00',
+      b'F152678170\x00\x00\x00\x00\x00\x00',
+      b'F152678171\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881517803100\x00\x00\x00\x00',
+      b'881517803300\x00\x00\x00\x00',
+      b'881517804100\x00\x00\x00\x00',
+      b'881517804300\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B78060\x00\x00\x00\x00\x00\x00',
+      b'8965B78080\x00\x00\x00\x00\x00\x00',
+      b'8965B78100\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702100\x00\x00\x00\x00',
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F7801100\x00\x00\x00\x00',
+      b'8646F7801300\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_NX_TSS2: {
+    (Ecu.engine, 0x700, None): [
+      b'\x018966378B2000\x00\x00\x00\x00',
+      b'\x018966378B2100\x00\x00\x00\x00',
+      b'\x018966378B3000\x00\x00\x00\x00',
+      b'\x018966378B3100\x00\x00\x00\x00',
+      b'\x018966378B4100\x00\x00\x00\x00',
+      b'\x018966378G2000\x00\x00\x00\x00',
+      b'\x018966378G3000\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02378A0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02378F4000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F152678221\x00\x00\x00\x00\x00\x00',
+      b'F152678210\x00\x00\x00\x00\x00\x00',
+      b'F152678211\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B78120\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301200\x00\x00\x00\x00',
+      b'\x018821F3301300\x00\x00\x00\x00',
+      b'\x018821F3301400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_RC: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896632461100\x00\x00\x00\x00',
+      b'\x01896632478100\x00\x00\x00\x00',
+      b'\x01896632478200\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152624150\x00\x00\x00\x00\x00\x00',
+      b'F152624221\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881512404100\x00\x00\x00\x00',
+      b'881512407000\x00\x00\x00\x00',
+      b'881512409100\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B24081\x00\x00\x00\x00\x00\x00',
+      b'8965B24240\x00\x00\x00\x00\x00\x00',
+      b'8965B24320\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F2401100\x00\x00\x00\x00',
+      b'8646F2401200\x00\x00\x00\x00',
+      b'8646F2402200\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_RX: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630E36200\x00\x00\x00\x00',
+      b'\x01896630E36300\x00\x00\x00\x00',
+      b'\x01896630E37100\x00\x00\x00\x00',
+      b'\x01896630E37200\x00\x00\x00\x00',
+      b'\x01896630E37300\x00\x00\x00\x00',
+      b'\x01896630E41000\x00\x00\x00\x00',
+      b'\x01896630E41100\x00\x00\x00\x00',
+      b'\x01896630E41200\x00\x00\x00\x00',
+      b'\x01896630E41500\x00\x00\x00\x00',
+      b'\x01896630EA3100\x00\x00\x00\x00',
+      b'\x01896630EA3400\x00\x00\x00\x00',
+      b'\x01896630EA4100\x00\x00\x00\x00',
+      b'\x01896630EA4300\x00\x00\x00\x00',
+      b'\x01896630EA4400\x00\x00\x00\x00',
+      b'\x01896630EA6300\x00\x00\x00\x00',
+      b'\x018966348R1300\x00\x00\x00\x00',
+      b'\x018966348R8500\x00\x00\x00\x00',
+      b'\x018966348W1300\x00\x00\x00\x00',
+      b'\x018966348W2300\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x02348J7000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348N0000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348Q4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348Q4100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348T1000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348T1100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348T1200\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348T3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348V6000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348Z3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152648361\x00\x00\x00\x00\x00\x00',
+      b'F152648472\x00\x00\x00\x00\x00\x00',
+      b'F152648473\x00\x00\x00\x00\x00\x00',
+      b'F152648474\x00\x00\x00\x00\x00\x00',
+      b'F152648492\x00\x00\x00\x00\x00\x00',
+      b'F152648493\x00\x00\x00\x00\x00\x00',
+      b'F152648494\x00\x00\x00\x00\x00\x00',
+      b'F152648501\x00\x00\x00\x00\x00\x00',
+      b'F152648502\x00\x00\x00\x00\x00\x00',
+      b'F152648504\x00\x00\x00\x00\x00\x00',
+      b'F152648630\x00\x00\x00\x00\x00\x00',
+      b'F152648740\x00\x00\x00\x00\x00\x00',
+      b'F152648A30\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881514810300\x00\x00\x00\x00',
+      b'881514810500\x00\x00\x00\x00',
+      b'881514810700\x00\x00\x00\x00',
+      b'881514811300\x00\x00\x00\x00',
+      b'881514811500\x00\x00\x00\x00',
+      b'881514811700\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B0E011\x00\x00\x00\x00\x00\x00',
+      b'8965B0E012\x00\x00\x00\x00\x00\x00',
+      b'8965B48102\x00\x00\x00\x00\x00\x00',
+      b'8965B48111\x00\x00\x00\x00\x00\x00',
+      b'8965B48112\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4701000\x00\x00\x00\x00',
+      b'8821F4701100\x00\x00\x00\x00',
+      b'8821F4701200\x00\x00\x00\x00',
+      b'8821F4701300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F4801100\x00\x00\x00\x00',
+      b'8646F4801200\x00\x00\x00\x00',
+      b'8646F4802001\x00\x00\x00\x00',
+      b'8646F4802100\x00\x00\x00\x00',
+      b'8646F4802200\x00\x00\x00\x00',
+      b'8646F4809000\x00\x00\x00\x00',
+    ],
+  },
+  CAR.LEXUS_RX_TSS2: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630EA9000\x00\x00\x00\x00',
+      b'\x01896630EB0000\x00\x00\x00\x00',
+      b'\x01896630EC9000\x00\x00\x00\x00',
+      b'\x01896630EC9100\x00\x00\x00\x00',
+      b'\x01896630ED0000\x00\x00\x00\x00',
+      b'\x01896630ED0100\x00\x00\x00\x00',
+      b'\x01896630ED5000\x00\x00\x00\x00',
+      b'\x01896630ED6000\x00\x00\x00\x00',
+      b'\x018966348R9200\x00\x00\x00\x00',
+      b'\x018966348T8000\x00\x00\x00\x00',
+      b'\x018966348W5100\x00\x00\x00\x00',
+      b'\x018966348W9000\x00\x00\x00\x00',
+      b'\x018966348X0000\x00\x00\x00\x00',
+      b'\x01896634D12000\x00\x00\x00\x00',
+      b'\x01896634D12100\x00\x00\x00\x00',
+      b'\x01896634D43000\x00\x00\x00\x00',
+      b'\x01896634D44000\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x02348U2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348X5000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260E041\x00\x00\x00\x00\x00\x00',
+      b'\x01F152648781\x00\x00\x00\x00\x00\x00',
+      b'\x01F152648801\x00\x00\x00\x00\x00\x00',
+      b'F152648493\x00\x00\x00\x00\x00\x00',
+      b'F152648811\x00\x00\x00\x00\x00\x00',
+      b'F152648831\x00\x00\x00\x00\x00\x00',
+      b'F152648891\x00\x00\x00\x00\x00\x00',
+      b'F152648C80\x00\x00\x00\x00\x00\x00',
+      b'F152648D00\x00\x00\x00\x00\x00\x00',
+      b'F152648D60\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B48261\x00\x00\x00\x00\x00\x00',
+      b'8965B48271\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301100\x00\x00\x00\x00',
+      b'\x018821F3301300\x00\x00\x00\x00',
+      b'\x018821F3301400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+    ],
+  },
+  CAR.PRIUS_TSS2: {
+    (Ecu.engine, 0x700, None): [
+      b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966347C7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00',
+      b'\x038966347C1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00',
+      b'\x038966347C5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00',
+      b'\x038966347C5100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152647500\x00\x00\x00\x00\x00\x00',
+      b'F152647510\x00\x00\x00\x00\x00\x00',
+      b'F152647520\x00\x00\x00\x00\x00\x00',
+      b'F152647521\x00\x00\x00\x00\x00\x00',
+      b'F152647531\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B47070\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F4707000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F4710000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+      b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+    ],
+  },
+  CAR.MIRAI: {
+    (Ecu.abs, 0x7d1, None): [
+      b'\x01898A36203000\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15266203200\x00\x00\x00\x00',
+      b'\x01F15266203500\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x028965B6204100\x00\x00\x00\x008965B6203100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F6201200\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+    ],
+  },
+  CAR.ALPHARD_TSS2: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B58040\x00\x00\x00\x00\x00\x00',
+      b'8965B58052\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152658320\x00\x00\x00\x00\x00\x00',
+      b'F152658341\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301200\x00\x00\x00\x00',
+      b'\x018821F3301400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
+      b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+    ],
+  },
+}
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 2b67d2da9..cf7c3f53f 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -46,8 +46,6 @@ class CarInterface(CarInterfaceBase):
 
     stop_and_go = candidate in TSS2_CAR
 
-    ret.dashcamOnly = False if ret.dashcamOnly and Params().get_bool("dp_car_dashcam_mode_removal") else ret.dashcamOnly
-
     if candidate == CAR.PRIUS:
       stop_and_go = True
       ret.wheelbase = 2.70
@@ -80,7 +78,7 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.444  # not optimized yet
       ret.mass = 2860. * CV.LB_TO_KG  # mean between normal and hybrid
 
-    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2):
+    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.79
       ret.steerRatio = 16.  # 14.8 is spec end-to-end
@@ -102,7 +100,8 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.7933
       ret.mass = 3400. * CV.LB_TO_KG  # mean between normal and hybrid
 
-    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2):
+    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2):
+      # TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU
       stop_and_go = True
       ret.wheelbase = 2.8194  # average of 109.8 and 112.2 in
       ret.steerRatio = 16.0
@@ -145,9 +144,7 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.444  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG
 
-    elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2):
-      if candidate not in (CAR.LEXUS_ES,):  # TODO: LEXUS_ES may have sng
-        stop_and_go = True
+    elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ES_TSS2):
       ret.wheelbase = 2.8702
       ret.steerRatio = 16.0  # not optimized
       ret.tireStiffnessFactor = 0.444  # not optimized yet
@@ -226,6 +223,9 @@ class CarInterface(CarInterfaceBase):
                                         and not (ret.flags & ToyotaFlags.SMART_DSU)
     ret.enableGasInterceptor = 0x201 in fingerprint[0]
 
+    if ret.enableGasInterceptor:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR
+
     # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
     # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
     use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
@@ -234,8 +234,10 @@ class CarInterface(CarInterfaceBase):
 
       if not use_sdsu:
         # Disabling radar is only supported on TSS2 radar-ACC cars
-        if experimental_long and candidate in RADAR_ACC_CAR and False:  # TODO: disabling radar isn't supported yet
+        if experimental_long and candidate in RADAR_ACC_CAR: # and False:  # TODO: disabling radar isn't supported yet
           ret.flags |= ToyotaFlags.DISABLE_RADAR.value
+          # rick - looks like this is only for doc, we still want to set this to true to prevent removing ExperimentalLongitudinalEnabled in controlsd.py
+          ret.experimentalLongitudinalAvailable = True
       else:
         use_sdsu = use_sdsu and experimental_long
 
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 7020d0519..1cf15d947 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1,7 +1,7 @@
 import re
 from collections import defaultdict
 from dataclasses import dataclass, field
-from enum import Enum, IntFlag
+from enum import Enum, IntFlag#, StrEnum
 from strenum import StrEnum
 from typing import Dict, List, Set, Union
 
@@ -63,7 +63,6 @@ class CAR(StrEnum):
   COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
   HIGHLANDER = "TOYOTA HIGHLANDER 2017"
   HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020"
-  HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
   PRIUS = "TOYOTA PRIUS 2017"
   PRIUS_V = "TOYOTA PRIUS v 2017"
   PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021"
@@ -78,7 +77,6 @@ class CAR(StrEnum):
   # Lexus
   LEXUS_CTH = "LEXUS CT HYBRID 2018"
   LEXUS_ES = "LEXUS ES 2018"
-  LEXUS_ESH = "LEXUS ES HYBRID 2018"
   LEXUS_ES_TSS2 = "LEXUS ES 2019"
   LEXUS_IS = "LEXUS IS 2018"
   LEXUS_IS_TSS2 = "LEXUS IS 2023"
@@ -86,7 +84,6 @@ class CAR(StrEnum):
   LEXUS_NX_TSS2 = "LEXUS NX 2020"
   LEXUS_RC = "LEXUS RC 2020"
   LEXUS_RX = "LEXUS RX 2016"
-  LEXUS_RXH = "LEXUS RX HYBRID 2017"
   LEXUS_RX_TSS2 = "LEXUS RX 2020"
   LEXUS_GS_F = "LEXUS GS F 2016"
 
@@ -148,12 +145,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
     ToyotaCarInfo("Lexus UX Hybrid 2019-23"),
   ],
-  CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
+  CAR.HIGHLANDER: [
+    ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
+    ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
+  ],
   CAR.HIGHLANDER_TSS2: [
     ToyotaCarInfo("Toyota Highlander 2020-23"),
     ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
   ],
-  CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
   CAR.PRIUS: [
     ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
     ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
@@ -181,19 +180,21 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
   ],
   CAR.RAV4_TSS2_2023: [
-    ToyotaCarInfo("Toyota RAV4 2023"),
-    ToyotaCarInfo("Toyota RAV4 Hybrid 2023"),
+    ToyotaCarInfo("Toyota RAV4 2023-24"),
+    ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"),
   ],
   CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
   CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED),
 
   # Lexus
   CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
-  CAR.LEXUS_ES: ToyotaCarInfo("Lexus ES 2017-18"),
-  CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
+  CAR.LEXUS_ES: [
+    ToyotaCarInfo("Lexus ES 2017-18"),
+    ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
+  ],
   CAR.LEXUS_ES_TSS2: [
     ToyotaCarInfo("Lexus ES 2019-24"),
-    ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
+    ToyotaCarInfo("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
   ],
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
   CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"),
@@ -210,8 +211,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.LEXUS_RX: [
     ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
     ToyotaCarInfo("Lexus RX 2017-19"),
-  ],
-  CAR.LEXUS_RXH: [
+    # Hybrid platforms
     ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"),
     ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
   ],
@@ -223,33 +223,32 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
 
 # (addr, cars, bus, 1/freq*100, vl)
 STATIC_DSU_MSGS = [
-  (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
-  (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES),
+  (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
+  (0x128, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
+  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
+  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
+  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.PRIUS_V),
                                                                                                1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
-  (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
-  (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
-  (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
-  (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
-  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX,
+  (0X161, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
+  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
+  (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
+  (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
+  (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
+  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
+  (0x365, (CAR.PRIUS, CAR.LEXUS_NX, CAR.HIGHLANDER), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
+  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX,
            CAR.PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
-  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V),
+  (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.HIGHLANDER), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
+  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V),
           0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
-  (0x366, (CAR.LEXUS_ES,), 0,  20, b'\x00\x95\x07\xfe\x08\x05\x00'),
-  (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
-  (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
+  (0x470, (CAR.PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'),
+  (0x470, (CAR.HIGHLANDER, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
+  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 ]
 
 
@@ -297,10 +296,10 @@ def get_platform_codes(fw_versions: List[bytes]) -> Dict[bytes, Set[bytes]]:
   return dict(codes)
 
 
-def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
+def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]:
   candidates = set()
 
-  for candidate, fws in FW_VERSIONS.items():
+  for candidate, fws in offline_fw_versions.items():
     # Keep track of ECUs which pass all checks (platform codes, within sub-version range)
     valid_found_ecus = set()
     valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
@@ -350,15 +349,19 @@ FW_LEN_CODE = re.compile(b'^[\x01-\x03]')  # highest seen is 3 chunks, 16 bytes
 FW_CHUNK_LEN = 16
 
 # List of ECUs that are most unique across openpilot platforms
-# TODO: use hybrid ECU, splits similar ICE and hybrid variants
 # - fwdCamera: describes actual features related to ADAS. For example, on the Avalon it describes
 #    when TSS-P became standard, whether the car supports stop and go, and whether it's TSS2.
 #    On the RAV4, it describes the move to the radar doing ACC, and the use of LTA for lane keeping.
-# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception)
+#    Note that the platform codes & major versions do not describe features in plain text, only with
+#    matching against other seen FW versions in the database they can describe features.
+# - fwdRadar: sanity check against fwdCamera, commonly shares a platform code.
+#    For example the RAV4 2022's new radar architecture is shown for both with platform code.
+# - abs: differentiates hybrid/ICE on most cars (Corolla TSS2 is an exception, not used due to hybrid platform combination)
 # - eps: describes lateral API changes for the EPS, such as using LTA for lane keeping and rejecting LKA messages
-PLATFORM_CODE_ECUS = [Ecu.fwdCamera, Ecu.abs, Ecu.eps]
+PLATFORM_CODE_ECUS = (Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps)
 
 # These platforms have at least one platform code for all ECUs shared with another platform.
+# rick - quick fix for error
 from typing import Set
 FUZZY_EXCLUDED_PLATFORMS: Set[CAR] = set()
 
@@ -397,8 +400,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
     # FIXME: On some models, abs can sometimes be missing
     Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS, CAR.ALPHARD_TSS2],
     # On some models, the engine can show on two different addresses
-    Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC,
-                 CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX_TSS2],
+    Ecu.engine: [CAR.HIGHLANDER, CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS,
+                 CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2],
   },
   extra_ecus=[
     # All known ECUs on a late-model Toyota vehicle not queried here:
@@ -435,1642 +438,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
   match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
 )
 
-FW_VERSIONS = {
-  CAR.AVALON: {
-    (Ecu.abs, 0x7b0, None): [
-      b'F152607060\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881510701300\x00\x00\x00\x00',
-      b'881510705100\x00\x00\x00\x00',
-      b'881510705200\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B41051\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0230721100\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230721200\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702000\x00\x00\x00\x00',
-      b'8821F4702100\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0701100\x00\x00\x00\x00',
-      b'8646F0703000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.AVALON_2019: {
-    (Ecu.abs, 0x7b0, None): [
-      b'F152607140\x00\x00\x00\x00\x00\x00',
-      b'F152607171\x00\x00\x00\x00\x00\x00',
-      b'F152607110\x00\x00\x00\x00\x00\x00',
-      b'F152607180\x00\x00\x00\x00\x00\x00',
-      b'F152641040\x00\x00\x00\x00\x00\x00',
-      b'F152641061\x00\x00\x00\x00\x00\x00',
-      b'F152641050\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881510703200\x00\x00\x00\x00',
-      b'881510704200\x00\x00\x00\x00',
-      b'881514107100\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B41080\x00\x00\x00\x00\x00\x00',
-      b'8965B07010\x00\x00\x00\x00\x00\x00',
-      b'8965B41090\x00\x00\x00\x00\x00\x00',
-      b'8965B41070\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630725200\x00\x00\x00\x00',
-      b'\x01896630725300\x00\x00\x00\x00',
-      b'\x01896630735100\x00\x00\x00\x00',
-      b'\x01896630738000\x00\x00\x00\x00',
-      b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0702100\x00\x00\x00\x00',
-    ],
-  },
-  CAR.AVALON_TSS2: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F152607240\x00\x00\x00\x00\x00\x00',
-      b'\x01F152607250\x00\x00\x00\x00\x00\x00',
-      b'\x01F152607280\x00\x00\x00\x00\x00\x00',
-      b'F152641080\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B41110\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630742000\x00\x00\x00\x00',
-      b'\x01896630743000\x00\x00\x00\x00',
-      b'\x018966306Q6000\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F6201200\x00\x00\x00\x00',
-      b'\x018821F6201300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-      b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.CAMRY: {
-    (Ecu.engine, 0x700, None): [
-      b'\x018966306L3100\x00\x00\x00\x00',
-      b'\x018966306L4200\x00\x00\x00\x00',
-      b'\x018966306L5200\x00\x00\x00\x00',
-      b'\x018966306P8000\x00\x00\x00\x00',
-      b'\x018966306Q3100\x00\x00\x00\x00',
-      b'\x018966306Q4000\x00\x00\x00\x00',
-      b'\x018966306Q4100\x00\x00\x00\x00',
-      b'\x018966306Q4200\x00\x00\x00\x00',
-      b'\x018966333Q9200\x00\x00\x00\x00',
-      b'\x018966333P3100\x00\x00\x00\x00',
-      b'\x018966333P3200\x00\x00\x00\x00',
-      b'\x018966333P4200\x00\x00\x00\x00',
-      b'\x018966333P4300\x00\x00\x00\x00',
-      b'\x018966333P4400\x00\x00\x00\x00',
-      b'\x018966333P4500\x00\x00\x00\x00',
-      b'\x018966333P4700\x00\x00\x00\x00',
-      b'\x018966333P4900\x00\x00\x00\x00',
-      b'\x018966333Q6000\x00\x00\x00\x00',
-      b'\x018966333Q6200\x00\x00\x00\x00',
-      b'\x018966333Q6300\x00\x00\x00\x00',
-      b'\x018966333Q6500\x00\x00\x00\x00',
-      b'\x018966333W6000\x00\x00\x00\x00',
-      b'\x018966306Q6000\x00\x00\x00\x00',
-      b'\x018966333N1100\x00\x00\x00\x00',
-      b'\x018966333N4300\x00\x00\x00\x00',
-      b'\x018966333X0000\x00\x00\x00\x00',
-      b'\x018966333X4000\x00\x00\x00\x00',
-      b'\x01896633T16000\x00\x00\x00\x00',
-      b'\x018966306L9000\x00\x00\x00\x00',
-      b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306B2300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306B2500\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306N8100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306N8200\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306N8300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306N8400\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306R5000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306R5000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966306R6000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966306R6000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966306S0000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966306S1100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x02333P1100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'8821F0601200    ',
-      b'8821F0601300    ',
-      b'8821F0602000    ',
-      b'8821F0603300    ',
-      b'8821F0604100    ',
-      b'8821F0605200    ',
-      b'8821F0607200    ',
-      b'8821F0608000    ',
-      b'8821F0608200    ',
-      b'8821F0609100    ',
-      b'8821F0603400    ',
-      b'8821F0604000    ',
-      b'8821F0604200    ',
-      b'8821F0606200    ',
-      b'8821F0609000    ',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152606210\x00\x00\x00\x00\x00\x00',
-      b'F152606230\x00\x00\x00\x00\x00\x00',
-      b'F152606270\x00\x00\x00\x00\x00\x00',
-      b'F152606290\x00\x00\x00\x00\x00\x00',
-      b'F152606410\x00\x00\x00\x00\x00\x00',
-      b'F152633540\x00\x00\x00\x00\x00\x00',
-      b'F152633A10\x00\x00\x00\x00\x00\x00',
-      b'F152633A20\x00\x00\x00\x00\x00\x00',
-      b'F152633214\x00\x00\x00\x00\x00\x00',
-      b'F152633660\x00\x00\x00\x00\x00\x00',
-      b'F152633712\x00\x00\x00\x00\x00\x00',
-      b'F152633713\x00\x00\x00\x00\x00\x00',
-      b'F152633B51\x00\x00\x00\x00\x00\x00',
-      b'F152633B60\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B33540\x00\x00\x00\x00\x00\x00',
-      b'8965B33542\x00\x00\x00\x00\x00\x00',
-      b'8965B33580\x00\x00\x00\x00\x00\x00',
-      b'8965B33581\x00\x00\x00\x00\x00\x00',
-      b'8965B33621\x00\x00\x00\x00\x00\x00',
-      b'8965B33550\x00\x00\x00\x00\x00\x00',
-      b'8965B33551\x00\x00\x00\x00\x00\x00',
-      b'8965B33611\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [  # Same as 0x791
-      b'8821F0601200    ',
-      b'8821F0601300    ',
-      b'8821F0602000    ',
-      b'8821F0603300    ',
-      b'8821F0604100    ',
-      b'8821F0605200    ',
-      b'8821F0607200    ',
-      b'8821F0608000    ',
-      b'8821F0608200    ',
-      b'8821F0609100    ',
-      b'8821F0603400    ',
-      b'8821F0604000    ',
-      b'8821F0604200    ',
-      b'8821F0606200    ',
-      b'8821F0609000    ',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0601200    ',
-      b'8646F0601300    ',
-      b'8646F0601400    ',
-      b'8646F0603400    ',
-      b'8646F0604100    ',
-      b'8646F0605000    ',
-      b'8646F0606000    ',
-      b'8646F0606100    ',
-      b'8646F0607100    ',
-      b'8646F0603500    ',
-      b'8646F0607000    ',
-    ],
-  },
-  CAR.CAMRY_TSS2: {
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B33630\x00\x00\x00\x00\x00\x00',
-      b'8965B33640\x00\x00\x00\x00\x00\x00',
-      b'8965B33650\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F152606370\x00\x00\x00\x00\x00\x00',
-      b'\x01F152606390\x00\x00\x00\x00\x00\x00',
-      b'\x01F152606400\x00\x00\x00\x00\x00\x00',
-      b'\x01F152606431\x00\x00\x00\x00\x00\x00',
-      b'F152633D00\x00\x00\x00\x00\x00\x00',
-      b'F152633D60\x00\x00\x00\x00\x00\x00',
-      b'F152633310\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x018966306Q5000\x00\x00\x00\x00',
-      b'\x018966306Q9000\x00\x00\x00\x00',
-      b'\x018966306R3000\x00\x00\x00\x00',
-      b'\x018966306R8000\x00\x00\x00\x00',
-      b'\x018966306T3100\x00\x00\x00\x00',
-      b'\x018966306T3200\x00\x00\x00\x00',
-      b'\x018966306T4000\x00\x00\x00\x00',
-      b'\x018966306T4100\x00\x00\x00\x00',
-      b'\x018966306Q6000\x00\x00\x00\x00',
-      b'\x018966306Q7000\x00\x00\x00\x00',
-      b'\x018966306T0000\x00\x00\x00\x00',
-      b'\x018966306V1000\x00\x00\x00\x00',
-      b'\x01896633T20000\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F6201200\x00\x00\x00\x00',
-      b'\x018821F6201300\x00\x00\x00\x00',
-      b'\x018821F6201400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-      b'\x028646F0602200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-      b'\x028646F0602300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-      b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-      b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.CHR: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896631021100\x00\x00\x00\x00',
-      b'\x01896631017100\x00\x00\x00\x00',
-      b'\x01896631017200\x00\x00\x00\x00',
-      b'\x0189663F413100\x00\x00\x00\x00',
-      b'\x0189663F414100\x00\x00\x00\x00',
-      b'\x0289663F405100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896631013200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F405000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F418000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F423000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F431000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0189663F438000\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'8821F0W01000    ',
-      b'8821F0W01100    ',
-      b'8821FF401600    ',
-      b'8821FF404000    ',
-      b'8821FF404100    ',
-      b'8821FF405100    ',
-      b'8821FF406000    ',
-      b'8821FF407100    ',
-      b'8821FF402300    ',
-      b'8821FF402400    ',
-      b'8821FF405000    ',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152610020\x00\x00\x00\x00\x00\x00',
-      b'F152610153\x00\x00\x00\x00\x00\x00',
-      b'F152610210\x00\x00\x00\x00\x00\x00',
-      b'F1526F4034\x00\x00\x00\x00\x00\x00',
-      b'F1526F4044\x00\x00\x00\x00\x00\x00',
-      b'F1526F4073\x00\x00\x00\x00\x00\x00',
-      b'F1526F4121\x00\x00\x00\x00\x00\x00',
-      b'F1526F4122\x00\x00\x00\x00\x00\x00',
-      b'F152610012\x00\x00\x00\x00\x00\x00',
-      b'F152610013\x00\x00\x00\x00\x00\x00',
-      b'F152610014\x00\x00\x00\x00\x00\x00',
-      b'F152610040\x00\x00\x00\x00\x00\x00',
-      b'F152610190\x00\x00\x00\x00\x00\x00',
-      b'F152610200\x00\x00\x00\x00\x00\x00',
-      b'F152610220\x00\x00\x00\x00\x00\x00',
-      b'F152610230\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B10011\x00\x00\x00\x00\x00\x00',
-      b'8965B10040\x00\x00\x00\x00\x00\x00',
-      b'8965B10070\x00\x00\x00\x00\x00\x00',
-      b'8965B10020\x00\x00\x00\x00\x00\x00',
-      b'8965B10050\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0331024000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
-      b'\x0331024000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
-      b'\x0331036000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
-      b'\x033F401100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203102\x00\x00\x00\x00',
-      b'\x033F401200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
-      b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
-      b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F0W01000    ',
-      b'8821FF401600    ',
-      b'8821FF404000    ',
-      b'8821FF404100    ',
-      b'8821FF405100    ',
-      b'8821FF406000    ',
-      b'8821FF407100    ',
-      b'8821F0W01100    ',
-      b'8821FF402300    ',
-      b'8821FF402400    ',
-      b'8821FF405000    ',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646FF401700    ',
-      b'8646FF401800    ',
-      b'8646FF404000    ',
-      b'8646FF406000    ',
-      b'8646FF407000    ',
-      b'8646FF402100    ',
-      b'8646FF407100    ',
-    ],
-  },
-  CAR.CHR_TSS2: {
-    (Ecu.abs, 0x7b0, None): [
-      b'F152610260\x00\x00\x00\x00\x00\x00',
-      b'F1526F4270\x00\x00\x00\x00\x00\x00',
-      b'F152610041\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B10091\x00\x00\x00\x00\x00\x00',
-      b'8965B10110\x00\x00\x00\x00\x00\x00',
-      b'8965B10092\x00\x00\x00\x00\x00\x00',
-      b'8965B10111\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x0189663F459000\x00\x00\x00\x00',
-      b'\x0189663F438000\x00\x00\x00\x00',
-      b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0331014000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821FF410200\x00\x00\x00\x00',
-      b'\x018821FF410300\x00\x00\x00\x00',
-      b'\x018821FF410500\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646FF410200\x00\x00\x00\x008646GF408200\x00\x00\x00\x00',
-      b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00',
-      b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00',
-    ],
-  },
-  CAR.COROLLA: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZC2100\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZC2200\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZC2300\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZC3000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZC3100\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZC3200\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZC3300\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0330ZC1200\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881510201100\x00\x00\x00\x00',
-      b'881510201200\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152602190\x00\x00\x00\x00\x00\x00',
-      b'F152602191\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B02181\x00\x00\x00\x00\x00\x00',
-      b'8965B02191\x00\x00\x00\x00\x00\x00',
-      b'8965B48150\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0201101\x00\x00\x00\x00',
-      b'8646F0201200\x00\x00\x00\x00',
-    ],
-  },
-  CAR.COROLLA_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630A22000\x00\x00\x00\x00',
-      b'\x01896630ZG2000\x00\x00\x00\x00',
-      b'\x01896630ZG5000\x00\x00\x00\x00',
-      b'\x01896630ZG5100\x00\x00\x00\x00',
-      b'\x01896630ZG5200\x00\x00\x00\x00',
-      b'\x01896630ZG5300\x00\x00\x00\x00',
-      b'\x01896630ZP1000\x00\x00\x00\x00',
-      b'\x01896630ZP2000\x00\x00\x00\x00',
-      b'\x01896630ZQ5000\x00\x00\x00\x00',
-      b'\x01896630ZU9000\x00\x00\x00\x00',
-      b'\x01896630ZX4000\x00\x00\x00\x00',
-      b'\x018966312L8000\x00\x00\x00\x00',
-      b'\x018966312M0000\x00\x00\x00\x00',
-      b'\x018966312M9000\x00\x00\x00\x00',
-      b'\x018966312P9000\x00\x00\x00\x00',
-      b'\x018966312P9100\x00\x00\x00\x00',
-      b'\x018966312P9200\x00\x00\x00\x00',
-      b'\x018966312P9300\x00\x00\x00\x00',
-      b'\x018966312Q2300\x00\x00\x00\x00',
-      b'\x018966312Q8000\x00\x00\x00\x00',
-      b'\x018966312R0000\x00\x00\x00\x00',
-      b'\x018966312R0100\x00\x00\x00\x00',
-      b'\x018966312R0200\x00\x00\x00\x00',
-      b'\x018966312R1000\x00\x00\x00\x00',
-      b'\x018966312R1100\x00\x00\x00\x00',
-      b'\x018966312R3100\x00\x00\x00\x00',
-      b'\x018966312S5000\x00\x00\x00\x00',
-      b'\x018966312S7000\x00\x00\x00\x00',
-      b'\x018966312W3000\x00\x00\x00\x00',
-      b'\x018966312W9000\x00\x00\x00\x00',
-      b'\x01896637644000\x00\x00\x00\x00',
-      b'\x01896630ZJ1000\x00\x00\x00\x00',
-      b'\x01896630ZU8000\x00\x00\x00\x00',
-      b'\x01896637621000\x00\x00\x00\x00',
-      b'\x01896637623000\x00\x00\x00\x00',
-      b'\x01896637624000\x00\x00\x00\x00',
-      b'\x01896637626000\x00\x00\x00\x00',
-      b'\x01896637639000\x00\x00\x00\x00',
-      b'\x01896637648000\x00\x00\x00\x00',
-      b'\x01896637643000\x00\x00\x00\x00',
-      b'\x02896630A07000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630A21000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZK8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZQ3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZR2000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZT8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZT9000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896630ZZ0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312K6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312L0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312Q3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312Q3100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x038966312L7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
-      b'\x038966312N1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
-      b'\x038966312T3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0230A10000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230A11000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZN4000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230ZN5000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x03312K7000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
-      b'\x03312M3000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
-      b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
-      b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
-      b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
-      b'\x03312N6100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
-      b'\x03312N6100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
-      b'\x03312N6200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
-      b'\x03312N6200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
-      b'\x03312N6200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
-      b'\x02312K4000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02312U5000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'\x018965B12350\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12470\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12490\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12500\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12520\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12530\x00\x00\x00\x00\x00\x00',
-      b'\x018965B1255000\x00\x00\x00\x00',
-      b'8965B12361\x00\x00\x00\x00\x00\x00',
-      b'8965B16011\x00\x00\x00\x00\x00\x00',
-      b'8965B76012\x00\x00\x00\x00\x00\x00',
-      b'\x018965B12510\x00\x00\x00\x00\x00\x00',
-      b'\x018965B1256000\x00\x00\x00\x00',
-      b'8965B12451\x00\x00\x00\x00\x00\x00',
-      b'8965B16101\x00\x00\x00\x00\x00\x00',
-      b'8965B16170\x00\x00\x00\x00\x00\x00',
-      b'8965B76050\x00\x00\x00\x00\x00\x00',
-      b'8965B76091\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F152602280\x00\x00\x00\x00\x00\x00',
-      b'\x01F152602560\x00\x00\x00\x00\x00\x00',
-      b'\x01F152602590\x00\x00\x00\x00\x00\x00',
-      b'\x01F152602650\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260A010\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260A050\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612641\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612651\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B10\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B51\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B60\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B61\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B62\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B70\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B71\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B81\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B90\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612C00\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612862\x00\x00\x00\x00\x00\x00',
-      b'\x01F152612B91\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260A070\x00\x00\x00\x00\x00\x00',
-      b'\x01F152676250\x00\x00\x00\x00\x00\x00',
-      b'\x01F152602470\x00\x00\x00\x00\x00\x00',
-      b'F152612590\x00\x00\x00\x00\x00\x00',
-      b'F152612691\x00\x00\x00\x00\x00\x00',
-      b'F152612692\x00\x00\x00\x00\x00\x00',
-      b'F152612700\x00\x00\x00\x00\x00\x00',
-      b'F152612710\x00\x00\x00\x00\x00\x00',
-      b'F152612790\x00\x00\x00\x00\x00\x00',
-      b'F152612800\x00\x00\x00\x00\x00\x00',
-      b'F152612820\x00\x00\x00\x00\x00\x00',
-      b'F152612840\x00\x00\x00\x00\x00\x00',
-      b'F152612842\x00\x00\x00\x00\x00\x00',
-      b'F152612890\x00\x00\x00\x00\x00\x00',
-      b'F152612A00\x00\x00\x00\x00\x00\x00',
-      b'F152612A10\x00\x00\x00\x00\x00\x00',
-      b'F152612D00\x00\x00\x00\x00\x00\x00',
-      b'F152616011\x00\x00\x00\x00\x00\x00',
-      b'F152616060\x00\x00\x00\x00\x00\x00',
-      b'F152616030\x00\x00\x00\x00\x00\x00',
-      b'F152642540\x00\x00\x00\x00\x00\x00',
-      b'F152676293\x00\x00\x00\x00\x00\x00',
-      b'F152676303\x00\x00\x00\x00\x00\x00',
-      b'F152676304\x00\x00\x00\x00\x00\x00',
-      b'F152676371\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301100\x00\x00\x00\x00',
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-      b'\x018821F6201400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F1201200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F1201300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F1201400\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-      b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-      b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F1601200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F7603100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F7603200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F7605100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.HIGHLANDER: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630E09000\x00\x00\x00\x00',
-      b'\x01896630E43000\x00\x00\x00\x00',
-      b'\x01896630E43100\x00\x00\x00\x00',
-      b'\x01896630E43200\x00\x00\x00\x00',
-      b'\x01896630E44200\x00\x00\x00\x00',
-      b'\x01896630E45000\x00\x00\x00\x00',
-      b'\x01896630E45100\x00\x00\x00\x00',
-      b'\x01896630E45200\x00\x00\x00\x00',
-      b'\x01896630E46000\x00\x00\x00\x00',
-      b'\x01896630E46200\x00\x00\x00\x00',
-      b'\x01896630E74000\x00\x00\x00\x00',
-      b'\x01896630E75000\x00\x00\x00\x00',
-      b'\x01896630E76000\x00\x00\x00\x00',
-      b'\x01896630E77000\x00\x00\x00\x00',
-      b'\x01896630E83000\x00\x00\x00\x00',
-      b'\x01896630E84000\x00\x00\x00\x00',
-      b'\x01896630E85000\x00\x00\x00\x00',
-      b'\x01896630E86000\x00\x00\x00\x00',
-      b'\x01896630E88000\x00\x00\x00\x00',
-      b'\x01896630EA0000\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B48140\x00\x00\x00\x00\x00\x00',
-      b'8965B48150\x00\x00\x00\x00\x00\x00',
-      b'8965B48210\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [b'F15260E011\x00\x00\x00\x00\x00\x00'],
-    (Ecu.dsu, 0x791, None): [
-      b'881510E01100\x00\x00\x00\x00',
-      b'881510E01200\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0E01200\x00\x00\x00\x00',
-      b'8646F0E01300\x00\x00\x00\x00',
-    ],
-  },
-  CAR.HIGHLANDERH: {
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B48160\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152648541\x00\x00\x00\x00\x00\x00',
-      b'F152648542\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230E40100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230EA2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230EA2100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0E01200\x00\x00\x00\x00',
-      b'8646F0E01300\x00\x00\x00\x00',
-    ],
-  },
-  CAR.HIGHLANDER_TSS2: {
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B48241\x00\x00\x00\x00\x00\x00',
-      b'8965B48310\x00\x00\x00\x00\x00\x00',
-      b'8965B48320\x00\x00\x00\x00\x00\x00',
-      b'8965B48400\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15260E051\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260E061\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260E110\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260E170\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260E05300\x00\x00\x00\x00',
-      b'\x01F15264872300\x00\x00\x00\x00',
-      b'\x01F15264872400\x00\x00\x00\x00',
-      b'\x01F15264872500\x00\x00\x00\x00',
-      b'\x01F15264872600\x00\x00\x00\x00',
-      b'\x01F15264872700\x00\x00\x00\x00',
-      b'\x01F15264873500\x00\x00\x00\x00',
-      b'\x01F152648C6300\x00\x00\x00\x00',
-      b'\x01F152648J4000\x00\x00\x00\x00',
-      b'\x01F152648J5000\x00\x00\x00\x00',
-      b'\x01F152648J6000\x00\x00\x00\x00',
-      b'\x01F152648J7000\x00\x00\x00\x00',
-      b'\x01F152648L5000\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630E62100\x00\x00\x00\x00',
-      b'\x01896630E62200\x00\x00\x00\x00',
-      b'\x01896630E64100\x00\x00\x00\x00',
-      b'\x01896630E64200\x00\x00\x00\x00',
-      b'\x01896630E64400\x00\x00\x00\x00',
-      b'\x01896630EB1000\x00\x00\x00\x00',
-      b'\x01896630EB1100\x00\x00\x00\x00',
-      b'\x01896630EB1200\x00\x00\x00\x00',
-      b'\x01896630EB2000\x00\x00\x00\x00',
-      b'\x01896630EB2100\x00\x00\x00\x00',
-      b'\x01896630EB2200\x00\x00\x00\x00',
-      b'\x01896630EC4000\x00\x00\x00\x00',
-      b'\x01896630ED9000\x00\x00\x00\x00',
-      b'\x01896630ED9100\x00\x00\x00\x00',
-      b'\x01896630EE1000\x00\x00\x00\x00',
-      b'\x01896630EE1100\x00\x00\x00\x00',
-      b'\x01896630EG3000\x00\x00\x00\x00',
-      b'\x01896630EG5000\x00\x00\x00\x00',
-      b'\x01896630E67000\x00\x00\x00\x00',
-      b'\x01896630EA1000\x00\x00\x00\x00',
-      b'\x01896630EE4000\x00\x00\x00\x00',
-      b'\x01896630EE4100\x00\x00\x00\x00',
-      b'\x01896630EE5000\x00\x00\x00\x00',
-      b'\x01896630EE6000\x00\x00\x00\x00',
-      b'\x01896630EE7000\x00\x00\x00\x00',
-      b'\x01896630EF8000\x00\x00\x00\x00',
-      b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301400\x00\x00\x00\x00',
-      b'\x018821F6201200\x00\x00\x00\x00',
-      b'\x018821F6201300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F0E02100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F4803000\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-      b'\x028646F4803000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F4803200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_IS: {
-    (Ecu.engine, 0x700, None): [
-      b'\x018966353M7000\x00\x00\x00\x00',
-      b'\x018966353M7100\x00\x00\x00\x00',
-      b'\x018966353Q2000\x00\x00\x00\x00',
-      b'\x018966353Q2300\x00\x00\x00\x00',
-      b'\x018966353Q4000\x00\x00\x00\x00',
-      b'\x018966353R1100\x00\x00\x00\x00',
-      b'\x018966353R7100\x00\x00\x00\x00',
-      b'\x018966353R8100\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0232480000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02353P7000\x00\x00\x00\x00\x00\x00\x00\x00530J5000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02353P9000\x00\x00\x00\x00\x00\x00\x00\x00553C1000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152653300\x00\x00\x00\x00\x00\x00',
-      b'F152653301\x00\x00\x00\x00\x00\x00',
-      b'F152653310\x00\x00\x00\x00\x00\x00',
-      b'F152653330\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881515306200\x00\x00\x00\x00',
-      b'881515306400\x00\x00\x00\x00',
-      b'881515306500\x00\x00\x00\x00',
-      b'881515307400\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B53270\x00\x00\x00\x00\x00\x00',
-      b'8965B53271\x00\x00\x00\x00\x00\x00',
-      b'8965B53280\x00\x00\x00\x00\x00\x00',
-      b'8965B53281\x00\x00\x00\x00\x00\x00',
-      b'8965B53311\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702300\x00\x00\x00\x00',
-      b'8821F4702100\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F5301101\x00\x00\x00\x00',
-      b'8646F5301200\x00\x00\x00\x00',
-      b'8646F5301300\x00\x00\x00\x00',
-      b'8646F5301400\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_IS_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x018966353S1000\x00\x00\x00\x00',
-      b'\x018966353S2000\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15265337200\x00\x00\x00\x00',
-      b'\x01F15265342000\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B53450\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F6201200\x00\x00\x00\x00',
-      b'\x018821F6201300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F5303300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
-      b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.PRIUS: {
-    (Ecu.engine, 0x700, None): [
-      b'\x02896634761000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634761100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634761200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634762000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634763000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634763100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634765000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634765100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634769000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634769100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634769200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634770000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634774000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634774100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634774200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634782000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x02896634784000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966347A0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966347A5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966347A8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966347B0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x03896634759100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
-      b'\x03896634759200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
-      b'\x03896634759200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
-      b'\x03896634759300\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
-      b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701002\x00\x00\x00\x00',
-      b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
-      b'\x03896634760000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
-      b'\x03896634760100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
-      b'\x03896634760200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
-      b'\x03896634760200\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
-      b'\x03896634760300\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701004\x00\x00\x00\x00',
-      b'\x03896634768000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703001\x00\x00\x00\x00',
-      b'\x03896634768000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00',
-      b'\x03896634768100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00',
-      b'\x03896634785000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4705001\x00\x00\x00\x00',
-      b'\x03896634785000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
-      b'\x03896634786000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4705001\x00\x00\x00\x00',
-      b'\x03896634786000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
-      b'\x03896634789000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4703002\x00\x00\x00\x00',
-      b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
-      b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707001\x00\x00\x00\x00',
-      b'\x038966347B6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
-      b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B47021\x00\x00\x00\x00\x00\x00',
-      b'8965B47022\x00\x00\x00\x00\x00\x00',
-      b'8965B47023\x00\x00\x00\x00\x00\x00',
-      b'8965B47050\x00\x00\x00\x00\x00\x00',
-      b'8965B47060\x00\x00\x00\x00\x00\x00',  # This is the EPS with good angle sensor
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152647290\x00\x00\x00\x00\x00\x00',
-      b'F152647300\x00\x00\x00\x00\x00\x00',
-      b'F152647310\x00\x00\x00\x00\x00\x00',
-      b'F152647414\x00\x00\x00\x00\x00\x00',
-      b'F152647415\x00\x00\x00\x00\x00\x00',
-      b'F152647416\x00\x00\x00\x00\x00\x00',
-      b'F152647417\x00\x00\x00\x00\x00\x00',
-      b'F152647470\x00\x00\x00\x00\x00\x00',
-      b'F152647490\x00\x00\x00\x00\x00\x00',
-      b'F152647682\x00\x00\x00\x00\x00\x00',
-      b'F152647683\x00\x00\x00\x00\x00\x00',
-      b'F152647684\x00\x00\x00\x00\x00\x00',
-      b'F152647862\x00\x00\x00\x00\x00\x00',
-      b'F152647863\x00\x00\x00\x00\x00\x00',
-      b'F152647864\x00\x00\x00\x00\x00\x00',
-      b'F152647865\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881514702300\x00\x00\x00\x00',
-      b'881514702400\x00\x00\x00\x00',
-      b'881514703100\x00\x00\x00\x00',
-      b'881514704100\x00\x00\x00\x00',
-      b'881514706000\x00\x00\x00\x00',
-      b'881514706100\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702000\x00\x00\x00\x00',
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F4701300\x00\x00\x00\x00',
-      b'8646F4702001\x00\x00\x00\x00',
-      b'8646F4702100\x00\x00\x00\x00',
-      b'8646F4702200\x00\x00\x00\x00',
-      b'8646F4705000\x00\x00\x00\x00',
-      b'8646F4705200\x00\x00\x00\x00',
-    ],
-  },
-  CAR.PRIUS_V: {
-    (Ecu.abs, 0x7b0, None): [
-      b'F152647280\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0234781000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881514705100\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F4703300\x00\x00\x00\x00',
-    ],
-  },
-  CAR.RAV4: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x02342Q1000\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342Q1100\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342Q1200\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342Q1300\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342Q2000\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342Q2100\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342Q2200\x00\x00\x00\x00\x00\x00\x00\x0054213000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342Q4000\x00\x00\x00\x00\x00\x00\x00\x0054215000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B42063\x00\x00\x00\x00\x00\x00',
-      b'8965B42073\x00\x00\x00\x00\x00\x00',
-      b'8965B42082\x00\x00\x00\x00\x00\x00',
-      b'8965B42083\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F15260R102\x00\x00\x00\x00\x00\x00',
-      b'F15260R103\x00\x00\x00\x00\x00\x00',
-      b'F152642493\x00\x00\x00\x00\x00\x00',
-      b'F152642492\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881514201200\x00\x00\x00\x00',
-      b'881514201300\x00\x00\x00\x00',
-      b'881514201400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702000\x00\x00\x00\x00',
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F4201100\x00\x00\x00\x00',
-      b'8646F4201200\x00\x00\x00\x00',
-      b'8646F4202001\x00\x00\x00\x00',
-      b'8646F4202100\x00\x00\x00\x00',
-      b'8646F4204000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.RAV4H: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x02342N9000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342N9100\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02342P0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B42102\x00\x00\x00\x00\x00\x00',
-      b'8965B42103\x00\x00\x00\x00\x00\x00',
-      b'8965B42112\x00\x00\x00\x00\x00\x00',
-      b'8965B42162\x00\x00\x00\x00\x00\x00',
-      b'8965B42163\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152642090\x00\x00\x00\x00\x00\x00',
-      b'F152642110\x00\x00\x00\x00\x00\x00',
-      b'F152642120\x00\x00\x00\x00\x00\x00',
-      b'F152642400\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881514202200\x00\x00\x00\x00',
-      b'881514202300\x00\x00\x00\x00',
-      b'881514202400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702000\x00\x00\x00\x00',
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F4201100\x00\x00\x00\x00',
-      b'8646F4201200\x00\x00\x00\x00',
-      b'8646F4202001\x00\x00\x00\x00',
-      b'8646F4202100\x00\x00\x00\x00',
-      b'8646F4204000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.RAV4_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630R58000\x00\x00\x00\x00',
-      b'\x01896630R58100\x00\x00\x00\x00',
-      b'\x018966342E2000\x00\x00\x00\x00',
-      b'\x018966342M8000\x00\x00\x00\x00',
-      b'\x018966342S9000\x00\x00\x00\x00',
-      b'\x018966342T1000\x00\x00\x00\x00',
-      b'\x018966342T6000\x00\x00\x00\x00',
-      b'\x018966342T9000\x00\x00\x00\x00',
-      b'\x018966342U4000\x00\x00\x00\x00',
-      b'\x018966342U4100\x00\x00\x00\x00',
-      b'\x018966342U5100\x00\x00\x00\x00',
-      b'\x018966342V0000\x00\x00\x00\x00',
-      b'\x018966342V3000\x00\x00\x00\x00',
-      b'\x018966342V3100\x00\x00\x00\x00',
-      b'\x018966342V3200\x00\x00\x00\x00',
-      b'\x01896634A05000\x00\x00\x00\x00',
-      b'\x01896634A19000\x00\x00\x00\x00',
-      b'\x01896634A19100\x00\x00\x00\x00',
-      b'\x01896634A20000\x00\x00\x00\x00',
-      b'\x01896634A20100\x00\x00\x00\x00',
-      b'\x01896634A22000\x00\x00\x00\x00',
-      b'\x01896634A22100\x00\x00\x00\x00',
-      b'\x01896634A30000\x00\x00\x00\x00',
-      b'\x01896634A44000\x00\x00\x00\x00',
-      b'\x01896634A45000\x00\x00\x00\x00',
-      b'\x01896634A46000\x00\x00\x00\x00',
-      b'\x028966342M7000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-      b'\x028966342T0000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-      b'\x028966342V1000\x00\x00\x00\x00897CF1202001\x00\x00\x00\x00',
-      b'\x028966342Y8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-      b'\x02896634A18000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-      b'\x02896634A18100\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-      b'\x02896634A43000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00',
-      b'\x02896634A47000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00',
-      b'\x028966342Z8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
-      b'\x01896634A15000\x00\x00\x00\x00',
-      b'\x018966342M5000\x00\x00\x00\x00',
-      b'\x018966342W8000\x00\x00\x00\x00',
-      b'\x018966342X5000\x00\x00\x00\x00',
-      b'\x018966342X6000\x00\x00\x00\x00',
-      b'\x01896634A25000\x00\x00\x00\x00',
-      b'\x018966342W5000\x00\x00\x00\x00',
-      b'\x018966342W7000\x00\x00\x00\x00',
-      b'\x028966342W4001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
-      b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896634A13101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896634A14001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
-      b'\x02896634A23000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02896634A23001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
-      b'\x02896634A23101\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
-      b'\x02896634A14001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x02896634A14101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15260R210\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R220\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R290\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R300\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R302\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642551\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642561\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642601\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642700\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642701\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642710\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642711\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642750\x00\x00\x00\x00\x00\x00',
-      b'\x01F152642751\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R292\x00\x00\x00\x00\x00\x00',
-      b'F152642291\x00\x00\x00\x00\x00\x00',
-      b'F152642290\x00\x00\x00\x00\x00\x00',
-      b'F152642322\x00\x00\x00\x00\x00\x00',
-      b'F152642330\x00\x00\x00\x00\x00\x00',
-      b'F152642331\x00\x00\x00\x00\x00\x00',
-      b'F152642531\x00\x00\x00\x00\x00\x00',
-      b'F152642532\x00\x00\x00\x00\x00\x00',
-      b'F152642520\x00\x00\x00\x00\x00\x00',
-      b'F152642521\x00\x00\x00\x00\x00\x00',
-      b'F152642540\x00\x00\x00\x00\x00\x00',
-      b'F152642541\x00\x00\x00\x00\x00\x00',
-      b'F152642542\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B42170\x00\x00\x00\x00\x00\x00',
-      b'8965B42171\x00\x00\x00\x00\x00\x00',
-      b'8965B42180\x00\x00\x00\x00\x00\x00',
-      b'8965B42181\x00\x00\x00\x00\x00\x00',
-      b'\x028965B0R01200\x00\x00\x00\x008965B0R02200\x00\x00\x00\x00',
-      b'\x028965B0R01300\x00\x00\x00\x008965B0R02300\x00\x00\x00\x00',
-      b'\x028965B0R01400\x00\x00\x00\x008965B0R02400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301100\x00\x00\x00\x00',
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F4203200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F4203300\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F4203500\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F4203700\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-    ],
-  },
-  CAR.RAV4_TSS2_2022: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15260R350\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260R361\x00\x00\x00\x00\x00\x00',
-      b'\x01F15264283100\x00\x00\x00\x00',
-      b'\x01F15264286200\x00\x00\x00\x00',
-      b'\x01F15264286100\x00\x00\x00\x00',
-      b'\x01F15264283200\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00',
-      b'8965B42182\x00\x00\x00\x00\x00\x00',
-      b'8965B42172\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x01896634AA0000\x00\x00\x00\x00',
-      b'\x01896634AA0100\x00\x00\x00\x00',
-      b'\x01896634AA1000\x00\x00\x00\x00',
-      b'\x01896634A88000\x00\x00\x00\x00',
-      b'\x01896634A89000\x00\x00\x00\x00',
-      b'\x01896634A89100\x00\x00\x00\x00',
-      b'\x01896634A02001\x00\x00\x00\x00',
-      b'\x01896634A03000\x00\x00\x00\x00',
-      b'\x01896634A08000\x00\x00\x00\x00',
-      b'\x01896634A61000\x00\x00\x00\x00',
-      b'\x01896634A62000\x00\x00\x00\x00',
-      b'\x01896634A62100\x00\x00\x00\x00',
-      b'\x01896634A63000\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F0R01100\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
-    ],
-  },
-  CAR.RAV4_TSS2_2023: {
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
-      b'\x01F15264283200\x00\x00\x00\x00',
-      b'\x01F15264283300\x00\x00\x00\x00',
-      b'\x01F152642F1000\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
-      b'8965B42371\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x700, None): [
-      b'\x01896634A88100\x00\x00\x00\x00',
-      b'\x01896634AJ2000\x00\x00\x00\x00',
-      b'\x01896634A89100\x00\x00\x00\x00',
-      b'\x01896634AE1001\x00\x00\x00\x00',
-      b'\x01896634AF0000\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F0R03100\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
-      b'\x028646F0R05200\x00\x00\x00\x008646G0R02200\x00\x00\x00\x00',
-    ],
-  },
-  CAR.SIENNA: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630832100\x00\x00\x00\x00',
-      b'\x01896630832200\x00\x00\x00\x00',
-      b'\x01896630838000\x00\x00\x00\x00',
-      b'\x01896630838100\x00\x00\x00\x00',
-      b'\x01896630842000\x00\x00\x00\x00',
-      b'\x01896630843000\x00\x00\x00\x00',
-      b'\x01896630851000\x00\x00\x00\x00',
-      b'\x01896630851100\x00\x00\x00\x00',
-      b'\x01896630851200\x00\x00\x00\x00',
-      b'\x01896630852000\x00\x00\x00\x00',
-      b'\x01896630852100\x00\x00\x00\x00',
-      b'\x01896630859000\x00\x00\x00\x00',
-      b'\x01896630860000\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B45070\x00\x00\x00\x00\x00\x00',
-      b'8965B45080\x00\x00\x00\x00\x00\x00',
-      b'8965B45082\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152608130\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881510801100\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702200\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0801100\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_CTH: {
-    (Ecu.dsu, 0x791, None): [
-      b'881517601100\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152676144\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0237635000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F7601100\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_ES_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x018966306U6000\x00\x00\x00\x00',
-      b'\x018966333T5000\x00\x00\x00\x00',
-      b'\x018966333T5100\x00\x00\x00\x00',
-      b'\x018966333X6000\x00\x00\x00\x00',
-      b'\x01896633T07000\x00\x00\x00\x00',
-      b'\x028966333S8000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
-      b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x028966333W1000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
-      b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
-      b'\x01896633T38000\x00\x00\x00\x00',
-      b'\x01896633T58000\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F152606281\x00\x00\x00\x00\x00\x00',
-      b'\x01F152606340\x00\x00\x00\x00\x00\x00',
-      b'\x01F152606461\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260646200\x00\x00\x00\x00',
-      b'F152633423\x00\x00\x00\x00\x00\x00',
-      b'F152633680\x00\x00\x00\x00\x00\x00',
-      b'F152633681\x00\x00\x00\x00\x00\x00',
-      b'F152633F50\x00\x00\x00\x00\x00\x00',
-      b'F152633F51\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B33252\x00\x00\x00\x00\x00\x00',
-      b'8965B33590\x00\x00\x00\x00\x00\x00',
-      b'8965B33690\x00\x00\x00\x00\x00\x00',
-      b'8965B33721\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301100\x00\x00\x00\x00',
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-      b'\x018821F6201300\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-      b'\x018821F6201400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F3303200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F3304100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-      b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F0610000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
-      b'\x028646F3303100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F3304200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_ES: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x02333R0000\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152606202\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881513309500\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B33502\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4701200\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F3302200\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_ESH: {
-      (Ecu.engine, 0x7e0, None): [
-        b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      ],
-      (Ecu.abs, 0x7b0, None): [
-        b'F152633171\x00\x00\x00\x00\x00\x00',
-      ],
-      (Ecu.dsu, 0x791, None): [
-        b'881513310400\x00\x00\x00\x00',
-      ],
-      (Ecu.eps, 0x7a1, None): [
-        b'8965B33512\x00\x00\x00\x00\x00\x00',
-      ],
-      (Ecu.fwdRadar, 0x750, 0xf): [
-        b'8821F4701100\x00\x00\x00\x00',
-        b'8821F4701300\x00\x00\x00\x00',
-      ],
-      (Ecu.fwdCamera, 0x750, 0x6d): [
-        b'8646F3302001\x00\x00\x00\x00',
-        b'8646F3302200\x00\x00\x00\x00',
-      ],
-  },
-  CAR.LEXUS_GS_F: {
-    (Ecu.engine, 0x7E0, None): [
-      b'\x0233075200\x00\x00\x00\x00\x00\x00\x00\x00530B9000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152630700\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881513016200\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B30551\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702000\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F3002100\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_NX: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896637850000\x00\x00\x00\x00',
-      b'\x01896637851000\x00\x00\x00\x00',
-      b'\x01896637852000\x00\x00\x00\x00',
-      b'\x01896637854000\x00\x00\x00\x00',
-      b'\x01896637878000\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0237841000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0237842000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0237880000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0237882000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0237886000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152678130\x00\x00\x00\x00\x00\x00',
-      b'F152678140\x00\x00\x00\x00\x00\x00',
-      b'F152678160\x00\x00\x00\x00\x00\x00',
-      b'F152678170\x00\x00\x00\x00\x00\x00',
-      b'F152678171\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881517803100\x00\x00\x00\x00',
-      b'881517803300\x00\x00\x00\x00',
-      b'881517804300\x00\x00\x00\x00',
-      b'881517804100\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B78060\x00\x00\x00\x00\x00\x00',
-      b'8965B78080\x00\x00\x00\x00\x00\x00',
-      b'8965B78100\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F7801100\x00\x00\x00\x00',
-      b'8646F7801300\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_NX_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x018966378B2100\x00\x00\x00\x00',
-      b'\x018966378B3000\x00\x00\x00\x00',
-      b'\x018966378B4100\x00\x00\x00\x00',
-      b'\x018966378G2000\x00\x00\x00\x00',
-      b'\x018966378G3000\x00\x00\x00\x00',
-      b'\x018966378B2000\x00\x00\x00\x00',
-      b'\x018966378B3100\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02378A0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02378F4000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F152678221\x00\x00\x00\x00\x00\x00',
-      b'F152678210\x00\x00\x00\x00\x00\x00',
-      b'F152678211\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B78120\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b"\x018821F3301400\x00\x00\x00\x00",
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_RC: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896632461100\x00\x00\x00\x00',
-      b'\x01896632478200\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152624150\x00\x00\x00\x00\x00\x00',
-      b'F152624221\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881512404100\x00\x00\x00\x00',
-      b'881512407000\x00\x00\x00\x00',
-      b'881512409100\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B24081\x00\x00\x00\x00\x00\x00',
-      b'8965B24240\x00\x00\x00\x00\x00\x00',
-      b'8965B24320\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F2401100\x00\x00\x00\x00',
-      b'8646F2401200\x00\x00\x00\x00',
-      b'8646F2402200\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_RX: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630E36200\x00\x00\x00\x00',
-      b'\x01896630E36300\x00\x00\x00\x00',
-      b'\x01896630E37200\x00\x00\x00\x00',
-      b'\x01896630E37300\x00\x00\x00\x00',
-      b'\x01896630E41000\x00\x00\x00\x00',
-      b'\x01896630E41100\x00\x00\x00\x00',
-      b'\x01896630E41200\x00\x00\x00\x00',
-      b'\x01896630E41500\x00\x00\x00\x00',
-      b'\x01896630EA3100\x00\x00\x00\x00',
-      b'\x01896630EA3400\x00\x00\x00\x00',
-      b'\x01896630EA4100\x00\x00\x00\x00',
-      b'\x01896630EA4300\x00\x00\x00\x00',
-      b'\x01896630EA4400\x00\x00\x00\x00',
-      b'\x01896630EA6300\x00\x00\x00\x00',
-      b'\x018966348R1300\x00\x00\x00\x00',
-      b'\x018966348R8500\x00\x00\x00\x00',
-      b'\x018966348W1300\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152648472\x00\x00\x00\x00\x00\x00',
-      b'F152648473\x00\x00\x00\x00\x00\x00',
-      b'F152648492\x00\x00\x00\x00\x00\x00',
-      b'F152648493\x00\x00\x00\x00\x00\x00',
-      b'F152648474\x00\x00\x00\x00\x00\x00',
-      b'F152648630\x00\x00\x00\x00\x00\x00',
-      b'F152648494\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881514810300\x00\x00\x00\x00',
-      b'881514810500\x00\x00\x00\x00',
-      b'881514810700\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B0E011\x00\x00\x00\x00\x00\x00',
-      b'8965B0E012\x00\x00\x00\x00\x00\x00',
-      b'8965B48102\x00\x00\x00\x00\x00\x00',
-      b'8965B48111\x00\x00\x00\x00\x00\x00',
-      b'8965B48112\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4701000\x00\x00\x00\x00',
-      b'8821F4701100\x00\x00\x00\x00',
-      b'8821F4701200\x00\x00\x00\x00',
-      b'8821F4701300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F4801100\x00\x00\x00\x00',
-      b'8646F4801200\x00\x00\x00\x00',
-      b'8646F4802001\x00\x00\x00\x00',
-      b'8646F4802100\x00\x00\x00\x00',
-      b'8646F4802200\x00\x00\x00\x00',
-      b'8646F4809000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_RXH: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x02348J7000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348N0000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348Q4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348Q4100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348T1100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348T3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348V6000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348Z3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152648361\x00\x00\x00\x00\x00\x00',
-      b'F152648501\x00\x00\x00\x00\x00\x00',
-      b'F152648502\x00\x00\x00\x00\x00\x00',
-      b'F152648504\x00\x00\x00\x00\x00\x00',
-      b'F152648740\x00\x00\x00\x00\x00\x00',
-      b'F152648A30\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881514811300\x00\x00\x00\x00',
-      b'881514811500\x00\x00\x00\x00',
-      b'881514811700\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B0E011\x00\x00\x00\x00\x00\x00',
-      b'8965B0E012\x00\x00\x00\x00\x00\x00',
-      b'8965B48111\x00\x00\x00\x00\x00\x00',
-      b'8965B48112\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4701000\x00\x00\x00\x00',
-      b'8821F4701100\x00\x00\x00\x00',
-      b'8821F4701200\x00\x00\x00\x00',
-      b'8821F4701300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F4801200\x00\x00\x00\x00',
-      b'8646F4802001\x00\x00\x00\x00',
-      b'8646F4802100\x00\x00\x00\x00',
-      b'8646F4802200\x00\x00\x00\x00',
-      b'8646F4809000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_RX_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x01896630EA9000\x00\x00\x00\x00',
-      b'\x01896630EB0000\x00\x00\x00\x00',
-      b'\x01896630EC9000\x00\x00\x00\x00',
-      b'\x01896630EC9100\x00\x00\x00\x00',
-      b'\x01896630ED0000\x00\x00\x00\x00',
-      b'\x01896630ED0100\x00\x00\x00\x00',
-      b'\x01896630ED6000\x00\x00\x00\x00',
-      b'\x018966348T8000\x00\x00\x00\x00',
-      b'\x018966348W5100\x00\x00\x00\x00',
-      b'\x018966348W9000\x00\x00\x00\x00',
-      b'\x01896634D12000\x00\x00\x00\x00',
-      b'\x01896634D12100\x00\x00\x00\x00',
-      b'\x01896634D43000\x00\x00\x00\x00',
-      b'\x01896634D44000\x00\x00\x00\x00',
-      b'\x018966348X0000\x00\x00\x00\x00',
-      b'\x01896630ED5000\x00\x00\x00\x00',
-      b'\x018966348R9200\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348X5000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348U2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
-      b'\x01F15260E041\x00\x00\x00\x00\x00\x00',
-      b'\x01F152648781\x00\x00\x00\x00\x00\x00',
-      b'\x01F152648801\x00\x00\x00\x00\x00\x00',
-      b'F152648831\x00\x00\x00\x00\x00\x00',
-      b'F152648891\x00\x00\x00\x00\x00\x00',
-      b'F152648D00\x00\x00\x00\x00\x00\x00',
-      b'F152648D60\x00\x00\x00\x00\x00\x00',
-      b'F152648811\x00\x00\x00\x00\x00\x00',
-      b'F152648C80\x00\x00\x00\x00\x00\x00',
-      b'F152648493\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B48261\x00\x00\x00\x00\x00\x00',
-      b'8965B48271\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301100\x00\x00\x00\x00',
-      b'\x018821F3301300\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
-      b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-    ],
-  },
-  CAR.PRIUS_TSS2: {
-    (Ecu.engine, 0x700, None): [
-      b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966347C7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
-      b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00',
-      b'\x038966347C1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00',
-      b'\x038966347C5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00',
-      b'\x038966347C5100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152647500\x00\x00\x00\x00\x00\x00',
-      b'F152647510\x00\x00\x00\x00\x00\x00',
-      b'F152647520\x00\x00\x00\x00\x00\x00',
-      b'F152647521\x00\x00\x00\x00\x00\x00',
-      b'F152647531\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B47070\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F4707000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646F4710000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-      b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
-    ],
-  },
-  CAR.MIRAI: {
-    (Ecu.abs, 0x7D1, None): [b'\x01898A36203000\x00\x00\x00\x00',],
-    (Ecu.abs, 0x7B0, None): [  # a second ABS ECU
-      b'\x01F15266203200\x00\x00\x00\x00',
-      b'\x01F15266203500\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7A1, None): [b'\x028965B6204100\x00\x00\x00\x008965B6203100\x00\x00\x00\x00',],
-    (Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F6201200\x00\x00\x00\x00',],
-    (Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',],
-  },
-  CAR.ALPHARD_TSS2: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B58040\x00\x00\x00\x00\x00\x00',
-      b'8965B58052\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152658341\x00\x00\x00\x00\x00\x00'
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301200\x00\x00\x00\x00',
-      b'\x018821F3301400\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
-      b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-      b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
-    ],
-  },
-}
 
 STEER_THRESHOLD = 100
 
@@ -2082,7 +449,6 @@ DBC = {
   CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-  CAR.LEXUS_RXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None),
@@ -2090,7 +456,6 @@ DBC = {
   CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.HIGHLANDER: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.HIGHLANDERH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.AVALON: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@@ -2100,7 +465,6 @@ DBC = {
   CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@@ -2133,4 +497,4 @@ RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2}
 ANGLE_CONTROL_CAR = {CAR.RAV4_TSS2_2023}
 
 # no resume button press required
-NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}
+NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDER, CAR.SIENNA}
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index 28edf157a..cf540f6bc 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -15,33 +15,34 @@ def is_valid_vin(vin: str):
   return re.fullmatch(VIN_RE, vin) is not None
 
 
-def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False):
+def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False):
   addrs = list(range(0x7e0, 0x7e8)) + list(range(0x18DA00F1, 0x18DB00F1, 0x100))  # addrs to process/wait for
   valid_vin_addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1]  # engine, VMCU, 29-bit engine, PGM-FI
   for i in range(retry):
-    for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)):
-      try:
-        query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], functional_addrs=FUNCTIONAL_ADDRS, debug=debug)
-        results = query.get_data(timeout)
+    for bus in buses:
+      for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)):
+        try:
+          query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], functional_addrs=FUNCTIONAL_ADDRS, debug=debug)
+          results = query.get_data(timeout)
 
-        for addr in valid_vin_addrs:
-          vin = results.get((addr, None))
-          if vin is not None:
-            # Ford pads with null bytes
-            if len(vin) == 24:
-              vin = re.sub(b'\x00*$', b'', vin)
+          for addr in valid_vin_addrs:
+            vin = results.get((addr, None))
+            if vin is not None:
+              # Ford pads with null bytes
+              if len(vin) == 24:
+                vin = re.sub(b'\x00*$', b'', vin)
 
-            # Honda Bosch response starts with a length, trim to correct length
-            if vin.startswith(b'\x11'):
-              vin = vin[1:18]
+              # Honda Bosch response starts with a length, trim to correct length
+              if vin.startswith(b'\x11'):
+                vin = vin[1:18]
 
-            return get_rx_addr_for_tx_addr(addr), vin.decode()
+              return get_rx_addr_for_tx_addr(addr), bus, vin.decode()
 
-        cloudlog.error(f"vin query retry ({i+1}) ...")
-      except Exception:
-        cloudlog.exception("VIN query exception")
+          cloudlog.error(f"vin query retry ({i+1}) ...")
+        except Exception:
+          cloudlog.exception("VIN query exception")
 
-  return 0, VIN_UNKNOWN
+  return -1, -1, VIN_UNKNOWN
 
 
 if __name__ == "__main__":
@@ -59,5 +60,5 @@ if __name__ == "__main__":
   logcan = messaging.sub_sock('can')
   time.sleep(1)
 
-  vin_rx_addr, vin = get_vin(logcan, sendcan, args.bus, args.timeout, args.retry, debug=args.debug)
-  print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}')
+  vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (args.bus,), args.timeout, args.retry, debug=args.debug)
+  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index f4f36c8f3..113f683a1 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -5,7 +5,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
-from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams
+from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams, VolkswagenFlags
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -65,13 +65,22 @@ class CarController:
       self.apply_steer_last = apply_steer
       can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hca_enabled))
 
+      if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
+        # Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque
+        # to the greatest of actual driver input or 2x openpilot's output (1x openpilot output is not enough to
+        # consistently reset inactivity detection on straight level roads). See commaai/openpilot#23274 for background.
+        ea_simulated_torque = clip(apply_steer * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX)
+        if abs(CS.out.steeringTorque) > abs(ea_simulated_torque):
+          ea_simulated_torque = CS.out.steeringTorque
+        can_sends.append(self.CCS.create_eps_update(self.packer_pt, CANBUS.cam, CS.eps_stock_values, ea_simulated_torque))
+
     # **** Acceleration Controls ******************************************** #
 
     if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
       acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
       accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
       stopping = actuators.longControlState == LongCtrlState.stopping
-      starting = actuators.longControlState == LongCtrlState.starting
+      starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
       can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,
                                                          acc_control, stopping, starting, CS.esp_hold_confirmation))
 
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index cbe8918d4..25c5bc04b 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -4,7 +4,7 @@ from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \
-                                            CarControllerParams
+                                            CarControllerParams, VolkswagenFlags
 
 
 class CarState(CarStateBase):
@@ -14,6 +14,7 @@ class CarState(CarStateBase):
     self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
     self.esp_hold_confirmation = False
     self.upscale_lead_car_signal = False
+    self.eps_stock_values = False
 
   def create_button_events(self, pt_cp, buttons):
     button_events = []
@@ -59,6 +60,11 @@ class CarState(CarStateBase):
     ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT")
     ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED")
 
+    # VW Emergency Assist status tracking and mitigation
+    self.eps_stock_values = pt_cp.vl["LH_EPS_03"]
+    if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
+      ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0
+
     # Update gas, brakes, and gearshift.
     ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0
     ret.gasPressed = ret.gas > 0
@@ -293,6 +299,11 @@ class CarState(CarStateBase):
 
     messages = []
 
+    if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
+      messages += [
+        ("HCA_01", 1),  # From R242 Driver assistance camera, 50Hz if steering/1Hz if not
+      ]
+
     if CP.networkLocation == NetworkLocation.fwdCamera:
       messages += [
         # sig_address, frequency
diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py
new file mode 100644
index 000000000..dcdb2e62b
--- /dev/null
+++ b/selfdrive/car/volkswagen/fingerprints.py
@@ -0,0 +1,1157 @@
+from cereal import car
+from openpilot.selfdrive.car.volkswagen.values import CAR
+
+Ecu = car.CarParams.Ecu
+
+# TODO: Sharan Mk2 EPS and DQ250 auto trans both require KWP2000 support for fingerprinting
+
+
+FW_VERSIONS = {
+  CAR.ARTEON_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x873G0906259AH\xf1\x890001',
+      b'\xf1\x873G0906259F \xf1\x890004',
+      b'\xf1\x873G0906259G \xf1\x890004',
+      b'\xf1\x873G0906259G \xf1\x890005',
+      b'\xf1\x873G0906259M \xf1\x890003',
+      b'\xf1\x873G0906259N \xf1\x890004',
+      b'\xf1\x873G0906259P \xf1\x890001',
+      b'\xf1\x875NA907115H \xf1\x890002',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158L \xf1\x893611',
+      b'\xf1\x870DL300014C \xf1\x893704',
+      b'\xf1\x870GC300011L \xf1\x891401',
+      b'\xf1\x870GC300014M \xf1\x892802',
+      b'\xf1\x870GC300019G \xf1\x892804',
+      b'\xf1\x870GC300040P \xf1\x891401',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900',
+      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900',
+      b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900',
+      b'\xf1\x873Q0959655DA\xf1\x890720\xf1\x82\x0e1712141712141105121122052900',
+      b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\x0e1812141812171105141123052J00',
+      b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1',
+      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800',
+      b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N',
+      b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N',
+      b'\xf1\x875WA907145Q \xf1\x891063\xf1\x82\x002KB4092KOM',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572T \xf1\x890383',
+      b'\xf1\x875Q0907572J \xf1\x890654',
+      b'\xf1\x875Q0907572R \xf1\x890771',
+    ],
+  },
+  CAR.ATLAS_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8703H906026AA\xf1\x899970',
+      b'\xf1\x8703H906026AG\xf1\x899973',
+      b'\xf1\x8703H906026AJ\xf1\x890638',
+      b'\xf1\x8703H906026AJ\xf1\x891017',
+      b'\xf1\x8703H906026AT\xf1\x891922',
+      b'\xf1\x8703H906026BC\xf1\x892664',
+      b'\xf1\x8703H906026F \xf1\x896696',
+      b'\xf1\x8703H906026F \xf1\x899970',
+      b'\xf1\x8703H906026J \xf1\x896026',
+      b'\xf1\x8703H906026J \xf1\x899971',
+      b'\xf1\x8703H906026S \xf1\x896693',
+      b'\xf1\x8703H906026S \xf1\x899970',
+      b'\xf1\x873CN906259  \xf1\x890005',
+      b'\xf1\x873CN906259F \xf1\x890002',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158A \xf1\x893387',
+      b'\xf1\x8709G927158DR\xf1\x893536',
+      b'\xf1\x8709G927158DR\xf1\x893742',
+      b'\xf1\x8709G927158EN\xf1\x893691',
+      b'\xf1\x8709G927158F \xf1\x893489',
+      b'\xf1\x8709G927158FT\xf1\x893835',
+      b'\xf1\x8709G927158GL\xf1\x893939',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655BC\xf1\x890503\xf1\x82\x0e1914151912001103111122031200',
+      b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\x0e2214152212001105141122052900',
+      b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e1114151112001105111122052900',
+      b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e2214152212001105141122052900',
+      b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105161122052J00',
+      b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1115151112001105171122052J00',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B60924A1',
+      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6G920A1',
+      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6M921A1',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6080105',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572R \xf1\x890372',
+      b'\xf1\x872Q0907572T \xf1\x890383',
+      b'\xf1\x875Q0907572H \xf1\x890620',
+      b'\xf1\x875Q0907572J \xf1\x890654',
+      b'\xf1\x875Q0907572P \xf1\x890682',
+    ],
+  },
+  CAR.CRAFTER_MK2: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906056BP\xf1\x894729',
+      b'\xf1\x8704L906056EK\xf1\x896391',
+      b'\xf1\x8705L906023BC\xf1\x892688',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100',
+      b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900',
+      b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2',
+      b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2',
+      b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572J \xf1\x890156',
+      b'\xf1\x872Q0907572M \xf1\x890233',
+    ],
+  },
+  CAR.GOLF_MK7: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906016A \xf1\x897697',
+      b'\xf1\x8704E906016AD\xf1\x895758',
+      b'\xf1\x8704E906016CE\xf1\x899096',
+      b'\xf1\x8704E906016CH\xf1\x899226',
+      b'\xf1\x8704E906016N \xf1\x899105',
+      b'\xf1\x8704E906023AG\xf1\x891726',
+      b'\xf1\x8704E906023BN\xf1\x894518',
+      b'\xf1\x8704E906024K \xf1\x896811',
+      b'\xf1\x8704E906024K \xf1\x899970',
+      b'\xf1\x8704E906027GR\xf1\x892394',
+      b'\xf1\x8704E906027HD\xf1\x892603',
+      b'\xf1\x8704E906027HD\xf1\x893742',
+      b'\xf1\x8704E906027MA\xf1\x894958',
+      b'\xf1\x8704L906021DT\xf1\x895520',
+      b'\xf1\x8704L906021DT\xf1\x898127',
+      b'\xf1\x8704L906021N \xf1\x895518',
+      b'\xf1\x8704L906021N \xf1\x898138',
+      b'\xf1\x8704L906026BN\xf1\x891197',
+      b'\xf1\x8704L906026BP\xf1\x897608',
+      b'\xf1\x8704L906026NF\xf1\x899528',
+      b'\xf1\x8704L906056CL\xf1\x893823',
+      b'\xf1\x8704L906056CR\xf1\x895813',
+      b'\xf1\x8704L906056HE\xf1\x893758',
+      b'\xf1\x8704L906056HN\xf1\x896590',
+      b'\xf1\x8704L906056HT\xf1\x896591',
+      b'\xf1\x870EA906016A \xf1\x898343',
+      b'\xf1\x870EA906016E \xf1\x894219',
+      b'\xf1\x870EA906016F \xf1\x894238',
+      b'\xf1\x870EA906016F \xf1\x895002',
+      b'\xf1\x870EA906016Q \xf1\x895993',
+      b'\xf1\x870EA906016S \xf1\x897207',
+      b'\xf1\x875G0906259  \xf1\x890007',
+      b'\xf1\x875G0906259D \xf1\x890002',
+      b'\xf1\x875G0906259J \xf1\x890002',
+      b'\xf1\x875G0906259L \xf1\x890002',
+      b'\xf1\x875G0906259N \xf1\x890003',
+      b'\xf1\x875G0906259Q \xf1\x890002',
+      b'\xf1\x875G0906259Q \xf1\x892313',
+      b'\xf1\x875G0906259T \xf1\x890003',
+      b'\xf1\x878V0906259H \xf1\x890002',
+      b'\xf1\x878V0906259J \xf1\x890003',
+      b'\xf1\x878V0906259K \xf1\x890001',
+      b'\xf1\x878V0906259K \xf1\x890003',
+      b'\xf1\x878V0906259P \xf1\x890001',
+      b'\xf1\x878V0906259Q \xf1\x890002',
+      b'\xf1\x878V0906259R \xf1\x890002',
+      b'\xf1\x878V0906264F \xf1\x890003',
+      b'\xf1\x878V0906264L \xf1\x890002',
+      b'\xf1\x878V0906264M \xf1\x890001',
+      b'\xf1\x878V09C0BB01 \xf1\x890001',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927749AP\xf1\x892943',
+      b'\xf1\x8709S927158A \xf1\x893585',
+      b'\xf1\x870CW300040H \xf1\x890606',
+      b'\xf1\x870CW300041D \xf1\x891004',
+      b'\xf1\x870CW300041H \xf1\x891010',
+      b'\xf1\x870CW300042F \xf1\x891604',
+      b'\xf1\x870CW300043B \xf1\x891601',
+      b'\xf1\x870CW300043E \xf1\x891603',
+      b'\xf1\x870CW300044S \xf1\x894530',
+      b'\xf1\x870CW300044T \xf1\x895245',
+      b'\xf1\x870CW300045  \xf1\x894531',
+      b'\xf1\x870CW300047D \xf1\x895261',
+      b'\xf1\x870CW300047E \xf1\x895261',
+      b'\xf1\x870CW300048J \xf1\x890611',
+      b'\xf1\x870CW300049H \xf1\x890905',
+      b'\xf1\x870CW300050G \xf1\x891905',
+      b'\xf1\x870D9300012  \xf1\x894904',
+      b'\xf1\x870D9300012  \xf1\x894913',
+      b'\xf1\x870D9300012  \xf1\x894937',
+      b'\xf1\x870D9300012  \xf1\x895045',
+      b'\xf1\x870D9300012  \xf1\x895046',
+      b'\xf1\x870D9300014M \xf1\x895004',
+      b'\xf1\x870D9300014Q \xf1\x895006',
+      b'\xf1\x870D9300020J \xf1\x894902',
+      b'\xf1\x870D9300020Q \xf1\x895201',
+      b'\xf1\x870D9300020S \xf1\x895201',
+      b'\xf1\x870D9300040A \xf1\x893613',
+      b'\xf1\x870D9300040S \xf1\x894311',
+      b'\xf1\x870D9300041H \xf1\x895220',
+      b'\xf1\x870D9300041P \xf1\x894507',
+      b'\xf1\x870DD300045K \xf1\x891120',
+      b'\xf1\x870DD300046F \xf1\x891601',
+      b'\xf1\x870GC300012A \xf1\x891401',
+      b'\xf1\x870GC300012A \xf1\x891403',
+      b'\xf1\x870GC300014B \xf1\x892401',
+      b'\xf1\x870GC300014B \xf1\x892403',
+      b'\xf1\x870GC300014B \xf1\x892405',
+      b'\xf1\x870GC300020G \xf1\x892401',
+      b'\xf1\x870GC300020G \xf1\x892403',
+      b'\xf1\x870GC300020G \xf1\x892404',
+      b'\xf1\x870GC300020N \xf1\x892804',
+      b'\xf1\x870GC300043T \xf1\x899999',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120043114317121C111C9113',
+      b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120053114317121C111C9113',
+      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113',
+      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113',
+      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113',
+      b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100',
+      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333423100',
+      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100',
+      b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100',
+      b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112',
+      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
+      b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13272512111312--07110417182C102C91131211',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13341512112212--071104172328102891131211',
+      b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\x111413001112120041114115121611169112',
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200061104171717101791132111',
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200621143171717111791132111',
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200061104171724102491132111',
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200621143171724112491132111',
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200631143171724122491132111',
+      b'\xf1\x875Q0959655T \xf1\x890825\xf1\x82\x13271200111312--071104171837103791132111',
+      b'\xf1\x875Q0959655T \xf1\x890830\xf1\x82\x13271100111312--071104171826102691131211',
+      b'\xf1\x875QD959655  \xf1\x890388\xf1\x82\x111413001113120006110417121D101D9112',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561A01612A0',
+      b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\x0566A0J612A1',
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A00514A1',
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01613A1',
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A0J712A1',
+      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1',
+      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
+      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1',
+      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A02A16A1',
+      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1',
+      b'\xf1\x873QM909144  \xf1\x895072\xf1\x82\x0571A01714A1',
+      b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203',
+      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00441A1',
+      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00608A1',
+      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00641A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00442A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00642A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A07B05A1',
+      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00502A0',
+      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00602A0',
+      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0522A00402A0',
+      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0',
+      b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00407A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A2000400',
+      b'\xf1\x875QD909144B \xf1\x891072\xf1\x82\x0521A00507A1',
+      b'\xf1\x875QM909144A \xf1\x891072\xf1\x82\x0521A20B03A1',
+      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A00442A1',
+      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A16A1',
+      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A17A1',
+      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A18A1',
+      b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A01A18A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101',
+      b'\xf1\x875Q0907567J \xf1\x890396\xf1\x82\x0101',
+      b'\xf1\x875Q0907567L \xf1\x890098\xf1\x82\x0101',
+      b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\x0101',
+      b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101',
+      b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101',
+      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
+      b'\xf1\x875Q0907572E \xf1\x89X310\xf1\x82\x0101',
+      b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
+      b'\xf1\x875Q0907572G \xf1\x890571',
+      b'\xf1\x875Q0907572H \xf1\x890620',
+      b'\xf1\x875Q0907572J \xf1\x890653',
+      b'\xf1\x875Q0907572J \xf1\x890654',
+      b'\xf1\x875Q0907572P \xf1\x890682',
+      b'\xf1\x875Q0907572R \xf1\x890771',
+      b'\xf1\x875Q0907572S \xf1\x890780',
+    ],
+  },
+  CAR.JETTA_MK7: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906024AK\xf1\x899937',
+      b'\xf1\x8704E906024AS\xf1\x899912',
+      b'\xf1\x8704E906024B \xf1\x895594',
+      b'\xf1\x8704E906024BC\xf1\x899971',
+      b'\xf1\x8704E906024BG\xf1\x891057',
+      b'\xf1\x8704E906024C \xf1\x899970',
+      b'\xf1\x8704E906024L \xf1\x895595',
+      b'\xf1\x8704E906024L \xf1\x899970',
+      b'\xf1\x8704E906027MS\xf1\x896223',
+      b'\xf1\x875G0906259T \xf1\x890003',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158BQ\xf1\x893545',
+      b'\xf1\x8709S927158BS\xf1\x893642',
+      b'\xf1\x8709S927158BS\xf1\x893694',
+      b'\xf1\x8709S927158CK\xf1\x893770',
+      b'\xf1\x8709S927158R \xf1\x893552',
+      b'\xf1\x8709S927158R \xf1\x893587',
+      b'\xf1\x870GC300020N \xf1\x892803',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1314171231313500314611011630169333463100',
+      b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1314171231313500314611011630169333463100',
+      b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1314171231313500314642011650169333463100',
+      b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1314171231313500314643011650169333463100',
+      b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\x1311170031313300314240011150119333433100',
+      b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\x1319170031313300314240011550159333463100',
+      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314642021650169333613100',
+      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314643021650169333613100',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A10A11A1',
+      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A10A01A1',
+      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521B00404A1',
+      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A00642A1',
+      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A10A01A1',
+      b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A10A11A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x875Q0907572N \xf1\x890681',
+      b'\xf1\x875Q0907572P \xf1\x890682',
+      b'\xf1\x875Q0907572R \xf1\x890771',
+    ],
+  },
+  CAR.PASSAT_MK8: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8703N906026E \xf1\x892114',
+      b'\xf1\x8704E906023AH\xf1\x893379',
+      b'\xf1\x8704E906023BM\xf1\x894522',
+      b'\xf1\x8704L906026DP\xf1\x891538',
+      b'\xf1\x8704L906026ET\xf1\x891990',
+      b'\xf1\x8704L906026FP\xf1\x892012',
+      b'\xf1\x8704L906026GA\xf1\x892013',
+      b'\xf1\x8704L906026KD\xf1\x894798',
+      b'\xf1\x873G0906259  \xf1\x890004',
+      b'\xf1\x873G0906259B \xf1\x890002',
+      b'\xf1\x873G0906264  \xf1\x890004',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300042H \xf1\x891601',
+      b'\xf1\x870CW300042H \xf1\x891607',
+      b'\xf1\x870CW300043H \xf1\x891601',
+      b'\xf1\x870CW300048R \xf1\x890610',
+      b'\xf1\x870D9300013A \xf1\x894905',
+      b'\xf1\x870D9300014L \xf1\x895002',
+      b'\xf1\x870D9300018C \xf1\x895297',
+      b'\xf1\x870D9300041A \xf1\x894801',
+      b'\xf1\x870D9300042H \xf1\x894901',
+      b'\xf1\x870DD300045T \xf1\x891601',
+      b'\xf1\x870DD300046H \xf1\x891601',
+      b'\xf1\x870DL300011H \xf1\x895201',
+      b'\xf1\x870GC300042H \xf1\x891404',
+      b'\xf1\x870GC300043  \xf1\x892301',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111',
+      b'\xf1\x873Q0959655AF\xf1\x890195\xf1\x82\r56140056130012026612120211',
+      b'\xf1\x873Q0959655AN\xf1\x890305\xf1\x82\r58160058140013036914110311',
+      b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311',
+      b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012416612124111',
+      b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111',
+      b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211',
+      b'\xf1\x873Q0959655BG\xf1\x890712\xf1\x82\x0e5915005914001305701311052900',
+      b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e5915005914001305701311052900',
+      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001344701311442900',
+      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900',
+      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900',
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011111200631145171716121691132111',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1',
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00711A1',
+      b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514B0060703',
+      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803',
+      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526B0060905',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521B00606A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516B00501A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521B00603A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521B00703A1',
+      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x873Q0907572A \xf1\x890126',
+      b'\xf1\x873Q0907572A \xf1\x890130',
+      b'\xf1\x873Q0907572B \xf1\x890192',
+      b'\xf1\x873Q0907572B \xf1\x890194',
+      b'\xf1\x873Q0907572C \xf1\x890195',
+      b'\xf1\x873Q0907572C \xf1\x890196',
+      b'\xf1\x875Q0907572P \xf1\x890682',
+      b'\xf1\x875Q0907572R \xf1\x890771',
+    ],
+  },
+  CAR.PASSAT_NMS: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8706K906016C \xf1\x899609',
+      b'\xf1\x8706K906016E \xf1\x899830',
+      b'\xf1\x8706K906016G \xf1\x891124',
+      b'\xf1\x8706K906071BJ\xf1\x894891',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158AB\xf1\x893318',
+      b'\xf1\x8709G927158BD\xf1\x893121',
+      b'\xf1\x8709G927158DK\xf1\x893594',
+      b'\xf1\x8709G927158FQ\xf1\x893745',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x87561959655  \xf1\x890210\xf1\x82\x1212121111113000102011--121012--101312',
+      b'\xf1\x87561959655C \xf1\x890508\xf1\x82\x1215141111121100314919--153015--304831',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x87561907567A \xf1\x890132',
+      b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0152',
+    ],
+  },
+  CAR.POLO_MK6: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704C906025H \xf1\x895177',
+      b'\xf1\x8705C906032J \xf1\x891702',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300042D \xf1\x891612',
+      b'\xf1\x870CW300050D \xf1\x891908',
+      b'\xf1\x870CW300051G \xf1\x891909',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x872Q0959655AG\xf1\x890248\xf1\x82\x1218130411110411--04040404231811152H14',
+      b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1248130411110416--04040404784811152H14',
+      b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1384830511110516041405820599841215391471',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x872Q1909144M \xf1\x896041',
+      b'\xf1\x872Q2909144AB\xf1\x896050',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572R \xf1\x890372',
+    ],
+  },
+  CAR.SHARAN_MK2: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906016HE\xf1\x894635',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x877N0959655D \xf1\x890016\xf1\x82\x0801100705----10--',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0153',
+    ],
+  },
+  CAR.TAOS_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906025CK\xf1\x892228',
+      b'\xf1\x8704E906027NJ\xf1\x891445',
+      b'\xf1\x8704E906027NP\xf1\x891286',
+      b'\xf1\x8705E906013BD\xf1\x892496',
+      b'\xf1\x8705E906013E \xf1\x891624',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158EM\xf1\x893812',
+      b'\xf1\x8709S927158BL\xf1\x893791',
+      b'\xf1\x8709S927158CR\xf1\x893924',
+      b'\xf1\x8709S927158DN\xf1\x893946',
+      b'\xf1\x8709S927158FF\xf1\x893876',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1311111111333500314646021450149333613100',
+      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1312111111333500314646021550159333613100',
+      b'\xf1\x875Q0959655CE\xf1\x890421\xf1\x82\x1311110011333300314240021350139333613100',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x001O06081OOM',
+      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060405A1',
+      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060605A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572T \xf1\x890383',
+    ],
+  },
+  CAR.TCROSS_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704C906025AK\xf1\x897053',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300050E \xf1\x891903',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1212130411110411--04041104141311152H14',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x872Q1909144M \xf1\x896041',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572T \xf1\x890383',
+    ],
+  },
+  CAR.TIGUAN_MK2: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8703N906026D \xf1\x893680',
+      b'\xf1\x8704E906024AP\xf1\x891461',
+      b'\xf1\x8704E906027NB\xf1\x899504',
+      b'\xf1\x8704L906026EJ\xf1\x893661',
+      b'\xf1\x8704L906027G \xf1\x899893',
+      b'\xf1\x8705E906018BS\xf1\x890914',
+      b'\xf1\x875N0906259  \xf1\x890002',
+      b'\xf1\x875NA906259H \xf1\x890002',
+      b'\xf1\x875NA907115E \xf1\x890003',
+      b'\xf1\x875NA907115E \xf1\x890005',
+      b'\xf1\x875NA907115J \xf1\x890002',
+      b'\xf1\x875NA907115K \xf1\x890004',
+      b'\xf1\x8783A907115  \xf1\x890007',
+      b'\xf1\x8783A907115B \xf1\x890005',
+      b'\xf1\x8783A907115F \xf1\x890002',
+      b'\xf1\x8783A907115G \xf1\x890001',
+      b'\xf1\x8783A907115K \xf1\x890001',
+      b'\xf1\x8783A907115K \xf1\x890002',
+      b'\xf1\x8783A907115Q \xf1\x890001',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158DT\xf1\x893698',
+      b'\xf1\x8709G927158FM\xf1\x893757',
+      b'\xf1\x8709G927158GC\xf1\x893821',
+      b'\xf1\x8709G927158GD\xf1\x893820',
+      b'\xf1\x8709G927158GM\xf1\x893936',
+      b'\xf1\x8709G927158GN\xf1\x893938',
+      b'\xf1\x8709G927158HB\xf1\x894069',
+      b'\xf1\x870D9300043  \xf1\x895202',
+      b'\xf1\x870DD300046K \xf1\x892302',
+      b'\xf1\x870DL300011N \xf1\x892001',
+      b'\xf1\x870DL300011N \xf1\x892012',
+      b'\xf1\x870DL300012M \xf1\x892107',
+      b'\xf1\x870DL300012P \xf1\x892103',
+      b'\xf1\x870DL300013A \xf1\x893005',
+      b'\xf1\x870DL300013G \xf1\x892119',
+      b'\xf1\x870DL300013G \xf1\x892120',
+      b'\xf1\x870DL300014C \xf1\x893703',
+      b'\xf1\x870GC300013P \xf1\x892401',
+      b'\xf1\x870GC300046Q \xf1\x892802',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1316143231313500314617011730179333423100',
+      b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100',
+      b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x1331310031333334313132573732379333313100',
+      b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
+      b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
+      b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1316143231313500314641011750179333423100',
+      b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1312110031333300314240013750379333423100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1312110031333300314240583752379333423100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140013750379333423100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333336313140013950399333423100',
+      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100',
+      b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100',
+      b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6050705',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6070705',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
+      b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1',
+      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A60634A1',
+      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A62A32A1',
+      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002RA60A2ROM',
+      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM',
+      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1',
+      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60804A1',
+      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1',
+      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60804A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572AB\xf1\x890397',
+      b'\xf1\x872Q0907572J \xf1\x890156',
+      b'\xf1\x872Q0907572M \xf1\x890233',
+      b'\xf1\x872Q0907572Q \xf1\x890342',
+      b'\xf1\x872Q0907572R \xf1\x890372',
+      b'\xf1\x872Q0907572T \xf1\x890383',
+    ],
+  },
+  CAR.TOURAN_MK2: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906026HM\xf1\x893017',
+      b'\xf1\x8705E906018CQ\xf1\x890808',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300041E \xf1\x891005',
+      b'\xf1\x870CW300051M \xf1\x891926',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655AS\xf1\x890318\xf1\x82\x13363500213533353141324C4732479333313100',
+      b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1336350021353336314740025250529333613100',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A8090400',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x873Q0907572C \xf1\x890195',
+    ],
+  },
+  CAR.TRANSPORTER_T61: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906056AG\xf1\x899970',
+      b'\xf1\x8704L906056AL\xf1\x899970',
+      b'\xf1\x8704L906057AP\xf1\x891186',
+      b'\xf1\x8704L906057N \xf1\x890413',
+      b'\xf1\x8705L906023E \xf1\x891352',
+      b'\xf1\x8705L906023MR\xf1\x892582',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870BT300012E \xf1\x893105',
+      b'\xf1\x870BT300012G \xf1\x893102',
+      b'\xf1\x870BT300046R \xf1\x893102',
+      b'\xf1\x870DV300012B \xf1\x893701',
+      b'\xf1\x870DV300012B \xf1\x893702',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411',
+      b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704171711152S1411',
+      b'\xf1\x872Q0959655AF\xf1\x890506\xf1\x82\x1316171111110411--04041711121211152S1413',
+      b'\xf1\x872Q0959655AQ\xf1\x890511\xf1\x82\x1316170411110411--0404170426261215391421',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x0532380518A2',
+      b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x05323A5519A2',
+      b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572R \xf1\x890372',
+    ],
+  },
+  CAR.TROC_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8705E906018AT\xf1\x899640',
+      b'\xf1\x8705E906018CK\xf1\x890863',
+      b'\xf1\x8705E906018P \xf1\x896020',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300041S \xf1\x891615',
+      b'\xf1\x870CW300050J \xf1\x891911',
+      b'\xf1\x870CW300051M \xf1\x891925',
+      b'\xf1\x870CW300051M \xf1\x891928',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1111001111001105111111052900',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1311110012333300314240681152119333463100',
+      b'\xf1\x875Q0959655CF\xf1\x890421\xf1\x82\x1311110012333300314240021150119333613100',
+      b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1152119333613100',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521060403A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521060405A1',
+      b'\xf1\x875WA907144M \xf1\x891051\xf1\x82\x001T06081T7N',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572M \xf1\x890233',
+      b'\xf1\x872Q0907572T \xf1\x890383',
+    ],
+  },
+  CAR.AUDI_A3_MK3: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906023AN\xf1\x893695',
+      b'\xf1\x8704E906023AR\xf1\x893440',
+      b'\xf1\x8704E906023BL\xf1\x895190',
+      b'\xf1\x8704E906027CJ\xf1\x897798',
+      b'\xf1\x8704L997022N \xf1\x899459',
+      b'\xf1\x875G0906259A \xf1\x890004',
+      b'\xf1\x875G0906259D \xf1\x890002',
+      b'\xf1\x875G0906259L \xf1\x890002',
+      b'\xf1\x875G0906259Q \xf1\x890002',
+      b'\xf1\x878V0906259E \xf1\x890001',
+      b'\xf1\x878V0906259F \xf1\x890002',
+      b'\xf1\x878V0906259H \xf1\x890002',
+      b'\xf1\x878V0906259J \xf1\x890002',
+      b'\xf1\x878V0906259K \xf1\x890001',
+      b'\xf1\x878V0906264B \xf1\x890003',
+      b'\xf1\x878V0907115B \xf1\x890007',
+      b'\xf1\x878V0907404A \xf1\x890005',
+      b'\xf1\x878V0907404G \xf1\x890005',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300044T \xf1\x895245',
+      b'\xf1\x870CW300048  \xf1\x895201',
+      b'\xf1\x870D9300012  \xf1\x894912',
+      b'\xf1\x870D9300012  \xf1\x894931',
+      b'\xf1\x870D9300012K \xf1\x894513',
+      b'\xf1\x870D9300012L \xf1\x894521',
+      b'\xf1\x870D9300013B \xf1\x894902',
+      b'\xf1\x870D9300013B \xf1\x894931',
+      b'\xf1\x870D9300041N \xf1\x894512',
+      b'\xf1\x870D9300043T \xf1\x899699',
+      b'\xf1\x870DD300046  \xf1\x891604',
+      b'\xf1\x870DD300046A \xf1\x891602',
+      b'\xf1\x870DD300046F \xf1\x891602',
+      b'\xf1\x870DD300046G \xf1\x891601',
+      b'\xf1\x870DL300012E \xf1\x892012',
+      b'\xf1\x870DL300012H \xf1\x892112',
+      b'\xf1\x870GC300011  \xf1\x890403',
+      b'\xf1\x870GC300013M \xf1\x892402',
+      b'\xf1\x870GC300042J \xf1\x891402',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655AB\xf1\x890388\xf1\x82\x111111001111111206110412111321139114',
+      b'\xf1\x875Q0959655AM\xf1\x890315\xf1\x82\x1311111111111111311411011231129321212100',
+      b'\xf1\x875Q0959655AM\xf1\x890318\xf1\x82\x1311111111111112311411011531159321212100',
+      b'\xf1\x875Q0959655AR\xf1\x890315\xf1\x82\x1311110011131115311211012331239321212100',
+      b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100',
+      b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--171115141112221291163221',
+      b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13111112111111--241115141112221291163221',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111211--261117141112231291163221',
+      b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\x111212001112110004110411111421149114',
+      b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\x111212001112111104110411111521159114',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561G01A13A0',
+      b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\x0566G0HA14A1',
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566G0HA14A1',
+      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1',
+      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1',
+      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0JA13A1',
+      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521G0G809A1',
+      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0503G00303A0',
+      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0503G00803A0',
+      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0503G0G803A0',
+      b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516G00804A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516G00804A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521G00807A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x875Q0907567M \xf1\x890398\xf1\x82\x0101',
+      b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\x0101',
+      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
+      b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
+      b'\xf1\x875Q0907572G \xf1\x890571',
+      b'\xf1\x875Q0907572H \xf1\x890620',
+      b'\xf1\x875Q0907572P \xf1\x890682',
+    ],
+  },
+  CAR.AUDI_Q2_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906027JT\xf1\x894145',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300041F \xf1\x891006',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655BD\xf1\x890336\xf1\x82\x1311111111111100311211011231129321312111',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571F60511A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572M \xf1\x890233',
+    ],
+  },
+  CAR.AUDI_Q3_MK2: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8705E906018N \xf1\x899970',
+      b'\xf1\x8705L906022M \xf1\x890901',
+      b'\xf1\x8783A906259  \xf1\x890001',
+      b'\xf1\x8783A906259  \xf1\x890005',
+      b'\xf1\x8783A906259C \xf1\x890002',
+      b'\xf1\x8783A906259D \xf1\x890001',
+      b'\xf1\x8783A906259F \xf1\x890001',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158CN\xf1\x893608',
+      b'\xf1\x8709G927158FL\xf1\x893758',
+      b'\xf1\x8709G927158GG\xf1\x893825',
+      b'\xf1\x8709G927158GP\xf1\x893937',
+      b'\xf1\x870GC300045D \xf1\x892802',
+      b'\xf1\x870GC300046F \xf1\x892701',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655BF\xf1\x890403\xf1\x82\x1321211111211200311121232152219321422111',
+      b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218A219321532111',
+      b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218C219321532111',
+      b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111224118A119321532111',
+      b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111237116A119321532111',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000800',
+      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60533A1',
+      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60733A1',
+      b'\xf1\x875TA907145D \xf1\x891051\xf1\x82\x001PG60A1P7N',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572R \xf1\x890372',
+      b'\xf1\x872Q0907572T \xf1\x890383',
+    ],
+  },
+  CAR.SEAT_ATECA_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906027KA\xf1\x893749',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870D9300014S \xf1\x895202',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1212001211001305121211052900',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571N60511A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572M \xf1\x890233',
+    ],
+  },
+  CAR.SEAT_LEON_MK3: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906021EL\xf1\x897542',
+      b'\xf1\x8704L906026BP\xf1\x891198',
+      b'\xf1\x8704L906026BP\xf1\x897608',
+      b'\xf1\x8704L906056CR\xf1\x892181',
+      b'\xf1\x8704L906056CR\xf1\x892797',
+      b'\xf1\x8705E906018AS\xf1\x899596',
+      b'\xf1\x878V0906264H \xf1\x890005',
+      b'\xf1\x878V0907115E \xf1\x890002',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300041D \xf1\x891004',
+      b'\xf1\x870CW300041G \xf1\x891003',
+      b'\xf1\x870CW300050J \xf1\x891908',
+      b'\xf1\x870D9300042M \xf1\x895016',
+      b'\xf1\x870GC300043A \xf1\x892304',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200',
+      b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11110011110011021511110200',
+      b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200',
+      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900',
+      b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1312001313001305171311052900',
+      b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\x0e1312001313001305171311052900',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521N01842A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521N01342A1',
+      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511N01805A0',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N01309A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N05808A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101',
+      b'\xf1\x875Q0907572H \xf1\x890620',
+      b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
+      b'\xf1\x875Q0907572P \xf1\x890682',
+      b'\xf1\x875Q0907572R \xf1\x890771',
+    ],
+  },
+  CAR.SKODA_FABIA_MK4: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8705E906018CF\xf1\x891905',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300051M \xf1\x891936',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100110200--1111120749',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x872Q1909144S \xf1\x896042',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+    ],
+  },
+  CAR.SKODA_KAMIQ_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8705C906032M \xf1\x891333',
+      b'\xf1\x8705E906013CK\xf1\x892540',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300020  \xf1\x891906',
+      b'\xf1\x870CW300020T \xf1\x892204',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\x122221042111042121040404042E2711152H14',
+      b'\xf1\x872Q0959655BJ\xf1\x890412\xf1\x82\x132223042111042121040404042B251215391423',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x872Q1909144AB\xf1\x896050',
+      b'\xf1\x872Q1909144M \xf1\x896041',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572T \xf1\x890383',
+    ],
+  },
+  CAR.SKODA_KAROQ_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8705E906013H \xf1\x892407',
+      b'\xf1\x8705E906018P \xf1\x895472',
+      b'\xf1\x8705E906018P \xf1\x896020',
+      b'\xf1\x8705L906022BS\xf1\x890913',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300020T \xf1\x892202',
+      b'\xf1\x870CW300041S \xf1\x891615',
+      b'\xf1\x870GC300014L \xf1\x892802',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001101131112012100',
+      b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1213001211001101131122012100',
+      b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00',
+      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1312110012120011111100010200--2521210749',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100500',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572AB\xf1\x890397',
+      b'\xf1\x872Q0907572M \xf1\x890233',
+      b'\xf1\x872Q0907572T \xf1\x890383',
+    ],
+  },
+  CAR.SKODA_KODIAQ_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906027DD\xf1\x893123',
+      b'\xf1\x8704E906027LD\xf1\x893433',
+      b'\xf1\x8704E906027NB\xf1\x896517',
+      b'\xf1\x8704E906027NB\xf1\x899504',
+      b'\xf1\x8704L906026DE\xf1\x895418',
+      b'\xf1\x8704L906026EJ\xf1\x893661',
+      b'\xf1\x8704L906026HT\xf1\x893617',
+      b'\xf1\x8705E906018DJ\xf1\x890915',
+      b'\xf1\x8705E906018DJ\xf1\x891903',
+      b'\xf1\x875NA906259E \xf1\x890003',
+      b'\xf1\x875NA907115E \xf1\x890003',
+      b'\xf1\x875NA907115E \xf1\x890005',
+      b'\xf1\x8783A907115E \xf1\x890001',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870D9300014S \xf1\x895201',
+      b'\xf1\x870D9300043  \xf1\x895202',
+      b'\xf1\x870DL300011N \xf1\x892014',
+      b'\xf1\x870DL300012M \xf1\x892107',
+      b'\xf1\x870DL300012N \xf1\x892110',
+      b'\xf1\x870DL300013G \xf1\x892119',
+      b'\xf1\x870GC300014N \xf1\x892801',
+      b'\xf1\x870GC300019H \xf1\x892806',
+      b'\xf1\x870GC300046Q \xf1\x892802',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211',
+      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
+      b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
+      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1213001211001244212111442100',
+      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100',
+      b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111',
+      b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00',
+      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6060405',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600',
+      b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002LT61A2LOM',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572AB\xf1\x890397',
+      b'\xf1\x872Q0907572M \xf1\x890233',
+      b'\xf1\x872Q0907572Q \xf1\x890342',
+      b'\xf1\x872Q0907572R \xf1\x890372',
+      b'\xf1\x872Q0907572T \xf1\x890383',
+    ],
+  },
+  CAR.SKODA_OCTAVIA_MK3: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704C906025L \xf1\x896198',
+      b'\xf1\x8704E906016ER\xf1\x895823',
+      b'\xf1\x8704E906027HD\xf1\x893742',
+      b'\xf1\x8704E906027MH\xf1\x894786',
+      b'\xf1\x8704L906021DT\xf1\x898127',
+      b'\xf1\x8704L906026BP\xf1\x897608',
+      b'\xf1\x8704L906026BS\xf1\x891541',
+      b'\xf1\x875G0906259C \xf1\x890002',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300041L \xf1\x891601',
+      b'\xf1\x870CW300041N \xf1\x891605',
+      b'\xf1\x870CW300043B \xf1\x891601',
+      b'\xf1\x870CW300043P \xf1\x891605',
+      b'\xf1\x870D9300041C \xf1\x894936',
+      b'\xf1\x870D9300041H \xf1\x895220',
+      b'\xf1\x870D9300041J \xf1\x894902',
+      b'\xf1\x870D9300041P \xf1\x894507',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200',
+      b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131',
+      b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100',
+      b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200',
+      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e3221003221002105755331052100',
+      b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\x0e3221003221002105755331052100',
+      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e3221003221002105755331052100',
+      b'\xf1\x875QD959655  \xf1\x890388\xf1\x82\x111101000011110006110411111111119111',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01513A1',
+      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521T00403A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1',
+      b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1',
+      b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
+      b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
+      b'\xf1\x875Q0907572J \xf1\x890654',
+      b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
+      b'\xf1\x875Q0907572P \xf1\x890682',
+      b'\xf1\x875Q0907572R \xf1\x890771',
+    ],
+  },
+  CAR.SKODA_SCALA_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704C906025AK\xf1\x897053',
+      b'\xf1\x8705C906032M \xf1\x892365',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300020  \xf1\x891907',
+      b'\xf1\x870CW300050  \xf1\x891709',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1211110411110411--04040404131111112H14',
+      b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\x12111104111104112104040404111111112H14',
+      b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1311150411110411210404040417151215391413',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x872Q1909144AB\xf1\x896050',
+      b'\xf1\x872Q1909144M \xf1\x896041',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572R \xf1\x890372',
+    ],
+  },
+  CAR.SKODA_SUPERB_MK3: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906027BS\xf1\x892887',
+      b'\xf1\x8704E906027BT\xf1\x899042',
+      b'\xf1\x8704L906026ET\xf1\x891343',
+      b'\xf1\x8704L906026ET\xf1\x891990',
+      b'\xf1\x8704L906026FP\xf1\x891196',
+      b'\xf1\x8704L906026KA\xf1\x896014',
+      b'\xf1\x8704L906026KB\xf1\x894071',
+      b'\xf1\x8704L906026KD\xf1\x894798',
+      b'\xf1\x8704L906026MT\xf1\x893076',
+      b'\xf1\x8705L906022BK\xf1\x899971',
+      b'\xf1\x873G0906259  \xf1\x890004',
+      b'\xf1\x873G0906259B \xf1\x890002',
+      b'\xf1\x873G0906259L \xf1\x890003',
+      b'\xf1\x873G0906264A \xf1\x890002',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300042H \xf1\x891601',
+      b'\xf1\x870CW300043B \xf1\x891603',
+      b'\xf1\x870CW300049Q \xf1\x890906',
+      b'\xf1\x870D9300011T \xf1\x894801',
+      b'\xf1\x870D9300012  \xf1\x894940',
+      b'\xf1\x870D9300013A \xf1\x894905',
+      b'\xf1\x870D9300014K \xf1\x895006',
+      b'\xf1\x870D9300041H \xf1\x894905',
+      b'\xf1\x870D9300042M \xf1\x895013',
+      b'\xf1\x870D9300043F \xf1\x895202',
+      b'\xf1\x870GC300013K \xf1\x892403',
+      b'\xf1\x870GC300014M \xf1\x892801',
+      b'\xf1\x870GC300019G \xf1\x892803',
+      b'\xf1\x870GC300043  \xf1\x892301',
+      b'\xf1\x870GC300046D \xf1\x892402',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111',
+      b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121118112231292221111',
+      b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111',
+      b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100',
+      b'\xf1\x875Q0959655AT\xf1\x890317\xf1\x82\x1331310031313100313131013131319331313100',
+      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100',
+      b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100',
+      b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1333310031313100313152015351539331423100',
+      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100',
+      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100',
+      b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100',
+      b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203',
+      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ050303',
+      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ060505',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505',
+      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600',
+      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060700',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070500',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x873Q0907572B \xf1\x890192',
+      b'\xf1\x873Q0907572B \xf1\x890194',
+      b'\xf1\x873Q0907572C \xf1\x890195',
+      b'\xf1\x875Q0907572R \xf1\x890771',
+      b'\xf1\x875Q0907572S \xf1\x890780',
+    ],
+  },
+}
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 0639a7c4c..d0c78fb39 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -3,7 +3,7 @@ from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
-from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
+from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
 
 from openpilot.common.params import Params
 
@@ -70,6 +70,9 @@ class CarInterface(CarInterfaceBase):
       else:
         ret.networkLocation = NetworkLocation.fwdCamera
 
+      if 0x126 in fingerprint[2]:  # HCA_01
+        ret.flags |= VolkswagenFlags.STOCK_HCA_PRESENT.value
+
     # Global lateral tuning defaults, can be overridden per-vehicle
 
     ret.steerActuatorDelay = 0.1
@@ -93,11 +96,9 @@ class CarInterface(CarInterfaceBase):
 
     ret.pcmCruise = not ret.openpilotLongitudinalControl
     ret.stoppingControl = True
-    ret.startingState = True
-    ret.startAccel = 1.0
     ret.stopAccel = -0.55
-    ret.vEgoStarting = 1.0
-    ret.vEgoStopping = 1.0
+    ret.vEgoStarting = 0.1
+    ret.vEgoStopping = 0.5
     ret.longitudinalTuning.kpV = [0.1]
     ret.longitudinalTuning.kiV = [0.0]
 
diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py
index 849d99592..787c7de53 100644
--- a/selfdrive/car/volkswagen/mqbcan.py
+++ b/selfdrive/car/volkswagen/mqbcan.py
@@ -10,6 +10,24 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled):
   return packer.make_can_msg("HCA_01", bus, values)
 
 
+def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque):
+  values = {s: eps_stock_values[s] for s in [
+    "COUNTER",                     # Sync counter value to EPS output
+    "EPS_Lenkungstyp",             # EPS rack type
+    "EPS_Berechneter_LW",          # Absolute raw steering angle
+    "EPS_VZ_BLW",                  # Raw steering angle sign
+    "EPS_HCA_Status",              # EPS HCA control status
+  ]}
+
+  values.update({
+    # Absolute driver torque input and sign, with EA inactivity mitigation
+    "EPS_Lenkmoment": abs(ea_simulated_torque),
+    "EPS_VZ_Lenkmoment": 1 if ea_simulated_torque < 0 else 0,
+  })
+
+  return packer.make_can_msg("LH_EPS_03", bus, values)
+
+
 def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
   values = {}
   if len(ldw_stock_values):
@@ -94,7 +112,7 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont
     acc_hold_type = 0
 
   acc_07_values = {
-    "ACC_Anhalteweg": 0.75 if stopping else 20.46,  # Distance to stop (stopping coordinator handles terminal roll-out)
+    "ACC_Anhalteweg": 0.3 if stopping else 20.46,  # Distance to stop (stopping coordinator handles terminal roll-out)
     "ACC_Freilauf_Info": 2 if acc_enabled else 0,
     "ACC_Folgebeschl": 3.02,  # Not using secondary controller accel unless and until we understand its impact
     "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01,
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 1eab9c7ad..16695db81 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -1,6 +1,6 @@
 from collections import defaultdict, namedtuple
 from dataclasses import dataclass, field
-from enum import Enum
+from enum import Enum, IntFlag#, StrEnum
 from strenum import StrEnum
 from typing import Dict, List, Union
 
@@ -110,6 +110,10 @@ class CANBUS:
   cam = 2
 
 
+class VolkswagenFlags(IntFlag):
+  STOCK_HCA_PRESENT = 1
+
+
 # Check the 7th and 8th characters of the VIN before adding a new CAR. If the
 # chassis code is already listed below, don't add a new CAR, just add to the
 # FW_VERSIONS for that existing CAR.
@@ -304,1144 +308,3 @@ FW_QUERY_CONFIG = FwQueryConfig(
     ),
   ],
 )
-
-FW_VERSIONS = {
-  CAR.ARTEON_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x873G0906259AH\xf1\x890001',
-      b'\xf1\x873G0906259F \xf1\x890004',
-      b'\xf1\x873G0906259G \xf1\x890004',
-      b'\xf1\x873G0906259G \xf1\x890005',
-      b'\xf1\x873G0906259M \xf1\x890003',
-      b'\xf1\x873G0906259N \xf1\x890004',
-      b'\xf1\x873G0906259P \xf1\x890001',
-      b'\xf1\x875NA907115H \xf1\x890002',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8709G927158L \xf1\x893611',
-      b'\xf1\x870DL300014C \xf1\x893704',
-      b'\xf1\x870GC300011L \xf1\x891401',
-      b'\xf1\x870GC300014M \xf1\x892802',
-      b'\xf1\x870GC300019G \xf1\x892804',
-      b'\xf1\x870GC300040P \xf1\x891401',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900',
-      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900',
-      b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900',
-      b'\xf1\x873Q0959655DA\xf1\x890720\xf1\x82\x0e1712141712141105121122052900',
-      b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\x0e1812141812171105141123052J00',
-      b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1',
-      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800',
-      b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N',
-      b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N',
-      b'\xf1\x875WA907145Q \xf1\x891063\xf1\x82\x002KB4092KOM',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572T \xf1\x890383',
-      b'\xf1\x875Q0907572J \xf1\x890654',
-      b'\xf1\x875Q0907572R \xf1\x890771',
-    ],
-  },
-  CAR.ATLAS_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8703H906026AA\xf1\x899970',
-      b'\xf1\x8703H906026AG\xf1\x899973',
-      b'\xf1\x8703H906026AJ\xf1\x890638',
-      b'\xf1\x8703H906026AJ\xf1\x891017',
-      b'\xf1\x8703H906026AT\xf1\x891922',
-      b'\xf1\x8703H906026BC\xf1\x892664',
-      b'\xf1\x8703H906026F \xf1\x896696',
-      b'\xf1\x8703H906026F \xf1\x899970',
-      b'\xf1\x8703H906026J \xf1\x896026',
-      b'\xf1\x8703H906026J \xf1\x899971',
-      b'\xf1\x8703H906026S \xf1\x896693',
-      b'\xf1\x8703H906026S \xf1\x899970',
-      b'\xf1\x873CN906259  \xf1\x890005',
-      b'\xf1\x873CN906259F \xf1\x890002',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8709G927158A \xf1\x893387',
-      b'\xf1\x8709G927158DR\xf1\x893536',
-      b'\xf1\x8709G927158DR\xf1\x893742',
-      b'\xf1\x8709G927158EN\xf1\x893691',
-      b'\xf1\x8709G927158F \xf1\x893489',
-      b'\xf1\x8709G927158FT\xf1\x893835',
-      b'\xf1\x8709G927158GL\xf1\x893939',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655BC\xf1\x890503\xf1\x82\0161914151912001103111122031200',
-      b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\0162214152212001105141122052900',
-      b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\x0e1114151112001105111122052900',
-      b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\0162214152212001105141122052900',
-      b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105161122052J00',
-      b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1115151112001105171122052J00',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\00571B60924A1',
-      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6G920A1',
-      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6M921A1',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6080105',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572R \xf1\x890372',
-      b'\xf1\x872Q0907572T \xf1\x890383',
-      b'\xf1\x875Q0907572H \xf1\x890620',
-      b'\xf1\x875Q0907572J \xf1\x890654',
-      b'\xf1\x875Q0907572P \xf1\x890682',
-    ],
-  },
-  CAR.CRAFTER_MK2: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704L906056BP\xf1\x894729',
-      b'\xf1\x8704L906056EK\xf1\x896391',
-      b'\xf1\x8705L906023BC\xf1\x892688',
-    ],
-    # Only current upstreamed vehicle has a manual transmission
-    #(Ecu.transmission, 0x7e1, None): [
-    #],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100',
-      b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900',
-      b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2',
-      b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2',
-      b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572J \xf1\x890156',
-      b'\xf1\x872Q0907572M \xf1\x890233',
-    ],
-  },
-  CAR.GOLF_MK7: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906016A \xf1\x897697',
-      b'\xf1\x8704E906016N \xf1\x899105',
-      b'\xf1\x8704E906016AD\xf1\x895758',
-      b'\xf1\x8704E906016CE\xf1\x899096',
-      b'\xf1\x8704E906016CH\xf1\x899226',
-      b'\xf1\x8704E906023AG\xf1\x891726',
-      b'\xf1\x8704E906023BN\xf1\x894518',
-      b'\xf1\x8704E906024K \xf1\x896811',
-      b'\xf1\x8704E906027GR\xf1\x892394',
-      b'\xf1\x8704E906027HD\xf1\x892603',
-      b'\xf1\x8704E906027HD\xf1\x893742',
-      b'\xf1\x8704E906027MA\xf1\x894958',
-      b'\xf1\x8704L906021DT\xf1\x895520',
-      b'\xf1\x8704L906021DT\xf1\x898127',
-      b'\xf1\x8704L906021N \xf1\x895518',
-      b'\xf1\x8704L906021N \xf1\x898138',
-      b'\xf1\x8704L906026BN\xf1\x891197',
-      b'\xf1\x8704L906026BP\xf1\x897608',
-      b'\xf1\x8704L906026NF\xf1\x899528',
-      b'\xf1\x8704L906056CL\xf1\x893823',
-      b'\xf1\x8704L906056CR\xf1\x895813',
-      b'\xf1\x8704L906056HE\xf1\x893758',
-      b'\xf1\x8704L906056HN\xf1\x896590',
-      b'\xf1\x8704L906056HT\xf1\x896591',
-      b'\xf1\x870EA906016A \xf1\x898343',
-      b'\xf1\x870EA906016E \xf1\x894219',
-      b'\xf1\x870EA906016F \xf1\x894238',
-      b'\xf1\x870EA906016F \xf1\x895002',
-      b'\xf1\x870EA906016Q \xf1\x895993',
-      b'\xf1\x870EA906016S \xf1\x897207',
-      b'\xf1\x875G0906259  \xf1\x890007',
-      b'\xf1\x875G0906259D \xf1\x890002',
-      b'\xf1\x875G0906259J \xf1\x890002',
-      b'\xf1\x875G0906259L \xf1\x890002',
-      b'\xf1\x875G0906259N \xf1\x890003',
-      b'\xf1\x875G0906259Q \xf1\x890002',
-      b'\xf1\x875G0906259Q \xf1\x892313',
-      b'\xf1\x875G0906259T \xf1\x890003',
-      b'\xf1\x878V0906259H \xf1\x890002',
-      b'\xf1\x878V0906259J \xf1\x890003',
-      b'\xf1\x878V0906259K \xf1\x890001',
-      b'\xf1\x878V0906259K \xf1\x890003',
-      b'\xf1\x878V0906259P \xf1\x890001',
-      b'\xf1\x878V0906259Q \xf1\x890002',
-      b'\xf1\x878V0906259R \xf1\x890002',
-      b'\xf1\x878V0906264F \xf1\x890003',
-      b'\xf1\x878V0906264L \xf1\x890002',
-      b'\xf1\x878V0906264M \xf1\x890001',
-      b'\xf1\x878V09C0BB01 \xf1\x890001',
-      b'\xf1\x8704E906024K \xf1\x899970',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8709G927749AP\xf1\x892943',
-      b'\xf1\x8709S927158A \xf1\x893585',
-      b'\xf1\x870CW300040H \xf1\x890606',
-      b'\xf1\x870CW300041D \xf1\x891004',
-      b'\xf1\x870CW300041H \xf1\x891010',
-      b'\xf1\x870CW300042F \xf1\x891604',
-      b'\xf1\x870CW300043B \xf1\x891601',
-      b'\xf1\x870CW300043E \xf1\x891603',
-      b'\xf1\x870CW300044S \xf1\x894530',
-      b'\xf1\x870CW300044T \xf1\x895245',
-      b'\xf1\x870CW300045  \xf1\x894531',
-      b'\xf1\x870CW300047D \xf1\x895261',
-      b'\xf1\x870CW300047E \xf1\x895261',
-      b'\xf1\x870CW300048J \xf1\x890611',
-      b'\xf1\x870CW300049H \xf1\x890905',
-      b'\xf1\x870CW300050G \xf1\x891905',
-      b'\xf1\x870D9300012  \xf1\x894904',
-      b'\xf1\x870D9300012  \xf1\x894913',
-      b'\xf1\x870D9300012  \xf1\x894937',
-      b'\xf1\x870D9300012  \xf1\x895045',
-      b'\xf1\x870D9300012  \xf1\x895046',
-      b'\xf1\x870D9300014M \xf1\x895004',
-      b'\xf1\x870D9300014Q \xf1\x895006',
-      b'\xf1\x870D9300020J \xf1\x894902',
-      b'\xf1\x870D9300020Q \xf1\x895201',
-      b'\xf1\x870D9300020S \xf1\x895201',
-      b'\xf1\x870D9300040A \xf1\x893613',
-      b'\xf1\x870D9300040S \xf1\x894311',
-      b'\xf1\x870D9300041H \xf1\x895220',
-      b'\xf1\x870D9300041P \xf1\x894507',
-      b'\xf1\x870DD300045K \xf1\x891120',
-      b'\xf1\x870DD300046F \xf1\x891601',
-      b'\xf1\x870GC300012A \xf1\x891401',
-      b'\xf1\x870GC300012A \xf1\x891403',
-      b'\xf1\x870GC300014B \xf1\x892401',
-      b'\xf1\x870GC300014B \xf1\x892403',
-      b'\xf1\x870GC300014B \xf1\x892405',
-      b'\xf1\x870GC300020G \xf1\x892401',
-      b'\xf1\x870GC300020G \xf1\x892403',
-      b'\xf1\x870GC300020G \xf1\x892404',
-      b'\xf1\x870GC300020N \xf1\x892804',
-      b'\xf1\x870GC300043T \xf1\x899999',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120043114317121C111C9113',
-      b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120053114317121C111C9113',
-      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113',
-      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113',
-      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113',
-      b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100',
-      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333423100',
-      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100',
-      b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100',
-      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
-      b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112',
-      b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13341512112212--071104172328102891131211',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13272512111312--07110417182C102C91131211',
-      b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\x111413001112120041114115121611169112',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200621143171717111791132111',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200061104171724102491132111',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200621143171724112491132111',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200061104171717101791132111',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200631143171724122491132111',
-      b'\xf1\x875Q0959655T \xf1\x890825\xf1\x82\x13271200111312--071104171837103791132111',
-      b'\xf1\x875Q0959655T \xf1\x890830\xf1\x82\x13271100111312--071104171826102691131211',
-      b'\xf1\x875QD959655  \xf1\x890388\xf1\x82\x111413001113120006110417121D101D9112',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561A01612A0',
-      b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\x0566A0J612A1',
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A00514A1',
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01613A1',
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A0J712A1',
-      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1',
-      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
-      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1',
-      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A02A16A1',
-      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1',
-      b'\xf1\x873QM909144  \xf1\x895072\xf1\x82\x0571A01714A1',
-      b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203',
-      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00441A1',
-      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00608A1',
-      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00641A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00442A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00642A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A07B05A1',
-      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00602A0',
-      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0522A00402A0',
-      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00502A0',
-      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0',
-      b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1',
-      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1',
-      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1',
-      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1',
-      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00407A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1',
-      b'\xf1\x875QD909144B \xf1\x891072\xf1\x82\x0521A00507A1',
-      b'\xf1\x875QM909144A \xf1\x891072\xf1\x82\x0521A20B03A1',
-      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A00442A1',
-      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A16A1',
-      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A18A1',
-      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A17A1',
-      b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A01A18A1',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A2000400',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101',
-      b'\xf1\x875Q0907567J \xf1\x890396\xf1\x82\x0101',
-      b'\xf1\x875Q0907567L \xf1\x890098\xf1\x82\x0101',
-      b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\x0101',
-      b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101',
-      b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101',
-      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
-      b'\xf1\x875Q0907572E \xf1\x89X310\xf1\x82\x0101',
-      b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
-      b'\xf1\x875Q0907572G \xf1\x890571',
-      b'\xf1\x875Q0907572H \xf1\x890620',
-      b'\xf1\x875Q0907572J \xf1\x890653',
-      b'\xf1\x875Q0907572J \xf1\x890654',
-      b'\xf1\x875Q0907572P \xf1\x890682',
-      b'\xf1\x875Q0907572R \xf1\x890771',
-      b'\xf1\x875Q0907572S \xf1\x890780',
-    ],
-  },
-  CAR.JETTA_MK7: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906024AK\xf1\x899937',
-      b'\xf1\x8704E906024AS\xf1\x899912',
-      b'\xf1\x8704E906024BC\xf1\x899971',
-      b'\xf1\x8704E906024BG\xf1\x891057',
-      b'\xf1\x8704E906024B \xf1\x895594',
-      b'\xf1\x8704E906024C \xf1\x899970',
-      b'\xf1\x8704E906024L \xf1\x895595',
-      b'\xf1\x8704E906024L \xf1\x899970',
-      b'\xf1\x8704E906027MS\xf1\x896223',
-      b'\xf1\x875G0906259T \xf1\x890003',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8709G927158BQ\xf1\x893545',
-      b'\xf1\x8709S927158BS\xf1\x893642',
-      b'\xf1\x8709S927158BS\xf1\x893694',
-      b'\xf1\x8709S927158CK\xf1\x893770',
-      b'\xf1\x8709S927158R \xf1\x893552',
-      b'\xf1\x8709S927158R \xf1\x893587',
-      b'\xf1\x870GC300020N \xf1\x892803',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\02314171231313500314611011630169333463100',
-      b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1314171231313500314611011630169333463100',
-      b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02314171231313500314642011650169333463100',
-      b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02314171231313500314643011650169333463100',
-      b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\02311170031313300314240011150119333433100',
-      b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\02319170031313300314240011550159333463100',
-      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314643021650169333613100',
-      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314642021650169333613100',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A10A11A1',
-      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\00521A10A01A1',
-      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521B00404A1',
-      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A00642A1',
-      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A10A01A1',
-      b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\00571A10A11A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x875Q0907572N \xf1\x890681',
-      b'\xf1\x875Q0907572P \xf1\x890682',
-      b'\xf1\x875Q0907572R \xf1\x890771',
-    ],
-  },
-  CAR.PASSAT_MK8: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8703N906026E \xf1\x892114',
-      b'\xf1\x8704E906023AH\xf1\x893379',
-      b'\xf1\x8704E906023BM\xf1\x894522',
-      b'\xf1\x8704L906026DP\xf1\x891538',
-      b'\xf1\x8704L906026ET\xf1\x891990',
-      b'\xf1\x8704L906026FP\xf1\x892012',
-      b'\xf1\x8704L906026GA\xf1\x892013',
-      b'\xf1\x8704L906026KD\xf1\x894798',
-      b'\xf1\x873G0906259B \xf1\x890002',
-      b'\xf1\x873G0906264  \xf1\x890004',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300043H \xf1\x891601',
-      b'\xf1\x870CW300048R \xf1\x890610',
-      b'\xf1\x870D9300013A \xf1\x894905',
-      b'\xf1\x870D9300014L \xf1\x895002',
-      b'\xf1\x870D9300041A \xf1\x894801',
-      b'\xf1\x870DD300045T \xf1\x891601',
-      b'\xf1\x870DD300046H \xf1\x891601',
-      b'\xf1\x870DL300011H \xf1\x895201',
-      b'\xf1\x870CW300042H \xf1\x891601',
-      b'\xf1\x870CW300042H \xf1\x891607',
-      b'\xf1\x870GC300042H \xf1\x891404',
-      b'\xf1\x870D9300018C \xf1\x895297',
-      b'\xf1\x870GC300043  \xf1\x892301',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111',
-      b'\xf1\x873Q0959655AF\xf1\x890195\xf1\x82\r56140056130012026612120211',
-      b'\xf1\x873Q0959655AN\xf1\x890305\xf1\x82\r58160058140013036914110311',
-      b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311',
-      b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111',
-      b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211',
-      b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e5915005914001305701311052900',
-      b'\xf1\x873Q0959655BG\xf1\x890712\xf1\x82\x0e5915005914001305701311052900',
-      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900',
-      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900',
-      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1',
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00711A1',
-      b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514B0060703',
-      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803',
-      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526B0060905',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1',
-      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1',
-      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x873Q0907572A \xf1\x890126',
-      b'\xf1\x873Q0907572A \xf1\x890130',
-      b'\xf1\x873Q0907572B \xf1\x890192',
-      b'\xf1\x873Q0907572C \xf1\x890195',
-      b'\xf1\x873Q0907572C \xf1\x890196',
-      b'\xf1\x875Q0907572P \xf1\x890682',
-      b'\xf1\x875Q0907572R \xf1\x890771',
-    ],
-  },
-  CAR.PASSAT_NMS: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8706K906016C \xf1\x899609',
-      b'\xf1\x8706K906016E \xf1\x899830',
-      b'\xf1\x8706K906016G \xf1\x891124',
-      b'\xf1\x8706K906071BJ\xf1\x894891',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8709G927158AB\xf1\x893318',
-      b'\xf1\x8709G927158BD\xf1\x893121',
-      b'\xf1\x8709G927158DK\xf1\x893594',
-      b'\xf1\x8709G927158FQ\xf1\x893745',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x87561959655  \xf1\x890210\xf1\x82\02212121111113000102011--121012--101312',
-      b'\xf1\x87561959655C \xf1\x890508\xf1\x82\02215141111121100314919--153015--304831',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x87561907567A \xf1\x890132',
-      b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\00152',
-    ],
-  },
-  CAR.POLO_MK6: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704C906025H \xf1\x895177',
-      b'\xf1\x8705C906032J \xf1\x891702',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300042D \xf1\x891612',
-      b'\xf1\x870CW300050D \xf1\x891908',
-      b'\xf1\x870CW300051G \xf1\x891909',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x872Q0959655AG\xf1\x890248\xf1\x82\x1218130411110411--04040404231811152H14',
-      b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1248130411110416--04040404784811152H14',
-      b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1384830511110516041405820599841215391471',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x872Q1909144M \xf1\x896041',
-      b'\xf1\x872Q2909144AB\xf1\x896050',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572R \xf1\x890372',
-    ],
-  },
-  CAR.SHARAN_MK2: {
-    # TODO: Sharan Mk2 EPS and DQ250 auto trans both require KWP2000 support for fingerprinting
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704L906016HE\xf1\x894635',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x877N0959655D \xf1\x890016\xf1\x82\x0801100705----10--',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0153',
-    ],
-  },
-  CAR.TAOS_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906027NJ\xf1\x891445',
-      b'\xf1\x8704E906027NP\xf1\x891286',
-      b'\xf1\x8705E906013BD\xf1\x892496',
-      b'\xf1\x8705E906013E \xf1\x891624',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8709G927158EM\xf1\x893812',
-      b'\xf1\x8709S927158BL\xf1\x893791',
-      b'\xf1\x8709S927158DN\xf1\x893946',
-      b'\xf1\x8709S927158FF\xf1\x893876',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1311111111333500314646021450149333613100',
-      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1312111111333500314646021550159333613100',
-      b'\xf1\x875Q0959655CE\xf1\x890421\xf1\x82\x1311110011333300314240021350139333613100',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x001O06081OOM',
-      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060405A1',
-      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060605A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572T \xf1\x890383',
-    ],
-  },
-  CAR.TCROSS_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704C906025AK\xf1\x897053',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300050E \xf1\x891903',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\02212130411110411--04041104141311152H14',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x872Q1909144M \xf1\x896041',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572T \xf1\x890383',
-    ],
-  },
-  CAR.TIGUAN_MK2: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8703N906026D \xf1\x893680',
-      b'\xf1\x8704E906027NB\xf1\x899504',
-      b'\xf1\x8704L906026EJ\xf1\x893661',
-      b'\xf1\x8704L906027G \xf1\x899893',
-      b'\xf1\x8705E906018BS\xf1\x890914',
-      b'\xf1\x875N0906259  \xf1\x890002',
-      b'\xf1\x875NA906259H \xf1\x890002',
-      b'\xf1\x875NA907115E \xf1\x890003',
-      b'\xf1\x875NA907115E \xf1\x890005',
-      b'\xf1\x875NA907115J \xf1\x890002',
-      b'\xf1\x8783A907115B \xf1\x890005',
-      b'\xf1\x8783A907115F \xf1\x890002',
-      b'\xf1\x8783A907115G \xf1\x890001',
-      b'\xf1\x8783A907115K \xf1\x890001',
-      b'\xf1\x8783A907115K \xf1\x890002',
-      b'\xf1\x8704E906024AP\xf1\x891461',
-      b'\xf1\x8783A907115  \xf1\x890007',
-      b'\xf1\x8783A907115Q \xf1\x890001',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8709G927158DT\xf1\x893698',
-      b'\xf1\x8709G927158FM\xf1\x893757',
-      b'\xf1\x8709G927158GC\xf1\x893821',
-      b'\xf1\x8709G927158GD\xf1\x893820',
-      b'\xf1\x8709G927158GM\xf1\x893936',
-      b'\xf1\x8709G927158GN\xf1\x893938',
-      b'\xf1\x8709G927158HB\xf1\x894069',
-      b'\xf1\x870D9300043  \xf1\x895202',
-      b'\xf1\x870DL300011N \xf1\x892001',
-      b'\xf1\x870DL300011N \xf1\x892012',
-      b'\xf1\x870DL300012M \xf1\x892107',
-      b'\xf1\x870DL300012P \xf1\x892103',
-      b'\xf1\x870DL300013A \xf1\x893005',
-      b'\xf1\x870DL300013G \xf1\x892119',
-      b'\xf1\x870DL300013G \xf1\x892120',
-      b'\xf1\x870DL300014C \xf1\x893703',
-      b'\xf1\x870DD300046K \xf1\x892302',
-      b'\xf1\x870GC300013P \xf1\x892401',
-      b'\xf1\x870GC300046Q \xf1\x892802',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100',
-      b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
-      b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
-      b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100',
-      b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1312110031333300314240013750379333423100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140013750379333423100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100',
-      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100',
-      b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100',
-      b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100',
-      b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6050705',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
-      b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1',
-      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\00571A60634A1',
-      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A62A32A1',
-      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1',
-      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1',
-      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1',
-      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002RA60A2ROM',
-      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
-      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60804A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572AB\xf1\x890397',
-      b'\xf1\x872Q0907572J \xf1\x890156',
-      b'\xf1\x872Q0907572M \xf1\x890233',
-      b'\xf1\x872Q0907572Q \xf1\x890342',
-      b'\xf1\x872Q0907572R \xf1\x890372',
-      b'\xf1\x872Q0907572T \xf1\x890383',
-    ],
-  },
-  CAR.TOURAN_MK2: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704L906026HM\xf1\x893017',
-      b'\xf1\x8705E906018CQ\xf1\x890808',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300041E \xf1\x891005',
-      b'\xf1\x870CW300051M \xf1\x891926',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655AS\xf1\x890318\xf1\x82\023363500213533353141324C4732479333313100',
-      b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1336350021353336314740025250529333613100',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A8090400',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x873Q0907572C \xf1\x890195',
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-    ],
-  },
-  CAR.TRANSPORTER_T61: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704L906056AG\xf1\x899970',
-      b'\xf1\x8704L906056AL\xf1\x899970',
-      b'\xf1\x8704L906057AP\xf1\x891186',
-      b'\xf1\x8704L906057N \xf1\x890413',
-      b'\xf1\x8705L906023E \xf1\x891352',
-      b'\xf1\x8705L906023MR\xf1\x892582',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870BT300012G \xf1\x893102',
-      b'\xf1\x870BT300012E \xf1\x893105',
-      b'\xf1\x870BT300046R \xf1\x893102',
-      b'\xf1\x870DV300012B \xf1\x893701',
-      b'\xf1\x870DV300012B \xf1\x893702',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411',
-      b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704171711152S1411',
-      b'\xf1\x872Q0959655AF\xf1\x890506\xf1\x82\x1316171111110411--04041711121211152S1413',
-      b'\xf1\x872Q0959655AQ\xf1\x890511\xf1\x82\x1316170411110411--0404170426261215391421',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x0532380518A2',
-      b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2',
-      b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x05323A5519A2',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572R \xf1\x890372',
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-    ],
-  },
-  CAR.TROC_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8705E906018AT\xf1\x899640',
-      b'\xf1\x8705E906018CK\xf1\x890863',
-      b'\xf1\x8705E906018P \xf1\x896020',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300050J \xf1\x891911',
-      b'\xf1\x870CW300051M \xf1\x891925',
-      b'\xf1\x870CW300051M \xf1\x891928',
-      b'\xf1\x870CW300041S \xf1\x891615',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1311110012333300314240681152119333463100',
-      b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1152119333613100',
-      b'\xf1\x875Q0959655CF\xf1\x890421\xf1\x82\x1311110012333300314240021150119333613100',
-      b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1111001111001105111111052900',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521060405A1',
-      b'\xf1\x875WA907144M \xf1\x891051\xf1\x82\x001T06081T7N',
-      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521060403A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572T \xf1\x890383',
-      b'\xf1\x872Q0907572M \xf1\x890233',
-    ],
-  },
-  CAR.AUDI_A3_MK3: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906023AN\xf1\x893695',
-      b'\xf1\x8704E906023AR\xf1\x893440',
-      b'\xf1\x8704E906023BL\xf1\x895190',
-      b'\xf1\x8704E906027CJ\xf1\x897798',
-      b'\xf1\x8704L997022N \xf1\x899459',
-      b'\xf1\x875G0906259A \xf1\x890004',
-      b'\xf1\x875G0906259D \xf1\x890002',
-      b'\xf1\x875G0906259L \xf1\x890002',
-      b'\xf1\x875G0906259Q \xf1\x890002',
-      b'\xf1\x878V0906259E \xf1\x890001',
-      b'\xf1\x878V0906259F \xf1\x890002',
-      b'\xf1\x878V0906259H \xf1\x890002',
-      b'\xf1\x878V0906259J \xf1\x890002',
-      b'\xf1\x878V0906259K \xf1\x890001',
-      b'\xf1\x878V0906264B \xf1\x890003',
-      b'\xf1\x878V0907115B \xf1\x890007',
-      b'\xf1\x878V0907404A \xf1\x890005',
-      b'\xf1\x878V0907404G \xf1\x890005',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300044T \xf1\x895245',
-      b'\xf1\x870CW300048  \xf1\x895201',
-      b'\xf1\x870D9300012  \xf1\x894912',
-      b'\xf1\x870D9300012  \xf1\x894931',
-      b'\xf1\x870D9300012L \xf1\x894521',
-      b'\xf1\x870D9300012K \xf1\x894513',
-      b'\xf1\x870D9300013B \xf1\x894902',
-      b'\xf1\x870D9300013B \xf1\x894931',
-      b'\xf1\x870D9300041N \xf1\x894512',
-      b'\xf1\x870D9300043T \xf1\x899699',
-      b'\xf1\x870DD300046  \xf1\x891604',
-      b'\xf1\x870DD300046A \xf1\x891602',
-      b'\xf1\x870DD300046F \xf1\x891602',
-      b'\xf1\x870DD300046G \xf1\x891601',
-      b'\xf1\x870DL300012E \xf1\x892012',
-      b'\xf1\x870DL300012H \xf1\x892112',
-      b'\xf1\x870GC300011  \xf1\x890403',
-      b'\xf1\x870GC300013M \xf1\x892402',
-      b'\xf1\x870GC300042J \xf1\x891402',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655AB\xf1\x890388\xf1\x82\0211111001111111206110412111321139114',
-      b'\xf1\x875Q0959655AM\xf1\x890315\xf1\x82\x1311111111111111311411011231129321212100',
-      b'\xf1\x875Q0959655AM\xf1\x890318\xf1\x82\x1311111111111112311411011531159321212100',
-      b'\xf1\x875Q0959655AR\xf1\x890315\xf1\x82\x1311110011131115311211012331239321212100',
-      b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100',
-      b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221',
-      b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13111112111111--241115141112221291163221',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111211--261117141112231291163221',
-      b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112110004110411111421149114',
-      b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112111104110411111521159114',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561G01A13A0',
-      b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566G0HA14A1',
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566G0HA14A1',
-      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1',
-      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1',
-      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0JA13A1',
-      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1',
-      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00303A0',
-      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00803A0',
-      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0503G0G803A0',
-      b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\00516G00804A1',
-      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516G00804A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521G00807A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x875Q0907567M \xf1\x890398\xf1\x82\x0101',
-      b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\x0101',
-      b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
-      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
-      b'\xf1\x875Q0907572G \xf1\x890571',
-      b'\xf1\x875Q0907572H \xf1\x890620',
-      b'\xf1\x875Q0907572P \xf1\x890682',
-    ],
-  },
-  CAR.AUDI_Q2_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906027JT\xf1\x894145',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300041F \xf1\x891006',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655BD\xf1\x890336\xf1\x82\x1311111111111100311211011231129321312111',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571F60511A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572M \xf1\x890233',
-    ],
-  },
-  CAR.AUDI_Q3_MK2: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8705E906018N \xf1\x899970',
-      b'\xf1\x8705L906022M \xf1\x890901',
-      b'\xf1\x8783A906259  \xf1\x890001',
-      b'\xf1\x8783A906259  \xf1\x890005',
-      b'\xf1\x8783A906259C \xf1\x890002',
-      b'\xf1\x8783A906259D \xf1\x890001',
-      b'\xf1\x8783A906259F \xf1\x890001',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x8709G927158CN\xf1\x893608',
-      b'\xf1\x8709G927158FL\xf1\x893758',
-      b'\xf1\x8709G927158GG\xf1\x893825',
-      b'\xf1\x8709G927158GP\xf1\x893937',
-      b'\xf1\x870GC300045D \xf1\x892802',
-      b'\xf1\x870GC300046F \xf1\x892701',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655BF\xf1\x890403\xf1\x82\x1321211111211200311121232152219321422111',
-      b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218C219321532111',
-      b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111224118A119321532111',
-      b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111237116A119321532111',
-      b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218A219321532111',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000800',
-      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60533A1',
-      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60733A1',
-      b'\xf1\x875TA907145D \xf1\x891051\xf1\x82\x001PG60A1P7N',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572R \xf1\x890372',
-      b'\xf1\x872Q0907572T \xf1\x890383',
-    ],
-  },
-  CAR.SEAT_ATECA_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906027KA\xf1\x893749',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870D9300014S \xf1\x895202',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\0161212001211001305121211052900',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\00571N60511A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572M \xf1\x890233',
-    ],
-  },
-  CAR.SEAT_LEON_MK3: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704L906021EL\xf1\x897542',
-      b'\xf1\x8704L906026BP\xf1\x891198',
-      b'\xf1\x8704L906026BP\xf1\x897608',
-      b'\xf1\x8704L906056CR\xf1\x892181',
-      b'\xf1\x8704L906056CR\xf1\x892797',
-      b'\xf1\x8705E906018AS\xf1\x899596',
-      b'\xf1\x878V0906264H \xf1\x890005',
-      b'\xf1\x878V0907115E \xf1\x890002',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300041D \xf1\x891004',
-      b'\xf1\x870CW300041G \xf1\x891003',
-      b'\xf1\x870CW300050J \xf1\x891908',
-      b'\xf1\x870D9300042M \xf1\x895016',
-      b'\xf1\x870GC300043A \xf1\x892304',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200',
-      b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11110011110011021511110200',
-      b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200',
-      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900',
-      b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1312001313001305171311052900',
-      b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\0161312001313001305171311052900',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521N01842A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521N01342A1',
-      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511N01805A0',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N01309A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521N05808A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\00101',
-      b'\xf1\x875Q0907572H \xf1\x890620',
-      b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
-      b'\xf1\x875Q0907572P \xf1\x890682',
-      b'\xf1\x875Q0907572R \xf1\x890771',
-    ],
-  },
-  CAR.SKODA_FABIA_MK4: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8705E906018CF\xf1\x891905',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300051M \xf1\x891936',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100110200--1111120749',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x872Q1909144S \xf1\x896042',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-    ],
-  },
-  CAR.SKODA_KAMIQ_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8705C906032M \xf1\x891333',
-      b'\xf1\x8705E906013CK\xf1\x892540',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300020  \xf1\x891906',
-      b'\xf1\x870CW300020T \xf1\x892204',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\0222221042111042121040404042E2711152H14',
-      b'\xf1\x872Q0959655BJ\xf1\x890412\xf1\x82\x132223042111042121040404042B251215391423',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x872Q1909144M \xf1\x896041',
-      b'\xf1\x872Q1909144AB\xf1\x896050',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572T \xf1\x890383',
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-    ],
-  },
-  CAR.SKODA_KAROQ_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8705E906013H \xf1\x892407',
-      b'\xf1\x8705E906018P \xf1\x895472',
-      b'\xf1\x8705E906018P \xf1\x896020',
-      b'\xf1\x8705L906022BS\xf1\x890913',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300020T \xf1\x892202',
-      b'\xf1\x870CW300041S \xf1\x891615',
-      b'\xf1\x870GC300014L \xf1\x892802',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1312110012120011111100010200--2521210749',
-      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001101131112012100',
-      b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\0161213001211001101131122012100',
-      b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100500',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572AB\xf1\x890397',
-      b'\xf1\x872Q0907572M \xf1\x890233',
-      b'\xf1\x872Q0907572T \xf1\x890383',
-    ],
-  },
-  CAR.SKODA_KODIAQ_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906027DD\xf1\x893123',
-      b'\xf1\x8704E906027NB\xf1\x899504',
-      b'\xf1\x8704E906027NB\xf1\x896517',
-      b'\xf1\x8704L906026DE\xf1\x895418',
-      b'\xf1\x8704L906026EJ\xf1\x893661',
-      b'\xf1\x8704L906026HT\xf1\x893617',
-      b'\xf1\x8783A907115E \xf1\x890001',
-      b'\xf1\x8705E906018DJ\xf1\x890915',
-      b'\xf1\x8705E906018DJ\xf1\x891903',
-      b'\xf1\x875NA907115E \xf1\x890003',
-      b'\xf1\x875NA907115E \xf1\x890005',
-      b'\xf1\x875NA906259E \xf1\x890003',
-      b'\xf1\x8704E906027LD\xf1\x893433',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870D9300043  \xf1\x895202',
-      b'\xf1\x870DL300011N \xf1\x892014',
-      b'\xf1\x870DL300012M \xf1\x892107',
-      b'\xf1\x870DL300012N \xf1\x892110',
-      b'\xf1\x870DL300013G \xf1\x892119',
-      b'\xf1\x870GC300014N \xf1\x892801',
-      b'\xf1\x870GC300019H \xf1\x892806',
-      b'\xf1\x870GC300046Q \xf1\x892802',
-      b'\xf1\x870D9300014S \xf1\x895201',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211',
-      b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
-      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1213001211001244212111442100',
-      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100',
-      b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111',
-      b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00',
-      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749',
-      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6060405',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600',
-      b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002LT61A2LOM',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572Q \xf1\x890342',
-      b'\xf1\x872Q0907572R \xf1\x890372',
-      b'\xf1\x872Q0907572T \xf1\x890383',
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-      b'\xf1\x872Q0907572AB\xf1\x890397',
-      b'\xf1\x872Q0907572M \xf1\x890233',
-    ],
-  },
-  CAR.SKODA_OCTAVIA_MK3: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704C906025L \xf1\x896198',
-      b'\xf1\x8704E906016ER\xf1\x895823',
-      b'\xf1\x8704E906027HD\xf1\x893742',
-      b'\xf1\x8704E906027MH\xf1\x894786',
-      b'\xf1\x8704L906021DT\xf1\x898127',
-      b'\xf1\x8704L906026BP\xf1\x897608',
-      b'\xf1\x8704L906026BS\xf1\x891541',
-      b'\xf1\x875G0906259C \xf1\x890002',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300041L \xf1\x891601',
-      b'\xf1\x870CW300041N \xf1\x891605',
-      b'\xf1\x870CW300043B \xf1\x891601',
-      b'\xf1\x870CW300043P \xf1\x891605',
-      b'\xf1\x870D9300041C \xf1\x894936',
-      b'\xf1\x870D9300041H \xf1\x895220',
-      b'\xf1\x870D9300041J \xf1\x894902',
-      b'\xf1\x870D9300041P \xf1\x894507',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200',
-      b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131',
-      b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100',
-      b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200',
-      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\0163221003221002105755331052100',
-      b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\x0e3221003221002105755331052100',
-      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e3221003221002105755331052100',
-      b'\xf1\x875QD959655  \xf1\x890388\xf1\x82\x111101000011110006110411111111119111',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A01513A1',
-      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\00521T00403A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1',
-      b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1',
-      b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
-      b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\00101',
-      b'\xf1\x875Q0907572J \xf1\x890654',
-      b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
-      b'\xf1\x875Q0907572P \xf1\x890682',
-      b'\xf1\x875Q0907572R \xf1\x890771',
-    ],
-  },
-  CAR.SKODA_SCALA_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704C906025AK\xf1\x897053',
-      b'\xf1\x8705C906032M \xf1\x892365',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300020  \xf1\x891907',
-      b'\xf1\x870CW300050  \xf1\x891709',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1211110411110411--04040404131111112H14',
-      b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\022111104111104112104040404111111112H14',
-      b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1311150411110411210404040417151215391413',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x872Q1909144M \xf1\x896041',
-      b'\xf1\x872Q1909144AB\xf1\x896050',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x872Q0907572R \xf1\x890372',
-      b'\xf1\x872Q0907572AA\xf1\x890396',
-    ],
-  },
-  CAR.SKODA_SUPERB_MK3: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704E906027BS\xf1\x892887',
-      b'\xf1\x8704E906027BT\xf1\x899042',
-      b'\xf1\x8704L906026ET\xf1\x891343',
-      b'\xf1\x8704L906026ET\xf1\x891990',
-      b'\xf1\x8704L906026FP\xf1\x891196',
-      b'\xf1\x8704L906026KA\xf1\x896014',
-      b'\xf1\x8704L906026KB\xf1\x894071',
-      b'\xf1\x8704L906026KD\xf1\x894798',
-      b'\xf1\x8704L906026MT\xf1\x893076',
-      b'\xf1\x873G0906259  \xf1\x890004',
-      b'\xf1\x873G0906259B \xf1\x890002',
-      b'\xf1\x873G0906259L \xf1\x890003',
-      b'\xf1\x873G0906264A \xf1\x890002',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x870CW300042H \xf1\x891601',
-      b'\xf1\x870CW300043B \xf1\x891603',
-      b'\xf1\x870CW300049Q \xf1\x890906',
-      b'\xf1\x870D9300011T \xf1\x894801',
-      b'\xf1\x870D9300012  \xf1\x894940',
-      b'\xf1\x870D9300013A \xf1\x894905',
-      b'\xf1\x870D9300014K \xf1\x895006',
-      b'\xf1\x870D9300041H \xf1\x894905',
-      b'\xf1\x870D9300042M \xf1\x895013',
-      b'\xf1\x870D9300043F \xf1\x895202',
-      b'\xf1\x870GC300013K \xf1\x892403',
-      b'\xf1\x870GC300014M \xf1\x892801',
-      b'\xf1\x870GC300019G \xf1\x892803',
-      b'\xf1\x870GC300043  \xf1\x892301',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111',
-      b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111',
-      b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111',
-      b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100',
-      b'\xf1\x875Q0959655AT\xf1\x890317\xf1\x82\x1331310031313100313131013131319331313100',
-      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
-      b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100',
-      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100',
-      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100',
-      b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100',
-      b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100',
-    ],
-    (Ecu.eps, 0x712, None): [
-      b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203',
-      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ050303',
-      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505',
-      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ060505',
-      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700',
-      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070500',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x873Q0907572B \xf1\x890192',
-      b'\xf1\x873Q0907572B \xf1\x890194',
-      b'\xf1\x873Q0907572C \xf1\x890195',
-      b'\xf1\x875Q0907572R \xf1\x890771',
-      b'\xf1\x875Q0907572S \xf1\x890780',
-    ],
-  },
-}
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 534a5abff..068b76985 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -22,6 +22,8 @@ from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_la
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
+from openpilot.selfdrive.controls.lib.latcontrol_indi import LatControlINDI
+from openpilot.selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.events import Events, ET
@@ -153,6 +155,11 @@ class Controls:
       safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
+    # Write previous route's CarParams
+    prev_cp = self.params.get("CarParamsPersistent")
+    if prev_cp is not None:
+      self.params.put("CarParamsPrevRoute", prev_cp)
+
     # Write CarParams for radard
     cp_bytes = self.CP.to_bytes()
     self.params.put("CarParams", cp_bytes)
@@ -178,6 +185,10 @@ class Controls:
       self.LaC = LatControlAngle(self.CP, self.CI)
     elif self.CP.lateralTuning.which() == 'pid':
       self.LaC = LatControlPID(self.CP, self.CI)
+    elif self.CP.lateralTuning.which() == 'indi':
+      self.LaC = LatControlINDI(self.CP, self.CI)
+    elif self.CP.lateralTuning.which() == 'lqr':
+      self.LaC = LatControlLQR(self.CP, self.CI)
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CI)
 
@@ -879,7 +890,8 @@ class Controls:
     controlsState.active = self.active
     controlsState.curvature = curvature
     controlsState.desiredCurvature = self.desired_curvature
-    controlsState.desiredCurvatureRate = self.desired_curvature_rate
+    # rick - deprecated
+    # controlsState.desiredCurvatureRate = self.desired_curvature_rate
     controlsState.state = self.state
     controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state
@@ -906,6 +918,8 @@ class Controls:
       controlsState.lateralControlState.torqueState = lac_log
     elif lat_tuning == 'indi':
       controlsState.lateralControlState.indiState = lac_log
+    elif lat_tuning == 'lqr':
+      controlsState.lateralControlState.lqrState = lac_log
 
     self.pm.send('controlsState', dat)
 
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index b988fd7e1..2c22953a0 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -4,7 +4,7 @@ from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.hybrid_modeld.constants import T_IDXS
+from openpilot.selfdrive.hybrid_modeld.constants import ModelConstants
 
 # WARNING: this value was determined based on the model's training distribution,
 #          model predictions above this speed can be unpredictable
@@ -13,7 +13,7 @@ V_CRUISE_MIN = 8
 V_CRUISE_MAX = 145
 V_CRUISE_UNSET = 255
 V_CRUISE_INITIAL = 40
-V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 40
+V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 55
 IMPERIAL_INCREMENT = 1.6  # should be CV.MPH_TO_KPH, but this causes rounding errors
 
 MIN_SPEED = 1.0
@@ -22,7 +22,6 @@ CAR_ROTATION_RADIUS = 0.0
 
 # EU guidelines
 MAX_LATERAL_JERK = 5.0
-
 MAX_VEL_ERR = 5.0
 
 ButtonEvent = car.CarState.ButtonEvent
@@ -183,7 +182,7 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
   # in high delay cases some corrections never even get commanded. So just use
   # psi to calculate a simple linearization of desired curvature
   current_curvature_desired = curvatures[0]
-  psi = interp(delay, T_IDXS[:CONTROL_N], psis)
+  psi = interp(delay, ModelConstants.T_IDXS[:CONTROL_N], psis)
   average_curvature_desired = psi / (v_ego * delay)
   desired_curvature = 2 * average_curvature_desired - current_curvature_desired
 
@@ -200,6 +199,16 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
   return safe_desired_curvature, safe_desired_curvature_rate
 
 
+# rick - we dont need this as it is for the latest model (0.9.5+) + controlsd
+def clip_curvature(v_ego, prev_curvature, new_curvature):
+  v_ego = max(MIN_SPEED, v_ego)
+  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
+  safe_desired_curvature = clip(new_curvature,
+                                prev_curvature - max_curvature_rate * DT_CTRL,
+                                prev_curvature + max_curvature_rate * DT_CTRL)
+
+  return safe_desired_curvature
+
 def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
                  torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
   friction_interp = interp(
diff --git a/selfdrive/controls/lib/dynamic_endtoend_controller.py b/selfdrive/controls/lib/dynamic_endtoend_controller.py
index 57579b495..ab804269d 100644
--- a/selfdrive/controls/lib/dynamic_endtoend_controller.py
+++ b/selfdrive/controls/lib/dynamic_endtoend_controller.py
@@ -21,13 +21,13 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 #
-# Version = 2023-12-13
+# Version = 2024-02-26
 from common.numpy_fast import interp
 
 # d-e2e, from modeldata.h
 TRAJECTORY_SIZE = 33
 
-LEAD_WINDOW_SIZE = 5
+LEAD_WINDOW_SIZE = 3
 LEAD_PROB = 0.6
 
 SLOW_DOWN_WINDOW_SIZE = 5
@@ -42,13 +42,13 @@ SLOWNESS_CRUISE_OFFSET = 1.05
 DANGEROUS_TTC_WINDOW_SIZE = 5
 DANGEROUS_TTC = 2.0
 
-HIGHWAY_CRUISE_KPH = 75
+HIGHWAY_CRUISE_KPH = 70
 
 STOP_AND_GO_FRAME = 60
 
 SET_MODE_TIMEOUT = 10
 
-MPC_FCW_WINDOW_SIZE = 5
+MPC_FCW_WINDOW_SIZE = 10
 MPC_FCW_PROB = 0.6
 
 class SNG_State:
@@ -196,7 +196,7 @@ class DynamicEndtoEndController:
     # when at highway cruise and SNG: blended
     # ensuring blended mode is used because acc is bad at catching SNG lead car
     # especially those who accel very fast and then brake very hard.
-    if self._sng_state == SNG_State.going and self._v_cruise_kph >= HIGHWAY_CRUISE_KPH:
+    if self._sng_state == SNG_State.going and self._v_cruise_kph < HIGHWAY_CRUISE_KPH:
       self._set_mode('blended')
       return
 
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 33ed3fccb..a94dfc103 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -968,7 +968,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
 if __name__ == '__main__':
   # print all alerts by type and priority
-  from cereal.services import service_list
+  from cereal.services import SERVICE_LIST
   from collections import defaultdict, OrderedDict
 
   event_names = {v: k for k, v in EventName.schema.enumerants.items()}
@@ -976,7 +976,7 @@ if __name__ == '__main__':
 
   CP = car.CarParams.new_message()
   CS = car.CarState.new_message()
-  sm = messaging.SubMaster(list(service_list.keys()))
+  sm = messaging.SubMaster(list(SERVICE_LIST.keys()))
 
   for i, alerts in EVENTS.items():
     for et, alert in alerts.items():
diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py
new file mode 100644
index 000000000..dca82c672
--- /dev/null
+++ b/selfdrive/controls/lib/latcontrol_indi.py
@@ -0,0 +1,120 @@
+import math
+import numpy as np
+
+from cereal import log
+from common.filter_simple import FirstOrderFilter
+from common.numpy_fast import clip, interp
+from common.realtime import DT_CTRL
+from selfdrive.controls.lib.latcontrol import LatControl
+
+
+class LatControlINDI(LatControl):
+  def __init__(self, CP, CI):
+    super().__init__(CP, CI)
+    self.angle_steers_des = 0.
+
+    A = np.array([[1.0, DT_CTRL, 0.0],
+                  [0.0, 1.0, DT_CTRL],
+                  [0.0, 0.0, 1.0]])
+    C = np.array([[1.0, 0.0, 0.0],
+                  [0.0, 1.0, 0.0]])
+
+    # Q = np.matrix([[1e-2, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 10.0]])
+    # R = np.matrix([[1e-2, 0.0], [0.0, 1e3]])
+
+    # (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R)
+    # K = np.transpose(K)
+    K = np.array([[7.30262179e-01, 2.07003658e-04],
+                  [7.29394177e+00, 1.39159419e-02],
+                  [1.71022442e+01, 3.38495381e-02]])
+
+    self.speed = 0.
+
+    self.K = K
+    self.A_K = A - np.dot(K, C)
+    self.x = np.array([[0.], [0.], [0.]])
+
+    self._RC = (CP.lateralTuning.indi.timeConstantBP, CP.lateralTuning.indi.timeConstantV)
+    self._G = (CP.lateralTuning.indi.actuatorEffectivenessBP, CP.lateralTuning.indi.actuatorEffectivenessV)
+    self._outer_loop_gain = (CP.lateralTuning.indi.outerLoopGainBP, CP.lateralTuning.indi.outerLoopGainV)
+    self._inner_loop_gain = (CP.lateralTuning.indi.innerLoopGainBP, CP.lateralTuning.indi.innerLoopGainV)
+
+    self.steer_filter = FirstOrderFilter(0., self.RC, DT_CTRL)
+    self.reset()
+
+  @property
+  def RC(self):
+    return interp(self.speed, self._RC[0], self._RC[1])
+
+  @property
+  def G(self):
+    return interp(self.speed, self._G[0], self._G[1])
+
+  @property
+  def outer_loop_gain(self):
+    return interp(self.speed, self._outer_loop_gain[0], self._outer_loop_gain[1])
+
+  @property
+  def inner_loop_gain(self):
+    return interp(self.speed, self._inner_loop_gain[0], self._inner_loop_gain[1])
+
+  def reset(self):
+    super().reset()
+    self.steer_filter.x = 0.
+    self.speed = 0.
+
+  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
+    self.speed = CS.vEgo
+    # Update Kalman filter
+    y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]])
+    self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y)
+
+    indi_log = log.ControlsState.LateralINDIState.new_message()
+    indi_log.steeringAngleDeg = math.degrees(self.x[0])
+    indi_log.steeringRateDeg = math.degrees(self.x[1])
+    indi_log.steeringAccelDeg = math.degrees(self.x[2])
+
+    steers_des = VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)
+    steers_des += math.radians(params.angleOffsetDeg)
+    indi_log.steeringAngleDesiredDeg = math.degrees(steers_des)
+
+    # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
+    rate_des = VM.get_steer_from_curvature(-desired_curvature_rate, CS.vEgo, 0)
+    indi_log.steeringRateDesiredDeg = math.degrees(rate_des)
+
+    if not active:
+      indi_log.active = False
+      self.steer_filter.x = 0.0
+      output_steer = 0
+    else:
+      # Expected actuator value
+      self.steer_filter.update_alpha(self.RC)
+      self.steer_filter.update(last_actuators.steer)
+
+      # Compute acceleration error
+      rate_sp = self.outer_loop_gain * (steers_des - self.x[0]) + rate_des
+      accel_sp = self.inner_loop_gain * (rate_sp - self.x[1])
+      accel_error = accel_sp - self.x[2]
+
+      # Compute change in actuator
+      g_inv = 1. / self.G
+      delta_u = g_inv * accel_error
+
+      # If steering pressed, only allow wind down
+      if CS.steeringPressed and (delta_u * last_actuators.steer > 0):
+        delta_u = 0
+
+      output_steer = self.steer_filter.x + delta_u
+
+      output_steer = clip(output_steer, -self.steer_max, self.steer_max)
+
+      indi_log.active = True
+      indi_log.rateSetPoint = float(rate_sp)
+      indi_log.accelSetPoint = float(accel_sp)
+      indi_log.accelError = float(accel_error)
+      indi_log.delayedOutput = float(self.steer_filter.x)
+      indi_log.delta = float(delta_u)
+      indi_log.output = float(output_steer)
+      indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
+
+    return float(output_steer), float(steers_des), indi_log
diff --git a/selfdrive/controls/lib/latcontrol_lqr.py b/selfdrive/controls/lib/latcontrol_lqr.py
new file mode 100644
index 000000000..af1b5c99c
--- /dev/null
+++ b/selfdrive/controls/lib/latcontrol_lqr.py
@@ -0,0 +1,85 @@
+import math
+import numpy as np
+
+from common.numpy_fast import clip
+from common.realtime import DT_CTRL
+from cereal import log
+from selfdrive.controls.lib.latcontrol import LatControl
+
+
+class LatControlLQR(LatControl):
+  def __init__(self, CP, CI):
+    super().__init__(CP, CI)
+    self.scale = CP.lateralTuning.lqr.scale
+    self.ki = CP.lateralTuning.lqr.ki
+
+    self.A = np.array(CP.lateralTuning.lqr.a).reshape((2, 2))
+    self.B = np.array(CP.lateralTuning.lqr.b).reshape((2, 1))
+    self.C = np.array(CP.lateralTuning.lqr.c).reshape((1, 2))
+    self.K = np.array(CP.lateralTuning.lqr.k).reshape((1, 2))
+    self.L = np.array(CP.lateralTuning.lqr.l).reshape((2, 1))
+    self.dc_gain = CP.lateralTuning.lqr.dcGain
+
+    self.x_hat = np.array([[0], [0]])
+    self.i_unwind_rate = 0.3 * DT_CTRL
+    self.i_rate = 1.0 * DT_CTRL
+
+    self.reset()
+
+  def reset(self):
+    super().reset()
+    self.i_lqr = 0.0
+
+  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
+    # def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate):
+    lqr_log = log.ControlsState.LateralLQRState.new_message()
+
+    torque_scale = (0.45 + CS.vEgo / 60.0)**2  # Scale actuator model with speed
+
+    # Subtract offset. Zero angle should correspond to zero torque
+    steering_angle_no_offset = CS.steeringAngleDeg - params.angleOffsetAverageDeg
+
+    desired_angle = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
+
+    instant_offset = params.angleOffsetDeg - params.angleOffsetAverageDeg
+    desired_angle += instant_offset  # Only add offset that originates from vehicle model errors
+    lqr_log.steeringAngleDesiredDeg = desired_angle
+
+    # Update Kalman filter
+    angle_steers_k = float(self.C.dot(self.x_hat))
+    e = steering_angle_no_offset - angle_steers_k
+    self.x_hat = self.A.dot(self.x_hat) + self.B.dot(CS.steeringTorqueEps / torque_scale) + self.L.dot(e)
+
+    if not active:
+      lqr_log.active = False
+      lqr_output = 0.
+      output_steer = 0.
+      self.reset()
+    else:
+      lqr_log.active = True
+
+      # LQR
+      u_lqr = float(desired_angle / self.dc_gain - self.K.dot(self.x_hat))
+      lqr_output = torque_scale * u_lqr / self.scale
+
+      # Integrator
+      if CS.steeringPressed:
+        self.i_lqr -= self.i_unwind_rate * float(np.sign(self.i_lqr))
+      else:
+        error = desired_angle - angle_steers_k
+        i = self.i_lqr + self.ki * self.i_rate * error
+        control = lqr_output + i
+
+        if (error >= 0 and (control <= self.steer_max or i < 0.0)) or \
+          (error <= 0 and (control >= -self.steer_max or i > 0.0)):
+          self.i_lqr = i
+
+      output_steer = lqr_output + self.i_lqr
+      output_steer = clip(output_steer, -self.steer_max, self.steer_max)
+
+    lqr_log.steeringAngleDeg = angle_steers_k
+    lqr_log.i = self.i_lqr
+    lqr_log.output = output_steer
+    lqr_log.lqrOutput = lqr_output
+    lqr_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
+    return output_steer, desired_angle, lqr_log
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.h b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.h
deleted file mode 100644
index 842fc03df..000000000
--- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_0_fun.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef lat_Y_0_COST
-#define lat_Y_0_COST
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-int lat_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int lat_cost_y_0_fun_work(int *, int *, int *, int *);
-const int *lat_cost_y_0_fun_sparsity_in(int);
-const int *lat_cost_y_0_fun_sparsity_out(int);
-int lat_cost_y_0_fun_n_in(void);
-int lat_cost_y_0_fun_n_out(void);
-
-int lat_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int lat_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *lat_cost_y_0_fun_jac_ut_xt_sparsity_in(int);
-const int *lat_cost_y_0_fun_jac_ut_xt_sparsity_out(int);
-int lat_cost_y_0_fun_jac_ut_xt_n_in(void);
-int lat_cost_y_0_fun_jac_ut_xt_n_out(void);
-
-int lat_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int lat_cost_y_0_hess_work(int *, int *, int *, int *);
-const int *lat_cost_y_0_hess_sparsity_in(int);
-const int *lat_cost_y_0_hess_sparsity_out(int);
-int lat_cost_y_0_hess_n_in(void);
-int lat_cost_y_0_hess_n_out(void);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // lat_Y_0_COST
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.h b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.h
deleted file mode 100644
index 9e444b984..000000000
--- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_e_fun.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef lat_Y_E_COST
-#define lat_Y_E_COST
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-int lat_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int lat_cost_y_e_fun_work(int *, int *, int *, int *);
-const int *lat_cost_y_e_fun_sparsity_in(int);
-const int *lat_cost_y_e_fun_sparsity_out(int);
-int lat_cost_y_e_fun_n_in(void);
-int lat_cost_y_e_fun_n_out(void);
-
-int lat_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int lat_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *lat_cost_y_e_fun_jac_ut_xt_sparsity_in(int);
-const int *lat_cost_y_e_fun_jac_ut_xt_sparsity_out(int);
-int lat_cost_y_e_fun_jac_ut_xt_n_in(void);
-int lat_cost_y_e_fun_jac_ut_xt_n_out(void);
-
-int lat_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int lat_cost_y_e_hess_work(int *, int *, int *, int *);
-const int *lat_cost_y_e_hess_sparsity_in(int);
-const int *lat_cost_y_e_hess_sparsity_out(int);
-int lat_cost_y_e_hess_n_in(void);
-int lat_cost_y_e_hess_n_out(void);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // lat_Y_E_COST
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.h b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.h
deleted file mode 100644
index 0d475171f..000000000
--- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost_y_fun.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef lat_Y_COST
-#define lat_Y_COST
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-int lat_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int lat_cost_y_fun_work(int *, int *, int *, int *);
-const int *lat_cost_y_fun_sparsity_in(int);
-const int *lat_cost_y_fun_sparsity_out(int);
-int lat_cost_y_fun_n_in(void);
-int lat_cost_y_fun_n_out(void);
-
-int lat_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int lat_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *lat_cost_y_fun_jac_ut_xt_sparsity_in(int);
-const int *lat_cost_y_fun_jac_ut_xt_sparsity_out(int);
-int lat_cost_y_fun_jac_ut_xt_n_in(void);
-int lat_cost_y_fun_jac_ut_xt_n_out(void);
-
-int lat_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int lat_cost_y_hess_work(int *, int *, int *, int *);
-const int *lat_cost_y_hess_sparsity_in(int);
-const int *lat_cost_y_hess_sparsity_out(int);
-int lat_cost_y_hess_n_in(void);
-int lat_cost_y_hess_n_out(void);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // lat_Y_COST
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/make_sfun_lat.m b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/make_sfun_lat.m
deleted file mode 100644
index 55b3b3a48..000000000
--- a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/make_sfun_lat.m
+++ /dev/null
@@ -1,125 +0,0 @@
-%
-% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-%
-
-SOURCES = { ...
-            'lat_model/lat_expl_ode_fun.c', ...
-            'lat_model/lat_expl_vde_forw.c',...
-            'lat_cost/lat_cost_y_0_fun.c',...
-            'lat_cost/lat_cost_y_0_fun_jac_ut_xt.c',...
-            'lat_cost/lat_cost_y_0_hess.c',...
-            'lat_cost/lat_cost_y_fun.c',...
-            'lat_cost/lat_cost_y_fun_jac_ut_xt.c',...
-            'lat_cost/lat_cost_y_hess.c',...
-            'lat_cost/lat_cost_y_e_fun.c',...
-            'lat_cost/lat_cost_y_e_fun_jac_ut_xt.c',...
-            'lat_cost/lat_cost_y_e_hess.c',...
-            'acados_solver_sfunction_lat.c', ...
-            'acados_solver_lat.c'
-          };
-
-INC_PATH = '/data/openpilot/third_party/acados/include';
-
-INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ...
-        ['-I', fullfile(INC_PATH, 'hpipm', 'include')], ...
-        ['-I', fullfile(INC_PATH, 'acados')], ...
-        ['-I', fullfile(INC_PATH)]};
-
-
-
-CFLAGS = 'CFLAGS=$CFLAGS';
-LDFLAGS = 'LDFLAGS=$LDFLAGS';
-COMPFLAGS = 'COMPFLAGS=$COMPFLAGS';
-COMPDEFINES = 'COMPDEFINES=$COMPDEFINES';
-
-
-
-LIB_PATH = ['-L', fullfile('/data/openpilot/third_party/acados/lib')];
-
-LIBS = {'-lacados', '-lhpipm', '-lblasfeo'};
-
-% acados linking libraries and flags
-    
-
-mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
-    LIB_PATH, LIBS{:}, SOURCES{:}, ...
-    '-output', 'acados_solver_sfunction_lat' );
-
-fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_lat', '.', ...
-    eval('mexext')] );
-
-
-%% print note on usage of s-function
-fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
-input_note = 'Inputs are:\n';
-i_in = 1;
-input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',...
-                    ' size [4]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',...
-                    ' size [4]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N+1,',...
-                    ' size [34]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [5]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',...
-                    ' size [75]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [3]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') lbx for shooting nodes 1 to N-1, size [30]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') ubx for shooting nodes 1 to N-1, size [30]\n ');
-i_in = i_in + 1;
-
-fprintf(input_note)
-
-disp(' ')
-
-output_note = 'Outputs are:\n';
-i_out = 0;
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [1]\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') KKT residual\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n ');
-
-fprintf(output_note)
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
index 25d36d712..9af4a2afd 100755
--- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
@@ -5,7 +5,7 @@ import numpy as np
 
 from casadi import SX, vertcat, sin, cos
 # WARNING: imports outside of constants will not trigger a rebuild
-from openpilot.selfdrive.hybrid_modeld.constants import T_IDXS
+from openpilot.selfdrive.hybrid_modeld.constants import ModelConstants
 
 if __name__ == '__main__':  # generating code
   from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
@@ -66,7 +66,7 @@ def gen_lat_ocp():
   ocp = AcadosOcp()
   ocp.model = gen_lat_model()
 
-  Tf = np.array(T_IDXS)[N]
+  Tf = np.array(ModelConstants.T_IDXS)[N]
 
   # set dimensions
   ocp.dims.N = N
@@ -122,7 +122,7 @@ def gen_lat_ocp():
 
   # set prediction horizon
   ocp.solver_options.tf = Tf
-  ocp.solver_options.shooting_nodes = np.array(T_IDXS)[:N+1]
+  ocp.solver_options.shooting_nodes = np.array(ModelConstants.T_IDXS)[:N+1]
 
   ocp.code_export_directory = EXPORT_DIR
   return ocp
diff --git a/selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/make_sfun_lat.m b/selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/make_sfun_lat.m
deleted file mode 100644
index 30301675c..000000000
--- a/selfdrive/controls/lib/legacy_lateral_mpc_lib/c_generated_code/make_sfun_lat.m
+++ /dev/null
@@ -1,125 +0,0 @@
-%
-% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-%
-
-SOURCES = { ...
-            'lat_model/lat_expl_ode_fun.c', ...
-            'lat_model/lat_expl_vde_forw.c',...
-            'lat_cost/lat_cost_y_0_fun.c',...
-            'lat_cost/lat_cost_y_0_fun_jac_ut_xt.c',...
-            'lat_cost/lat_cost_y_0_hess.c',...
-            'lat_cost/lat_cost_y_fun.c',...
-            'lat_cost/lat_cost_y_fun_jac_ut_xt.c',...
-            'lat_cost/lat_cost_y_hess.c',...
-            'lat_cost/lat_cost_y_e_fun.c',...
-            'lat_cost/lat_cost_y_e_fun_jac_ut_xt.c',...
-            'lat_cost/lat_cost_y_e_hess.c',...
-            'acados_solver_sfunction_lat.c', ...
-            'acados_solver_lat.c'
-          };
-
-INC_PATH = '/data/openpilot/third_party/acados/include';
-
-INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ...
-        ['-I', fullfile(INC_PATH, 'hpipm', 'include')], ...
-        ['-I', fullfile(INC_PATH, 'acados')], ...
-        ['-I', fullfile(INC_PATH)]};
-
-
-
-CFLAGS = 'CFLAGS=$CFLAGS';
-LDFLAGS = 'LDFLAGS=$LDFLAGS';
-COMPFLAGS = 'COMPFLAGS=$COMPFLAGS';
-COMPDEFINES = 'COMPDEFINES=$COMPDEFINES';
-
-
-
-LIB_PATH = ['-L', fullfile('/data/openpilot/third_party/acados/lib')];
-
-LIBS = {'-lacados', '-lhpipm', '-lblasfeo'};
-
-% acados linking libraries and flags
-    
-
-mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
-    LIB_PATH, LIBS{:}, SOURCES{:}, ...
-    '-output', 'acados_solver_sfunction_lat' );
-
-fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_lat', '.', ...
-    eval('mexext')] );
-
-
-%% print note on usage of s-function
-fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
-input_note = 'Inputs are:\n';
-i_in = 1;
-input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',...
-                    ' size [4]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',...
-                    ' size [4]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N+1,',...
-                    ' size [34]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [3]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',...
-                    ' size [45]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [2]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') lbx for shooting nodes 1 to N-1, size [30]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') ubx for shooting nodes 1 to N-1, size [30]\n ');
-i_in = i_in + 1;
-
-fprintf(input_note)
-
-disp(' ')
-
-output_note = 'Outputs are:\n';
-i_out = 0;
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [1]\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') KKT residual\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n ');
-
-fprintf(output_note)
diff --git a/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/make_sfun_long.m b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/make_sfun_long.m
deleted file mode 100644
index bcbfd4b1d..000000000
--- a/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/c_generated_code/make_sfun_long.m
+++ /dev/null
@@ -1,128 +0,0 @@
-%
-% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-%
-
-SOURCES = { ...
-            'long_model/long_expl_ode_fun.c', ...
-            'long_model/long_expl_vde_forw.c',...
-            'long_cost/long_cost_y_0_fun.c',...
-            'long_cost/long_cost_y_0_fun_jac_ut_xt.c',...
-            'long_cost/long_cost_y_0_hess.c',...
-            'long_cost/long_cost_y_fun.c',...
-            'long_cost/long_cost_y_fun_jac_ut_xt.c',...
-            'long_cost/long_cost_y_hess.c',...
-            'long_cost/long_cost_y_e_fun.c',...
-            'long_cost/long_cost_y_e_fun_jac_ut_xt.c',...
-            'long_cost/long_cost_y_e_hess.c',...
-            'long_constraints/long_constr_h_fun.c', ...
-            'long_constraints/long_constr_h_fun_jac_uxt_zt_hess.c', ...
-            'long_constraints/long_constr_h_fun_jac_uxt_zt.c', ...
-            'acados_solver_sfunction_long.c', ...
-            'acados_solver_long.c'
-          };
-
-INC_PATH = '/data/openpilot/third_party/acados/include';
-
-INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ...
-        ['-I', fullfile(INC_PATH, 'hpipm', 'include')], ...
-        ['-I', fullfile(INC_PATH, 'acados')], ...
-        ['-I', fullfile(INC_PATH)]};
-
-
-
-CFLAGS = 'CFLAGS=$CFLAGS';
-LDFLAGS = 'LDFLAGS=$LDFLAGS';
-COMPFLAGS = 'COMPFLAGS=$COMPFLAGS';
-COMPDEFINES = 'COMPDEFINES=$COMPDEFINES';
-
-
-
-LIB_PATH = ['-L', fullfile('/data/openpilot/third_party/acados/lib')];
-
-LIBS = {'-lacados', '-lhpipm', '-lblasfeo'};
-
-% acados linking libraries and flags
-    
-
-mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
-    LIB_PATH, LIBS{:}, SOURCES{:}, ...
-    '-output', 'acados_solver_sfunction_long' );
-
-fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_long', '.', ...
-    eval('mexext')] );
-
-
-%% print note on usage of s-function
-fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
-input_note = 'Inputs are:\n';
-i_in = 1;
-input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',...
-                    ' size [3]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',...
-                    ' size [3]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N+1,',...
-                    ' size [65]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [6]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',...
-                    ' size [66]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [5]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') lh, size [4]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') uh, size [4]\n ');
-i_in = i_in + 1;
-
-fprintf(input_note)
-
-disp(' ')
-
-output_note = 'Outputs are:\n';
-i_out = 0;
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [1]\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') KKT residual\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n ');
-
-fprintf(output_note)
diff --git a/selfdrive/controls/lib/legacy_longitudinal_planner.py b/selfdrive/controls/lib/legacy_longitudinal_planner.py
index 1b1d64c74..31792685b 100644
--- a/selfdrive/controls/lib/legacy_longitudinal_planner.py
+++ b/selfdrive/controls/lib/legacy_longitudinal_planner.py
@@ -71,7 +71,9 @@ class LongitudinalPlanner:
     self.read_param()
     self.personality = log.LongitudinalPersonality.standard
     self.dp_long_use_df_tune = False
+    self.dp_long_use_df_tune_active = False
     self.dp_long_use_krkeegen_tune = False
+    self.dp_long_use_krkeegen_tune_active = False
 
   def read_param(self):
     self.personality = int(self.params.get('LongitudinalPersonality'))
@@ -132,7 +134,9 @@ class LongitudinalPlanner:
     self.mpc.set_weights(prev_accel_constraint, personality=self.personality)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    self.mpc.update(sm['carState'], sm['radarState'], v_cruise_sol, personality=self.personality, use_df_tune=self.dp_long_use_df_tune, use_krkeegen_tune=self.dp_long_use_krkeegen_tune)
+    self.dp_long_use_krkeegen_tune_active = self.dp_long_use_krkeegen_tune and v_ego <= 7.5
+    self.dp_long_use_df_tune_active = self.dp_long_use_df_tune and sm['radarState'].leadOne.status
+    self.mpc.update(sm['carState'], sm['radarState'], v_cruise_sol, personality=self.personality, use_df_tune=self.dp_long_use_df_tune_active, use_krkeegen_tune=self.dp_long_use_krkeegen_tune_active)
 
     self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution)
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 8e6200ea7..9ae8b2e96 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -3,7 +3,7 @@ from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone
 from openpilot.selfdrive.controls.lib.pid import PIDController
-from openpilot.selfdrive.hybrid_modeld.constants import T_IDXS
+from openpilot.selfdrive.hybrid_modeld.constants import ModelConstants
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
@@ -70,19 +70,19 @@ class LongControl:
     # Interp control trajectory
     speeds = long_plan.speeds
     if len(speeds) == CONTROL_N:
-      v_target_now = interp(t_since_plan, T_IDXS[:CONTROL_N], speeds)
-      a_target_now = interp(t_since_plan, T_IDXS[:CONTROL_N], long_plan.accels)
+      v_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
+      a_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], long_plan.accels)
 
-      v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
+      v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
       a_target_lower = 2 * (v_target_lower - v_target_now) / self.CP.longitudinalActuatorDelayLowerBound - a_target_now
 
-      v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
+      v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
       a_target_upper = 2 * (v_target_upper - v_target_now) / self.CP.longitudinalActuatorDelayUpperBound - a_target_now
 
       v_target = min(v_target_lower, v_target_upper)
       a_target = min(a_target_lower, a_target_upper)
 
-      v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, T_IDXS[:CONTROL_N], speeds)
+      v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, ModelConstants.T_IDXS[:CONTROL_N], speeds)
     else:
       v_target = 0.0
       v_target_now = 0.0
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_h_constraint.h b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_h_constraint.h
deleted file mode 100644
index eab2d0d9b..000000000
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_h_constraint.h
+++ /dev/null
@@ -1,63 +0,0 @@
-/*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef long_H_CONSTRAINT
-#define long_H_CONSTRAINT
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-int long_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int long_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *);
-const int *long_constr_h_fun_jac_uxt_zt_sparsity_in(int);
-const int *long_constr_h_fun_jac_uxt_zt_sparsity_out(int);
-int long_constr_h_fun_jac_uxt_zt_n_in(void);
-int long_constr_h_fun_jac_uxt_zt_n_out(void);
-
-int long_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int long_constr_h_fun_work(int *, int *, int *, int *);
-const int *long_constr_h_fun_sparsity_in(int);
-const int *long_constr_h_fun_sparsity_out(int);
-int long_constr_h_fun_n_in(void);
-int long_constr_h_fun_n_out(void);
-
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // long_H_CONSTRAINT
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.h b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.h
deleted file mode 100644
index 928ef7a8c..000000000
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef long_Y_0_COST
-#define long_Y_0_COST
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-int long_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int long_cost_y_0_fun_work(int *, int *, int *, int *);
-const int *long_cost_y_0_fun_sparsity_in(int);
-const int *long_cost_y_0_fun_sparsity_out(int);
-int long_cost_y_0_fun_n_in(void);
-int long_cost_y_0_fun_n_out(void);
-
-int long_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int long_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *long_cost_y_0_fun_jac_ut_xt_sparsity_in(int);
-const int *long_cost_y_0_fun_jac_ut_xt_sparsity_out(int);
-int long_cost_y_0_fun_jac_ut_xt_n_in(void);
-int long_cost_y_0_fun_jac_ut_xt_n_out(void);
-
-int long_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int long_cost_y_0_hess_work(int *, int *, int *, int *);
-const int *long_cost_y_0_hess_sparsity_in(int);
-const int *long_cost_y_0_hess_sparsity_out(int);
-int long_cost_y_0_hess_n_in(void);
-int long_cost_y_0_hess_n_out(void);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // long_Y_0_COST
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.h b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.h
deleted file mode 100644
index 41db4d27a..000000000
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef long_Y_E_COST
-#define long_Y_E_COST
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-int long_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int long_cost_y_e_fun_work(int *, int *, int *, int *);
-const int *long_cost_y_e_fun_sparsity_in(int);
-const int *long_cost_y_e_fun_sparsity_out(int);
-int long_cost_y_e_fun_n_in(void);
-int long_cost_y_e_fun_n_out(void);
-
-int long_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int long_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *long_cost_y_e_fun_jac_ut_xt_sparsity_in(int);
-const int *long_cost_y_e_fun_jac_ut_xt_sparsity_out(int);
-int long_cost_y_e_fun_jac_ut_xt_n_in(void);
-int long_cost_y_e_fun_jac_ut_xt_n_out(void);
-
-int long_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int long_cost_y_e_hess_work(int *, int *, int *, int *);
-const int *long_cost_y_e_hess_sparsity_in(int);
-const int *long_cost_y_e_hess_sparsity_out(int);
-int long_cost_y_e_hess_n_in(void);
-int long_cost_y_e_hess_n_out(void);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // long_Y_E_COST
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.h b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.h
deleted file mode 100644
index 63e9d84c0..000000000
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef long_Y_COST
-#define long_Y_COST
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-int long_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int long_cost_y_fun_work(int *, int *, int *, int *);
-const int *long_cost_y_fun_sparsity_in(int);
-const int *long_cost_y_fun_sparsity_out(int);
-int long_cost_y_fun_n_in(void);
-int long_cost_y_fun_n_out(void);
-
-int long_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int long_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *long_cost_y_fun_jac_ut_xt_sparsity_in(int);
-const int *long_cost_y_fun_jac_ut_xt_sparsity_out(int);
-int long_cost_y_fun_jac_ut_xt_n_in(void);
-int long_cost_y_fun_jac_ut_xt_n_out(void);
-
-int long_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int long_cost_y_hess_work(int *, int *, int *, int *);
-const int *long_cost_y_hess_sparsity_in(int);
-const int *long_cost_y_hess_sparsity_out(int);
-int long_cost_y_hess_n_in(void);
-int long_cost_y_hess_n_out(void);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // long_Y_COST
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/make_sfun_long.m b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/make_sfun_long.m
deleted file mode 100644
index d5a8463cc..000000000
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/make_sfun_long.m
+++ /dev/null
@@ -1,128 +0,0 @@
-%
-% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-%
-
-SOURCES = { ...
-            'long_model/long_expl_ode_fun.c', ...
-            'long_model/long_expl_vde_forw.c',...
-            'long_cost/long_cost_y_0_fun.c',...
-            'long_cost/long_cost_y_0_fun_jac_ut_xt.c',...
-            'long_cost/long_cost_y_0_hess.c',...
-            'long_cost/long_cost_y_fun.c',...
-            'long_cost/long_cost_y_fun_jac_ut_xt.c',...
-            'long_cost/long_cost_y_hess.c',...
-            'long_cost/long_cost_y_e_fun.c',...
-            'long_cost/long_cost_y_e_fun_jac_ut_xt.c',...
-            'long_cost/long_cost_y_e_hess.c',...
-            'long_constraints/long_constr_h_fun.c', ...
-            'long_constraints/long_constr_h_fun_jac_uxt_zt_hess.c', ...
-            'long_constraints/long_constr_h_fun_jac_uxt_zt.c', ...
-            'acados_solver_sfunction_long.c', ...
-            'acados_solver_long.c'
-          };
-
-INC_PATH = '/data/openpilot/third_party/acados/include';
-
-INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ...
-        ['-I', fullfile(INC_PATH, 'hpipm', 'include')], ...
-        ['-I', fullfile(INC_PATH, 'acados')], ...
-        ['-I', fullfile(INC_PATH)]};
-
-
-
-CFLAGS = 'CFLAGS=$CFLAGS';
-LDFLAGS = 'LDFLAGS=$LDFLAGS';
-COMPFLAGS = 'COMPFLAGS=$COMPFLAGS';
-COMPDEFINES = 'COMPDEFINES=$COMPDEFINES';
-
-
-
-LIB_PATH = ['-L', fullfile('/data/openpilot/third_party/acados/lib')];
-
-LIBS = {'-lacados', '-lhpipm', '-lblasfeo'};
-
-% acados linking libraries and flags
-    
-
-mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
-    LIB_PATH, LIBS{:}, SOURCES{:}, ...
-    '-output', 'acados_solver_sfunction_long' );
-
-fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_long', '.', ...
-    eval('mexext')] );
-
-
-%% print note on usage of s-function
-fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
-input_note = 'Inputs are:\n';
-i_in = 1;
-input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',...
-                    ' size [3]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',...
-                    ' size [3]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N+1,',...
-                    ' size [78]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [6]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',...
-                    ' size [66]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [5]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') lh, size [4]\n ');
-i_in = i_in + 1;
-input_note = strcat(input_note, num2str(i_in), ') uh, size [4]\n ');
-i_in = i_in + 1;
-
-fprintf(input_note)
-
-disp(' ')
-
-output_note = 'Outputs are:\n';
-i_out = 0;
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [1]\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') KKT residual\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time\n ');
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n ');
-
-fprintf(output_note)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 9b621cb62..31bda9ca5 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -314,7 +314,7 @@ class LongitudinalMpc:
     self.x0[1] = v
     self.x0[2] = a
     if abs(v_prev - v) > 2.:  # probably only helps if v < v_prev
-      for i in range(0, N+1):
+      for i in range(N+1):
         self.solver.set(i, 'x', self.x0)
 
   @staticmethod
@@ -426,7 +426,7 @@ class LongitudinalMpc:
 
     self.run()
     if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and
-        radarstate.leadOne.modelProb > 0.9):
+      radarstate.leadOne.modelProb > 0.9):
       self.crash_cnt += 1
     else:
       self.crash_cnt = 0
@@ -437,7 +437,7 @@ class LongitudinalMpc:
       if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0):
         self.source = 'lead0'
       if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0) and \
-          (lead_1_obstacle[0] - lead_0_obstacle[0]):
+        (lead_1_obstacle[0] - lead_0_obstacle[0]):
         self.source = 'lead1'
 
   def run(self):
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index cea96439f..1a36e5292 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -9,7 +9,7 @@ import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.hybrid_modeld.constants import T_IDXS
+from openpilot.selfdrive.hybrid_modeld.constants import ModelConstants
 from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
@@ -51,7 +51,7 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
 
 
 class LongitudinalPlanner:
-  def __init__(self, CP, init_v=0.0, init_a=0.0):
+  def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     # mapd
     self.cruise_source = 'cruise'
     self.vision_turn_controller = VisionTurnController(CP)
@@ -61,9 +61,10 @@ class LongitudinalPlanner:
     self.CP = CP
     self.mpc = LongitudinalMpc()
     self.fcw = False
+    self.dt = dt
 
     self.a_desired = init_a
-    self.v_desired_filter = FirstOrderFilter(init_v, 2.0, DT_MDL)
+    self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
     self.v_model_error = 0.0
 
     self.v_desired_trajectory = np.zeros(CONTROL_N)
@@ -75,7 +76,9 @@ class LongitudinalPlanner:
     self.read_param()
     self.personality = log.LongitudinalPersonality.standard
     self.dp_long_use_df_tune = False
+    self.dp_long_use_df_tune_active = False
     self.dp_long_use_krkeegen_tune = False
+    self.dp_long_use_krkeegen_tune_active = False
 
   def read_param(self):
     try:
@@ -89,11 +92,11 @@ class LongitudinalPlanner:
   @staticmethod
   def parse_model(model_msg, model_error, v_ego, taco=False):
     if (len(model_msg.position.x) == 33 and
-       len(model_msg.velocity.x) == 33 and
-       len(model_msg.acceleration.x) == 33):
-      x = np.interp(T_IDXS_MPC, T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
-      v = np.interp(T_IDXS_MPC, T_IDXS, model_msg.velocity.x) - model_error
-      a = np.interp(T_IDXS_MPC, T_IDXS, model_msg.acceleration.x)
+      len(model_msg.velocity.x) == 33 and
+      len(model_msg.acceleration.x) == 33):
+      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
+      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
+      a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)
       j = np.zeros(len(T_IDXS_MPC))
     else:
       x = np.zeros(len(T_IDXS_MPC))
@@ -104,7 +107,7 @@ class LongitudinalPlanner:
     # rick - taco tune
     if taco:
       max_lat_accel = interp(v_ego, [5, 10, 20], [1.5, 2.0, 3.0])
-      curvatures = np.interp(T_IDXS_MPC, T_IDXS, model_msg.orientationRate.z) / np.clip(v, 0.3, 100.0)
+      curvatures = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.orientationRate.z) / np.clip(v, 0.3, 100.0)
       max_v = np.sqrt(max_lat_accel / (np.abs(curvatures) + 1e-3)) - 2.0
       v = np.minimum(max_v, v)
     return x, v, a, j
@@ -171,13 +174,15 @@ class LongitudinalPlanner:
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error, v_ego, taco=True)
-    self.mpc.update(sm['radarState'], v_cruise_sol, x, v, a, j, personality=self.personality, use_df_tune=self.dp_long_use_df_tune, use_krkeegen_tune=self.dp_long_use_krkeegen_tune)
+    self.dp_long_use_krkeegen_tune_active = self.dp_long_use_krkeegen_tune and v_ego <= 7.5
+    self.dp_long_use_df_tune_active = self.dp_long_use_df_tune and sm['radarState'].leadOne.status
+    self.mpc.update(sm['radarState'], v_cruise_sol, x, v, a, j, personality=self.personality, use_df_tune=self.dp_long_use_df_tune_active, use_krkeegen_tune=self.dp_long_use_krkeegen_tune_active)
 
-    self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
-    self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
+    self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
+    self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
     self.v_desired_trajectory = self.v_desired_trajectory_full[:CONTROL_N]
     self.a_desired_trajectory = self.a_desired_trajectory_full[:CONTROL_N]
-    self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
+    self.j_desired_trajectory = np.interp(ModelConstants.T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
 
     # TODO counter is only needed because radar is glitchy, remove once radar is gone
     self.fcw = self.mpc.crash_cnt > 2 and not sm['carState'].standstill
@@ -186,8 +191,8 @@ class LongitudinalPlanner:
 
     # Interpolate 0.05 seconds and save as starting point for next iteration
     a_prev = self.a_desired
-    self.a_desired = float(interp(DT_MDL, T_IDXS[:CONTROL_N], self.a_desired_trajectory))
-    self.v_desired_filter.x = self.v_desired_filter.x + DT_MDL * (self.a_desired + a_prev) / 2.0
+    self.a_desired = float(interp(self.dt, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory))
+    self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 9842d66e6..3a97f61f6 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -5,7 +5,7 @@ from cereal import car
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.system.swaglog import cloudlog
-from openpilot.selfdrive.hybrid_modeld.constants import T_IDXS
+from openpilot.selfdrive.hybrid_modeld.constants import ModelConstants
 import cereal.messaging as messaging
 from openpilot.system.hardware import TICI
 
@@ -20,8 +20,8 @@ def cumtrapz(x, t):
   return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))])
 
 def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
-  plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, T_IDXS)
-  model_odo = cumtrapz(lateral_planner.v_plan, T_IDXS)
+  plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, ModelConstants.T_IDXS)
+  model_odo = cumtrapz(lateral_planner.v_plan, ModelConstants.T_IDXS)
 
   ui_send = messaging.new_message('uiPlan')
   ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index c4cf7f4af..ca91d6364 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -170,7 +170,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
 def get_lead(v_ego: float, ready: bool, tracks: Dict[int, Track], lead_msg: capnp._DynamicStructReader,
              model_v_ego: float, low_speed_override: bool = True) -> Dict[str, Any]:
   # Determine leads, this is where the essential logic happens
-  if len(tracks) > 0 and ready and lead_msg.prob > .5:
+  if len(tracks) > 0 and ready and lead_msg.prob > .4:
     track = match_vision_to_track(v_ego, lead_msg, tracks)
   else:
     track = None
@@ -178,7 +178,7 @@ def get_lead(v_ego: float, ready: bool, tracks: Dict[int, Track], lead_msg: capn
   lead_dict = {'status': False}
   if track is not None:
     lead_dict = track.get_RadarState(lead_msg.prob)
-  elif (track is None) and ready and (lead_msg.prob > .5):
+  elif (track is None) and ready and (lead_msg.prob > .4):
     lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
 
   if low_speed_override:
diff --git a/selfdrive/debug/dump.py b/selfdrive/debug/dump.py
index 2e427b973..e14ea03c5 100755
--- a/selfdrive/debug/dump.py
+++ b/selfdrive/debug/dump.py
@@ -8,7 +8,7 @@ import cereal.messaging as messaging
 
 from hexdump import hexdump
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 
 codecs.register_error("strict", codecs.backslashreplace_errors)
 
@@ -31,7 +31,7 @@ if __name__ == "__main__":
 
   poller = messaging.Poller()
 
-  for m in args.socket if len(args.socket) > 0 else service_list:
+  for m in args.socket if len(args.socket) > 0 else SERVICE_LIST:
     messaging.sub_sock(m, poller, addr=args.addr)
 
   values = None
diff --git a/selfdrive/hybrid_modeld/_dmonitoringmodeld b/selfdrive/hybrid_modeld/_dmonitoringmodeld
index 14e97cf3a..0a5219d08 100755
Binary files a/selfdrive/hybrid_modeld/_dmonitoringmodeld and b/selfdrive/hybrid_modeld/_dmonitoringmodeld differ
diff --git a/selfdrive/hybrid_modeld/_modeld b/selfdrive/hybrid_modeld/_modeld
index 4f46e644d..2cc49c68a 100755
Binary files a/selfdrive/hybrid_modeld/_modeld and b/selfdrive/hybrid_modeld/_modeld differ
diff --git a/selfdrive/hybrid_modeld/constants.py b/selfdrive/hybrid_modeld/constants.py
index 125864b98..e785be4e0 100644
--- a/selfdrive/hybrid_modeld/constants.py
+++ b/selfdrive/hybrid_modeld/constants.py
@@ -1,7 +1,8 @@
-IDX_N = 33
 
 def index_function(idx, max_val=192, max_idx=32):
   return (max_val) * ((idx/max_idx)**2)
 
-
-T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
+class ModelConstants:
+  # time and distance indices
+  IDX_N = 33
+  T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
diff --git a/selfdrive/hybrid_modeld/models/supercombo.thneed b/selfdrive/hybrid_modeld/models/supercombo.thneed
index 93f8ed782..40381b271 100644
Binary files a/selfdrive/hybrid_modeld/models/supercombo.thneed and b/selfdrive/hybrid_modeld/models/supercombo.thneed differ
diff --git a/selfdrive/hybrid_modeld/transforms/transform.cl b/selfdrive/hybrid_modeld/transforms/transform.cl
index 8ad186935..6c04b0ebb 100644
--- a/selfdrive/hybrid_modeld/transforms/transform.cl
+++ b/selfdrive/hybrid_modeld/transforms/transform.cl
@@ -22,19 +22,17 @@ __kernel void warpPerspective(__global const uchar * src,
         W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
         int X = rint(X0 * W), Y = rint(Y0 * W);
 
-        short sx = convert_short_sat(X >> INTER_BITS);
-        short sy = convert_short_sat(Y >> INTER_BITS);
+        // Clamp coordinates to stay within valid range
+        int sx = clamp(convert_int(X >> INTER_BITS), 0, src_cols - 1);
+        int sy = clamp(convert_int(Y >> INTER_BITS), 0, src_rows - 1);
+
         short ay = (short)(Y & (INTER_TAB_SIZE - 1));
         short ax = (short)(X & (INTER_TAB_SIZE - 1));
 
-        int v0 = (sx >= 0 && sx < src_cols && sy >= 0 && sy < src_rows) ?
-            convert_int(src[mad24(sy, src_step, src_offset + sx)]) : 0;
-        int v1 = (sx+1 >= 0 && sx+1 < src_cols && sy >= 0 && sy < src_rows) ?
-            convert_int(src[mad24(sy, src_step, src_offset + (sx+1))]) : 0;
-        int v2 = (sx >= 0 && sx < src_cols && sy+1 >= 0 && sy+1 < src_rows) ?
-            convert_int(src[mad24(sy+1, src_step, src_offset + sx)]) : 0;
-        int v3 = (sx+1 >= 0 && sx+1 < src_cols && sy+1 >= 0 && sy+1 < src_rows) ?
-            convert_int(src[mad24(sy+1, src_step, src_offset + (sx+1))]) : 0;
+        int v0 = convert_int(src[mad24(sy, src_step, src_offset + sx)]);
+        int v1 = convert_int(src[mad24(sy, src_step, src_offset + (sx+1))]);
+        int v2 = convert_int(src[mad24(sy+1, src_step, src_offset + sx)]);
+        int v3 = convert_int(src[mad24(sy+1, src_step, src_offset + (sx+1))]);
 
         float taby = 1.f/INTER_TAB_SIZE*ay;
         float tabx = 1.f/INTER_TAB_SIZE*ax;
diff --git a/selfdrive/legacy_modeld/_modeld b/selfdrive/legacy_modeld/_modeld
index d1883a47b..1d30979b6 100755
Binary files a/selfdrive/legacy_modeld/_modeld and b/selfdrive/legacy_modeld/_modeld differ
diff --git a/selfdrive/legacy_modeld/models/supercombo.thneed b/selfdrive/legacy_modeld/models/supercombo.thneed
index 244a3aca5..816a26da5 100644
Binary files a/selfdrive/legacy_modeld/models/supercombo.thneed and b/selfdrive/legacy_modeld/models/supercombo.thneed differ
diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py
new file mode 100644
index 000000000..4fc36def6
--- /dev/null
+++ b/selfdrive/locationd/helpers.py
@@ -0,0 +1,64 @@
+import numpy as np
+from typing import List, Optional, Tuple, Any
+
+from cereal import log
+
+
+class NPQueue:
+  def __init__(self, maxlen: int, rowsize: int) -> None:
+    self.maxlen = maxlen
+    self.arr = np.empty((0, rowsize))
+
+  def __len__(self) -> int:
+    return len(self.arr)
+
+  def append(self, pt: List[float]) -> None:
+    if len(self.arr) < self.maxlen:
+      self.arr = np.append(self.arr, [pt], axis=0)
+    else:
+      self.arr[:-1] = self.arr[1:]
+      self.arr[-1] = pt
+
+
+class PointBuckets:
+  def __init__(self, x_bounds: List[Tuple[float, float]], min_points: List[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None:
+    self.x_bounds = x_bounds
+    self.buckets = {bounds: NPQueue(maxlen=points_per_bucket, rowsize=rowsize) for bounds in x_bounds}
+    self.buckets_min_points = dict(zip(x_bounds, min_points))
+    self.min_points_total = min_points_total
+
+  def bucket_lengths(self) -> List[int]:
+    return [len(v) for v in self.buckets.values()]
+
+  def __len__(self) -> int:
+    return sum(self.bucket_lengths())
+
+  def is_valid(self) -> bool:
+    individual_buckets_valid = all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values()))
+    total_points_valid = self.__len__() >= self.min_points_total
+    return individual_buckets_valid and total_points_valid
+
+  def add_point(self, x: float, y: float, bucket_val: float) -> None:
+    raise NotImplementedError
+
+  def get_points(self, num_points: Optional[int] = None) -> Any:
+    points = np.vstack([x.arr for x in self.buckets.values()])
+    if num_points is None:
+      return points
+    return points[np.random.choice(np.arange(len(points)), min(len(points), num_points), replace=False)]
+
+  def load_points(self, points: List[List[float]]) -> None:
+    for point in points:
+      self.add_point(*point)
+
+
+class ParameterEstimator:
+  """ Base class for parameter estimators """
+  def reset(self) -> None:
+    raise NotImplementedError
+
+  def handle_log(self, t: int, which: str, msg: log.Event) -> None:
+    raise NotImplementedError
+
+  def get_msg(self, valid: bool, with_points: bool) -> log.Event:
+    raise NotImplementedError
diff --git a/selfdrive/locationd/locationd b/selfdrive/locationd/locationd
index b526f92ce..a038b8442 100755
Binary files a/selfdrive/locationd/locationd and b/selfdrive/locationd/locationd differ
diff --git a/selfdrive/locationd/models/generated/car.h b/selfdrive/locationd/models/generated/car.h
index 5e3ee19c4..c557c08cc 100644
--- a/selfdrive/locationd/models/generated/car.h
+++ b/selfdrive/locationd/models/generated/car.h
@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void car_err_fun(double *nom_x, double *delta_x, double *out_7792005023266191321);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_5315267233560935918);
-void car_H_mod_fun(double *state, double *out_7339459761251930020);
-void car_f_fun(double *state, double dt, double *out_2286622615178359403);
-void car_F_fun(double *state, double dt, double *out_8254211230775852992);
-void car_h_25(double *state, double *unused, double *out_6918209566450062964);
-void car_H_25(double *state, double *unused, double *out_4801460618481353345);
-void car_h_24(double *state, double *unused, double *out_1902027086632663468);
-void car_H_24(double *state, double *unused, double *out_3973431789330817549);
-void car_h_30(double *state, double *unused, double *out_3280760038196040614);
-void car_H_30(double *state, double *unused, double *out_4672121671338113275);
-void car_h_26(double *state, double *unused, double *out_6448147115644818676);
-void car_H_26(double *state, double *unused, double *out_1059957299607297121);
-void car_h_27(double *state, double *unused, double *out_1916536298789217319);
-void car_H_27(double *state, double *unused, double *out_2497358359537688364);
-void car_h_29(double *state, double *unused, double *out_2677444153519563097);
-void car_H_29(double *state, double *unused, double *out_783995632668137331);
-void car_h_28(double *state, double *unused, double *out_3149881219929125404);
-void car_H_28(double *state, double *unused, double *out_4298403384401393243);
-void car_h_31(double *state, double *unused, double *out_845055690370609477);
-void car_H_31(double *state, double *unused, double *out_4832106580358313773);
+void car_err_fun(double *nom_x, double *delta_x, double *out_1964954299455970933);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_6003963640381126063);
+void car_H_mod_fun(double *state, double *out_1207008555950061675);
+void car_f_fun(double *state, double dt, double *out_2803172193991338453);
+void car_F_fun(double *state, double dt, double *out_4664417582021608014);
+void car_h_25(double *state, double *unused, double *out_8570962910733009665);
+void car_H_25(double *state, double *unused, double *out_1998904563998531603);
+void car_h_24(double *state, double *unused, double *out_2751191583816658395);
+void car_H_24(double *state, double *unused, double *out_6775987843813639291);
+void car_h_30(double *state, double *unused, double *out_4933513382478987315);
+void car_H_30(double *state, double *unused, double *out_1869565616855291533);
+void car_h_26(double *state, double *unused, double *out_2501630051949713498);
+void car_H_26(double *state, double *unused, double *out_1742598754875524621);
+void car_h_27(double *state, double *unused, double *out_8932271310074879516);
+void car_H_27(double *state, double *unused, double *out_305197694945133378);
+void car_h_29(double *state, double *unused, double *out_5877023235380649750);
+void car_H_29(double *state, double *unused, double *out_2379796961169683717);
+void car_h_28(double *state, double *unused, double *out_5895485258630546831);
+void car_H_28(double *state, double *unused, double *out_4343427232735009968);
+void car_h_31(double *state, double *unused, double *out_5381229435042917038);
+void car_H_31(double *state, double *unused, double *out_2029550525875492031);
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
 void car_set_mass(double x);
 void car_set_rotational_inertia(double x);
diff --git a/selfdrive/locationd/models/generated/gnss.h b/selfdrive/locationd/models/generated/gnss.h
index 6e3c29270..c8dbd77b6 100644
--- a/selfdrive/locationd/models/generated/gnss.h
+++ b/selfdrive/locationd/models/generated/gnss.h
@@ -5,18 +5,18 @@ void gnss_update_6(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void gnss_update_20(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void gnss_err_fun(double *nom_x, double *delta_x, double *out_769020749321527910);
-void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_6434868672514128410);
-void gnss_H_mod_fun(double *state, double *out_5816879217043291130);
-void gnss_f_fun(double *state, double dt, double *out_8075609735883072475);
-void gnss_F_fun(double *state, double dt, double *out_7333316748729345884);
-void gnss_h_6(double *state, double *sat_pos, double *out_6468678908706064352);
-void gnss_H_6(double *state, double *sat_pos, double *out_3868951147833506795);
-void gnss_h_20(double *state, double *sat_pos, double *out_7441535645826448778);
-void gnss_H_20(double *state, double *sat_pos, double *out_8090373605569156258);
-void gnss_h_7(double *state, double *sat_pos_vel, double *out_3881194323588387136);
-void gnss_H_7(double *state, double *sat_pos_vel, double *out_3194084289009820845);
-void gnss_h_21(double *state, double *sat_pos_vel, double *out_3881194323588387136);
-void gnss_H_21(double *state, double *sat_pos_vel, double *out_3194084289009820845);
+void gnss_err_fun(double *nom_x, double *delta_x, double *out_8519908807701444381);
+void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_7494726988393394594);
+void gnss_H_mod_fun(double *state, double *out_6213794081998936506);
+void gnss_f_fun(double *state, double dt, double *out_7557732014251175831);
+void gnss_F_fun(double *state, double dt, double *out_3784107475037224440);
+void gnss_h_6(double *state, double *sat_pos, double *out_1045706946388579730);
+void gnss_H_6(double *state, double *sat_pos, double *out_6469468708647551695);
+void gnss_h_20(double *state, double *sat_pos, double *out_4390939550384841311);
+void gnss_H_20(double *state, double *sat_pos, double *out_4150453882875260635);
+void gnss_h_7(double *state, double *sat_pos_vel, double *out_882947065038288714);
+void gnss_H_7(double *state, double *sat_pos_vel, double *out_4769832076722140500);
+void gnss_h_21(double *state, double *sat_pos_vel, double *out_882947065038288714);
+void gnss_H_21(double *state, double *sat_pos_vel, double *out_4769832076722140500);
 void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }
\ No newline at end of file
diff --git a/selfdrive/locationd/models/generated/libkf.so b/selfdrive/locationd/models/generated/libkf.so
index 7366d7673..d047586c7 100755
Binary files a/selfdrive/locationd/models/generated/libkf.so and b/selfdrive/locationd/models/generated/libkf.so differ
diff --git a/selfdrive/locationd/models/generated/live.h b/selfdrive/locationd/models/generated/live.h
index 36d3bb65b..412f99009 100644
--- a/selfdrive/locationd/models/generated/live.h
+++ b/selfdrive/locationd/models/generated/live.h
@@ -10,29 +10,29 @@ void live_update_32(double *in_x, double *in_P, double *in_z, double *in_R, doub
 void live_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void live_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void live_update_33(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void live_H(double *in_vec, double *out_7429008421233965090);
-void live_err_fun(double *nom_x, double *delta_x, double *out_7284268987952680115);
-void live_inv_err_fun(double *nom_x, double *true_x, double *out_4617513455921064816);
-void live_H_mod_fun(double *state, double *out_9076499371074019083);
-void live_f_fun(double *state, double dt, double *out_7863759626582993905);
-void live_F_fun(double *state, double dt, double *out_4436932215835623194);
-void live_h_4(double *state, double *unused, double *out_3414164203987698111);
-void live_H_4(double *state, double *unused, double *out_1320474316052717902);
-void live_h_9(double *state, double *unused, double *out_3803073597728245259);
-void live_H_9(double *state, double *unused, double *out_5477642052407495385);
-void live_h_10(double *state, double *unused, double *out_5079492584863434208);
-void live_H_10(double *state, double *unused, double *out_2479322990341632036);
-void live_h_12(double *state, double *unused, double *out_6224366416023586503);
-void live_H_12(double *state, double *unused, double *out_699375291005124235);
-void live_h_35(double *state, double *unused, double *out_8146514266443503093);
-void live_H_35(double *state, double *unused, double *out_2046187741319889474);
-void live_h_32(double *state, double *unused, double *out_3901636462027137299);
-void live_H_32(double *state, double *unused, double *out_1733566046432444446);
-void live_h_13(double *state, double *unused, double *out_6669897253458653498);
-void live_H_13(double *state, double *unused, double *out_1446272565186157079);
-void live_h_14(double *state, double *unused, double *out_3803073597728245259);
-void live_H_14(double *state, double *unused, double *out_5477642052407495385);
-void live_h_33(double *state, double *unused, double *out_3006773689665239248);
-void live_H_33(double *state, double *unused, double *out_5196744745958747078);
+void live_H(double *in_vec, double *out_2427080946257414198);
+void live_err_fun(double *nom_x, double *delta_x, double *out_4499017012837728402);
+void live_inv_err_fun(double *nom_x, double *true_x, double *out_4568239191987130813);
+void live_H_mod_fun(double *state, double *out_7466442051496209266);
+void live_f_fun(double *state, double dt, double *out_7616316395018437217);
+void live_F_fun(double *state, double dt, double *out_3738746660903124007);
+void live_h_4(double *state, double *unused, double *out_5102933337023237333);
+void live_H_4(double *state, double *unused, double *out_7235994504100796541);
+void live_h_9(double *state, double *unused, double *out_6101034663185489335);
+void live_H_9(double *state, double *unused, double *out_51224431163650929);
+void live_h_10(double *state, double *unused, double *out_1900712798164773370);
+void live_H_10(double *state, double *unused, double *out_4820155672142958661);
+void live_h_12(double *state, double *unused, double *out_8879026316650247416);
+void live_H_12(double *state, double *unused, double *out_6614895479053202874);
+void live_h_35(double *state, double *unused, double *out_1924620734251358832);
+void live_H_35(double *state, double *unused, double *out_3869332446728189165);
+void live_h_32(double *state, double *unused, double *out_1566775458117550308);
+void live_H_32(double *state, double *unused, double *out_8625923032509862606);
+void live_h_13(double *state, double *unused, double *out_5786152235345498787);
+void live_H_13(double *state, double *unused, double *out_1965575430518687731);
+void live_h_14(double *state, double *unused, double *out_6101034663185489335);
+void live_H_14(double *state, double *unused, double *out_51224431163650929);
+void live_h_33(double *state, double *unused, double *out_1672775015514148260);
+void live_H_33(double *state, double *unused, double *out_718775442089331561);
 void live_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }
\ No newline at end of file
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 936a8ec1e..b910fdeb3 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -1,7 +1,4 @@
 #!/usr/bin/env python3
-import os
-import sys
-import signal
 import numpy as np
 from collections import deque, defaultdict
 
@@ -12,6 +9,7 @@ from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.system.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator
 
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -43,56 +41,15 @@ def slope2rot(slope):
   return np.array([[cos, -sin], [sin, cos]])
 
 
-class NPQueue:
-  def __init__(self, maxlen, rowsize):
-    self.maxlen = maxlen
-    self.arr = np.empty((0, rowsize))
-
-  def __len__(self):
-    return len(self.arr)
-
-  def append(self, pt):
-    if len(self.arr) < self.maxlen:
-      self.arr = np.append(self.arr, [pt], axis=0)
-    else:
-      self.arr[:-1] = self.arr[1:]
-      self.arr[-1] = pt
-
-
-class PointBuckets:
-  def __init__(self, x_bounds, min_points, min_points_total):
-    self.x_bounds = x_bounds
-    self.buckets = {bounds: NPQueue(maxlen=POINTS_PER_BUCKET, rowsize=3) for bounds in x_bounds}
-    self.buckets_min_points = dict(zip(x_bounds, min_points))
-    self.min_points_total = min_points_total
-
-  def bucket_lengths(self):
-    return [len(v) for v in self.buckets.values()]
-
-  def __len__(self):
-    return sum(self.bucket_lengths())
-
-  def is_valid(self):
-    return all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values())) and (self.__len__() >= self.min_points_total)
-
+class TorqueBuckets(PointBuckets):
   def add_point(self, x, y):
     for bound_min, bound_max in self.x_bounds:
       if (x >= bound_min) and (x < bound_max):
         self.buckets[(bound_min, bound_max)].append([x, 1.0, y])
         break
 
-  def get_points(self, num_points=None):
-    points = np.vstack([x.arr for x in self.buckets.values()])
-    if num_points is None:
-      return points
-    return points[np.random.choice(np.arange(len(points)), min(len(points), num_points), replace=False)]
 
-  def load_points(self, points):
-    for x, y in points:
-      self.add_point(x, y)
-
-
-class TorqueEstimator:
+class TorqueEstimator(ParameterEstimator):
   def __init__(self, CP, decimated=False):
     self.hist_len = int(HISTORY / DT_MDL)
     self.lag = CP.steerActuatorDelay + .2   # from controlsd
@@ -113,7 +70,7 @@ class TorqueEstimator:
     self.offline_friction = 0.0
     self.offline_latAccelFactor = 0.0
     self.resets = 0.0
-    self.use_params = CP.carName in ALLOWED_CARS
+    self.use_params = CP.carName in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
 
     if CP.lateralTuning.which() == 'torque':
       self.offline_friction = CP.lateralTuning.torque.friction
@@ -135,7 +92,7 @@ class TorqueEstimator:
 
     # try to restore cached params
     params = Params()
-    params_cache = params.get("LiveTorqueCarParams")
+    params_cache = params.get("CarParamsPrevRoute")
     torque_cache = params.get("LiveTorqueParameters")
     if params_cache is not None and torque_cache is not None:
       try:
@@ -158,7 +115,6 @@ class TorqueEstimator:
           cloudlog.info("restored torque params from cache")
       except Exception:
         cloudlog.exception("failed to restore cached torque params")
-        params.remove("LiveTorqueCarParams")
         params.remove("LiveTorqueParameters")
 
     self.filtered_params = {}
@@ -176,7 +132,11 @@ class TorqueEstimator:
     self.resets += 1.0
     self.decay = MIN_FILTER_DECAY
     self.raw_points = defaultdict(lambda: deque(maxlen=self.hist_len))
-    self.filtered_points = PointBuckets(x_bounds=STEER_BUCKET_BOUNDS, min_points=self.min_bucket_points, min_points_total=self.min_points_total)
+    self.filtered_points = TorqueBuckets(x_bounds=STEER_BUCKET_BOUNDS,
+                                         min_points=self.min_bucket_points,
+                                         min_points_total=self.min_points_total,
+                                         points_per_bucket=POINTS_PER_BUCKET,
+                                         rowsize=3)
 
   def estimate_params(self):
     points = self.filtered_points.get_points(self.fit_points)
@@ -256,34 +216,17 @@ class TorqueEstimator:
     return msg
 
 
-def main(sm=None, pm=None):
+def main(demo=False):
   config_realtime_process([0, 1, 2, 3], 5)
 
-  if sm is None:
-    sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll=['liveLocationKalman'])
-
-  if pm is None:
-    pm = messaging.PubMaster(['liveTorqueParameters'])
+  pm = messaging.PubMaster(['liveTorqueParameters'])
+  sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll=['liveLocationKalman'])
 
   params = Params()
   CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
   # with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
   estimator = TorqueEstimator(CP)
 
-  def cache_params(sig, frame):
-    signal.signal(sig, signal.SIG_DFL)
-    cloudlog.warning("caching torque params")
-
-    params = Params()
-    params.put("LiveTorqueCarParams", CP.as_builder().to_bytes())
-
-    msg = estimator.get_msg(with_points=True)
-    params.put("LiveTorqueParameters", msg.to_bytes())
-
-    sys.exit(0)
-  if "REPLAY" not in os.environ:
-    signal.signal(signal.SIGINT, cache_params)
-
   while True:
     sm.update()
     if sm.all_checks():
@@ -296,11 +239,14 @@ def main(sm=None, pm=None):
     if sm.frame % 5 == 0:
       pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks()))
 
-    # dp - auto save every 3 mins: 4 hz * 60 * 3 = 720 (3 mins)
-    if sm.frame % 720 == 0:
-      put_nonblocking("LiveTorqueCarParams", CP.as_builder().to_bytes())
-      msg = estimator.get_msg(with_points=True)
+    # Cache points every 60 seconds while onroad
+    if sm.frame % 240 == 0:
+      msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
       put_nonblocking("LiveTorqueParameters", msg.to_bytes())
 
 if __name__ == "__main__":
-  main()
+  import argparse
+  parser = argparse.ArgumentParser(description='Process the --demo argument.')
+  parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
+  args = parser.parse_args()
+  main(demo=args.demo)
diff --git a/selfdrive/loggerd/bootlog b/selfdrive/loggerd/bootlog
index aab8c1912..b3a11df6d 100755
Binary files a/selfdrive/loggerd/bootlog and b/selfdrive/loggerd/bootlog differ
diff --git a/selfdrive/loggerd/loggerd b/selfdrive/loggerd/loggerd
index 0b0b18868..4ba6fe302 100755
Binary files a/selfdrive/loggerd/loggerd and b/selfdrive/loggerd/loggerd differ
diff --git a/selfdrive/loggerd/tests/test_loggerd.py b/selfdrive/loggerd/tests/test_loggerd.py
index 516ddbaac..cb327d1a3 100755
--- a/selfdrive/loggerd/tests/test_loggerd.py
+++ b/selfdrive/loggerd/tests/test_loggerd.py
@@ -11,7 +11,7 @@ from pathlib import Path
 
 import cereal.messaging as messaging
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
@@ -26,8 +26,8 @@ from openpilot.common.transformations.camera import eon_f_frame_size, tici_f_fra
 
 SentinelType = log.Sentinel.SentinelType
 
-CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in service_list
-                   and service_list[f].should_log and "encode" not in f.lower()]
+CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in SERVICE_LIST
+                   and SERVICE_LIST[f].should_log and "encode" not in f.lower()]
 
 
 class TestLoggerd(unittest.TestCase):
@@ -179,8 +179,8 @@ class TestLoggerd(unittest.TestCase):
         self.assertEqual(expected_val, bootlog_val)
 
   def test_qlog(self):
-    qlog_services = [s for s in CEREAL_SERVICES if service_list[s].decimation is not None]
-    no_qlog_services = [s for s in CEREAL_SERVICES if service_list[s].decimation is None]
+    qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is not None]
+    no_qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is None]
 
     services = random.sample(qlog_services, random.randint(2, min(10, len(qlog_services)))) + \
                random.sample(no_qlog_services, random.randint(2, min(10, len(no_qlog_services))))
@@ -227,7 +227,7 @@ class TestLoggerd(unittest.TestCase):
         self.assertEqual(recv_cnt, 0, f"got {recv_cnt} {s} msgs in qlog")
       else:
         # check logged message count matches decimation
-        expected_cnt = (len(msgs) - 1) // service_list[s].decimation + 1
+        expected_cnt = (len(msgs) - 1) // SERVICE_LIST[s].decimation + 1
         self.assertEqual(recv_cnt, expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}")
 
   def test_rlog(self):
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index 48bcbb50d..2de59ccde 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -24,6 +24,7 @@ from openpilot.system.version import is_dirty, get_commit, get_version, get_orig
                            get_normalized_origin, terms_version, training_version, \
                            is_tested_branch, is_release_branch
 import json
+from openpilot.selfdrive.car.fingerprints import all_known_cars, all_legacy_fingerprint_cars
 
 
 def manager_init() -> None:
@@ -51,6 +52,7 @@ def manager_init() -> None:
     ("dp_no_fan_ctrl", "0"),
     ("dp_logging", "1"),
     ("dp_0813", "1"),
+    ("dp_lat_controller", "0"),
 
     # dp addition
     ("dp_alka", "0"),
@@ -80,6 +82,8 @@ def manager_init() -> None:
     ("dp_long_accel_btn", "0"),
     ("dp_long_personality_btn", "0"),
     ("dp_lat_lane_change_assist_speed", "20"),
+    ("dp_device_display_flight_panel", "0"),
+    ("dp_ui_rainbow", "0"),
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))
@@ -276,27 +280,16 @@ def main() -> None:
 
 
 def get_support_car_list():
-  attrs = ['FINGERPRINTS', 'FW_VERSIONS']
   cars = dict({"cars": []})
-  models = []
-  for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]:
-    try:
-      car_name = car_folder.split('/')[-1]
-      if car_name not in ("mock", "body", "torque_data", "tests"):
-        for attr in attrs:
-          values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr])
-          if hasattr(values, attr):
-            attr_values = getattr(values, attr)
-          else:
-            continue
-          if isinstance(attr_values, dict):
-            for f, v in attr_values.items():
-              if f not in models:
-                models.append(f)
-    except (ImportError, IOError, ValueError):
-      pass
-  models.sort()
-  cars["cars"] = models
+  list = []
+  for car in all_known_cars():
+    list.append(str(car))
+
+  for car in all_legacy_fingerprint_cars():
+    name = str(car)
+    if name not in list:
+      list.append(name)
+  cars["cars"] = sorted(list)
   return json.dumps(cars)
 
 
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