Merge pull request #190 from dragonpilot-community/beta2_override

Update drive_helpers.py
2026-08-08 01:35:40 +08:00 · 2023-04-15 11:58:40 +08:00 · 2023-04-14 22:01:07 +08:00 · 2023-04-14 10:46:56 +08:00 · 2023-04-14 10:46:07 +08:00 · 2023-04-13 02:41:27 +00:00
458 changed files with 24895 additions and 7842 deletions
@@ -44,9 +44,6 @@ selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
@@ -64,7 +61,7 @@ panda_jungle
 provisioning
 .coverage*
-coverage.xml
+coverage.xmlcar
 htmlcov
 pandaextra
@@ -85,3 +82,7 @@ build/
 poetry.toml
 selfdrive/ui/_ui_nonav
 *.po~
 selfdrive/loggerd/bootlog
 selfdrive/loggerd/loggerd
 selfdrive/proclogd/proclogd
@@ -1,95 +1,48 @@
-dragonpilot 2023.02.08 - EON/C2 Release
+dragonpilot [2023.3.27]
-========================
+=======================
 * Synced with openpilot master 2023.03.26 commits.
 * comma 0.9.2 release
  * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
 * DP Highlight
  * Dynamic Rainbow mode. (fancy lol)
  * Different color when Always On Lateral is enabled.
  * RoadEdge detection has it's own toggle now.
  * IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779
  * NEW: Alternative Lateral Controller
    * Ability to switch to another lateral controller when SET speed is higher than configure speed.
    * E.g. Use Torque + Laneless when belows 80kph and use PID + Laneline when above.
 dragonpilot [2023.2.15]
 =======================
 * Synced with openpilot master 2022.12.14 commits.
-* TWEAK: Ability to disable build-in NAV completely. (reduced CPU/memory load)
+* Comma 0.9.1 release
-* NEW: Lateral Controller Selector
+  * New driving model
-  * Ability to select between DEFAULT / PID / LQR / Torque Controller.
+    * 30% improved height estimation resulting in better driving performance for tall cars
-* NEW: Redesigned UI to match Comma's new UI/UX style.
+  * UI updates
-* NEW: Dynamic End-to-End can be turned on when lead car is going below x km/h. (Useful for stop and go traffic.)
+    * Adjust alert volume using ambient noise level
-* NEW: Toggle to adapt Dynamic End-to-End to Following Dist. Mode.
+    * Driver monitoring icon shows driver's head pose
 * NEW: Toggle to adapt Dynamic End-to-End to Accel Mode.
 * NEW: Always On Lateral v2 (For Toyota/VAG/HKG/Honda).
-* NEW: VAG - vw-spam-resume (Thanks to @jyoung8607)
+* NEW: Block ALC if it's close to the road edges.
-* FIXED: Bugs in updated.
+* NEW: Rinbow path toggle. (This effect is purely cosmetic)
-* FIXED: Issue in C2 fan control.
+* IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779
-* TWEAK: Bug fixes and improvement.
+* Bug fixes and improvement.
-dragonpilot 2022.11.09 - EON/C2 Release
+dragonpilot [2023.1.10]
-========================
+=======================
-* Synced with openpilot master 2022.10.26 commits.
+* Synced with openpilot master 2023.1.3 commits.
-* COMMA: Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models.
+* IMPROVEMENT: Dynamic end to end refactored. It will automatically turn on and off for red light for smoother u/x. Now Supports (honda and vw that cab take advantage of VOACC).
-* NEW: Mapd Database selector menu to use mapd offline located in software. When installing Database it will take some time. It is not stuck just be patience run `tmux a` for more info. DO NOT RESTART When database is being installed.
+* IMPROVEMENT: Better TSS2 Long and DF tune. @cgw1968-5779
-  * Ability to use MapD without internet connection.
+* ADDED: support for Chevrolet Trailblazer 2022 (Thanks @TurboCE)
-* NEW: TOYOTA - Better TSS2 Long and DF tune. @cgw1968-5779
+* ADDED: support for Honda odyssey hybrid 2022 China (Thanks @lijunhao731)
-* NEW: MAZDA - Toggle to bypass dashcam mode.
+* ADDED: GPS accuracy on the sidebar.
-* NEW: Added lanelines mode.
+* Bug fixes and improvement.
  * Ability to adjust camera/path offset.
 * NEW: Lateral Planner option.
  * Ability to select 0.8.13, 0.8.16 and the latest/current planner.
 * NEW: Offline OSM map database.
 * NEW: Turn and BSM indicator. (turn = blink green, turn + bsm = blink yellow, bsm = solid yellow)
 * TWEAK: Better Optimization for Vision Turn Controller with laneline mode.
 * FIXED: When going offroad, the screen does not turn off. (w/ CP or w/ Battery)
 * bug fix and improvement.
 HOTFIX:
 =======================
 * Allow Experimental Mode in release branch. (@Stupefacient)
 * Happy Holiday / New Years! Safe Travel, cya in 2023!
-dragonpilot 2022.10.17 - EON/C2 Release
+dragonpilot 2022.12.13
 ========================
 * Synced with openpilot master 2022.09.22 commits.
  * Live Torque Tune (Only available to certain vehicle models with op long.)
 * NEW: TOYOTA - Added a TSS2 RAV4 Special PID Tune toggle.
 * NEW: TOYOTA - Added a PRIUS 2017 Special Torque Tune toggle.
 * NEW: TOYOTA - PRIUS_TSS2 (2020-2022) now uses torque as default and auto learns.
 * NEW: Added a toggle to force enable torque controller. (may not work on some vehicles)
 * NEW: Added a toggle to force enable live torque tune. (may not work on some vehicles)
 * NEW: VAG - Added auto resume fix toggle.
 * NEW: refactored dynamic follow. support all car with op long.
 * NEW: New blinker and BSM indicators.
 * NEW: Lead Info is now displaying both speed and distance.
 * FIXED: Minor bug fixes and improvement.
 dragonpilot 2022.09.22 - EON/C2 Release
 ========================
 * Synced with openpilot master 2022.09.17 commits.
  * e2e longitudinal toggle. (Extremely alpha feature)
  * Deprecated SNPE lib and switched to tinygrad.
 * NEW: Added back nav support on EON/C2.
 * WARNING: DUE TO THE INTRODUCTION OF END TO END LONGITUDINAL FEATURE, FOLLOWING FEATURES HAS BEEN CHANGED:
  * WIP: Dynamic Follow has been temporary removed for refactoring.
  * WIP: Vision Turn Control has been temporary removed for refactoring.
  * REMOVED: Camera offset has been removed permanently due to new e2e implementation.
  * EON/C2 WILL NO LONGER RECEIVE ANY DRIVING/DRIVER MONITORING MODEL UPDATES.
 dragonpilot 2022.08.29 - EON/C2 Release
 ========================
 * NEW: Synced to openpilot master 2022.08.23 commits.
  * New driving model.
 * NEW: Added back honda eps mod toggle.
 * NEW: Added back camera offset toggle.
 * TWEAK: Resume logic to adapt ATL mode.
 dragonpilot 2022.08.17 - EON/C2 Release
 ========================
 * NEW: Synced to openpilot master 2022.08.07 commits.
 * NEW: Added back auto shutdown toggle.
 * NEW: Added back On-Road Dashcam toggle. (You should not replace this with your dashcam!!!)
 * NEW: Added back LQR tune toggle.
 * NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd)
 * NEW: Included all vehicles.
 * TWEAK: Panda Recovery should kill boardd process first.
 * FIXED: Fixed stop working issue when mapd crashed.
 dragonpilot 2022.07.29 - EON/C2 Release
 ========================
 * NEW: Synced to openpilot 2022.07.27 commits.
 * NEW: Included Mazda vehicles.
 * TWEAK: Only show road name bar when it's not empty.
 * TWEAK: Enlarged lead car distance text.
 * TWEAK: TOYOTA - Updated lowest speed override feature.
 * FIXED: Fixed Panda Flash/Recovery buttons.
 * FIXED: Included dp_patcher.py execution.
 dragonpilot 2023.02.08
 =======================
 * Synced with openpilot master 2022.12.13 commits.
 * COMMA: New model, Toyota users can now configure SWAY settings.
@@ -217,30 +170,6 @@ TWEAK: TOYOTA - Updated lowest speed override feature.
 FIXED: Fixed Panda Flash/Recovery buttons.
 FIXED: Included dp_patcher.py execution.
 dragonpilot 2022.07.20 - EON/C2 Release
 ========================
 * FIXED: Included correct camera/path offset values for EON/C2.
 * FIXED: Param bug in HKG. (Thanks to @sunnyhaibin).
 * FIXED: Included fan controller for UNO (C2).
 * TWEAK: Auto set a decent date/time to prevent onroad incorrect date/time detection.
 * TWEAK: Removed sounds unavailable warning.
 * TWEAK: Removed unused loggers.
 * TWEAK: Disabled IR controls completely.
 dragonpilot 2022.07.14 - EON/C2 Release
 ========================
 * FIXED: DM bug.
 * FIXED: white / grey panda support.
 * FIXED: Removed No GPS signal warning.
 dragonpilot 2022.07.12 - EON/C2 Release
 ========================
 * Synced up with dragonpilot 2022.06.25 C3 release
 * Running on latest AI model.
 * Steering monitor only.
 * Works on EON/C2 + white/grey/black panda (tested only on Toyotas).
 * Buggy!
 dragonpilot [2022.08.07]
 ========================
 * Synced to openpilot master 2022.08.07 commits.
@@ -0,0 +1,976 @@
 dragonpilot [Latest] - EON/C2 Release
 ========================
 * Synced with openpilot master 2023.03.26 commits.
 * DP Highlight
  * NEW: Manual Lane Change.
  * NEW: Road Edge detection when Lane Change.
  * NEW: Rainbow mode. (fancy lol)
  * NEW: Local Trip counter.
  * NEW: Alternative Lateral Controller
    * Ability to switch to another lateral controller when SET speed is higher than configure speed.
    * E.g. Use Torque + Laneless when belows 80kph and use PID + Laneline when above.
  * TWEAK: **10s Lat MPC is removed due to poor performance on EON/C2**
  * TWEAK: Refactored cameraview widget.
  * TWEAK: Different color when Always On Lateral is enabled.
  * TWEAK: Better TSS2 Long and DF tune. @cgw1968-5779
  * TWEAK: e2e Lateral will display lanelines in white.
  * TWEAK: Updated VisionIPC to match current version.
  * TWEAK: DM reverted to 0.8.13 model and algorithm.
  * TWEAK: E2E Initial speed matches ACC initial speed. (105 -> 40)
  * FIXED: Fixed Reverse message not showing issue.
  * FIXED: Honda - ALKA not working. @loveloveses
  * FIXED: Display Mode.
  * FIXED: Toyota - Speed Override.
  * FIXED: Re-include CJK system font for EON/C2.
 dragonpilot 2023.02.08 - EON/C2 Release
 ========================
 * Synced with openpilot master 2022.12.14 commits.
 * TWEAK: Ability to disable build-in NAV completely. (reduced CPU/memory load)
 * NEW: Lateral Controller Selector
  * Ability to select between DEFAULT / PID / LQR / Torque Controller.
 * NEW: Redesigned UI to match Comma's new UI/UX style.
 * NEW: Dynamic End-to-End can be turned on when lead car is going below x km/h. (Useful for stop and go traffic.)
 * NEW: Toggle to adapt Dynamic End-to-End to Following Dist. Mode.
 * NEW: Toggle to adapt Dynamic End-to-End to Accel Mode.
 * NEW: Always On Lateral v2 (For Toyota/VAG/HKG/Honda).
 * NEW: VAG - vw-spam-resume (Thanks to @jyoung8607)
 * FIXED: Bugs in updated.
 * FIXED: Issue in C2 fan control.
 * TWEAK: Bug fixes and improvement.
 dragonpilot 2022.11.09 - EON/C2 Release
 ========================
 * Synced with openpilot master 2022.10.26 commits.
 * COMMA: Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models.
 * NEW: Mapd Database selector menu to use mapd offline located in software. When installing Database it will take some time. It is not stuck just be patience run `tmux a` for more info. DO NOT RESTART When database is being installed.
  * Ability to use MapD without internet connection.
 * NEW: TOYOTA - Better TSS2 Long and DF tune. @cgw1968-5779
 * NEW: MAZDA - Toggle to bypass dashcam mode.
 * NEW: Added lanelines mode.
  * Ability to adjust camera/path offset.
 * NEW: Lateral Planner option.
  * Ability to select 0.8.13, 0.8.16 and the latest/current planner.
 * NEW: Offline OSM map database.
 * NEW: Turn and BSM indicator. (turn = blink green, turn + bsm = blink yellow, bsm = solid yellow)
 * TWEAK: Better Optimization for Vision Turn Controller with laneline mode.
 * FIXED: When going offroad, the screen does not turn off. (w/ CP or w/ Battery)
 * bug fix and improvement.
 dragonpilot 2022.10.17 - EON/C2 Release
 ========================
 * Synced with openpilot master 2022.09.22 commits.
  * Live Torque Tune (Only available to certain vehicle models with op long.)
 * NEW: TOYOTA - Added a TSS2 RAV4 Special PID Tune toggle.
 * NEW: TOYOTA - Added a PRIUS 2017 Special Torque Tune toggle.
 * NEW: TOYOTA - PRIUS_TSS2 (2020-2022) now uses torque as default and auto learns.
 * NEW: Added a toggle to force enable torque controller. (may not work on some vehicles)
 * NEW: Added a toggle to force enable live torque tune. (may not work on some vehicles)
 * NEW: VAG - Added auto resume fix toggle.
 * NEW: refactored dynamic follow. support all car with op long.
 * NEW: New blinker and BSM indicators.
 * NEW: Lead Info is now displaying both speed and distance.
 * FIXED: Minor bug fixes and improvement.
 dragonpilot 2022.09.22 - EON/C2 Release
 ========================
 * Synced with openpilot master 2022.09.17 commits.
  * e2e longitudinal toggle. (Extremely alpha feature)
  * Deprecated SNPE lib and switched to tinygrad.
 * NEW: Added back nav support on EON/C2.
 * WARNING: DUE TO THE INTRODUCTION OF END TO END LONGITUDINAL FEATURE, FOLLOWING FEATURES HAS BEEN CHANGED:
  * WIP: Dynamic Follow has been temporary removed for refactoring.
  * WIP: Vision Turn Control has been temporary removed for refactoring.
  * REMOVED: Camera offset has been removed permanently due to new e2e implementation.
  * EON/C2 WILL NO LONGER RECEIVE ANY DRIVING/DRIVER MONITORING MODEL UPDATES.
 dragonpilot 2022.08.29 - EON/C2 Release
 ========================
 * NEW: Synced to openpilot master 2022.08.23 commits.
  * New driving model.
 * NEW: Added back honda eps mod toggle.
 * NEW: Added back camera offset toggle.
 * TWEAK: Resume logic to adapt ATL mode.
 dragonpilot 2022.08.17 - EON/C2 Release
 ========================
 * NEW: Synced to openpilot master 2022.08.07 commits.
 * NEW: Added back auto shutdown toggle.
 * NEW: Added back On-Road Dashcam toggle. (You should not replace this with your dashcam!!!)
 * NEW: Added back LQR tune toggle.
 * NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd)
 * NEW: Included all vehicles.
 * TWEAK: Panda Recovery should kill boardd process first.
 * FIXED: Fixed stop working issue when mapd crashed.
 dragonpilot 2022.07.29 - EON/C2 Release
 ========================
 * NEW: Synced to openpilot 2022.07.27 commits.
 * NEW: Included Mazda vehicles.
 * TWEAK: Only show road name bar when it's not empty.
 * TWEAK: Enlarged lead car distance text.
 * TWEAK: TOYOTA - Updated lowest speed override feature.
 * FIXED: Fixed Panda Flash/Recovery buttons.
 * FIXED: Included dp_patcher.py execution.
 dragonpilot 2022.07.20 - EON/C2 Release
 ========================
 * FIXED: Included correct camera/path offset values for EON/C2.
 * FIXED: Param bug in HKG. (Thanks to @sunnyhaibin).
 * FIXED: Included fan controller for UNO (C2).
 * TWEAK: Auto set a decent date/time to prevent onroad incorrect date/time detection.
 * TWEAK: Removed sounds unavailable warning.
 * TWEAK: Removed unused loggers.
 * TWEAK: Disabled IR controls completely.
 dragonpilot 2022.07.14 - EON/C2 Release
 ========================
 * FIXED: DM bug.
 * FIXED: white / grey panda support.
 * FIXED: Removed No GPS signal warning.
 dragonpilot 2022.07.12 - EON/C2 Release
 ========================
 * Synced up with dragonpilot 2022.06.25 C3 release
 * Running on latest AI model.
 * Steering monitor only.
 * Works on EON/C2 + white/grey/black panda (tested only on Toyotas).
 * Buggy!
 dragonpilot 2022.07.01
 ========================
 * Synced with openpilot master 2022.06.29 commits.
 * ADDED: MapD based off @move-fast. Thanks to @sunnyhaibin for mapbox as datapoint and ui refactor. (setting destination will use mapxbox speedlimit data which is more accurate. MapD priority: Mapbox(if nav active), OSM, RSA )
 dragonpilot 2022.06.25
 ========================
 * Synced with openpilot master 2022.06.25 commits.
 * Updated zh-TW translation.
 * ADDED: Dynamid follow @krkeegan version. (press the distance button)
 * ADDED: dp ui vol.
 * ADDED: dp ui brightness.
 * ADDED: dp ui top/side bar.
 * ADDED: dp display mode (0=off/normal, 1=turn off the screen when onroad).
 dragonpilot 2022.06.16
 ========================
 * Synced with openpilot master 2022.06.16 commits.
 * ADDED: Toyota SnG hack.
 * ADDED: Accel Profile.
 * FIXED: Car Selection.
 * FLXED: ALCA Delay Setting UI.
 * FIXED: Lane lines mode (w/ DLP built-in).
 dragonpilot 2022.06.11
 ========================
 * Synced with openpilot master 2022.06.07 commits
 * Migrating more features soon, stay tuned!
 dragonpilot 0.8.13-1
 ========================
 * Based on openpilot 0.8.13 devel.
 * ADDED: Support for SDSU. Can now control distance with the button on the steering wheel. (Thanks to @CT9212)
 * FIXED: DLP fix. (Thank to @Hikari1023)
 * Bug fixes.
 dragonpilot 0.8.12-3
 ========================
 * Bug fixes.
 * ADDED: Car Selector for C3.
 * ADDED: ColorBlind mode eon only. (thanks to @ihsakashi)
 * TUNNING: Toyota long improvement.
 * Reimplement: Following Distance and added @krkeegan implementation (toyota only with sdsu/tss2).
 dragonpilot 0.8.12-2
 ========================
 * Bug fixes.
 * ADDED: FTP to easily manage storage.
 * Readded: camera offset, path offset and autoshutdown.
 dragonpilot 0.8.12-1
 ========================
 * Based on openpilot 0.8.12 devel.
 * ADDED: Support for no gps (mr.one panda).
 * Reimplement: camera offset, path offset, nav for c2 and autoshutdown.
 dragonpilot 0.8.10-4
 ========================
 * FIXED: Allow gas press. (Thanks to @loveloveses)
 * FIXED: Honda SnG. (Thanks to @loveloveses
 * ADDED: Toyota: Display Blue Barriers When Engaged. (Thanks to @krkeegan)
 dragonpilot 0.8.10-3
 ========================
 * NAV: Gaode/amap to use new key combination. (Thanks to @loveloveses)
 dragonpilot 0.8.10
 ========================
 * Based on openpilot 0.8.10 devel.
 * Reimplement: Following Distance.
 * Better Subaru support. (Thanks to @martinl https://github.com/martinl/openpilot)
 * NAV: Added use of Navigation tab to access home/work/recent dest.
 * NAV: Added auto Day/Night Mode.
 * NAV: Added customizable style.
 * NAV: Added Gaode/amap Search. (Thanks to @loveloveses)
 * FIXED: Device w/ battery no longer need to set auto shutdown to 1 min.
 * FIXED: Auto shutdown while on bench (Thanks to @sunnyhaibin)
 * REMOVED: Timebomb feature for VW.
 * REMOVED: Support of running Android apps.
 dragonpilot 0.8.9-3
 ========================
 * Bug fixes.
 * Fixed up auto updater.
 * Fixed Honda Jade dbc. (Thanks to @lijunhao731)
 * ADDED: 0.8.10 model.
 * ADDED: Nav for all device.
 * ADDED: Support for Nvidia Xavier.
 dragonpilot 0.8.9-2
 ========================
 * Bug fixes.
 * Refactor UI related changes.
 * Updated Simplified Chinese translation. (Thanks to @CCZ)
 * WARNING: Due to recent OP change, Device w/ battery recommended setting autoshutdown to 1 min to prevent libusb error.
 * Re-tuned acceleraton profile. (Thank to @wer5lcy)
 * ADDED: Car port for Toyota Prius Alpha. (Thanks to @CT921)
 dragonpilot 0.8.9-1
 ========================
 * Based on openpilot 0.8.8 devel.
 * Re-introduce Follow Distance 4th profile (2.2s / 1.8s / 1.5s / 1.2s).
 * ADDED: New softer sound for c3.
 * ADDED: Dynamic Lane Profile. (Thanks to @sunnyhaibin)
 * Bug Fixes.
 dragonpilot 0.8.8-2
 ========================
 * ADDED: newer faster and modularized mapd and slow down for curve. (Thanks to @move-fast)
 * ADDED: Street name on the bottom bar.
 * ADDED: Now supports 1+3t / C2 / C3 / Jetson Xavier NX.
 * ADDED: Smoother tune for PRIUS_TSS2.
 * Bug fixes.
 dragonpilot 0.8.8-1
 ========================
 ** BETA TESTING ONLY **
 * Based on openpilot 0.8.8 devel.
 * FIXED: dashcam issue.
 * FIXED: some VW vehicles issue. (Thanks to @yayism)
 * FIXED: white panda + j533 acc issue. (Thanks to @lirudy)
 * ADDED: Auto fake black panda.
 * ADDED: 2018 chinese camry hybrid fingerprint (Thanks to @stingshen)
 * WIP: mapd.
 dragonpilot 0.8.7-4
 ========================
 * 2017 JADE w/ Added Comma Pedal Support. (Thanks to @lijunhao731)
 * Fixed toyota / honda brake light display. (Thanks to @loveloveses)
 * Fixed UI toggle. (Thanks to @鄧育林、@謝聖鴻)
 * Fixed VW resume/display issue. (Thanks to @SKY)
 * Fixed CJK font installation issue.
 dragonpilot 0.8.7-3
 ========================
 * Bug fixes.
 * Fixed gpxd.
 * Added some Chinese support.
 dragonpilot 0.8.7-2
 ========================
 * Fixed sound issue.
 * Changed gpx logs to OSM compatible format.
 * HONDA: Added BSM support for CRV-Hybrid.
 * HONDA: Added toggle to force displaying km/h in HUD.
 * TOYOTA: Add new Toggles under DP - Cars to enable/disable Following Modes / Accel Modes with physical button feature.
 dragonpilot 0.8.7-1
 ========================
 * Based on openpilot 0.8.7 devel.
 * Support 1+3t / C2 / Jetson Xavier NX.
 * Support White / Grey Panda.
 * TOYOTA: Can now change Following Modes with physical button from the steering wheel.
 * TOYOTA: Can now change Acceleration Modes with physical button if your car supports it.
 * TOYOTA: Added Low speed override toggles.
 * Dev UI now displays RPM reading.
 * Added Prebuilt toggle for faster boot.
 * Lexus RX high RPM fix. (Thanks to @crazysim).
 * Added toggle to launch Language settings.
 * Added toggle to launch Volume settings.
 * Added toggle to launch date/time settings.
 * Added toggle to flash panda.
 * Added toggle to recover panda firmware.
 * Added toggle to delete logging (/sdcard/realdata).
 * Added GPS Logger.
 dragonpilot 0.8.6-1
 ========================
 * Based on openpilot 0.8.6 devel.
 * Support 1+3t / C2 / Jetson Xavier NX.
 * Support White / Grey Panda.
 dragonpilot 0.8.5-4
 ========================
 * Added multiple toggles.
 * Code clean up.
 * Android app support. (see selfdrive/dragonpilot/HOWTO-APPD.md)
 * Better support for VW MPQ (Thanks to @Saber)
 dragonpilot 0.8.5-3
 ========================
 * Added Jetson support toggle.
 * Added Steering Ratio controller.
 * Reduce Following Profile to 3 modes only. (1.8s / 1.5s / 1.2s)
 * Bug fixes.
 dragonpilot 0.8.5-2
 ========================
 * Added black panda simulation toggle.
 * Added No GPS toggle.
 * Added No Battery Toggle.
 * Bug fixes.
 dragonpilot 0.8.5-1
 ========================
 * Based on openpilot 0.8.5 devel.
 * 基於 openpilot 0.8.5 devel.
 * Support 1+3t / C2 / Jetson Xavier NX.
 * 支持 1+3t / C2 / Jetson Xavier NX.
 * No White/Grey Panda Support.
 * 不支持白灰熊.
 dragonpilot 0.8.4-3
 ========================
 * 簡化 1+3t 安裝方法. (請查閱 HOWTO-ONEPLUS.md)
 * Simplied 1+3t installation. (See HOWTO-ONEPLUS.md)
 * 加回舊 ssh 登錄.
 * Good old ssh key.
 * 修復本田錯誤. (感謝 @loveloveses)
 * Fixed Honda bug. (Thanks to @loveloveses)
 dragonpilot 0.8.4-2
 ========================
 * 加回可調整加速/跟車設定.
 * Added back Accel/Following Profile.
 * 支持 Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
 * Support Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
 * 支持 1+3t (需額外安裝手續)
 * Support 1+3t (Require additional install procedure)
 * 支持白/灰熊
 * Support White/Grey Panda.
 dragonpilot 0.8.4-1
 ========================
 * 基於 openpilot 0.8.4 devel.
 * Based on openpilot 0.8.4 devel.
 dragonpilot 0.8.1
 ========================
 * 基於最新 openpilot 0.8.1 devel.
 * Based on latest openpilot 0.8.1 devel.
 * 加入行車記錄按鈕。(感謝 @toyboxZ 提供)
 * Added REC screen button. (Thanks to @toyboxZ)
 dragonpilot 0.8.0
 ========================
 * 基於最新 openpilot 0.8.0 devel.
 * Based on latest openpilot 0.8.0 devel.
 * 加入 git 錯誤修正。(感謝 @toyboxZ 提供)
 * Added git error fix. (Thanks to @toyboxZ)
 dragonpilot 0.7.10.1
 ========================
 * HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
 * HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
 * HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
 * HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe)
 * 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
 * Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
 * 使用 openpilot v0.8 的模型。(感謝 @eisenheim)
 * Use openpilot v0.8 model. (Thanks to @eisenheim)
 * 加入 0.8 測試版的部分優化。
 * Added optimizations from pre-0.8.
 * 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供)
 * Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369)
 * 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供)
 * Fixed issue with white/grey panda support for VW (Thanks to @lirudy)
 * GENESIS_G70 優化 (感謝 @sebastian4k 提供)
 * GENESIS_G70 Optimisation (Thanks to @sebastian4k)
 * HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
 * HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
 * 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
 * Added Dynamic Gas Lite. (Thanks to @toyboxZ)
 * 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
 * Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang)
 * 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
 * Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
 dragonpilot 0.7.10.0
 ========================
 * 基於最新 openpilot 0.7.10 devel.
 * Based on latest openpilot 0.7.10 devel.
 * 修正 Prius 特定情況下無法操控方向盤的問題。
 * Fixed unable to regain Prius steering control under certain condition.
 * 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
 * Updated support of VW MQB. (scripts/vw.sh script required)
 * 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
 * Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
 * 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
 * Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa)
 * 優化 nanovg。(感謝 @piggy 提供)
 * Optomized nanovg. (Thanks to @piggy)
 * 加入 complete_setup.sh (感謝 @深鲸希西 提供)
 * Added complete_setup.sh (Thanks to @深鲸希西)
 * Based on latest openpilot 0.7.10 devel.
 * 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
 * Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
 * HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
 * HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
 dragonpilot 0.7.8.3
 ========================
 * VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼)
 * VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd)
 dragonpilot 0.7.8.2
 ========================
 * 修正在沒網路的情況下，開機超過五分鐘的問題。
 * Fixed 5+ minutes boot time issue when there is no internet connection.
 * 錯誤回傳改使用 dp 的主機。
 * Used dp server for error reporting.
 * 更新服務改使用 gitee 的 IP 檢查連線狀態。
 * updated service uses gitee IP address instead.
 dragonpilot 0.7.8.1
 ========================
 * 加入 ko-KR 翻譯。
 * Added ko-KR translation.
 * 加入 Honda Jade 支援。(感謝 @李俊灝)
 * Added Honda Jade support. (Thanks to @lijunhao731)
 * 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供)
 * Fixed ui.cc memory out of bound issue. (Thanks to @piggy)
 * gpxd 記錄改自動存成 zip 格式。
 * gpxd now store in zip format.
 * 強制關閉 panda 檢查 DOS 硬體。
 * Force disabled DOS hardware check in panda.
 dragonpilot 0.7.8.0
 ========================
 * 基於最新 openpilot 0.7.8 devel.
 * Based on latest openpilot 0.7.8 devel.
 * 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議)
 * Added "Reset DP Settings" button. (Thanks to @LOVEChen)
 * 將警示訊息更改為類似於概念 UI 的設計。
 * Alert messages changed to concept UI alike design.
 * 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。
 * Added ability to execute reset_update.sh when press "Exit" button once manager returned errors.
 dragonpilot 0.7.7.3
 ========================
 * 修正方向盤監控。
 * Fixed steering monitor timer param.
 * 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報)
 * Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough)
 * 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議)
 * Re-added Dev Mini UI. (Thanks to @Ninjaa)
 * 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim)
 * Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim)
 * 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough)
 * Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough)
 * 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1）
 * Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1)
 * 使用德國的車道寬度估算值。 （感謝 @arne182）
 * Used lane width estimate value from Germany. (Thanks to @arne182)
 dragonpilot 0.7.7.2
 ========================
 * 加入 d_poly offset。 (感謝 @ShaneSmiskol)
 * Added d_poly offset. (Thanks to @ShaneSmiskol)
 * 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試)
 * Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing)
 * 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼)
 * Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol)
 * 加入 LQR 控制器開關進設定畫面。
 * Added LQR Controller toggle to settings.
 dragonpilot 0.7.7.1
 ========================
 * 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
 * Added C2 quiet fan mode. (Thanks to @dingliangxue)
 * 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。
 * Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings.
 * 加入回調校介面。(感謝 @Kent)
 * Re-added Dev UI. (Thanks to @Kent)
 * 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
 * Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim)
 dragonpilot 0.7.7.0
 ========================
 * 基於最新 openpilot 0.7.7 devel.
 * Based on latest openpilot 0.7.7 devel.
 * 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue)
 * When Manager failed, display IP address. (Thanks to  @dingliangxue)
 * 加回 sr learner 開關。
 * Re-added sr learner toggle.
 * 加回 加速模式 開關。
 * Re-added Accel Profile toggle.
 * Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo)
 * Added Toyota to override lowerest cruise speed. (Thanks to @Mojo)
 * 介面加入盲點偵測顯示。(感謝 @wabes)
 * Added BSM indicator to UI. (Thanks to @wabes)
 * 加回彎道減速功能。(感謝 @Mojo)
 * re-added Slow On Curve functionality. (Thanks to @Mojo)
 dragonpilot 0.7.6.2
 ========================
 * 修正無法正確關閉駕駛監控的問題。
 * Fixed unable to properly turn off driver monitor issue.
 dragonpilot 0.7.6.1
 ========================
 * 基於最新 openpilot 0.7.6.1 devel.
 * Based on latest openpilot 0.7.6.1 devel.
 * 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
 * Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
 * 完全關閉 steer ratio learner。
 * Completely disabled steer ratio learner.
 * 移除「加速模式」。
 * Removed Accel Profile.
 * 加入本田皓影混電版指紋v1。(感謝 @劉駿)
 * Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
 * 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
 * Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
 dragonpilot 0.7.5.4
 ========================
 * Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
 * Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
 dragonpilot 0.7.5.3
 ========================
 * Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
 * Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
 * 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
 * Optimize Lexus GSH steering. (Thanks to @簡銘佑)
 * C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
 * C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
 * 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
 * Fixed issue showing "pedalPressed" error. (Thanks to @Wei)
 * 將剎車狀熊顯示於 dp 資訊欄。
 * Added brake indicator to dp infobar.
 * 修正「溫度監控」燈示。
 * Fixed "Temp monitor" indicator.
 * 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
 * Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
 * 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
 * Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22)
 dragonpilot 0.7.5.2
 ========================
 * 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
 * Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
 * 修改成 3 小時後停止供電。(感謝 @Wei 建議)
 * Updated to stop charging after 3 hrs. (Thanks to @Wei)
 * 移除行車記錄下的「碰撞偵測」功能。
 * Removed Impact Detection in Dashcam.
 * 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
 * Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
 * 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
 * Fixed alert issue in waze mode. (Thanks to @axandres)
 * 修正無法顯示更新中圖示的問題。
 * Fixed unable to display "UPDATING" icon issue.
 * 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
 * Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
 * 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
 * Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
 * 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
 * Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
 dragonpilot 0.7.5.1
 ========================
 * 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
 * Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林)
 * 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
 * Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
 * 更新 appd 使用 cnpmjs 來下載 APKs。
 * Updated appd to use cnpmjs to download APKs.
 * 修正更新服務。(感謝 @Wei)
 * Fixed Update Service. (Thanks to @Wei)
 * 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
 * Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
 * 新增「通過移動網路上傳」開關
 * Added Upload Over Mobile Network toggle.
 * 新增「通過熱點上傳」開關
 * Added Upload Over Hotspot toggle.
 * 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
 * Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
 * 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
 * Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
 dragonpilot 0.7.5.0
 ========================
 * 基於最新 openpilot 0.7.5 devel-staging.
 * Based on latest openpilot 0.7.5 devel-staging.
 * 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
 * Updated dp logo, special thanks to @wabes for the design.
 * 簡/繁中文版和 i18n 整合成為單一版本。
 * Merged zhs/zht/i18n versions into one.
 * 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
 * Added China Camery Hybrid FPv2. (Thanks to @杜子腾)
 * 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
 * Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
 * 新增行駛時關閉畫面功能。
 * Added Screen off while driving feature.
 * 新增倒車時關閉畫面功能。
 * Added Screen off while reversing feature.
 * 新增駕駛介面加入「加速模式」切換鈕。
 * Added acceleration profile toggle onto driving UI.
 * 新增自定車型功能，取代指紋暫存功能。
 * Replaced fingerprint cache with custom car model selector.
 * 新增可調亮度。
 * Added Brightness changer.
 * 新增部分德語支持。(特別感謝 @arne182 提供)
 * Added partial de_DE language support (Thanks to @arne182)
 * 新增停車碰撞偵測記錄功能。
 * Added off road impact detection to dashcam.
 2020-05-06
 ========================
 * 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
 * 中文版整合進 i18n 版。
 * 刪除指紋暫存功能。
 * 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾)
 * 新增行駛時關閉畫面功能。
 * 新增倒車時關閉畫面功能。
 * 新增駕駛介面加入「加速模式」切換鈕。
 * 新增自定義車型。
 2020-04-16
 ========================
 * [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai)
 * [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip)
 * [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip)
 * [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip)
 * [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助)
 2020-04-13
 ========================
 * [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR)
 * [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議)
 * [DEVEL] 更新 update script。(感謝 深鯨希西 回報)
 2020-04-10
 ========================
 * [DEVEL] 更新 panda 至最新的 comma:master 分支。
 * [DEVEL] 移除所有的第三方應用改為自動下載。
 * [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
 2020-03-31
 ========================
 * [DEVEL] 更新至 2020-03-31 testing 分支。
 2020-03-27
 ========================
 * [DEVEL] 更新至最新的 testing 分支:
  * 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
  * 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
  * 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
  * 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
  * 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
  * 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
  * 加入韓文支持。(感謝 crwusiz 提供)
  * 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
 2020-03-22
 ========================
 * [DEVEL] 更新至最新的 testing 分支。
 2020-03-17
 ========================
 * [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。
 * [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
 2020-03-14
 ========================
 * [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
 * [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議)
 * [DEVEL] 調高 Toyota 扭力容錯值。
 * [DEVEL] 優化讀取 dp 設定值。
 * [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
 * [DEVEL] dp 功能加入對 Subaru 車系的支援。
 2020-03-06
 ========================
 * [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供)
 * [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
 * [DEVEL] 建立 devel-i18n 取代 devel-en。
 * [DEVEL] devel-en is deprecated, please switch to devel-i18n instead.
 2020-03-04
 ========================
 * [DEVEL] 加入顯示駕駛監控畫面。
 * [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
 * [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
 2020-02-25
 ========================
 * [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
 2020-02-21
 ========================
 * [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
 2020-02-14
 ========================
 * [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
 * [DEVEL] 修正錯誤。
 2020-02-08
 ========================
 * [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
 * [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。
 * [DEVEL] 加入神盾測速照相自動啟動的開關。
 * [DEVEL] 更新高德地圖至 v4.5.0.600053。
 * [DEVEL] 使用 0.6.6 版的更新系統。
 * [DEVEL] 修正急剎問題。(感謝 kumar 提供)
 2020-01-31
 ========================
 * [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
 2020-01-29
 ========================
 * [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
 2020-01-23
 ========================
 * [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
 * [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
 * [DEVEL] 優化 appd。
 2020-01-19
 ========================
 * [DEVEL] 更新至最新的 commaai:devel (0.7.1)。
 * [DEVEL] 調整 appd 和 ALC 邏輯。
 2020-01-14
 ========================
 * [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
 2020-01-08
 ========================
 * [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
 * [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
 2019-12-31
 ========================
 * [DEVEL-ZHS] 加回第三方應用。
 2019-12-29
 ========================
 * [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
 * [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
 * [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
 2019-12-18
 ========================
 * [DEVEL] 修正自動換道邏輯。
 * [DEVEL] 更新 offroad 翻譯。
 * [DEVEL] 錯誤修正。
 * [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
 2019-12-17
 ========================
 * [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
 * [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上)
 * [DEVEL] 加入自動換道開關。（40mph / 65kph 以上)
 * [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
 * [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
 * [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
 2019-12-10
 ========================
 * [DEVEL] 加入位智車機模式。 (Waze Mode)
 2019-11-21
 ========================
 * [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報)
 * [DEVEL] 調整前車靜止移動偵測參數。
 * [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。
 2019-11-18
 ========================
 * [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
 2019-11-18
 ========================
 * [DEVEL] 修正 frame 翻譯。
 2019-11-15
 ========================
 * [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應)
 2019-11-15
 ========================
 * [DEVEL] 修正充電控制。 (感謝 KT 反應)
 * [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
 * [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
 2019-11-12
 ========================
 * [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
 * [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。
 2019-11-12
 ========================
 * [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。
 2019-11-11
 ========================
 * [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
 * [DEVEL] 更新 MiXplorer 至 v6.40.3
 * [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
 * [DEVEL] 前車靜止移動偵測加入偵測警示。
 2019-11-07
 ========================
 * [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
 * [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
 2019-11-06
 ========================
 * [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
 * [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
 2019-11-05
 ========================
 * [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
 2019-11-01
 ========================
 * [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
 * [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
 2019-11-01
 ========================
 * [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。
 * [DEVEL] 更新 offroad 為多語言版
 * [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
 2019-10-29
 ========================
 * [DEVEL] 加入 SnG 補丁。（感謝 楊雅智)
 2019-10-28
 ========================
 * [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
 * [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
 2019-10-18
 ========================
 * [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
 * [DEVEL] 移除強迫網路連線提示。(感謝 Shell)
 * [DEVEL] 修正 allow_gas 功能。
 2019-10-18
 ========================
 * [DEVEL] 加入彎道減速功能開關。
 * [DEVEL] 強迫使用 dp 版 Panda 韌體。
 * [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
 2019-10-17
 ========================
 * [DEVEL] 加入「車型」顯示於 dp 設定畫面。
 * [DEVEL] 修正充電控制讀取預設值的錯誤。
 * [DEVEL] 修正無法顯示更新記錄的錯誤。
 2019-10-16
 ========================
 * [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
 * [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。
 * [DEVEL] 更新高德地圖至 v4.3.0
 * [DEVEL] 刪除 bs (Branch Switcher)
 2019-10-14
 ========================
 * [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供)
 * [DEVEL] 清除不再使用的 dp params。
 * [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議)
 * [DEVEL] 加入刷新 Panda 韌體按鈕。
 2019-10-11
 ========================
 * [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
 * [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
 2019-10-09
 ========================
 * [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
 2019-10-08
 ========================
 * [DEVEL] 加回駕駛監控開關。
 * [DEVEL] 加入 bs (branch switcher) 程式。
 2019-10-07
 ========================
 * [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
 2019-10-05
 ========================
 * [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。
 * [DEVEL] 更新至最新的 commaai:devel (0.6.4)。
 2019-09-30
 ========================
 * [DEVEL] 更新 curvature learner 版本至 v4。
 * [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor
 2019-09-27
 ========================
 * [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
 * [DEVEL] 加入可開關駕駛監控的程式碼。
 * [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
 * [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
 2019-09-26
 ========================
 * [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
 2019-09-24
 ========================
 * [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
 * [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
 2019-09-23
 ========================
 * [DEVEL] 優化讀取 params 的次數。
 * [DEVEL] 加入可開關的車道偏移警示。
 * [DEVEL] 修正充電控制邏輯。
 * [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
 2019-09-20
 ========================
 * [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
 2019-09-16
 ========================
 * [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
 * [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
 2019-09-13
 ========================
 * [DEVEL] 行車介面加入可開關的「速度顯示」設定。
 2019-09-09
 ========================
 * [DEVEL] 加入 GreyPanda 模式。
 2019-08-28
 ========================
 * [DEVEL] 加入可調警示音量。
 2019-08-27
 ========================
 * [DEVEL] 自動關機改為可調時長。
@@ -1,3 +1,15 @@
 LIMITATION
 ------
 * CAN-FD vehicles WILL NOT WORK: this is due to the library in EON/C2 is old and cannot build red panda firmware.
 * Body WILL NOT WORK: again this is due to the library in EON/C2 cannot build its firmware.
 * AI Model REMAINS IN 0.8.16: Too much effort to port tinygrad/pyopencl onto EON/C2, still investigating workarounds.
 * NOO (Navigation On Openpilot) WILL NOT WORK: NOO requires newer driving model to work with nav model, until we resolved the last statement.
 * Logger WILL NOT WORK: It's running at near full capacity with the 0.8.16 driving model, Logger will cause performance/thermal issue.
 ** In short, consider it as openpilot 0.8.16 version PLUS latest vehicle model support from openpilot master branch.**
 ** THE BUILD IS VERY DIRTY, for porting/logging purpose we suggest using [openpilot mastertwo branch](https://github.com/commaai/openpilot/tree/commatwo_master).**
 ![](https://i.imgur.com/b0ZyIx5.jpg)
 Table of Contents
@@ -109,7 +121,10 @@ Directory Structure
        ├── clocksd         # Broadcasts current time
        ├── hardware        # Hardware abstraction classes
        ├── logcatd         # systemd journal as a service
-        └── proclogd        # Logs information from /proc
+        ├── loggerd         # Logger and uploader of car data
        ├── proclogd        # Logs information from /proc
        ├── sensord         # IMU interface code
        └── ubloxd          # u-blox GNSS module interface code
    └── selfdrive           # Code needed to drive the car
        ├── assets          # Fonts, images, and sounds for UI
        ├── athena          # Allows communication with the app
@@ -118,12 +133,10 @@ Directory Structure
        ├── controls        # Planning and controls
        ├── debug           # Tools to help you debug and do car ports
        ├── locationd       # Precise localization and vehicle parameter estimation
        ├── loggerd         # Logger and uploader of car data
        ├── manager         # Daemon that starts/stops all other daemons as needed
        ├── modeld          # Driving and monitoring model runners
        ├── monitoring      # Daemon to determine driver attention
        ├── navd            # Turn-by-turn navigation
        ├── sensord         # IMU interface code
        ├── test            # Unit tests, system tests, and a car simulator
        └── ui              # The UI
@@ -143,7 +156,4 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
 <img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
 [![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions)
 [![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
 [![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
 [![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
 [![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
@@ -1,11 +1,29 @@
-Version 0.9.1 (2022-12-XX)
+Version 0.9.2 (2023-03-XX)
 ========================
-* Adjust alert volume using ambient noise level
+* Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
-* Removed driver monitoring timer resetting on interaction if face detected and distracted
+* Buick LaCrosse 2017-19 support thanks to koch-cf!
 * Škoda Fabia 2022-23 support thanks to jyoung8607!
 Version 0.9.1 (2023-02-28)
 ========================
 * New driving model
  * 30% improved height estimation resulting in better driving performance for tall cars
 * Driver monitoring: removed timer resetting on user interaction if distracted
 * UI updates
  * Adjust alert volume using ambient noise level
  * Driver monitoring icon shows driver's head pose
  * German translation thanks to Vrabetz and CzokNorris!
 * Cadillac Escalade 2017 support thanks to rickygilleland!
 * Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
 * Genesis GV60 2023 support thanks to sunnyhaibin!
 * Hyundai Tucson 2022-23 support
 * Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
 * Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
 * Kia Sorento 2022-23 support thanks to sunnyhaibin!
 * Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
 * Toyota C-HR 2021 support thanks to eFiniLan!
 * Toyota C-HR Hybrid 2022 support thanks to Korben00!
 * Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
 Version 0.9.0 (2022-11-21)
 ========================
@@ -1,6 +1,4 @@
-gen
+/gen/
 node_modules
 package-lock.json
 *.tmp
 *.pyc
 __pycache__
@@ -18,4 +16,3 @@ services.h
 .sconsign.dblite
 libcereal_shared.*
 .mypy_cache/
 catch2/
@@ -39,11 +39,12 @@ RUN pyenv install 3.8.10 && \
    pyenv rehash && \
    pip3 install --no-cache-dir pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==1.0.0 pre-commit==2.15.0 pylint==2.5.2 parameterized==0.7.4 coverage==5.1 numpy==1.21.1
-WORKDIR /project/cereal/messaging
+WORKDIR /project/
-RUN git clone https://github.com/catchorg/Catch2.git && \
+RUN cd /tmp/ && \
    git clone https://github.com/catchorg/Catch2.git && \
    cd Catch2 && \
    git checkout 229cc4823c8cbe67366da8179efc6089dd3893e9 && \
-    mv single_include/catch2 ../catch2 && \
+    mv single_include/catch2/ /project/ && \
    cd .. \
    rm -rf Catch2
@@ -1,4 +1,4 @@
-What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/Tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal)
+What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal)
 ----
 cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
@@ -118,6 +118,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    #dp
    speedLimitActive @116;
    speedLimitValueChange @117;
    leadMovingAlertSilent @118;
    leadMovingAlert @119;
    manualSteeringRequiredBlinkersOn @120;
    radarCanErrorDEPRECATED @15;
    communityFeatureDisallowedDEPRECATED @62;
@@ -209,9 +212,6 @@ struct CarState {
  # clutch (manual transmission only)
  clutchPressed @28 :Bool;
  # which packets this state came from
  canMonoTimes @12: List(UInt64);
  # blindspot sensors
  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
@@ -220,9 +220,13 @@ struct CarState {
  charging @43 :Bool;
  # dp
-  cruiseActualEnabled @46 :Bool;
+  engineRPM @46 :Float32;
-  engineRPM @47 :Float32;
+  distanceLines @47 :UInt8;
-  distanceLines @48:UInt8;
+  rightBlindspotD1 @48 :Float32;
  rightBlindspotD2 @49 :Float32;
  leftBlindspotD1 @50 :Float32;
  leftBlindspotD2 @51 :Float32;
  blindspotside @52 :Float32;
  struct WheelSpeeds {
    # optional wheel speeds
@@ -277,9 +281,11 @@ struct CarState {
    }
  }
  # deprecated
  errorsDEPRECATED @0 :List(CarEvent.EventName);
  brakeLightsDEPRECATED @19 :Bool;
  steeringRateLimitedDEPRECATED @29 :Bool;
  canMonoTimesDEPRECATED @12: List(UInt64);
 }
 # ******* radar state @ 20hz *******
@@ -288,9 +294,6 @@ struct RadarData @0x888ad6581cf0aacb {
  errors @0 :List(Error);
  points @1 :List(RadarPoint);
  # which packets this state came from
  canMonoTimes @2 :List(UInt64);
  enum Error {
    canError @0;
    fault @1;
@@ -314,6 +317,9 @@ struct RadarData @0x888ad6581cf0aacb {
    # some radars flag measurements VS estimates
    measured @6 :Bool;
  }
  # deprecated
  canMonoTimesDEPRECATED @2 :List(UInt64);
 }
 # ******* car controls @ 100hz *******
@@ -341,6 +347,8 @@ struct CarControl {
  cruiseControl @4 :CruiseControl;
  hudControl @5 :HUDControl;
  latController @17 :Text;
  struct Actuators {
    # range from 0.0 - 1.0
    gas @0: Float32;
@@ -437,6 +445,15 @@ struct CarParams {
  enableBsm @56 :Bool;       # blind spot monitoring
  flags @64 :UInt32;         # flags for car specific quirks
  experimentalLongitudinalAvailable @71 :Bool;
  #dp: enable torque interceptor
  enableTorqueInterceptor @72 :Bool;
  #dp: alt tune collection
  latTuneCollection @73 :LatTunes;
  struct LatTunes {
    pid @0 :LateralPIDTuning;
    lqr @1 :LateralLQRTuning;
    torque @2 :LateralTorqueTuning;
  }
  minEnableSpeed @7 :Float32;
  minSteerSpeed @8 :Float32;
@@ -475,7 +492,7 @@ struct CarParams {
  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
  stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
  steerControlType @34 :SteerControlType;
-  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+  radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
  startAccel @32 :Float32; # Required acceleration to get car moving
@@ -593,10 +610,11 @@ struct CarParams {
    subaruLegacy @22;  # pre-Global platform
    hyundaiLegacy @23;
    hyundaiCommunity @24;
-    stellantisDEPRECATED @25;  # Consolidated with Chrysler; may be recycled for the next new model
+    volkswagenMlb @25;
    hongqi @26;
    body @27;
    hyundaiCanfd @28;
    volvoC1 @29;
  }
  enum SteerControlType {
@@ -622,6 +640,8 @@ struct CarParams {
    request @5 :List(Data);
    brand @6 :Text;
    bus @7 :UInt8;
    logging @8 :Bool;
    obdMultiplexing @9 :Bool;
  }
  enum Ecu {
@@ -640,6 +660,7 @@ struct CarParams {
    shiftByWire @16;
    adas @19;
    cornerRadar @21;
    hvac @20;
    # Toyota only
    dsu @6;
@@ -653,7 +674,7 @@ struct CarParams {
    hcp @18;  # Hybrid Control Processor
    # Hyundai only
-    vcu @20;  # Vehicle (Motor) Control Unit
+    parking @22;  # ADAS parking ECU
    debug @17;
  }
@@ -14,10 +14,10 @@ struct DragonConf {
  dpLateralLanelines @6 :Bool;
  dpLateralCameraOffset @7 :Int8;
  dpLateralPathOffset @8 :Int8;
-  dpIpAddr @9 :Text;
+  dpLateralRoadEdgeDetected @9 :Bool;
-  dpUiTop @10 :Bool;
+  dpIpAddr @10 :Text;
-  dpUiSide @11 :Bool;
+  dpUiTop @11 :Bool;
-  dpUiVolume @12 :Int8;
+  dpUiSide @12 :Bool;
  dpUiBrightness @13 :UInt8;
  dpUiDisplayMode @14 :UInt8;
  dpUiSpeed @15 :Bool;
@@ -27,24 +27,32 @@ struct DragonConf {
  dpUiLaneline @19 :Bool;
  dpUiChevron @20 :Bool;
  dpUiDmCam @21 :Bool;
-  dpToyotaSng @22 :Bool;
+  dpUiRainbow @22 :Bool;
-  dpAccelProfileCtrl @23 :Bool;
+  dpToyotaSng @23 :Bool;
-  dpAccelProfile @24 :UInt8;
+  dpAccelProfileCtrl @24 :Bool;
-  dpToyotaCruiseOverride @25 :Bool;
+  dpAccelProfile @25 :UInt8;
-  dpToyotaCruiseOverrideSpeed @26 :UInt8;
+  dpToyotaCruiseOverride @26 :Bool;
-  dpToyotaAutoLock @27 :Bool;
+  dpToyotaCruiseOverrideSpeed @27 :UInt8;
-  dpToyotaAutoUnlock @28 :Bool;
+  dpToyotaAutoLock @28 :Bool;
-  dpMapd @29 :Bool;
+  dpToyotaAutoUnlock @29 :Bool;
-  dpLocalDb @30 :Bool;
+  dpToyotaDebugBsm @30 :Bool;
-  dpDashcamd @31 :Bool;
+  dpMapd @31 :Bool;
-  dpMazdaSteerAlert @32 :Bool;
+  dpLocalDb @32 :Bool;
-  dpSpeedCheck @33 :Bool;
+  dpDashcamd @33 :Bool;
-  dpFollowingProfileCtrl @34 :Bool;
+  dpMazdaSteerAlert @34 :Bool;
-  dpFollowingProfile @35 :UInt8;
+  dpSpeedCheck @35 :Bool;
-  dpE2EConditional @36 :Bool;
+  dpFollowingProfileCtrl @36 :Bool;
-  dpE2EConditionalAtSpeed @37 :UInt8;
+  dpFollowingProfile @37 :UInt8;
-  dpE2EConditionalAtSpeedLead @38 :UInt8;
+  dpLateralAlt @38 :Bool;
-  dpE2EConditionalAdaptFp @39 :Bool;
+  dpLateralAltSpeed @39 :UInt8;
-  dpE2EConditionalAdaptAp @40 :Bool;
+  dpLateralAltCtrl @40 :UInt8;
-  dpE2EConditionalVoacc @41 :Bool;
+  dpLateralAltLanelines @41 :Bool;
  dpLateralAltCameraOffset @42 :Int8;
  dpLateralAltPathOffset @43 :Int8;
  dpE2EConditional @44 :Bool;
  dpE2EConditionalAdaptFp @45 :Bool;
  dpE2EConditionalAdaptAp @46 :Bool;
  dpE2EConditionalVoacc @47 :Bool;
  dpLongLeadMovingAlert @48 :Int8;
  dpLateralLcManual @49 :Bool;
 }
@@ -166,7 +166,7 @@ struct FrameData {
  sensor @26 :ImageSensor;
  enum ImageSensor {
    unknown @0;
-    ar0321 @1;
+    ar0231 @1;
    ox03c10 @2;
  }
@@ -428,6 +428,8 @@ struct PandaState @0xa7649e2575e4591e {
  safetyParam @27 :UInt16;
  alternativeExperience @23 :Int16;
  safetyRxChecksInvalid @32 :Bool;
  #dp: enable torque interceptor
  torqueInterceptorDetected @33 :Bool;
  enum FaultStatus {
    none @0;
@@ -544,7 +546,6 @@ struct PeripheralState {
 }
 struct RadarState @0x9a185389d6fdd05f {
  canMonoTimes @10 :List(UInt64);
  mdMonoTime @6 :UInt64;
  carStateMonoTime @11 :UInt64;
  radarErrors @12 :List(Car.RadarData.Error);
@@ -579,6 +580,7 @@ struct RadarState @0x9a185389d6fdd05f {
  calStatusDEPRECATED @2 :Int8;
  calCycleDEPRECATED @8 :Int32;
  calPercDEPRECATED @9 :Int8;
  canMonoTimesDEPRECATED @10 :List(UInt64);
 }
 struct LiveCalibrationData {
@@ -615,7 +617,6 @@ struct LiveTracks {
 struct ControlsState @0x97ff69c53601abf1 {
  startMonoTime @48 :UInt64;
  canMonoTimes @21 :List(UInt64);
  longitudinalPlanMonoTime @28 :UInt64;
  lateralPlanMonoTime @50 :UInt64;
@@ -652,6 +653,9 @@ struct ControlsState @0x97ff69c53601abf1 {
  cumLagMs @15 :Float32;
  canErrorCounter @57 :UInt32;
  # dp - for alt lateral
  dpLateralAltActive @66 :Bool;
  lateralControlState :union {
    indiState @52 :LateralINDIState;
    pidState @53 :LateralPIDState;
@@ -794,6 +798,18 @@ struct ControlsState @0x97ff69c53601abf1 {
  jerkFactorDEPRECATED @12 :Float32;
  steerOverrideDEPRECATED @20 :Bool;
  steeringAngleDesiredDegDEPRECATED @29 :Float32;
  canMonoTimesDEPRECATED @21 :List(UInt64);
 }
 # All SI units and in device frame
 struct XYZTData @0xc3cbae1fd505ae80 {
  x @0 :List(Float32);
  y @1 :List(Float32);
  z @2 :List(Float32);
  t @3 :List(Float32);
  xStd @4 :List(Float32);
  yStd @5 :List(Float32);
  zStd @6 :List(Float32);
 }
 struct ModelDataV2 {
@@ -829,16 +845,6 @@ struct ModelDataV2 {
  # Model perceived motion
  temporalPose @21 :Pose;
  # All SI units and in device frame
  struct XYZTData {
    x @0 :List(Float32);
    y @1 :List(Float32);
    z @2 :List(Float32);
    t @3 :List(Float32);
    xStd @4 :List(Float32);
    yStd @5 :List(Float32);
    zStd @6 :List(Float32);
  }
  struct LeadDataV2 {
    prob @0 :Float32; # probability that car is your lead at time t
@@ -1034,6 +1040,11 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
    leaving @3; # Road ahead straightens. Start to allow positive acceleration.
  }
 }
 struct UiPlan {
  frameId @2 :UInt32;
  position @0 :XYZTData;
  accel @1 :List(Float32);
 }
 struct LateralPlan @0xe1e9318e2ae8b51e {
  modelMonoTime @31 :UInt64;
@@ -1210,18 +1221,27 @@ struct ProcLog {
 }
 struct GnssMeasurements {
-  ubloxMonoTime @0 :UInt64;
+  measTime @0 :UInt64;
  gpsWeek @1 :Int16;
  gpsTimeOfWeek @2 :Float64;
  correctedMeasurements @3 :List(CorrectedMeasurement);
  ephemerisStatuses @9 :List(EphemerisStatus);
-  positionECEF @4 :LiveLocationKalman.Measurement;
+  kalmanPositionECEF @4 :LiveLocationKalman.Measurement;
-  velocityECEF @5 :LiveLocationKalman.Measurement;
+  kalmanVelocityECEF @5 :LiveLocationKalman.Measurement;
-  # Used for debugging:
+  positionECEF @6 :LiveLocationKalman.Measurement;
-  positionFixECEF @6 :LiveLocationKalman.Measurement;
+  velocityECEF @7 :LiveLocationKalman.Measurement;
  timeToFirstFix @8 :Float32;
  # Todo sync this with timing pulse of ublox
  struct EphemerisStatus {
    constellationId @0 :ConstellationId;
    svId @1 :UInt8;
    type @2 :EphemerisType;
    source @3 :EphemerisSource;
  }
  struct CorrectedMeasurement {
    constellationId @0 :ConstellationId;
    svId @1 :UInt8;
@@ -1234,34 +1254,42 @@ struct GnssMeasurements {
    # Satellite position and velocity [x,y,z]
    satPos @7 :List(Float64);
    satVel @8 :List(Float64);
-    ephemerisSource @9 :EphemerisSource;
+    ephemerisSourceDEPRECATED @9 :EphemerisSourceDEPRECATED;
  }
-  struct EphemerisSource {
+  struct EphemerisSourceDEPRECATED {
-    type @0 :EphemerisSourceType;
+    type @0 :EphemerisType;
    # first epoch in file:
    gpsWeek @1 :Int16; # -1 if Nav
    gpsTimeOfWeek @2 :Int32; # -1 if Nav. Integer for seconds is good enough for logs.
  }
  enum ConstellationId {
-      # Satellite Constellation using the Ublox gnssid as index
+    # Satellite Constellation using the Ublox gnssid as index
-      gps @0;
+    gps @0;
-      sbas @1;
+    sbas @1;
-      galileo @2;
+    galileo @2;
-      beidou @3;
+    beidou @3;
-      imes @4;
+    imes @4;
-      qznss @5;
+    qznss @5;
-      glonass @6;
+    glonass @6;
  }
-  enum EphemerisSourceType {
+  enum EphemerisType {
    nav @0;
    # Different ultra-rapid files:
    nasaUltraRapid @1;
    glonassIacUltraRapid @2;
    # dp - eon/c2 need this renamed
    qcompoly @3;
  }
  enum EphemerisSource {
    gnssChip @0;
    internet @1;
    cache @2;
    unknown @3;
  }
 }
 struct UbloxGnss {
@@ -1271,6 +1299,20 @@ struct UbloxGnss {
    ionoData @2 :IonoData;
    hwStatus @3 :HwStatus;
    hwStatus2 @4 :HwStatus2;
    glonassEphemeris @5 :GlonassEphemeris;
    satReport @6 :SatReport;
  }
  struct SatReport {
    #received time of week in gps time in seconds and gps week
    iTow @0 :UInt32;
    svs @1 :List(SatInfo);
    struct SatInfo {
      svId @0 :UInt8;
      gnssId @1 :UInt8;
      flagsBitfield @2 :UInt32;
    }
  }
  struct MeasurementReport {
@@ -1364,7 +1406,7 @@ struct UbloxGnss {
    iDot @26 :Float64;
    codesL2 @27 :Float64;
-    gpsWeek @28 :Float64;
+    gpsWeekDEPRECATED @28 :Float64;
    l2 @29 :Float64;
    svAcc @30 :Float64;
@@ -1381,6 +1423,9 @@ struct UbloxGnss {
    ionoAlpha @38 :List(Float64);
    ionoBeta @39 :List(Float64);
    towCount @40 :UInt32;
    toeWeek @41 :UInt16;
    tocWeek @42 :UInt16;
  }
  struct IonoData {
@@ -1435,6 +1480,49 @@ struct UbloxGnss {
      flash @4;
    }
  }
  struct GlonassEphemeris {
    svId @0 :UInt16;
    year @1 :UInt16;
    dayInYear @2 :UInt16;
    hour @3 :UInt16;
    minute @4 :UInt16;
    second @5 :Float32;
    x @6 :Float64;
    xVel @7 :Float64;
    xAccel @8 :Float64;
    y @9 :Float64;
    yVel @10 :Float64;
    yAccel @11 :Float64;
    z @12 :Float64;
    zVel @13 :Float64;
    zAccel @14 :Float64;
    svType @15 :UInt8;
    svURA @16 :Float32;
    age @17 :UInt8;
    svHealth @18 :UInt8;
    tkDEPRECATED @19 :UInt16;
    tb @20 :UInt16;
    tauN @21 :Float64;
    deltaTauN @22 :Float64;
    gammaN @23 :Float64;
    p1 @24 :UInt8;
    p2 @25 :UInt8;
    p3 @26 :UInt8;
    p4 @27 :UInt8;
    freqNumDEPRECATED @28 :UInt32;
    n4 @29 :UInt8;
    nt @30 :UInt16;
    freqNum @31 :Int16;
    tkSeconds @32 :UInt32;
  }
 }
 struct QcomGnss @0xde94674b07ae51c1 {
@@ -2107,6 +2195,7 @@ struct Event {
    carControl @23 :Car.CarControl;
    longitudinalPlan @24 :LongitudinalPlan;
    lateralPlan @64 :LateralPlan;
    uiPlan @106 :UiPlan;
    ubloxGnss @34 :UbloxGnss;
    ubloxRaw @39 :Data;
    qcomGnss @31 :QcomGnss;
@@ -2156,7 +2245,7 @@ struct Event {
    # UI services
    userFlag @93 :UserFlag;
    uiDebug @102 :UIDebug;
-    # dp reserve 105,106
+    # dp reserve 107,108
    # *********** debug ***********
    testJoystick @52 :Joystick;
    roadEncodeData @86 :EncodeData;
@@ -2164,8 +2253,8 @@ struct Event {
    wideRoadEncodeData @88 :EncodeData;
    qRoadEncodeData @89 :EncodeData;
-    dragonConf @106 :Dp.DragonConf;
+    dragonConf @107 :Dp.DragonConf;
-    liveMapData @107: LiveMapData;
+    liveMapData @108 :LiveMapData;
    # *********** legacy + deprecated ***********
    model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
@@ -2203,6 +2292,7 @@ struct Event {
    kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
    uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
    pandaStateDEPRECATED @12 :PandaState;
    # dp - legacy
    driverState @59 :DriverState;
    sensorEvents @11 :List(SensorEventData);
  }
@@ -259,4 +259,4 @@ class PubMaster:
    self.sock[s].send(dat)
  def all_readers_updated(self, s: str) -> bool:
-    return self.sock[s].all_readers_updated()
+    return self.sock[s].all_readers_updated()  # type: ignore
@@ -1,8 +1,10 @@
 #pragma once
-#include "messaging.h"
+
 #include "msgq.h"
 #include <zmq.h>
 #include <string>
 #include <vector>
 #include "cereal/messaging/messaging.h"
 #include "cereal/messaging/msgq.h"
 #define MAX_POLLERS 128
@@ -1,7 +1,10 @@
 #pragma once
-#include "messaging.h"
+
 #include <zmq.h>
 #include <string>
 #include <vector>
 #include "cereal/messaging/messaging.h"
 #define MAX_POLLERS 128
@@ -1,10 +1,15 @@
 #pragma once
 #include <cstddef>
 #include <map>
 #include <string>
 #include <vector>
 #include <utility>
 #include <time.h>
 #include <capnp/serialize.h>
-#include "../gen/cpp/log.capnp.h"
+
 #include "cereal/gen/cpp/log.capnp.h"
 #ifdef __APPLE__
 #define CLOCK_BOOTTIME CLOCK_MONOTONIC
@@ -18,7 +23,7 @@ class Context {
 public:
  virtual void * getRawContext() = 0;
  static Context * create();
-  virtual ~Context(){};
+  virtual ~Context(){}
 };
 class Message {
@@ -66,7 +71,7 @@ public:
 class SubMaster {
 public:
-  SubMaster(const std::vector<const char *> &service_list,
+  SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
            const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
  void update(int timeout = 1000);
  void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
@@ -6,7 +6,7 @@ from libcpp.vector cimport vector
 from libcpp cimport bool
-cdef extern from "messaging.h":
+cdef extern from "cereal/messaging/messaging.h":
  cdef cppclass Context:
    @staticmethod
    Context * create()
@@ -1,4 +1,4 @@
-/* Generated by Cython 0.29.24 */
+/* Generated by Cython 0.29.26 */
 /* BEGIN: Cython Metadata
 {
@@ -6,9 +6,6 @@
        "depends": [
            "cereal/messaging/messaging.h"
        ],
        "include_dirs": [
            "./cereal/messaging"
        ],
        "language": "c++",
        "name": "cereal.messaging.messaging_pyx",
        "sources": [
@@ -28,8 +25,8 @@ END: Cython Metadata */
 #elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
    #error Cython requires Python 2.6+ or Python 3.3+.
 #else
-#define CYTHON_ABI "0_29_24"
+#define CYTHON_ABI "0_29_26"
-#define CYTHON_HEX_VERSION 0x001D18F0
+#define CYTHON_HEX_VERSION 0x001D1AF0
 #define CYTHON_FUTURE_DIVISION 1
 #include <stddef.h>
 #ifndef offsetof
@@ -176,7 +173,7 @@ END: Cython Metadata */
  #ifndef CYTHON_USE_UNICODE_INTERNALS
    #define CYTHON_USE_UNICODE_INTERNALS 1
  #endif
-  #if PY_VERSION_HEX < 0x030300F0
+  #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
    #undef CYTHON_USE_UNICODE_WRITER
    #define CYTHON_USE_UNICODE_WRITER 0
  #elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -195,7 +192,7 @@ END: Cython Metadata */
    #define CYTHON_FAST_THREAD_STATE 1
  #endif
  #ifndef CYTHON_FAST_PYCALL
-    #define CYTHON_FAST_PYCALL 1
+    #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
  #endif
  #ifndef CYTHON_PEP489_MULTI_PHASE_INIT
    #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -214,7 +211,9 @@ END: Cython Metadata */
 #define CYTHON_FAST_PYCCALL  (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
 #endif
 #if CYTHON_USE_PYLONG_INTERNALS
-  #include "longintrepr.h"
+  #if PY_MAJOR_VERSION < 3
    #include "longintrepr.h"
  #endif
  #undef SHIFT
  #undef BASE
  #undef MASK
@@ -345,9 +344,68 @@ class __Pyx_FakeReference {
  #define __Pyx_DefaultClassType PyClass_Type
 #else
  #define __Pyx_BUILTIN_MODULE_NAME "builtins"
-#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
+  #define __Pyx_DefaultClassType PyType_Type
-  #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
+#if PY_VERSION_HEX >= 0x030B00A1
-          PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
+    static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
                                                    PyObject *code, PyObject *c, PyObject* n, PyObject *v,
                                                    PyObject *fv, PyObject *cell, PyObject* fn,
                                                    PyObject *name, int fline, PyObject *lnos) {
        PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
        PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
        const char *fn_cstr=NULL;
        const char *name_cstr=NULL;
        PyCodeObject* co=NULL;
        PyObject *type, *value, *traceback;
        PyErr_Fetch(&type, &value, &traceback);
        if (!(kwds=PyDict_New())) goto end;
        if (!(argcount=PyLong_FromLong(a))) goto end;
        if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
        if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
        if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
        if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
        if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
        if (!(nlocals=PyLong_FromLong(l))) goto end;
        if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
        if (!(stacksize=PyLong_FromLong(s))) goto end;
        if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
        if (!(flags=PyLong_FromLong(f))) goto end;
        if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
        if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
        if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
        if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
        if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
        if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
        if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
        Py_XDECREF((PyObject*)co);
        co = (PyCodeObject*)call_result;
        call_result = NULL;
        if (0) {
            cleanup_code_too:
            Py_XDECREF((PyObject*)co);
            co = NULL;
        }
        end:
        Py_XDECREF(kwds);
        Py_XDECREF(argcount);
        Py_XDECREF(posonlyargcount);
        Py_XDECREF(kwonlyargcount);
        Py_XDECREF(nlocals);
        Py_XDECREF(stacksize);
        Py_XDECREF(replace);
        Py_XDECREF(call_result);
        Py_XDECREF(empty);
        if (type) {
            PyErr_Restore(type, value, traceback);
        }
        return co;
    }
 #else
  #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
          PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -585,10 +643,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
 #if PY_VERSION_HEX < 0x030200A4
  typedef long Py_hash_t;
  #define __Pyx_PyInt_FromHash_t PyInt_FromLong
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsLong
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsHash_t
 #else
  #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsSsize_t
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsSsize_t
 #endif
 #if PY_MAJOR_VERSION >= 3
  #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -656,7 +714,7 @@ static CYTHON_INLINE float __PYX_NAN() {
 #include "typeinfo"
 #include <errno.h>
 #include <vector>
-#include "messaging.h"
+#include "cereal/messaging/messaging.h"
 #ifdef _OPENMP
 #include <omp.h>
 #endif /* _OPENMP */
@@ -753,6 +811,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
    (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
 static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
 static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
 static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
 #if CYTHON_ASSUME_SAFE_MACROS
 #define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
 #else
@@ -1120,6 +1179,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
 #ifndef Py_MEMBER_SIZE
 #define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member)
 #endif
 #if CYTHON_FAST_PYCALL
  static size_t __pyx_pyframe_localsplus_offset = 0;
  #include "frameobject.h"
  #define __Pxy_PyFrame_Initialize_Offsets()\
@@ -1127,6 +1187,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
     (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus)))
  #define __Pyx_PyFrame_GetLocalsplus(frame)\
    (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset))
 #endif // CYTHON_FAST_PYCALL
 #endif
 /* PyObjectCallMethO.proto */
@@ -3922,6 +3983,9 @@ static PyTypeObject __pyx_type_6cereal_9messaging_13messaging_pyx_Context = {
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
  #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
  0, /*tp_pypy_flags*/
  #endif
 };
 static PyObject *__pyx_tp_new_6cereal_9messaging_13messaging_pyx_Poller(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) {
@@ -4055,6 +4119,9 @@ static PyTypeObject __pyx_type_6cereal_9messaging_13messaging_pyx_Poller = {
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
  #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
  0, /*tp_pypy_flags*/
  #endif
 };
 static struct __pyx_vtabstruct_6cereal_9messaging_13messaging_pyx_SubSocket __pyx_vtable_6cereal_9messaging_13messaging_pyx_SubSocket;
@@ -4169,6 +4236,9 @@ static PyTypeObject __pyx_type_6cereal_9messaging_13messaging_pyx_SubSocket = {
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
  #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
  0, /*tp_pypy_flags*/
  #endif
 };
 static PyObject *__pyx_tp_new_6cereal_9messaging_13messaging_pyx_PubSocket(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) {
@@ -4279,6 +4349,9 @@ static PyTypeObject __pyx_type_6cereal_9messaging_13messaging_pyx_PubSocket = {
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
  #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
  0, /*tp_pypy_flags*/
  #endif
 };
 static PyMethodDef __pyx_methods[] = {
@@ -6080,7 +6153,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
    }
    if (!use_cline) {
        c_line = 0;
-        PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
+        (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
    }
    else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
        c_line = 0;
@@ -6177,30 +6250,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
 static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
            const char *funcname, int c_line,
            int py_line, const char *filename) {
-    PyCodeObject *py_code = 0;
+    PyCodeObject *py_code = NULL;
-    PyObject *py_srcfile = 0;
+    PyObject *py_funcname = NULL;
    PyObject *py_funcname = 0;
    #if PY_MAJOR_VERSION < 3
    PyObject *py_srcfile = NULL;
    py_srcfile = PyString_FromString(filename);
    #else
    py_srcfile = PyUnicode_FromString(filename);
    #endif
    if (!py_srcfile) goto bad;
    #endif
    if (c_line) {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
        if (!py_funcname) goto bad;
        #else
        py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
        if (!py_funcname) goto bad;
        funcname = PyUnicode_AsUTF8(py_funcname);
        if (!funcname) goto bad;
        #endif
    }
    else {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromString(funcname);
-        #else
+        if (!py_funcname) goto bad;
        py_funcname = PyUnicode_FromString(funcname);
        #endif
    }
-    if (!py_funcname) goto bad;
+    #if PY_MAJOR_VERSION < 3
    py_code = __Pyx_PyCode_New(
        0,
        0,
@@ -6219,11 +6293,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
        __pyx_empty_bytes  /*PyObject *lnotab*/
    );
    Py_DECREF(py_srcfile);
-    Py_DECREF(py_funcname);
+    #else
    py_code = PyCode_NewEmpty(filename, funcname, py_line);
    #endif
    Py_XDECREF(py_funcname);  // XDECREF since it's only set on Py3 if cline
    return py_code;
 bad:
    Py_XDECREF(py_srcfile);
    Py_XDECREF(py_funcname);
    #if PY_MAJOR_VERSION < 3
    Py_XDECREF(py_srcfile);
    #endif
    return NULL;
 }
 static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -7071,6 +7150,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
  Py_DECREF(x);
  return ival;
 }
 static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
  if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
    return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
 #if PY_MAJOR_VERSION < 3
  } else if (likely(PyInt_CheckExact(o))) {
    return PyInt_AS_LONG(o);
 #endif
  } else {
    Py_ssize_t ival;
    PyObject *x;
    x = PyNumber_Index(o);
    if (!x) return -1;
    ival = PyInt_AsLong(x);
    Py_DECREF(x);
    return ival;
  }
 }
 static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
  return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
 }
@@ -1,15 +1,17 @@
 #pragma once
 #include <cstdint>
 #include <cstring>
 #include <string>
 #include <atomic>
 #define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
-#define NUM_READERS 13 //default comma is 12
+#define NUM_READERS 18 //default comma is 12
 #define ALIGN(n) ((n + (8 - 1)) & -8)
 #define UNUSED(x) (void)x
 #define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
-#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32 ) | ((uint64_t)lower & 0xFFFFFFFF)
+#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32) | ((uint64_t)lower & 0xFFFFFFFF)
 struct  msgq_header_t {
  uint64_t num_readers;
@@ -3,74 +3,63 @@
 #define __SERVICES_H
 struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };
 static struct service services[] = {
-  { "gyroscope", 8001, true, 104, 104 },
+  { "deviceState", 8001, true, 2, 1 },
-  { "gyroscope2", 8002, true, 100, 100 },
+  { "can", 8002, true, 100, 1223 },
-  { "accelerometer", 8003, true, 104, 104 },
+  { "controlsState", 8003, true, 100, 10 },
-  { "accelerometer2", 8004, true, 100, 100 },
+  { "pandaStates", 8004, true, 2, 1 },
-  { "magnetometer", 8005, true, 100, 100 },
+  { "peripheralState", 8005, true, 2, 1 },
-  { "lightSensor", 8006, true, 100, 100 },
+  { "radarState", 8006, true, 20, 5 },
-  { "temperatureSensor", 8007, true, 100, 100 },
+  { "roadEncodeIdx", 8007, false, 20, 1 },
-  { "gpsNMEA", 8008, true, 9, -1 },
+  { "liveTracks", 8008, true, 20, -1 },
-  { "deviceState", 8009, true, 2, 1 },
+  { "sendcan", 8009, true, 100, 139 },
-  { "can", 8010, true, 100, -1 },
+  { "logMessage", 8010, true, 0, -1 },
-  { "controlsState", 8011, true, 100, 10 },
+  { "errorLogMessage", 8011, true, 0, 1 },
-  { "pandaStates", 8012, true, 2, 1 },
+  { "liveCalibration", 8012, true, 4, 4 },
-  { "peripheralState", 8013, true, 2, 1 },
+  { "liveTorqueParameters", 8013, true, 4, 1 },
-  { "radarState", 8014, true, 20, 5 },
+  { "androidLog", 8014, true, 0, -1 },
-  { "roadEncodeIdx", 8015, false, 20, 1 },
+  { "carState", 8015, true, 100, 10 },
-  { "liveTracks", 8016, true, 20, -1 },
+  { "carControl", 8016, true, 100, 10 },
-  { "sendcan", 8017, true, 100, 139 },
+  { "longitudinalPlan", 8017, true, 20, 5 },
-  { "logMessage", 8018, true, 0, -1 },
+  { "procLog", 8018, true, 0, -1 },
-  { "errorLogMessage", 8019, true, 0, 1 },
+  { "gpsLocationExternal", 8019, true, 10, 10 },
-  { "liveCalibration", 8020, true, 4, 4 },
+  { "gpsLocation", 8020, true, 1, 1 },
-  { "liveTorqueParameters", 8021, true, 4, 1 },
+  { "ubloxGnss", 8021, true, 10, -1 },
-  { "androidLog", 8023, true, 0, -1 },
+  { "qcomGnss", 8023, true, 2, -1 },
-  { "carState", 8024, true, 100, 10 },
+  { "gnssMeasurements", 8024, true, 10, 10 },
-  { "carControl", 8025, true, 100, 10 },
+  { "clocks", 8025, true, 1, 1 },
-  { "longitudinalPlan", 8026, true, 20, 5 },
+  { "ubloxRaw", 8026, true, 20, -1 },
-  { "procLog", 8027, true, 0, -1 },
+  { "liveLocationKalman", 8027, true, 20, 5 },
-  { "gpsLocationExternal", 8028, true, 10, 10 },
+  { "liveParameters", 8028, true, 20, 5 },
-  { "gpsLocation", 8029, true, 1, 1 },
+  { "cameraOdometry", 8029, true, 20, 5 },
-  { "ubloxGnss", 8030, true, 10, -1 },
+  { "lateralPlan", 8030, true, 20, 5 },
-  { "qcomGnss", 8031, true, 2, -1 },
+  { "thumbnail", 8031, true, 0, 1 },
-  { "gnssMeasurements", 8032, true, 10, 10 },
+  { "carEvents", 8032, true, 1, 1 },
-  { "clocks", 8033, true, 1, 1 },
+  { "carParams", 8033, true, 0, 1 },
-  { "ubloxRaw", 8034, true, 20, -1 },
+  { "roadCameraState", 8034, true, 20, 20 },
-  { "liveLocationKalman", 8035, true, 20, 5 },
+  { "modelV2", 8035, true, 20, 40 },
-  { "liveParameters", 8036, true, 20, 5 },
+  { "managerState", 8036, true, 2, 1 },
-  { "cameraOdometry", 8037, true, 20, 5 },
+  { "uploaderState", 8037, true, 0, 1 },
-  { "lateralPlan", 8038, true, 20, 5 },
+  { "navInstruction", 8038, true, 1, 10 },
-  { "thumbnail", 8039, true, 0, 1 },
+  { "navRoute", 8039, true, 0, -1 },
-  { "carEvents", 8040, true, 1, 1 },
+  { "navThumbnail", 8040, true, 0, -1 },
-  { "carParams", 8041, true, 0, 1 },
+  { "navModel", 8041, true, 2, 4 },
-  { "roadCameraState", 8042, true, 20, 20 },
+  { "mapRenderState", 8042, true, 2, 1 },
-  { "driverCameraState", 8043, true, 10, 10 },
+  { "uiPlan", 8043, true, 20, 40 },
-  { "driverEncodeIdx", 8044, false, 10, 1 },
+  { "qRoadEncodeIdx", 8044, false, 20, -1 },
-  { "driverStateV2", 8045, true, 20, 10 },
+  { "userFlag", 8045, true, 0, 1 },
-  { "driverState", 8046, true, 10, 5 },
+  { "uiDebug", 8046, true, 0, 1 },
-  { "driverMonitoringState", 8047, true, 10, 5 },
+  { "testJoystick", 8047, true, 0, -1 },
-  { "wideRoadEncodeIdx", 8048, false, 20, 1 },
+  { "roadEncodeData", 8048, false, 20, -1 },
-  { "wideRoadCameraState", 8049, true, 20, 20 },
+  { "driverEncodeData", 8049, false, 20, -1 },
-  { "modelV2", 8050, true, 20, 40 },
+  { "wideRoadEncodeData", 8050, false, 20, -1 },
-  { "managerState", 8051, true, 2, 1 },
+  { "qRoadEncodeData", 8051, false, 20, -1 },
-  { "uploaderState", 8052, true, 0, 1 },
+  { "driverCameraState", 8052, true, 10, 10 },
-  { "navInstruction", 8053, true, 1, 10 },
+  { "driverEncodeIdx", 8053, false, 10, 1 },
-  { "navRoute", 8054, true, 0, -1 },
+  { "driverState", 8054, true, 10, 5 },
-  { "navThumbnail", 8055, true, 0, -1 },
+  { "driverMonitoringState", 8055, true, 10, 5 },
-  { "navModel", 8056, true, 2, 4 },
+  { "sensorEvents", 8056, true, 100, 100 },
-  { "mapRenderState", 8057, true, 2, 1 },
+  { "dragonConf", 8057, false, 1, -1 },
-  { "qRoadEncodeIdx", 8058, false, 20, -1 },
+  { "liveMapData", 8058, true, 0, -1 },
  { "userFlag", 8059, true, 0, 1 },
  { "microphone", 8060, true, 10, 10 },
  { "uiDebug", 8061, true, 0, 1 },
  { "testJoystick", 8062, true, 0, -1 },
  { "roadEncodeData", 8063, false, 20, -1 },
  { "driverEncodeData", 8064, false, 20, -1 },
  { "wideRoadEncodeData", 8065, false, 20, -1 },
  { "qRoadEncodeData", 8066, false, 20, -1 },
  { "dragonConf", 8067, false, 1, -1 },
  { "liveMapData", 8068, true, 0, -1 },
  { "sensorEvents", 8069, true, 100, 100 },
 };
 #endif
@@ -21,16 +21,16 @@ class Service:
 services = {
  # service: (should_log, frequency, qlog decimation (optional))
  # note: the "EncodeIdx" packets will still be in the log
-  "gyroscope": (True, 104., 104),
+  # "gyroscope": (True, 104., 104),
-  "gyroscope2": (True, 100., 100),
+  # "gyroscope2": (True, 100., 100),
-  "accelerometer": (True, 104., 104),
+  # "accelerometer": (True, 104., 104),
-  "accelerometer2": (True, 100., 100),
+  # "accelerometer2": (True, 100., 100),
-  "magnetometer": (True, 100., 100),
+  # "magnetometer": (True, 100., 100),
-  "lightSensor": (True, 100., 100),
+  # "lightSensor": (True, 100., 100),
-  "temperatureSensor": (True, 100., 100),
+  # "temperatureSensor": (True, 100., 100),
-  "gpsNMEA": (True, 9.),
+  # "gpsNMEA": (True, 9.),
  "deviceState": (True, 2., 1),
-  "can": (True, 100.),
+  "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
  "controlsState": (True, 100., 10),
  "pandaStates": (True, 2., 1),
  "peripheralState": (True, 2., 1),
@@ -62,13 +62,12 @@ services = {
  "carEvents": (True, 1., 1),
  "carParams": (True, 0.02, 1),
  "roadCameraState": (True, 20., 20),
-  "driverCameraState": (True, 10., 10),
+  # "driverCameraState": (True, 20., 20),
-  "driverEncodeIdx": (False, 10., 1),
+  # "driverEncodeIdx": (False, 20., 1),
-  "driverStateV2": (True, 20., 10),
+  # "driverStateV2": (True, 20., 10),
-  "driverState": (True, 10, 5),
+  # "driverMonitoringState": (True, 20., 10),
-  "driverMonitoringState": (True, 10., 5),
+  # "wideRoadEncodeIdx": (False, 20., 1),
-  "wideRoadEncodeIdx": (False, 20., 1),
+  # "wideRoadCameraState": (True, 20., 20),
  "wideRoadCameraState": (True, 20., 20),
  "modelV2": (True, 20., 40),
  "managerState": (True, 2., 1),
  "uploaderState": (True, 0., 1),
@@ -77,9 +76,10 @@ services = {
  "navThumbnail": (True, 0.),
  "navModel": (True, 2., 4.),
  "mapRenderState": (True, 2., 1.),
  "uiPlan": (True, 20., 40.),
  "qRoadEncodeIdx": (False, 20.),
  "userFlag": (True, 0., 1),
-  "microphone": (True, 10., 10),
+  # "microphone": (True, 10., 10),
  # debug
  "uiDebug": (True, 0., 1),
@@ -90,9 +90,16 @@ services = {
  "qRoadEncodeData": (False, 20.),
  # dp
-  "dragonConf": (False, 1.),
+  # legacy
-  "liveMapData": (True, 0.),
+  "driverCameraState": (True, 10., 10),
  "driverEncodeIdx": (False, 10., 1),
  "driverState": (True, 10, 5),
  "driverMonitoringState": (True, 10., 5),
  "sensorEvents": (True, 100., 100),
  # conf
  "dragonConf": (False, 1.),
  # mapd
  "liveMapData": (True, 0.),
 }
 service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
                idx, (name, vals) in enumerate(services.items())}
@@ -0,0 +1,4 @@
 from cereal.visionipc.visionipc_pyx import VisionIpcClient, VisionIpcServer, VisionStreamType  # pylint: disable=no-name-in-module, import-error
 assert VisionIpcClient
 assert VisionIpcServer
 assert VisionStreamType
@@ -1,5 +1,6 @@
 #pragma once
-#include "visionipc.h"
+
 #include "cereal/visionipc/visionipc.h"
 #define CL_USE_DEPRECATED_OPENCL_1_2_APIS
 #ifdef __APPLE__
@@ -20,7 +21,7 @@ enum VisionStreamType {
  VISION_STREAM_DRIVER,
  VISION_STREAM_WIDE_ROAD,
-  VISION_STREAM_RGB_MAP,
+  VISION_STREAM_MAP,
  VISION_STREAM_MAX,
 };
@@ -36,11 +37,13 @@ class VisionBuf {
  size_t width = 0;
  size_t height = 0;
  size_t stride = 0;
  size_t uv_offset = 0;
  // YUV
  uint8_t * y = nullptr;
  uint8_t * u = nullptr;
  uint8_t * v = nullptr;
  uint8_t * uv = nullptr;
  // Visionipc
  uint64_t server_id = 0;
@@ -58,7 +61,7 @@ class VisionBuf {
  void import();
  void init_cl(cl_device_id device_id, cl_context ctx);
  void init_rgb(size_t width, size_t height, size_t stride);
-  void init_yuv(size_t width, size_t height);
+  void init_yuv(size_t width, size_t height, size_t stride, size_t uv_offset);
  int sync(int dir);
  int free();
@@ -3,10 +3,11 @@
 from libcpp.string cimport string
 from libcpp.vector cimport vector
 from libcpp.set cimport set
 from libc.stdint cimport uint32_t, uint64_t
 from libcpp cimport bool
-cdef extern from "visionbuf.h":
+cdef extern from "cereal/visionipc/visionbuf.h":
  cdef enum VisionStreamType:
    pass
@@ -16,24 +17,29 @@ cdef extern from "visionbuf.h":
    size_t width
    size_t height
    size_t stride
    size_t uv_offset
    void set_frame_id(uint64_t id)
-cdef extern from "visionipc.h":
+cdef extern from "cereal/visionipc/visionipc.h":
  struct VisionIpcBufExtra:
    uint32_t frame_id
    uint64_t timestamp_sof
    uint64_t timestamp_eof
-cdef extern from "visionipc_server.h":
+cdef extern from "cereal/visionipc/visionipc_server.h":
  cdef cppclass VisionIpcServer:
    VisionIpcServer(string, void*, void*)
    void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
    void create_buffers_with_sizes(VisionStreamType, size_t, bool, size_t, size_t, size_t, size_t, size_t)
    VisionBuf * get_buffer(VisionStreamType)
    void send(VisionBuf *, VisionIpcBufExtra *, bool)
    void start_listener()
-cdef extern from "visionipc_client.h":
+cdef extern from "cereal/visionipc/visionipc_client.h":
  cdef cppclass VisionIpcClient:
    VisionIpcClient(string, VisionStreamType, bool, void*, void*)
    VisionBuf * recv(VisionIpcBufExtra *, int)
    bool connect(bool)
    bool is_connected()
    @staticmethod
    set[VisionStreamType] getAvailableStreams(string, bool)
@@ -1,11 +1,13 @@
 #pragma once
-#include <vector>
+
 #include <set>
 #include <string>
 #include <vector>
 #include <unistd.h>
-#include "messaging/messaging.h"
+#include "cereal/messaging/messaging.h"
-#include "visionipc/visionipc.h"
+#include "cereal/visionipc/visionipc.h"
-#include "visionipc/visionbuf.h"
+#include "cereal/visionipc/visionbuf.h"
 class VisionIpcClient {
 private:
@@ -14,8 +16,6 @@ private:
  SubSocket * sock;
  Poller * poller;
  VisionStreamType type;
  cl_device_id device_id = nullptr;
  cl_context ctx = nullptr;
@@ -23,6 +23,7 @@ private:
 public:
  bool connected = false;
  VisionStreamType type;
  int num_buffers = 0;
  VisionBuf buffers[VISIONIPC_MAX_FDS];
  VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
@@ -30,4 +31,5 @@ public:
  VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
  bool connect(bool blocking=true);
  bool is_connected() { return connected; }
  static std::set<VisionStreamType> getAvailableStreams(const std::string &name, bool blocking = true);
 };
@@ -5,9 +5,9 @@
 #include <atomic>
 #include <map>
-#include "messaging/messaging.h"
+#include "cereal/messaging/messaging.h"
-#include "visionipc/visionipc.h"
+#include "cereal/visionipc/visionipc.h"
-#include "visionipc/visionbuf.h"
+#include "cereal/visionipc/visionbuf.h"
 std::string get_endpoint_name(std::string name, VisionStreamType type);
@@ -37,6 +37,7 @@ class VisionIpcServer {
  VisionBuf * get_buffer(VisionStreamType type);
  void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height);
  void create_buffers_with_sizes(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height, size_t size, size_t stride, size_t uv_offset);
  void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
  void start_listener();
 };
@@ -1,4 +1,4 @@
-/* Generated by Cython 0.29.24 */
+/* Generated by Cython 0.29.26 */
 /* BEGIN: Cython Metadata
 {
@@ -23,8 +23,8 @@ END: Cython Metadata */
 #elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
    #error Cython requires Python 2.6+ or Python 3.3+.
 #else
-#define CYTHON_ABI "0_29_24"
+#define CYTHON_ABI "0_29_26"
-#define CYTHON_HEX_VERSION 0x001D18F0
+#define CYTHON_HEX_VERSION 0x001D1AF0
 #define CYTHON_FUTURE_DIVISION 1
 #include <stddef.h>
 #ifndef offsetof
@@ -171,7 +171,7 @@ END: Cython Metadata */
  #ifndef CYTHON_USE_UNICODE_INTERNALS
    #define CYTHON_USE_UNICODE_INTERNALS 1
  #endif
-  #if PY_VERSION_HEX < 0x030300F0
+  #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
    #undef CYTHON_USE_UNICODE_WRITER
    #define CYTHON_USE_UNICODE_WRITER 0
  #elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -190,7 +190,7 @@ END: Cython Metadata */
    #define CYTHON_FAST_THREAD_STATE 1
  #endif
  #ifndef CYTHON_FAST_PYCALL
-    #define CYTHON_FAST_PYCALL 1
+    #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
  #endif
  #ifndef CYTHON_PEP489_MULTI_PHASE_INIT
    #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -209,7 +209,9 @@ END: Cython Metadata */
 #define CYTHON_FAST_PYCCALL  (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
 #endif
 #if CYTHON_USE_PYLONG_INTERNALS
-  #include "longintrepr.h"
+  #if PY_MAJOR_VERSION < 3
    #include "longintrepr.h"
  #endif
  #undef SHIFT
  #undef BASE
  #undef MASK
@@ -340,9 +342,68 @@ class __Pyx_FakeReference {
  #define __Pyx_DefaultClassType PyClass_Type
 #else
  #define __Pyx_BUILTIN_MODULE_NAME "builtins"
-#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
+  #define __Pyx_DefaultClassType PyType_Type
-  #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
+#if PY_VERSION_HEX >= 0x030B00A1
-          PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
+    static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
                                                    PyObject *code, PyObject *c, PyObject* n, PyObject *v,
                                                    PyObject *fv, PyObject *cell, PyObject* fn,
                                                    PyObject *name, int fline, PyObject *lnos) {
        PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
        PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
        const char *fn_cstr=NULL;
        const char *name_cstr=NULL;
        PyCodeObject* co=NULL;
        PyObject *type, *value, *traceback;
        PyErr_Fetch(&type, &value, &traceback);
        if (!(kwds=PyDict_New())) goto end;
        if (!(argcount=PyLong_FromLong(a))) goto end;
        if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
        if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
        if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
        if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
        if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
        if (!(nlocals=PyLong_FromLong(l))) goto end;
        if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
        if (!(stacksize=PyLong_FromLong(s))) goto end;
        if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
        if (!(flags=PyLong_FromLong(f))) goto end;
        if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
        if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
        if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
        if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
        if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
        if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
        if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
        Py_XDECREF((PyObject*)co);
        co = (PyCodeObject*)call_result;
        call_result = NULL;
        if (0) {
            cleanup_code_too:
            Py_XDECREF((PyObject*)co);
            co = NULL;
        }
        end:
        Py_XDECREF(kwds);
        Py_XDECREF(argcount);
        Py_XDECREF(posonlyargcount);
        Py_XDECREF(kwonlyargcount);
        Py_XDECREF(nlocals);
        Py_XDECREF(stacksize);
        Py_XDECREF(replace);
        Py_XDECREF(call_result);
        Py_XDECREF(empty);
        if (type) {
            PyErr_Restore(type, value, traceback);
        }
        return co;
    }
 #else
  #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
          PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -580,10 +641,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
 #if PY_VERSION_HEX < 0x030200A4
  typedef long Py_hash_t;
  #define __Pyx_PyInt_FromHash_t PyInt_FromLong
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsLong
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsHash_t
 #else
  #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsSsize_t
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsSsize_t
 #endif
 #if PY_MAJOR_VERSION >= 3
  #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -742,6 +803,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
    (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
 static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
 static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
 static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
 #if CYTHON_ASSUME_SAFE_MACROS
 #define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
 #else
@@ -1802,7 +1864,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
    }
    if (!use_cline) {
        c_line = 0;
-        PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
+        (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
    }
    else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
        c_line = 0;
@@ -1899,30 +1961,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
 static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
            const char *funcname, int c_line,
            int py_line, const char *filename) {
-    PyCodeObject *py_code = 0;
+    PyCodeObject *py_code = NULL;
-    PyObject *py_srcfile = 0;
+    PyObject *py_funcname = NULL;
    PyObject *py_funcname = 0;
    #if PY_MAJOR_VERSION < 3
    PyObject *py_srcfile = NULL;
    py_srcfile = PyString_FromString(filename);
    #else
    py_srcfile = PyUnicode_FromString(filename);
    #endif
    if (!py_srcfile) goto bad;
    #endif
    if (c_line) {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
        if (!py_funcname) goto bad;
        #else
        py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
        if (!py_funcname) goto bad;
        funcname = PyUnicode_AsUTF8(py_funcname);
        if (!funcname) goto bad;
        #endif
    }
    else {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromString(funcname);
-        #else
+        if (!py_funcname) goto bad;
        py_funcname = PyUnicode_FromString(funcname);
        #endif
    }
-    if (!py_funcname) goto bad;
+    #if PY_MAJOR_VERSION < 3
    py_code = __Pyx_PyCode_New(
        0,
        0,
@@ -1941,11 +2004,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
        __pyx_empty_bytes  /*PyObject *lnotab*/
    );
    Py_DECREF(py_srcfile);
-    Py_DECREF(py_funcname);
+    #else
    py_code = PyCode_NewEmpty(filename, funcname, py_line);
    #endif
    Py_XDECREF(py_funcname);  // XDECREF since it's only set on Py3 if cline
    return py_code;
 bad:
    Py_XDECREF(py_srcfile);
    Py_XDECREF(py_funcname);
    #if PY_MAJOR_VERSION < 3
    Py_XDECREF(py_srcfile);
    #endif
    return NULL;
 }
 static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -2793,6 +2861,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
  Py_DECREF(x);
  return ival;
 }
 static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
  if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
    return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
 #if PY_MAJOR_VERSION < 3
  } else if (likely(PyInt_CheckExact(o))) {
    return PyInt_AS_LONG(o);
 #endif
  } else {
    Py_ssize_t ival;
    PyObject *x;
    x = PyNumber_Index(o);
    if (!x) return -1;
    ival = PyInt_AsLong(x);
    Py_DECREF(x);
    return ival;
  }
 }
 static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
  return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
 }
@@ -24,7 +24,7 @@ confs = [
  {'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # nav service
-  {'name': 'dp_nav', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_nav', 'default': True if TICI else False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_otisserv', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_nav_mapbox_token_pk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
  {'name': 'dp_nav_mapbox_token_sk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
@@ -56,22 +56,24 @@ confs = [
  {'name': 'dp_lateral_lanelines', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_lateral_camera_offset', 'default': 4 if TICI else -6, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_lateral_path_offset', 'default': 4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_lateral_road_edge_detected', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  #ui
  {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
  {'name': 'dp_quiet_drive', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_ui_top', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
+  #{'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_lead_info', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_laneline', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_chevron', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_dm_cam', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_rainbow', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  #toyota
  {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
@@ -104,7 +106,7 @@ confs = [
  # # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_dm', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_dm', 'default': True if not TICI else False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_temp_check', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
  # {'name': 'dp_vag_resume_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
@@ -117,6 +119,12 @@ confs = [
  {'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_lateral_tune', 'default': 0, 'type': 'UInt8', 'conf_type': ['param']},
  {'name': 'dp_lateral_torque_live_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_lateral_alt', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_lateral_alt_speed', 'default': 80, 'type': 'UInt8', 'min': 10, 'max': 130, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_lateral_alt_ctrl', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_lateral_alt_lanelines', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_lateral_alt_camera_offset', 'default': 4 if TICI else -6, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}, {'name': 'dp_lateral_alt_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_lateral_alt_path_offset', 'default': 4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_alt', 'vals': [True]}, {'name': 'dp_lateral_alt_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  # {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  # {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  # # safety
@@ -138,14 +146,15 @@ confs = [
  {'name': 'dp_toyota_rav4_tss2_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_toyota_prius_bad_angle_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_e2e_conditional', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_e2e_conditional_at_speed', 'default': 60, 'type': 'UInt8', 'min': 30, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  #{'name': 'dp_e2e_conditional_at_speed', 'default': 60, 'type': 'UInt8', 'min': 30, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_e2e_conditional_at_speed_lead', 'default': 40, 'type': 'UInt8', 'min': 0, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  #{'name': 'dp_e2e_conditional_at_speed_lead', 'default': 40, 'type': 'UInt8', 'min': 0, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_e2e_conditional_adapt_fp', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_e2e_conditional_adapt_ap', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_e2e_conditional_voacc', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  # {'name': 'dp_toyota_no_min_acc_limit', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_toyota_change5speed', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # {'name': 'dp_toyota_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # {'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
@@ -188,6 +197,11 @@ confs = [
  # {'name': 'dp_ftpd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_lateral_version', 'default': 0, 'min': 0, 'max': 2, 'type': 'UInt8', 'conf_type': ['param']},
  {'name': 'dp_lateral_steer_rate_cost', 'default': 1.0, 'min': 0.5, 'max': 2.0, 'type': 'Float32', 'conf_type': ['param']},
  {'name': 'dp_upload_ignored', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'local_trip_count_total', 'default': 0.0, 'type': 'Float32', 'conf_type': ['param']},
  {'name': 'local_trip_meter_total', 'default': 0.0, 'type': 'Float32', 'conf_type': ['param']},
  {'name': 'local_trip_min_total', 'default': 0.0, 'type': 'Float32', 'conf_type': ['param']},
  {'name': 'dp_lateral_lc_manual', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
 ]
 def get_definition(name):
@@ -1,4 +1,4 @@
-/* Generated by Cython 0.29.24 */
+/* Generated by Cython 0.29.26 */
 /* BEGIN: Cython Metadata
 {
@@ -22,8 +22,8 @@ END: Cython Metadata */
 #elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
    #error Cython requires Python 2.6+ or Python 3.3+.
 #else
-#define CYTHON_ABI "0_29_24"
+#define CYTHON_ABI "0_29_26"
-#define CYTHON_HEX_VERSION 0x001D18F0
+#define CYTHON_HEX_VERSION 0x001D1AF0
 #define CYTHON_FUTURE_DIVISION 1
 #include <stddef.h>
 #ifndef offsetof
@@ -170,7 +170,7 @@ END: Cython Metadata */
  #ifndef CYTHON_USE_UNICODE_INTERNALS
    #define CYTHON_USE_UNICODE_INTERNALS 1
  #endif
-  #if PY_VERSION_HEX < 0x030300F0
+  #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
    #undef CYTHON_USE_UNICODE_WRITER
    #define CYTHON_USE_UNICODE_WRITER 0
  #elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -189,7 +189,7 @@ END: Cython Metadata */
    #define CYTHON_FAST_THREAD_STATE 1
  #endif
  #ifndef CYTHON_FAST_PYCALL
-    #define CYTHON_FAST_PYCALL 1
+    #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
  #endif
  #ifndef CYTHON_PEP489_MULTI_PHASE_INIT
    #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -208,7 +208,9 @@ END: Cython Metadata */
 #define CYTHON_FAST_PYCCALL  (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
 #endif
 #if CYTHON_USE_PYLONG_INTERNALS
-  #include "longintrepr.h"
+  #if PY_MAJOR_VERSION < 3
    #include "longintrepr.h"
  #endif
  #undef SHIFT
  #undef BASE
  #undef MASK
@@ -339,9 +341,68 @@ class __Pyx_FakeReference {
  #define __Pyx_DefaultClassType PyClass_Type
 #else
  #define __Pyx_BUILTIN_MODULE_NAME "builtins"
-#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
+  #define __Pyx_DefaultClassType PyType_Type
-  #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
+#if PY_VERSION_HEX >= 0x030B00A1
-          PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
+    static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
                                                    PyObject *code, PyObject *c, PyObject* n, PyObject *v,
                                                    PyObject *fv, PyObject *cell, PyObject* fn,
                                                    PyObject *name, int fline, PyObject *lnos) {
        PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
        PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
        const char *fn_cstr=NULL;
        const char *name_cstr=NULL;
        PyCodeObject* co=NULL;
        PyObject *type, *value, *traceback;
        PyErr_Fetch(&type, &value, &traceback);
        if (!(kwds=PyDict_New())) goto end;
        if (!(argcount=PyLong_FromLong(a))) goto end;
        if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
        if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
        if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
        if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
        if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
        if (!(nlocals=PyLong_FromLong(l))) goto end;
        if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
        if (!(stacksize=PyLong_FromLong(s))) goto end;
        if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
        if (!(flags=PyLong_FromLong(f))) goto end;
        if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
        if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
        if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
        if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
        if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
        if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
        if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
        Py_XDECREF((PyObject*)co);
        co = (PyCodeObject*)call_result;
        call_result = NULL;
        if (0) {
            cleanup_code_too:
            Py_XDECREF((PyObject*)co);
            co = NULL;
        }
        end:
        Py_XDECREF(kwds);
        Py_XDECREF(argcount);
        Py_XDECREF(posonlyargcount);
        Py_XDECREF(kwonlyargcount);
        Py_XDECREF(nlocals);
        Py_XDECREF(stacksize);
        Py_XDECREF(replace);
        Py_XDECREF(call_result);
        Py_XDECREF(empty);
        if (type) {
            PyErr_Restore(type, value, traceback);
        }
        return co;
    }
 #else
  #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
          PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -579,10 +640,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
 #if PY_VERSION_HEX < 0x030200A4
  typedef long Py_hash_t;
  #define __Pyx_PyInt_FromHash_t PyInt_FromLong
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsLong
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsHash_t
 #else
  #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsSsize_t
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsSsize_t
 #endif
 #if PY_MAJOR_VERSION >= 3
  #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -738,6 +799,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
    (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
 static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
 static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
 static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
 #if CYTHON_ASSUME_SAFE_MACROS
 #define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
 #else
@@ -1116,6 +1178,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
 #ifndef Py_MEMBER_SIZE
 #define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member)
 #endif
 #if CYTHON_FAST_PYCALL
  static size_t __pyx_pyframe_localsplus_offset = 0;
  #include "frameobject.h"
  #define __Pxy_PyFrame_Initialize_Offsets()\
@@ -1123,6 +1186,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
     (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus)))
  #define __Pyx_PyFrame_GetLocalsplus(frame)\
    (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset))
 #endif // CYTHON_FAST_PYCALL
 #endif
 /* PyObjectCall.proto */
@@ -4329,6 +4393,9 @@ static PyTypeObject __pyx_type_6common_6kalman_18simple_kalman_impl_KF1D = {
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
  #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
  0, /*tp_pypy_flags*/
  #endif
 };
 static PyMethodDef __pyx_methods[] = {
@@ -5873,7 +5940,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
    }
    if (!use_cline) {
        c_line = 0;
-        PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
+        (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
    }
    else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
        c_line = 0;
@@ -5970,30 +6037,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
 static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
            const char *funcname, int c_line,
            int py_line, const char *filename) {
-    PyCodeObject *py_code = 0;
+    PyCodeObject *py_code = NULL;
-    PyObject *py_srcfile = 0;
+    PyObject *py_funcname = NULL;
    PyObject *py_funcname = 0;
    #if PY_MAJOR_VERSION < 3
    PyObject *py_srcfile = NULL;
    py_srcfile = PyString_FromString(filename);
    #else
    py_srcfile = PyUnicode_FromString(filename);
    #endif
    if (!py_srcfile) goto bad;
    #endif
    if (c_line) {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
        if (!py_funcname) goto bad;
        #else
        py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
        if (!py_funcname) goto bad;
        funcname = PyUnicode_AsUTF8(py_funcname);
        if (!funcname) goto bad;
        #endif
    }
    else {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromString(funcname);
-        #else
+        if (!py_funcname) goto bad;
        py_funcname = PyUnicode_FromString(funcname);
        #endif
    }
-    if (!py_funcname) goto bad;
+    #if PY_MAJOR_VERSION < 3
    py_code = __Pyx_PyCode_New(
        0,
        0,
@@ -6012,11 +6080,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
        __pyx_empty_bytes  /*PyObject *lnotab*/
    );
    Py_DECREF(py_srcfile);
-    Py_DECREF(py_funcname);
+    #else
    py_code = PyCode_NewEmpty(filename, funcname, py_line);
    #endif
    Py_XDECREF(py_funcname);  // XDECREF since it's only set on Py3 if cline
    return py_code;
 bad:
    Py_XDECREF(py_srcfile);
    Py_XDECREF(py_funcname);
    #if PY_MAJOR_VERSION < 3
    Py_XDECREF(py_srcfile);
    #endif
    return NULL;
 }
 static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -6864,6 +6937,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
  Py_DECREF(x);
  return ival;
 }
 static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
  if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
    return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
 #if PY_MAJOR_VERSION < 3
  } else if (likely(PyInt_CheckExact(o))) {
    return PyInt_AS_LONG(o);
 #endif
  } else {
    Py_ssize_t ival;
    PyObject *x;
    x = PyNumber_Index(o);
    if (!x) return -1;
    ival = PyInt_AsLong(x);
    Py_DECREF(x);
    return ival;
  }
 }
 static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
  return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
 }
@@ -1,4 +1,4 @@
-/* Generated by Cython 0.29.24 */
+/* Generated by Cython 0.29.26 */
 /* BEGIN: Cython Metadata
 {
@@ -32,8 +32,8 @@ END: Cython Metadata */
 #elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
    #error Cython requires Python 2.6+ or Python 3.3+.
 #else
-#define CYTHON_ABI "0_29_24"
+#define CYTHON_ABI "0_29_26"
-#define CYTHON_HEX_VERSION 0x001D18F0
+#define CYTHON_HEX_VERSION 0x001D1AF0
 #define CYTHON_FUTURE_DIVISION 1
 #include <stddef.h>
 #ifndef offsetof
@@ -180,7 +180,7 @@ END: Cython Metadata */
  #ifndef CYTHON_USE_UNICODE_INTERNALS
    #define CYTHON_USE_UNICODE_INTERNALS 1
  #endif
-  #if PY_VERSION_HEX < 0x030300F0
+  #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
    #undef CYTHON_USE_UNICODE_WRITER
    #define CYTHON_USE_UNICODE_WRITER 0
  #elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -199,7 +199,7 @@ END: Cython Metadata */
    #define CYTHON_FAST_THREAD_STATE 1
  #endif
  #ifndef CYTHON_FAST_PYCALL
-    #define CYTHON_FAST_PYCALL 1
+    #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
  #endif
  #ifndef CYTHON_PEP489_MULTI_PHASE_INIT
    #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -218,7 +218,9 @@ END: Cython Metadata */
 #define CYTHON_FAST_PYCCALL  (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
 #endif
 #if CYTHON_USE_PYLONG_INTERNALS
-  #include "longintrepr.h"
+  #if PY_MAJOR_VERSION < 3
    #include "longintrepr.h"
  #endif
  #undef SHIFT
  #undef BASE
  #undef MASK
@@ -349,9 +351,68 @@ class __Pyx_FakeReference {
  #define __Pyx_DefaultClassType PyClass_Type
 #else
  #define __Pyx_BUILTIN_MODULE_NAME "builtins"
-#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
+  #define __Pyx_DefaultClassType PyType_Type
-  #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
+#if PY_VERSION_HEX >= 0x030B00A1
-          PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
+    static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
                                                    PyObject *code, PyObject *c, PyObject* n, PyObject *v,
                                                    PyObject *fv, PyObject *cell, PyObject* fn,
                                                    PyObject *name, int fline, PyObject *lnos) {
        PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
        PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
        const char *fn_cstr=NULL;
        const char *name_cstr=NULL;
        PyCodeObject* co=NULL;
        PyObject *type, *value, *traceback;
        PyErr_Fetch(&type, &value, &traceback);
        if (!(kwds=PyDict_New())) goto end;
        if (!(argcount=PyLong_FromLong(a))) goto end;
        if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
        if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
        if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
        if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
        if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
        if (!(nlocals=PyLong_FromLong(l))) goto end;
        if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
        if (!(stacksize=PyLong_FromLong(s))) goto end;
        if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
        if (!(flags=PyLong_FromLong(f))) goto end;
        if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
        if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
        if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
        if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
        if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
        if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
        if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
        if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
        Py_XDECREF((PyObject*)co);
        co = (PyCodeObject*)call_result;
        call_result = NULL;
        if (0) {
            cleanup_code_too:
            Py_XDECREF((PyObject*)co);
            co = NULL;
        }
        end:
        Py_XDECREF(kwds);
        Py_XDECREF(argcount);
        Py_XDECREF(posonlyargcount);
        Py_XDECREF(kwonlyargcount);
        Py_XDECREF(nlocals);
        Py_XDECREF(stacksize);
        Py_XDECREF(replace);
        Py_XDECREF(call_result);
        Py_XDECREF(empty);
        if (type) {
            PyErr_Restore(type, value, traceback);
        }
        return co;
    }
 #else
  #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
          PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -589,10 +650,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
 #if PY_VERSION_HEX < 0x030200A4
  typedef long Py_hash_t;
  #define __Pyx_PyInt_FromHash_t PyInt_FromLong
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsLong
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsHash_t
 #else
  #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsSsize_t
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsSsize_t
 #endif
 #if PY_MAJOR_VERSION >= 3
  #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -762,6 +823,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
    (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
 static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
 static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
 static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
 #if CYTHON_ASSUME_SAFE_MACROS
 #define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
 #else
@@ -1345,6 +1407,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
 #ifndef Py_MEMBER_SIZE
 #define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member)
 #endif
 #if CYTHON_FAST_PYCALL
  static size_t __pyx_pyframe_localsplus_offset = 0;
  #include "frameobject.h"
  #define __Pxy_PyFrame_Initialize_Offsets()\
@@ -1352,6 +1415,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
     (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus)))
  #define __Pyx_PyFrame_GetLocalsplus(frame)\
    (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset))
 #endif // CYTHON_FAST_PYCALL
 #endif
 /* PyObjectCall.proto */
@@ -6278,6 +6342,9 @@ static PyTypeObject __pyx_type_6common_15transformations_15transformations_Local
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
  #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
  0, /*tp_pypy_flags*/
  #endif
 };
 static PyMethodDef __pyx_methods[] = {
@@ -9042,7 +9109,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
    }
    if (!use_cline) {
        c_line = 0;
-        PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
+        (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
    }
    else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
        c_line = 0;
@@ -9139,30 +9206,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
 static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
            const char *funcname, int c_line,
            int py_line, const char *filename) {
-    PyCodeObject *py_code = 0;
+    PyCodeObject *py_code = NULL;
-    PyObject *py_srcfile = 0;
+    PyObject *py_funcname = NULL;
    PyObject *py_funcname = 0;
    #if PY_MAJOR_VERSION < 3
    PyObject *py_srcfile = NULL;
    py_srcfile = PyString_FromString(filename);
    #else
    py_srcfile = PyUnicode_FromString(filename);
    #endif
    if (!py_srcfile) goto bad;
    #endif
    if (c_line) {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
        if (!py_funcname) goto bad;
        #else
        py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
        if (!py_funcname) goto bad;
        funcname = PyUnicode_AsUTF8(py_funcname);
        if (!funcname) goto bad;
        #endif
    }
    else {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromString(funcname);
-        #else
+        if (!py_funcname) goto bad;
        py_funcname = PyUnicode_FromString(funcname);
        #endif
    }
-    if (!py_funcname) goto bad;
+    #if PY_MAJOR_VERSION < 3
    py_code = __Pyx_PyCode_New(
        0,
        0,
@@ -9181,11 +9249,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
        __pyx_empty_bytes  /*PyObject *lnotab*/
    );
    Py_DECREF(py_srcfile);
-    Py_DECREF(py_funcname);
+    #else
    py_code = PyCode_NewEmpty(filename, funcname, py_line);
    #endif
    Py_XDECREF(py_funcname);  // XDECREF since it's only set on Py3 if cline
    return py_code;
 bad:
    Py_XDECREF(py_srcfile);
    Py_XDECREF(py_funcname);
    #if PY_MAJOR_VERSION < 3
    Py_XDECREF(py_srcfile);
    #endif
    return NULL;
 }
 static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -10361,6 +10434,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
  Py_DECREF(x);
  return ival;
 }
 static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
  if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
    return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
 #if PY_MAJOR_VERSION < 3
  } else if (likely(PyInt_CheckExact(o))) {
    return PyInt_AS_LONG(o);
 #endif
  } else {
    Py_ssize_t ival;
    PyObject *x;
    x = PyNumber_Index(o);
    if (!x) return -1;
    ival = PyInt_AsLong(x);
    Py_DECREF(x);
    return ival;
  }
 }
 static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
  return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
 }
@@ -1 +1 @@
-#define COMMA_VERSION "2023.02.08"
+#define COMMA_VERSION "2023.04.13"
@@ -4,237 +4,256 @@
 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
-# 220 Supported Cars
+# 239 Supported Cars
-|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
+|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
+|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Honda Nidec</a>||
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Honda Nidec</a>||
-|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Honda Bosch A</a>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">J533</a>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">J533</a>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">J533</a>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533</a>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533</a>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533</a>||
-|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
+|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">OBD-II</a>||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II</a>||
-|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II</a>||
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM</a>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
+|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM</a>||
-|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">GM</a>||
-|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
+|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">OBD-II</a>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">FCA</a>||
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA</a>||
-|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
+|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">FCA</a>||
-|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">FCA</a>||
-|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
+|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-22">FCA</a>||
-|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
+|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
-|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
+|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>||
-|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>||
-|Genesis|GV60 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
+|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>||
-|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Hyundai H</a>||
-|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
+|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C</a>||
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A</a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K</a>||
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 2022-23">Hyundai L</a>||
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">OBD-II</a>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">GM</a>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A</a>||
-|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec</a>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>||
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A</a>||
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>||
-|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec</a>||
-|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A</a>||
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A</a>||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Honda Bosch A</a>||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
+|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec</a>||
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec</a>||
-|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec</a>||
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A</a>||
-|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A</a>||
-|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec</a>||
-|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
+|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-21">Honda Nidec</a>||
-|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec</a>||
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
+|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-22">Honda Nidec</a>||
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
+|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B</a>||
-|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
+|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
+|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Hyundai E</a>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Hyundai J</a>||
-|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
+|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Hyundai E</a>||
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Hyundai Q</a>||
-|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
+|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Hyundai Q</a>||
-|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Hyundai K</a>||
-|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
+|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Hyundai C</a>||
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
+|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Hyundai H</a>||
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Hyundai C</a>||
-|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Hyundai H</a>||
-|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Hyundai C</a>||
-|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
+|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-21">Hyundai H</a>||
-|Hyundai|Santa Cruz 2021-22[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Hyundai B</a>||
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Hyundai G</a>||
-|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O</a>||
-|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Hyundai I</a>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Hyundai H</a>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
+|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Hyundai N</a>||
-|Hyundai|Sonata 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Hyundai D</a>||
-|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
+|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Hyundai L</a>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022">Hyundai L</a>||
-|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Hyundai L</a>||
-|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Hyundai E</a>||
-|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Hyundai A</a>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Tucson Hybrid 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Hyundai A</a>||
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Hyundai L</a>||
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
+|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Hyundai N</a>||
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
+|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Hyundai N</a>||
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Hyundai L</a>||
-|Kia|EV6 (with HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
+|Hyundai|Tucson Hybrid 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022">Hyundai N</a>||
-|Kia|EV6 (without HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Hyundai E</a>||
-|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">FCA</a>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA</a>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
+|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Hyundai E</a>||
-|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
+|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Hyundai P</a>||
-|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Kia|EV6 (with HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022">Hyundai P</a>||
-|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
+|Kia|EV6 (without HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022">Hyundai L</a>||
-|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
+|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G</a>||
-|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
+|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A</a>||
-|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A</a>||
-|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
+|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
+|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
+|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
+|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021">Hyundai F</a>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
+|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2022">Hyundai H</a>||
-|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A</a>||
-|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Hyundai C</a>||
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Hyundai D</a>||
-|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
+|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Hyundai B</a>||
-|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
+|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Hyundai G</a>||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Hyundai A</a>||
-|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Hyundai E</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Hyundai K</a>||
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Hyundai A</a>||
-|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Hyundai N</a>||
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Hyundai N</a>||
-|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Hyundai K</a>||
-|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H</a>||
-|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota</a>||
-|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota</a>||
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota</a>||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota</a>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota</a>||
-|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota</a>||
-|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota</a>||
-|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
+|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota</a>||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
+|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota</a>||
-|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|
+|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Toyota</a>||
-|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
+|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota</a>||
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
+|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota</a>||
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
+|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota</a>||
-|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|
+|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Toyota</a>||
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota</a>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota</a>||
-|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota</a>||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda</a>||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda</a>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B</a>||
-|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
+|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-22">Nissan A</a>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
+|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A</a>||
-|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A</a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Ram</a>||
-|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533</a>||
-|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533</a>||
-|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A</a>||
-|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Subaru A</a>||
-|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Subaru A</a>||
-|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Subaru A</a>||
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Subaru A</a>||
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Subaru B</a>||
-|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B</a>||
-|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A</a>||
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533</a>[<sup>10</sup>](#footnotes)||
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533</a>[<sup>10</sup>](#footnotes)||
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533</a>||
-|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533</a>||
-|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533</a>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533</a>||
-|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533</a>[<sup>10</sup>](#footnotes)||
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">J533</a>||
-|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Toyota</a>||
-|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Toyota</a>||
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Toyota</a>||
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Toyota</a>||
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Toyota</a>||
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Toyota</a>||
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Toyota</a>||
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Toyota</a>||
-|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Toyota</a>||
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Toyota</a>||
-|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Toyota</a>||
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Toyota</a>||
-|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Toyota</a>||
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Toyota</a>||
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Toyota</a>||
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Toyota</a>||
-|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota</a>||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Toyota</a>||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Toyota</a>||
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Toyota</a>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Toyota</a>||
-|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Toyota</a>||
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Toyota</a>||
-|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Toyota</a>||
-|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Toyota</a>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Toyota</a>||
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Toyota</a>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Toyota</a>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Toyota</a>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Toyota</a>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Toyota</a>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Toyota</a>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Toyota</a>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">J533</a>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">J533</a>||
-|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533</a>||
-|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533</a>||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533</a>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533</a>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533</a>||
-|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">J533</a>||
-|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">J533</a>||
 |Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533</a>||
 |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533</a>||
 |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533</a>||
 |Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533</a>||
 |Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533</a>||
 |Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533</a>||
 |Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533</a>||
 |Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533</a>||
 |Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2020-22">J533</a>[<sup>10</sup>](#footnotes)||
 |Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2020-22">J533</a>[<sup>10</sup>](#footnotes)||
 |Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533</a>[<sup>10</sup>](#footnotes)||
 |Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533</a>[<sup>10</sup>](#footnotes)||
 |Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533</a>||
 |Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">J533</a>||
 |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">J533</a>||
 |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">J533</a>||
 |Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">J533</a>||
 |Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2017">J533</a>||
 <a id="footnotes"></a>
 <sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.  <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a>, additional <a href="https://comma.ai/shop/harness-box" target="_blank">harness box</a>, additional <a href="https://comma.ai/shop/obd-c-cable" target="_blank">OBD-C cable</a>, USB-A to USB-A cable, and a USB-A to USB-C OTG dongle. <br />
+<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. All the hardware needed is sold in the <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD kit</a>. <br />
 <sup>6</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 <sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
 <sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
@@ -48,13 +48,13 @@ class AstroDog:
    self.valid_ephem_types = valid_ephem_types
    self.orbit_fetched_times = TimeRangeHolder()
-    self.nav_fetched_times = TimeRangeHolder()
+    self.navs_fetched_times = TimeRangeHolder()
    self.dcbs_fetched_times = TimeRangeHolder()
    self.dgps_delays = []
    self.ionex_maps: List[IonexMap] = []
    self.orbits: DefaultDict[str, List[PolyEphemeris]] = defaultdict(list)
-    self.nav: DefaultDict[str, List[Union[GPSEphemeris, GLONASSEphemeris]]] = defaultdict(list)
+    self.navs: DefaultDict[str, List[Union[GPSEphemeris, GLONASSEphemeris]]] = defaultdict(list)
    self.dcbs: DefaultDict[str, List[DCB]] = defaultdict(list)
    self.cached_ionex: Optional[IonexMap] = None
@@ -73,8 +73,8 @@ class AstroDog:
    return ionex
  def get_nav(self, prn, time):
-    skip_download = time in self.nav_fetched_times
+    skip_download = time in self.navs_fetched_times
-    nav = self._get_latest_valid_data(self.nav[prn], self.cached_nav[prn], self.get_nav_data, time, skip_download)
+    nav = self._get_latest_valid_data(self.navs[prn], self.cached_nav[prn], self.get_nav_data, time, skip_download)
    if nav is not None:
      self.cached_nav[prn] = nav
    return nav
@@ -97,9 +97,9 @@ class AstroDog:
    return result
  def get_navs(self, time):
-    if time not in self.nav_fetched_times and self.auto_update:
+    if time not in self.navs_fetched_times:
      self.get_nav_data(time)
-    return AstroDog._select_valid_temporal_items(self.nav, time, self.cached_nav)
+    return AstroDog._select_valid_temporal_items(self.navs, time, self.cached_nav)
  def get_orbit(self, prn: str, time: GPSTime):
    skip_download = time in self.orbit_fetched_times
@@ -133,7 +133,7 @@ class AstroDog:
    self._add_ephems(new_ephems, self.orbits, self.orbit_fetched_times)
  def add_navs(self, new_ephems: Dict[str, List[Ephemeris]]):
-    self._add_ephems(new_ephems, self.nav, self.nav_fetched_times)
+    self._add_ephems(new_ephems, self.navs, self.navs_fetched_times)
  def _add_ephems(self, new_ephems: Dict[str, List[Ephemeris]], ephems_dict, fetched_times):
    for k, v in new_ephems.items():
@@ -172,7 +172,7 @@ class AstroDog:
    if sum([len(v) for v in fetched_ephems.values()]) == 0:
      begin_day = GPSTime(time.week, SECS_IN_DAY * (time.tow // SECS_IN_DAY))
      end_day = GPSTime(time.week, SECS_IN_DAY * (1 + (time.tow // SECS_IN_DAY)))
-      self.nav_fetched_times.add(begin_day, end_day)
+      self.navs_fetched_times.add(begin_day, end_day)
  def download_parse_orbit(self, gps_time: GPSTime, skip_before_epoch=None) -> Dict[str, List[PolyEphemeris]]:
    # Download multiple days to be able to polyfit at the start-end of the day
@@ -265,7 +265,6 @@ class AstroDog:
      eph = self.get_orbit(prn, time)
    if not eph and self.pull_nav:
      eph = self.get_nav(prn, time)
    if eph:
      return eph.get_sat_info(time)
    return None
@@ -5,6 +5,7 @@ from datetime import datetime
 from .gps_time import GPSTime
 from .constants import SECS_IN_YEAR
 from . import raw_gnss as raw
 from . import opt
 from .rinex_file import RINEXFile
 from .downloader import download_cors_coords
 from .helpers import get_constellation
@@ -107,8 +108,9 @@ def parse_dgps(station_id, station_obs_file_path, dog, max_distance=100000, requ
    station_delays[signal] = {}
    for i, proc_measurement in enumerate(proc_measurements):
      times.append(proc_measurement[0].recv_time)
-      Fx_pos = raw.pr_residual(proc_measurement, signal=signal)
+      Fx_pos = opt.pr_residual(proc_measurement, signal=signal)
-      residual = -np.array(Fx_pos(list(station_pos) + [0, 0]))
+      residual, _ = Fx_pos(list(station_pos) + [0,0])
      residual = -np.array(residual)
      for j, m in enumerate(proc_measurement):
        prn = m.prn
        if prn not in station_delays[signal]:
@@ -7,18 +7,18 @@ import urllib.error
 import pycurl
 import re
 import time
 import tempfile
 import socket
 from datetime import datetime, timedelta
 from urllib.parse import urlparse
 from io import BytesIO
 from ftplib import FTP_TLS
 from atomicwrites import atomic_write
 from laika.ephemeris import EphemerisType
 from .constants import SECS_IN_HR, SECS_IN_DAY, SECS_IN_WEEK
-from .gps_time import GPSTime
+from .gps_time import GPSTime, tow_to_datetime
 from .helpers import ConstellationId
 dir_path = os.path.dirname(os.path.realpath(__file__))
@@ -177,24 +177,6 @@ def http_download_files(url_base, folder_path, cacheDir, filenames):
 def https_download_file(url):
  if 'nasa.gov/' not in url:
    netrc_path = None
    f = None
  elif os.path.isfile(dir_path + '/.netrc'):
    netrc_path = dir_path + '/.netrc'
    f = None
  else:
    try:
      username = os.environ['NASA_USERNAME']
      password = os.environ['NASA_PASSWORD']
      f = tempfile.NamedTemporaryFile()
      netrc = f"machine urs.earthdata.nasa.gov login {username} password {password}"
      f.write(netrc.encode())
      f.flush()
      netrc_path = f.name
    except KeyError:
      raise DownloadFailed('Could not find .netrc file and no NASA_USERNAME and NASA_PASSWORD in environment for urs.earthdata.nasa.gov authentication')
  crl = pycurl.Curl()
  crl.setopt(crl.CAINFO, certifi.where())
  crl.setopt(crl.URL, url)
@@ -202,17 +184,12 @@ def https_download_file(url):
  crl.setopt(crl.SSL_CIPHER_LIST, 'DEFAULT@SECLEVEL=1')
  crl.setopt(crl.COOKIEJAR, '/tmp/cddis_cookies')
  crl.setopt(pycurl.CONNECTTIMEOUT, 10)
-  if netrc_path is not None:
+  
    crl.setopt(crl.NETRC_FILE, netrc_path)
    crl.setopt(crl.NETRC, 2)
  buf = BytesIO()
  crl.setopt(crl.WRITEDATA, buf)
  crl.perform()
  response = crl.getinfo(pycurl.RESPONSE_CODE)
  crl.close()
  if f is not None:
    f.close()
  if response != 200:
    raise DownloadFailed('HTTPS error ' + str(response))
@@ -228,6 +205,17 @@ def ftp_download_file(url):
  except urllib.error.URLError as e:
    raise DownloadFailed(e)
 def ftps_download_file(url):
  parsed = urlparse(url)
  try:
    buf = BytesIO()
    with FTP_TLS(parsed.hostname) as ftps:
      ftps.login(user='anonymous')
      ftps.prot_p()
      ftps.retrbinary('RETR ' + parsed.path, buf.write)
    return buf.getvalue()
  except ftplib.all_errors as e:
    raise DownloadFailed(e)
@retryable
 def download_files(url_base, folder_path, cacheDir, filenames):
@@ -242,11 +230,13 @@ def download_files(url_base, folder_path, cacheDir, filenames):
 def download_file(url_base, folder_path, filename_zipped):
  url = url_base + folder_path + filename_zipped
  print('Downloading ' + url)
-  if url.startswith('https'):
+  if url.startswith('https://'):
    return https_download_file(url)
-  if url.startswith('ftp'):
+  elif url.startswith('ftp://'):
    return ftp_download_file(url)
-  raise NotImplementedError('Did find ftp or https preamble')
+  elif url.startswith('sftp://'):
    return ftps_download_file(url)
  raise NotImplementedError('Did not find supported url scheme')
 def download_and_cache_file_return_first_success(url_bases, folder_and_file_names, cache_dir, compression='', overwrite=False, raise_error=False):
@@ -308,26 +298,51 @@ def download_nav(time: GPSTime, cache_dir, constellation: ConstellationId):
    if GPSTime.from_datetime(datetime.utcnow()) - time > SECS_IN_DAY:
      url_bases = (
        'https://github.com/commaai/gnss-data/raw/master/gnss/data/daily/',
-        'https://cddis.nasa.gov/archive/gnss/data/daily/',
+        'sftp://gdc.cddis.eosdis.nasa.gov/gnss/data/daily/',
      )
      filename = t.strftime(f"brdc%j0.%y{c}")
      folder_path = t.strftime(f'%Y/%j/%y{c}/')
      compression = '.gz' if folder_path >= '2020/335/' else '.Z'
      return download_and_cache_file(url_bases, folder_path, cache_dir+'daily_nav/', filename, compression)
-    elif constellation == ConstellationId.GPS:
+    else:
-      url_base = 'https://cddis.nasa.gov/archive/gnss/data/hourly/'
+      url_bases = (
-      filename = t.strftime(f"hour%j0.%y{c}")
+        'https://github.com/commaai/gnss-data-hourly/raw/master/',
-      folder_path = t.strftime('%Y/%j/')
+        'sftp://gdc.cddis.eosdis.nasa.gov/gnss/data/hourly/',
-      compression = '.gz' if folder_path >= '2020/336/' else '.Z'
+      )
-      return download_and_cache_file(url_base, folder_path, cache_dir+'hourly_nav/', filename, compression)
+      times = [t, (t - timedelta(hours=1))]
      folder_and_filenames = [(t.strftime('%Y/%j/'), t.strftime(f"hour%j0.%y{c}")) for t in times]
      compression = '.gz' if folder_and_filenames[0][0] >= '2020/336/' else '.Z'
      # always overwrite as this file is appended
      return download_and_cache_file_return_first_success(url_bases,
        folder_and_filenames, cache_dir+'hourly_nav/', compression, overwrite=True)
  except DownloadFailed:
    pass
 def download_orbits_gps_cod0(time, cache_dir, ephem_types):
  url_bases = (
    'https://github.com/commaai/gnss-data/raw/master/gnss/products/',
    'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/',
  )
  if EphemerisType.ULTRA_RAPID_ORBIT not in ephem_types:
    # TODO: raise error here
    return None
  tm = tow_to_datetime(time.tow, time.week).timetuple()
  doy = str(tm.tm_yday).zfill(3)
  filename = f"COD0OPSULT_{tm.tm_year}{doy}0000_02D_05M_ORB.SP3"
  # TODO: add hour management
  folder_path = "%i/" % time.week
  folder_file_names = [(folder_path, filename)]
  return download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'cddis_products/', compression='.gz')
 def download_orbits_gps(time, cache_dir, ephem_types):
  url_bases = (
    'https://github.com/commaai/gnss-data/raw/master/gnss/products/',
-    'https://cddis.nasa.gov/archive/gnss/products/',
+    'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/',
    'ftp://igs.ign.fr/pub/igs/products/',
  )
  folder_path = "%i/" % time.week
@@ -344,7 +359,12 @@ def download_orbits_gps(time, cache_dir, ephem_types):
                      f"igu{time_str}_06.sp3",
                      f"igu{time_str}_00.sp3"])
  folder_file_names = [(folder_path, filename) for filename in filenames]
-  return download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'cddis_products/', compression='.Z')
+  ret = download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'cddis_products/', compression='.Z')
  if ret is not None:
    return ret
  # fallback to COD0 Ultra Rapid Orbits
  return download_orbits_gps_cod0(time, cache_dir, ephem_types)
 def download_prediction_orbits_russia_src(gps_time, cache_dir):
@@ -406,7 +426,7 @@ def download_ionex(time, cache_dir):
  t = time.as_datetime()
  url_bases = (
    'https://github.com/commaai/gnss-data/raw/master/gnss/products/ionex/',
-    'https://cddis.nasa.gov/archive/gnss/products/ionex/',
+    'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/ionex/',
    'ftp://igs.ensg.ign.fr/pub/igs/products/ionosphere/',
    'ftp://gssc.esa.int/gnss/products/ionex/',
  )
@@ -422,7 +442,7 @@ def download_dcb(time, cache_dir):
  folder_paths = []
  url_bases = (
    'https://github.com/commaai/gnss-data/raw/master/gnss/products/bias/',
-    'https://cddis.nasa.gov/archive/gnss/products/bias/',
+    'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/bias/',
    'ftp://igs.ign.fr/pub/igs/products/mgex/dcb/',
  )
  # seem to be a lot of data missing, so try many days
@@ -7,7 +7,7 @@ from typing import Dict, List, Optional
 import numpy as np
 import numpy.polynomial.polynomial as poly
-from datetime import datetime
+from datetime import datetime, timedelta
 from math import sin, cos, sqrt, fabs, atan2
 from .gps_time import GPSTime, utc_to_gpst
@@ -24,7 +24,7 @@ def read4(f, rinex_ver):
  return float(line[4:23]), float(line[23:42]), float(line[42:61]), float(line[61:80])
-def convert_ublox_ephem(ublox_ephem, current_time: Optional[datetime] = None):
+def convert_ublox_gps_ephem(ublox_ephem, current_time: Optional[datetime] = None):
  # Week time of ephemeris gps msg has a roll-over period of 10 bits (19.6 years)
  # The latest roll-over was on 2019-04-07
  week = ublox_ephem.gpsWeek
@@ -38,6 +38,12 @@ def convert_ublox_ephem(ublox_ephem, current_time: Optional[datetime] = None):
    roll_overs = GPSTime.from_datetime(current_time).week // 1024
    week += (roll_overs - (week // 1024)) * 1024
  # GPS week refers to current week, the ephemeris can be valid for the next
  # if toe equals 0, this can be verified by the TOW count if it is within the
  # last 2 hours of the week (gps ephemeris valid for 4hours)
  if ublox_ephem.toe == 0 and ublox_ephem.towCount*6 >= (SECS_IN_WEEK - 2*SECS_IN_HR):
    week += 1
  ephem = {}
  ephem['sv_id'] = ublox_ephem.svId
  ephem['toe'] = GPSTime(week, ublox_ephem.toe)
@@ -65,10 +71,48 @@ def convert_ublox_ephem(ublox_ephem, current_time: Optional[datetime] = None):
  ephem['omegadot'] = ublox_ephem.omegaDot
  ephem['omega0'] = ublox_ephem.omega0
  ephem['healthy'] = ublox_ephem.svHealth == 0.0
  epoch = ephem['toe']
  return GPSEphemeris(ephem, epoch)
 def convert_ublox_glonass_ephem(ublox_ephem, current_time: Optional[datetime] = None):
  ephem = {}
  ephem['prn'] = 'R%02i' % ublox_ephem.svId
  etime = datetime.strptime(f"{ublox_ephem.year}-{ublox_ephem.dayInYear}", "%Y-%j")
  # glonass time: UTC + 3h
  time_in_day = timedelta(hours=ublox_ephem.hour, minutes=ublox_ephem.minute, seconds=ublox_ephem.second)
  ephem['toc'] = GPSTime.from_datetime(etime + time_in_day - timedelta(hours=3))
  ephem['toe'] = GPSTime.from_datetime(etime + timedelta(minutes=(ublox_ephem.tb*15 - 180)))
  ephem['x'] = ublox_ephem.x # km
  ephem['x_vel'] = ublox_ephem.xVel # km/s
  ephem['x_acc'] = ublox_ephem.xAccel # km/s*s
  ephem['y'] = ublox_ephem.y # km
  ephem['y_vel'] = ublox_ephem.yVel # km/s
  ephem['y_acc'] = ublox_ephem.yAccel # km/s*s
  ephem['z'] = ublox_ephem.z # km
  ephem['z_vel'] = ublox_ephem.zVel # km/s
  ephem['z_acc'] = ublox_ephem.zAccel # km/s*s
  ephem['healthy'] = ublox_ephem.svHealth == 0.0
  ephem['age'] = ublox_ephem.age # age of information [days]
  # tauN compared to ephemeris from gdc.cddis.eosdis.nasa.gov is times -1
  ephem['min_tauN'] = ublox_ephem.tauN * (-1) # time correction relative to GLONASS tc
  ephem['GammaN'] = ublox_ephem.gammaN
  # TODO: channel is in string 7, which is not parsed
  ephem['freq_num'] = "1"
  # NOTE: ublox_ephem.tk is in a different format than rinex tk
  return GLONASSEphemeris(ephem, ephem['toe'])
 class EphemerisType(IntEnum):
  # Matches the enum in log.capnp
  NAV = 0
@@ -87,7 +131,7 @@ class EphemerisType(IntEnum):
      return EphemerisType.FINAL_ORBIT
    if "/rapid" in file_name or "/igr" in file_name:
      return EphemerisType.RAPID_ORBIT
-    if "/ultra" in file_name or "/igu" in file_name:
+    if "/ultra" in file_name or "/igu" in file_name or "COD0OPSULT" in file_name:
      return EphemerisType.ULTRA_RAPID_ORBIT
    raise RuntimeError(f"Ephemeris type not found in filename: {file_name}")
@@ -158,8 +202,8 @@ class EphemerisSerializer(json.JSONEncoder):
 class GLONASSEphemeris(Ephemeris):
-  def __init__(self, data, epoch, healthy=True, file_name=None):
+  def __init__(self, data, epoch, file_name=None):
-    super().__init__(data['prn'], data, epoch, EphemerisType.NAV, healthy, max_time_diff=25*SECS_IN_MIN, file_name=file_name)
+    super().__init__(data['prn'], data, epoch, EphemerisType.NAV, data['healthy'], max_time_diff=25*SECS_IN_MIN, file_name=file_name)
    self.channel = data['freq_num']
    self.to_json()
@@ -168,9 +212,7 @@ class GLONASSEphemeris(Ephemeris):
    # http://gauss.gge.unb.ca/GLONASS.ICD.pdf
    eph = self.data
-    # TODO should handle leap seconds better
+    tdiff = time - utc_to_gpst(eph['toe'])
    toc_gps_time = utc_to_gpst(eph['toc'])
    tdiff = time - toc_gps_time
    # Clock correction (except for general relativity which is applied later)
    clock_err = eph['min_tauN'] + tdiff * (eph['GammaN'])
@@ -227,8 +269,9 @@ class GLONASSEphemeris(Ephemeris):
 class PolyEphemeris(Ephemeris):
  def __init__(self, prn: str, data, epoch: GPSTime, ephem_type: EphemerisType,
-               file_epoch: GPSTime=None, file_name: str=None, healthy=True, tgd=0):
+               file_epoch: GPSTime=None, file_name: str=None, healthy=True, tgd=0,
-    super().__init__(prn, data, epoch, ephem_type, healthy, max_time_diff=SECS_IN_HR, file_epoch=file_epoch, file_name=file_name)
+               max_time_diff: int=SECS_IN_HR):
    super().__init__(prn, data, epoch, ephem_type, healthy, max_time_diff=max_time_diff, file_epoch=file_epoch, file_name=file_name)
    self.tgd = tgd
    self.to_json()
@@ -247,8 +290,8 @@ class PolyEphemeris(Ephemeris):
 class GPSEphemeris(Ephemeris):
-  def __init__(self, data, epoch, healthy=True, file_name=None):
+  def __init__(self, data, epoch, file_name=None):
-    super().__init__('G%02i' % data['sv_id'], data, epoch, EphemerisType.NAV, healthy, max_time_diff=2*SECS_IN_HR, file_name=file_name)
+    super().__init__('G%02i' % data['sv_id'], data, epoch, EphemerisType.NAV, data['healthy'], max_time_diff=2*SECS_IN_HR, file_name=file_name)
    self.max_time_diff_tgd = SECS_IN_DAY
    self.to_json()
@@ -403,7 +446,7 @@ def read_prn_data(data, prn, deg=16, deg_t=1):
    measurements = np_data_prn[i:i + deg + 1, 1:5]
    times = (measurements[:, 0] - epoch).astype(float)
-    if (np.diff(times) != 900).any():
+    if not (np.diff(times) != 900).any() and not (np.diff(times) != 300).any():
      continue
    poly_data = {}
@@ -516,7 +559,7 @@ def parse_rinex_nav_msg_glonass(file_name):
    line = line.replace('D', 'E')  # Handle bizarro float format
    e = {'epoch': epoch, 'prn': prn}
-    e['toc'] = epoch
+    e['toe'] = epoch
    e['min_tauN'] = float(line[23:42])
    e['GammaN'] = float(line[42:61])
    e['tk'] = float(line[61:80])
@@ -526,7 +569,6 @@ def parse_rinex_nav_msg_glonass(file_name):
    e['z'], e['z_vel'], e['z_acc'], e['age'] = read4(f, rinex_ver)
    e['healthy'] = (e['health'] == 0.0)
    ephems[prn].append(GLONASSEphemeris(e, epoch, file_name=file_name))
  f.close()
  return ephems
@@ -553,4 +595,4 @@ def parse_qcom_ephem(qcom_poly, current_week):
  poly_data['clock'] = [1e-3*data.other[3], 1e-3*data.other[2], 1e-3*data.other[1], 1e-3*data.other[0]]
  poly_data['deg'] = 3
  poly_data['deg_t'] = 3
-  return PolyEphemeris(prn, poly_data, epoch, ephem_type=EphemerisType.QCOM_POLY)
+  return PolyEphemeris(prn, poly_data, epoch, ephem_type=EphemerisType.QCOM_POLY, max_time_diff=180)
@@ -62,8 +62,7 @@ def get_leap_seconds(time):
    return 15
  elif time <= GPSTime.from_datetime(datetime.datetime(2015, 7, 1)):
    return 16
-  # TODO is this correct?
+  elif time <= GPSTime.from_datetime(datetime.datetime(2017, 1, 1)):
  elif time <= GPSTime.from_datetime(datetime.datetime(2017, 7, 1)):
    return 17
  else:
    return 18
@@ -0,0 +1,191 @@
 import sympy
 import numpy as np
 from typing import List
 from .constants import EARTH_ROTATION_RATE, SPEED_OF_LIGHT
 from .helpers import ConstellationId
 from .raw_gnss import GNSSMeasurement
 def gauss_newton(fun, b, xtol=1e-8, max_n=25):
  for _ in range(max_n):
    # Compute function and jacobian on current estimate
    r, J = fun(b)
    # Update estimate
    delta = np.linalg.pinv(J) @ r
    b -= delta
    # Check step size for stopping condition
    if np.linalg.norm(delta) < xtol:
      break
  return b
 def calc_pos_fix(measurements, posfix_functions=None, x0=None, no_weight=False, signal='C1C', min_measurements=6):
  '''
  Calculates gps fix using gauss newton method
  To solve the problem a minimal of 4 measurements are required.
    If Glonass is included 5 are required to solve for the additional free variable.
  returns:
  0 -> list with positions
  1 -> pseudorange errs
  '''
  if x0 is None:
    x0 = [0, 0, 0, 0, 0]
  if len(measurements) < min_measurements:
    return [],[]
  Fx_pos = pr_residual(measurements, posfix_functions, signal=signal, no_weight=no_weight, no_nans=True)
  x = gauss_newton(Fx_pos, x0)
  residual, _ = Fx_pos(x, no_weight=True)
  return x.tolist(), residual.tolist()
 def calc_vel_fix(measurements, est_pos, velfix_function=None, v0=None, no_weight=False, signal='D1C', min_measurements=6):
  '''
  Calculates gps velocity fix using gauss newton method
  returns:
  0 -> list with velocities
  1 -> pseudorange_rate errs
  '''
  if v0 is None:
    v0 = [0, 0, 0, 0]
  if len(measurements) < min_measurements:
    return [], []
  Fx_vel = prr_residual(measurements, est_pos, velfix_function, signal=signal, no_weight=no_weight, no_nans=True)
  v = gauss_newton(Fx_vel, v0)
  residual, _ = Fx_vel(v, no_weight=True)
  return v.tolist(), residual.tolist()
 def get_posfix_sympy_fun(constellation):
  # Unknowns
  x, y, z = sympy.Symbol('x'), sympy.Symbol('y'), sympy.Symbol('z')
  bc = sympy.Symbol('bc')
  bg = sympy.Symbol('bg')
  zero_theta = sympy.Symbol('zero_theta')
  var = [x, y, z, bc, bg]
  # Knowns
  pr = sympy.Symbol('pr')
  sat_x, sat_y, sat_z = sympy.Symbol('sat_x'), sympy.Symbol('sat_y'), sympy.Symbol('sat_z')
  weight = sympy.Symbol('weight')
  theta = (EARTH_ROTATION_RATE * (pr - bc) / SPEED_OF_LIGHT)*zero_theta
  val = sympy.sqrt(
    (sat_x * sympy.cos(theta) + sat_y * sympy.sin(theta) - x) ** 2 +
    (sat_y * sympy.cos(theta) - sat_x * sympy.sin(theta) - y) ** 2 +
    (sat_z - z) ** 2
  )
  if constellation == ConstellationId.GLONASS:
    res = weight * (val - (pr - bc - bg))
  elif constellation == ConstellationId.GPS:
    res = weight * (val - (pr - bc))
  else:
    raise NotImplementedError(f"Constellation {constellation} not supported")
  res = [res] + [sympy.diff(res, v) for v in var]
  return sympy.lambdify([x, y, z, bc, bg, pr, zero_theta, sat_x, sat_y, sat_z, weight], res, modules=["numpy"])
 def get_velfix_sympy_func():
  # implementing this without sympy.Matrix gives a 2x speedup at generation
  # knowns, receiver position, satellite position, satellite velocity
  ep_x, ep_y, ep_z = sympy.Symbol('ep_x'), sympy.Symbol('ep_y'), sympy.Symbol('ep_z')
  est_pos = np.array([ep_x, ep_y, ep_z])
  sp_x, sp_y, sp_z = sympy.Symbol('sp_x'), sympy.Symbol('sp_y'), sympy.Symbol('sp_z')
  sat_pos = np.array([sp_x, sp_y, sp_z])
  sv_x, sv_y, sv_z = sympy.Symbol('sv_x'), sympy.Symbol('sv_y'), sympy.Symbol('sv_z')
  sat_vel = np.array([sv_x, sv_y, sv_z])
  observables = sympy.Symbol('observables')
  weight = sympy.Symbol('weight')
  # unknown, receiver velocity
  v_x, v_y, v_z = sympy.Symbol('v_x'), sympy.Symbol('v_y'), sympy.Symbol('v_z')
  vel = np.array([v_x, v_y, v_z])
  vel_o = sympy.Symbol('vel_o')
  loss = sat_pos - est_pos
  loss /= sympy.sqrt(loss.dot(loss))
  nv = loss.dot(sat_vel - vel)
  ov = (observables - vel_o)
  res = (nv - ov)*weight
  res = [res] + [sympy.diff(res, v) for v in [v_x, v_y, v_z, vel_o]]
  return sympy.lambdify([
      ep_x, ep_y, ep_z, sp_x, sp_y, sp_z,
      sv_x, sv_y, sv_z, observables, weight,
      v_x, v_y, v_z, vel_o
    ],
    res, modules=["numpy"])
 def pr_residual(measurements: List[GNSSMeasurement], posfix_functions=None, signal='C1C', no_weight=False, no_nans=False):
  if posfix_functions is None:
    posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)}
  def Fx_pos(inp, no_weight=no_weight):
    vals, gradients = [], []
    for meas in measurements:
      if signal in meas.observables_final and np.isfinite(meas.observables_final[signal]):
        pr = meas.observables_final[signal]
        sat_pos = meas.sat_pos_final
        zero_theta = 0
      elif signal in meas.observables and np.isfinite(meas.observables[signal]) and meas.processed:
        pr = meas.observables[signal]
        pr += meas.sat_clock_err * SPEED_OF_LIGHT
        sat_pos = meas.sat_pos
        zero_theta = 1
      else:
        if not no_nans:
          vals.append(np.nan)
          gradients.append(np.nan)
        continue
      w = 1.0 if no_weight or meas.observables_std[signal] == 0 else (1 / meas.observables_std[signal])
      val, *gradient = posfix_functions[meas.constellation_id](*inp, pr, zero_theta, *sat_pos, w)
      vals.append(val)
      gradients.append(gradient)
    return np.asarray(vals), np.asarray(gradients)
  return Fx_pos
 def prr_residual(measurements: List[GNSSMeasurement], est_pos, velfix_function=None, signal='D1C', no_weight=False, no_nans=False):
  if velfix_function is None:
    velfix_function = get_velfix_sympy_func()
  def Fx_vel(vel, no_weight=no_weight):
    vals, gradients = [], []
    for meas in measurements:
      if signal not in meas.observables or not np.isfinite(meas.observables[signal]):
        if not no_nans:
          vals.append(np.nan)
          gradients.append(np.nan)
        continue
      sat_pos = meas.sat_pos_final if meas.corrected else meas.sat_pos
      weight = 1.0 if no_weight or meas.observables_std[signal] == 0 else (1 / meas.observables_std[signal])
      val, *gradient = velfix_function(est_pos[0], est_pos[1], est_pos[2],
                                       sat_pos[0], sat_pos[1], sat_pos[2],
                                       meas.sat_vel[0], meas.sat_vel[1], meas.sat_vel[2],
                                       meas.observables[signal], weight,
                                       vel[0], vel[1], vel[2], vel[3])
      vals.append(val)
      gradients.append(gradient)
    return np.asarray(vals), np.asarray(gradients)
  return Fx_vel
@@ -92,11 +92,11 @@ class GNSSMeasurement:
    self.processed = True
    return True
-  def correct(self, est_pos, dog, allow_incomplete_delay=False):
+  def correct(self, est_pos, dog):
    for obs in self.observables:
      if obs[0] == 'C':  # or obs[0] == 'L':
        delay = dog.get_delay(self.prn, self.recv_time, est_pos, signal=obs)
-        if delay is not None and (allow_incomplete_delay or delay != 0):
+        if delay is not None:
          self.observables_final[obs] = (self.observables[obs] +
                                         self.sat_clock_err*constants.SPEED_OF_LIGHT -
                                         delay)
@@ -147,10 +147,10 @@ def process_measurements(measurements: List[GNSSMeasurement], dog) -> List[GNSSM
  return proc_measurements
-def correct_measurements(measurements: List[GNSSMeasurement], est_pos, dog, allow_incomplete_delay=False) -> List[GNSSMeasurement]:
+def correct_measurements(measurements: List[GNSSMeasurement], est_pos, dog) -> List[GNSSMeasurement]:
  corrected_measurements = []
  for meas in measurements:
-    if meas.correct(est_pos, dog, allow_incomplete_delay):
+    if meas.correct(est_pos, dog):
      corrected_measurements.append(meas)
  return corrected_measurements
@@ -292,108 +292,6 @@ def read_rinex_obs(obsdata) -> List[List[GNSSMeasurement]]:
  return measurements
 def calc_pos_fix(measurements, x0=[0, 0, 0, 0, 0], no_weight=False, signal='C1C', min_measurements=6):
  '''
  Calculates gps fix with WLS optimizer
  returns:
  0 -> list with positions
  1 -> pseudorange errs
  '''
  import scipy.optimize as opt  # Only use scipy here
  n = len(measurements)
  if n < min_measurements:
    return []
  Fx_pos = pr_residual(measurements, signal=signal, no_weight=no_weight, no_nans=True)
  opt_pos = opt.least_squares(Fx_pos, x0).x
  return opt_pos, Fx_pos(opt_pos, no_weight=True)
 def calc_vel_fix(measurements, est_pos, v0=[0, 0, 0, 0], no_weight=False, signal='D1C'):
  '''
  Calculates gps velocity fix with WLS optimizer
  returns:
  0 -> list with velocities
  1 -> pseudorange_rate errs
  '''
  import scipy.optimize as opt  # Only use scipy here
  n = len(measurements)
  if n < 6:
    return []
  Fx_vel = prr_residual(measurements, est_pos, signal=signal, no_weight=no_weight, no_nans=True)
  opt_vel = opt.least_squares(Fx_vel, v0).x
  return opt_vel, Fx_vel(opt_vel, no_weight=True)
 def pr_residual(measurements: List[GNSSMeasurement], signal='C1C', no_weight=False, no_nans=False):
  # solve for pos
  def Fx_pos(xxx_todo_changeme, no_weight=no_weight):
    (x, y, z, bc, bg) = xxx_todo_changeme
    rows = []
    for meas in measurements:
      if signal in meas.observables_final and np.isfinite(meas.observables_final[signal]):
        pr = meas.observables_final[signal]
        sat_pos = meas.sat_pos_final
        theta = 0
      elif signal in meas.observables and np.isfinite(meas.observables[signal]) and meas.processed:
        pr = meas.observables[signal]
        pr += meas.sat_clock_err * constants.SPEED_OF_LIGHT
        sat_pos = meas.sat_pos
        theta = constants.EARTH_ROTATION_RATE * (pr - bc) / constants.SPEED_OF_LIGHT
      else:
        if not no_nans:
          rows.append(np.nan)
        continue
      if no_weight:
        weight = 1
      else:
        weight = (1 / meas.observables_std[signal])
      val = np.sqrt(
          (sat_pos[0] * np.cos(theta) + sat_pos[1] * np.sin(theta) - x) ** 2 +
          (sat_pos[1] * np.cos(theta) - sat_pos[0] * np.sin(theta) - y) ** 2 +
          (sat_pos[2] - z) ** 2
      )
      if meas.constellation_id == ConstellationId.GLONASS:
        rows.append(weight * (val - (pr - bc - bg)))
      elif meas.constellation_id == ConstellationId.GPS:
        rows.append(weight * (val - (pr - bc)))
    return rows
  return Fx_pos
 def prr_residual(measurements, est_pos, signal='D1C', no_weight=False, no_nans=False):
  # solve for vel
  def Fx_vel(vel, no_weight=no_weight):
    rows = []
    for meas in measurements:
      if signal not in meas.observables or not np.isfinite(meas.observables[signal]):
        if not no_nans:
          rows.append(np.nan)
        continue
      if meas.corrected:
        sat_pos = meas.sat_pos_final
      else:
        sat_pos = meas.sat_pos
      if no_weight:
        weight = 1
      else:
        weight = (1 / meas.observables[signal])
      los_vector = (sat_pos - est_pos[0:3]
                    ) / np.linalg.norm(sat_pos - est_pos[0:3])
      rows.append(
        weight * ((meas.sat_vel - vel[0:3]).dot(los_vector) -
                  (meas.observables[signal] - vel[3])))
    return rows
  return Fx_vel
 def get_Q(recv_pos, sat_positions):
  local = LocalCoord.from_ecef(recv_pos)
  sat_positions_rel = local.ecef2ned(sat_positions)
@@ -16,7 +16,7 @@ def saast(pos, el, humi=0.75, temp0=15.0):
    :return:        tropospheric delay (m)
    """
  pos_rad = ecef2geodetic(pos, radians=True)
-  if pos_rad[2] < -100.0 or 1E4 < pos_rad[2] or el <= 0:
+  if pos_rad[2] < -1E3 or 1E4 < pos_rad[2] or el <= 0:
    return 0.0
  # /* standard atmosphere */
@@ -9,6 +9,20 @@ source "$BASEDIR/launch_env.sh"
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 function two_init {
  if [ -f /EON ]; then
    if [ ! -f /system/fonts/NotoSansCJKtc-Regular.otf ]; then
      mount -o remount,rw /system
      rm -fr /system/fonts/NotoSansTC*.otf
      rm -fr /system/fonts/NotoSansSC*.otf
      rm -fr /system/fonts/NotoSansKR*.otf
      rm -fr /system/fonts/NotoSansJP*.otf
      cp -rf /data/openpilot/selfdrive/assets/fonts/NotoSansCJKtc-* /system/fonts/
      cp -rf /data/openpilot/selfdrive/assets/fonts/fonts.xml /system/etc/fonts.xml
      chmod 644 /system/etc/fonts.xml
      chmod 644 /system/fonts/NotoSansCJKtc-*
      mount -o remount,r /system
    fi
  fi
  dt=$(date +%s)
@@ -221,18 +235,6 @@ function agnos_init {
    fi
    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
  fi
  #dp: change splash logo
  if [ -f "/usr/comma/.dp_splash" ]; then
      echo "DP splash exists."
  else
      echo "DP splash not deployed yet"
      sudo mount -o rw,remount /
      sudo cp /data/openpilot/selfdrive/dragonpilot/bg.jpg /usr/comma/bg.jpg
      sudo touch /usr/comma/.dp_splash
      sudo mount -o ro,remount /
      sudo reboot
  fi
 }
 function launch {
@@ -46,7 +46,9 @@ ENV PYTHONPATH=/project
 WORKDIR /project
 # TODO: Add tag to cereal
-RUN git clone https://github.com/commaai/cereal.git /project/cereal && cd /project/cereal && git checkout d46f37c314bb92306207db44693b2f58c31f66b9
+RUN git clone https://github.com/commaai/cereal.git /project/cereal && \
    cd /project/cereal && \
    git checkout 959ff79963b80829be9902d146c31fda44dbbd20
 COPY SConstruct .
 COPY ./site_scons /project/site_scons
@@ -1,10 +1,11 @@
 #pragma once
 #include <vector>
 #include <map>
 #include <string>
 #include <utility>
 #include <unordered_map>
 #include <vector>
 #include "common_dbc.h"
 #include <capnp/dynamic.h>
 #include <capnp/serialize.h>
@@ -12,6 +13,8 @@
 #include "cereal/gen/cpp/log.capnp.h"
 #endif
 #include "opendbc/can/common_dbc.h"
 #define INFO printf
 #define WARN printf
 #define DEBUG(...)
@@ -61,6 +61,7 @@ cdef extern from "common_dbc.h":
  cdef struct SignalValue:
    uint32_t address
    uint64_t ts_nanos
    string name
    double value
    vector[double] all_values
@@ -24,6 +24,7 @@ struct MessageParseOptions {
 struct SignalValue {
  uint32_t address;
  uint64_t ts_nanos;
  std::string name;
  double value;  // latest value
  std::vector<double> all_values;  // all values from this cycle
@@ -1,3 +1,2 @@
-# pylint: skip-file
+from opendbc.can.packer_pyx import CANPacker # pylint: disable=no-name-in-module, import-error
 from opendbc.can.packer_pyx import CANPacker
 assert CANPacker
@@ -81,6 +81,7 @@ BO_ 544 EPS_2: 8 XXX
 SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
 SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
 SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
 SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -83,6 +83,7 @@ BO_ 49 EPS_2: 8 XXX
 SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
 SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
 SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
 SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -83,6 +83,7 @@ BO_ 544 EPS_2: 8 XXX
 SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
 SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
 SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
 SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -153,7 +153,7 @@ VAL_TABLE_ ChrgCordLck_D_Stat 7 "Faulty" 6 "LockFail" 5 "UnlockFail" 4 "LockInPr
 VAL_TABLE_ LkaActvStats_D2_Req 7 "NotUsed" 6 "LkaIncrIntervRight" 5 "LkaSupprRight" 4 "LkaStandIntervRight" 3 "LkaSupprLeft" 2 "LkaStandIntervLeft" 1 "LkaIncrIntervLeft" 0 "LkaNoInterv";
 VAL_TABLE_ OffOnNoDataFaulty 3 "Faulty" 2 "No_Data_Exists" 1 "On" 0 "Off";
 VAL_TABLE_ NoMessage_Msg1_3 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage";
-VAL_TABLE_ TrnRng_D_RqGsm 15 "Fault" 14 "UnknownPosition" 13 "Undefined_2" 12 "Undefined_1" 11 "_6" 10 "_5" 9 "_4" 8 "_3" 7 "_2" 6 "_1" 5 "Low" 4 "Sport_DriveSport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park";
+VAL_TABLE_ TrnRng_D_RqGsm 15 "Fault" 14 "UnknownPosition" 13 "Undefined_2" 12 "Undefined_1" 11 "_6" 10 "_5" 9 "_4" 8 "_3" 7 "_2" 6 "_1" 5 "Low" 4 "Sport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park";
 VAL_TABLE_ PrkBrkActv_D_RqGsmGear 3 "NotUsed" 2 "RequestParkBrakeEngage" 1 "NoRequest" 0 "Null";
 VAL_TABLE_ TrnPrkSys_D_Actl 15 "Faulty" 14 "NotUsed_5" 13 "NotUsed_4" 12 "NotUsed_3" 11 "NotUsed_2" 10 "NotUsed_1" 9 "FrequencyError" 8 "OutOfRangeHigh" 7 "OutOfRangeLow" 6 "Override" 5 "OutOfPark" 4 "TransitionCloseToOutOfPark" 3 "AtNoSpring" 2 "TransitionCloseToPark" 1 "Park" 0 "NotKnown";
 VAL_TABLE_ OKLowUnknownInvalid 3 "Invalid" 2 "Unknown" 1 "Low" 0 "OK";
@@ -77,6 +77,7 @@ BO_ 544 EPS_2: 8 XXX
 SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
 SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
 SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
 SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -10,12 +10,12 @@ include_pattern = re.compile(r'CM_ "IMPORT (.*?)";\n')
 generated_suffix = '_generated.dbc'
-def read_dbc(src_dir, filename):
+def read_dbc(src_dir: str, filename: str) -> str:
  with open(os.path.join(src_dir, filename)) as file_in:
    return file_in.read()
-def create_dbc(src_dir, filename, output_path):
+def create_dbc(src_dir: str, filename: str, output_path: str):
  dbc_file_in = read_dbc(src_dir, filename)
  includes = include_pattern.findall(dbc_file_in)
@@ -39,7 +39,7 @@ def create_dbc(src_dir, filename, output_path):
    dbc_file_out.write(core_dbc)
-def create_all(output_path):
+def create_all(output_path: str):
  # clear out old DBCs
  for f in glob.glob(f"{output_path}/*{generated_suffix}"):
    os.remove(f)
@@ -174,6 +174,13 @@ BO_ 532 BRAKE_RELATED: 6 XXX
 BO_ 560 EPBStatus: 8 EPB
 SG_ EPBClosed : 12|1@0+ (1,0) [0|1] ""  NEO
 BO_ 562 EBCMFrictionBrakeStatus: 8 XXX
 SG_ FrictionBrakeUnavailable : 46|1@0+ (1,0) [0|1] "" XXX
 BO_ 608 SPEED_RELATED: 8 XXX
 SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" XXX
 SG_ ClusterSpeed : 31|8@0+ (1,0) [0|0] "" XXX
 BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
 SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V"  NEO
 SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
@@ -287,9 +294,11 @@ CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
 CM_ SG_ 352 Ignition "Non-zero when ignition is on";
 CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
 CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
 CM_ SG_ 562 FrictionBrakeUnavailable "1 when ACC brake control is unavailable. Stays high if brake command messages are blocked for a period of time";
 CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy";
 CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
 CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?";
 CM_ SG_ 608 ClusterSpeed "Cluster speed signal seems to match dash on newer cars, but is a lower rate and can be noisier.";
 CM_ SG_ 761 UserBrakePressure2 "Similar to BRAKE_RELATED->UserBrakePressure";
 CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)";
 BA_DEF_  "UseGMParameterIDs" INT 0 0;
@@ -21,7 +21,7 @@ BO_ 432 STANDSTILL: 7 VSA
 BO_ 456 ACC_CONTROL: 8 XXX
 SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX
- SG_ CONTROL_OFF : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ IDLESTOP_ALLOW : 8|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL : 9|1@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 10|1@0+ (1,0) [0|1] "" XXX
 SG_ BOH : 23|1@0+ (1,0) [0|1] "" XXX
@@ -70,7 +70,7 @@ BO_ 254913108 LKAS_HUD_2: 8 ADAS
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-CM_ BO_ 456 "not sure which bit enables cruise";
+CM_ SG_ 456 IDLESTOP_ALLOW "allows car to turn off engine at a standstill";
 CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2";
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P";
@@ -61,7 +61,7 @@ BO_ 180 SPEED: 8 XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 BO_ 295 GEAR_PACKET_HYBRID: 8 XXX
- SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
+ SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX
 SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
@@ -82,6 +82,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 BO_ 467 PCM_CRUISE_2: 8 XXX
 SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX
 SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
 SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
@@ -335,8 +336,7 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX
 BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
- SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
+ SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX
 BO_ 1556 BLINKERS_STATE: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
@@ -11,6 +11,9 @@ BO_ 610 EPS_STATUS: 5 EPS
 SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 BO_ 1178 BRAKE_RELATED: 8 XXX
 SG_ BRAKE_PRESSED : 48|1@0+ (1,0) [0|1] "" XXX
 CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
@@ -194,6 +194,13 @@ BO_ 532 BRAKE_RELATED: 6 XXX
 BO_ 560 EPBStatus: 8 EPB
 SG_ EPBClosed : 12|1@0+ (1,0) [0|1] ""  NEO
 BO_ 562 EBCMFrictionBrakeStatus: 8 XXX
 SG_ FrictionBrakeUnavailable : 46|1@0+ (1,0) [0|1] "" XXX
 BO_ 608 SPEED_RELATED: 8 XXX
 SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" XXX
 SG_ ClusterSpeed : 31|8@0+ (1,0) [0|0] "" XXX
 BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
 SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V"  NEO
 SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
@@ -307,9 +314,11 @@ CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
 CM_ SG_ 352 Ignition "Non-zero when ignition is on";
 CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
 CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
 CM_ SG_ 562 FrictionBrakeUnavailable "1 when ACC brake control is unavailable. Stays high if brake command messages are blocked for a period of time";
 CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy";
 CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
 CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?";
 CM_ SG_ 608 ClusterSpeed "Cluster speed signal seems to match dash on newer cars, but is a lower rate and can be noisier.";
 CM_ SG_ 761 UserBrakePressure2 "Similar to BRAKE_RELATED->UserBrakePressure";
 CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)";
 BA_DEF_  "UseGMParameterIDs" INT 0 0;
@@ -447,7 +447,7 @@ BO_ 432 STANDSTILL: 7 VSA
 BO_ 456 ACC_CONTROL: 8 XXX
 SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX
- SG_ CONTROL_OFF : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ IDLESTOP_ALLOW : 8|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL : 9|1@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 10|1@0+ (1,0) [0|1] "" XXX
 SG_ BOH : 23|1@0+ (1,0) [0|1] "" XXX
@@ -496,7 +496,7 @@ BO_ 254913108 LKAS_HUD_2: 8 ADAS
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-CM_ BO_ 456 "not sure which bit enables cruise";
+CM_ SG_ 456 IDLESTOP_ALLOW "allows car to turn off engine at a standstill";
 CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2";
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P";
@@ -0,0 +1,382 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 CM_ "Imported file _comma.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
 SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
 SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
 SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON
 SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON
 SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
 SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 CM_ "Imported file _honda_common.dbc starts here";
 BO_ 304 GAS_PEDAL_2: 8 PCM
 SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
 SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
 SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 BO_ 316 GAS_PEDAL: 8 PCM
 SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 BO_ 344 ENGINE_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 BO_ 380 POWERTRAIN_DATA: 8 PCM
 SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
 SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
 SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
 SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
 SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
 SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
 SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
 SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
 SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
 SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
 SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
 SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
 BO_ 464 WHEEL_SPEEDS: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
 SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
 SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
 SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
 SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 BO_ 773 SEATBELT_STATUS: 7 BDY
 SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
 SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
 SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
 SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
 SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
 SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
 SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 BO_ 777 CAR_SPEED: 8 PCM
 SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
 SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
 SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
 SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
 SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
 BO_ 780 ACC_HUD: 8 ADAS
 SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
 SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
 SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
 SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
 SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
 SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY
 SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
 SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
 SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
 SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
 SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
 SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
 SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
 SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY
 SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
 SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
 BO_ 804 CRUISE: 8 PCM
 SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
 SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
 SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
 SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
 SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
 SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 BO_ 884 STALK_STATUS: 8 XXX
 SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
 SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
 SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
 SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
 SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
 SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
 SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
 SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
 SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
 SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
 SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
 SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 CM_ SG_ 304 "Seems to be platform-agnostic";
 CM_ SG_ 316 "Should exist on Nidec";
 CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
 CM_ SG_ 780 PCM_SPEED "Used by Nidec";
 CM_ SG_ 780 PCM_GAS "Used by Nidec";
 CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped";
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car";
 VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open";
 VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off";
 CM_ "Imported file _nidec_common.dbc starts here";
 BO_ 145 KINEMATICS: 8 XXX
 SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 BO_ 148 KINEMATICS_ALT: 8 XXX
 SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
 SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
 BO_ 487 BRAKE_PRESSURE: 4 VSA
 SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
 SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
 SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
 BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ ZEROS_BOH : 7|12@0+ (1,0) [0|3] "" XXX
 SG_ BRAKE_PUMP_REQUEST : 11|1@0+ (1,0) [0|1] "" EBCM
 SG_ ZEROS_BOH2 : 10|3@0+ (1,0) [0|7] "" XXX
 SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
 SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
 SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
 SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
 SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
 SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
 SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
 SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
 SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
 SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
 SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
 SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
 SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 BO_ 829 LKAS_HUD: 5 ADAS
 SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
 SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
 SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
 SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
 SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
 SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
 SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
 SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
 SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
 SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
 SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
 SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
 SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
 SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
 SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
 SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
 BO_ 892 CRUISE_PARAMS: 8 PCM
 SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec";
 CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec";
 CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw";
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime";
 VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb";
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep";
 CM_ "Imported file _steering_sensors_b.dbc starts here";
 BO_ 342 STEERING_SENSORS: 6 EPS
 SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
 SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
 CM_ "honda_odyssey_hybrid_2022_china_can.dbc starts here";
 BO_ 388 BRAKE_ERROR: 8 XXX
 SG_ BRAKE_ERROR_1 : 32|1@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_ERROR_2 : 34|1@0+ (1,0) [0|1] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 BO_ 399 STEER_STATUS: 7 EPS
 SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-2985|2985] "tbd" EON
 SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
 SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
 SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
 SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 BO_ 404 STEERING_CONTROL: 4 EON
 SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
 SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
 SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
 SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
 SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS
 BO_ 419 GEARBOX: 8 PCM
 SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
 SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 BO_ 422 SCM_BUTTONS: 8 SCM
 SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
 SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
 SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
 SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
 SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 BO_ 450 EPB_STATUS: 8 XXX
 SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
 SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
 SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 BO_ 545 ECON_STATUS: 6 XXX
 SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" EON
 SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
 BO_ 660 SCM_FEEDBACK: 8 SCM
 SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
 SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
 SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
 SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
 SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
 SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 BO_ 927 RADAR_HUD: 8 ADAS
 SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
 SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
 SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
 SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
 SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
 SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
 SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
 SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
 SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
 BO_ 1302 ODOMETER: 8 XXX
 SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 CM_ SG_ 419 GEAR "10 = reverse, 1 = transition";
 VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
 VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
 VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
@@ -86,6 +86,11 @@ BO_ 101 BRAKE: 32 XXX
 SG_ BRAKE_POSITION : 40|16@1- (1,0) [0|65535] "" XXX
 SG_ BRAKE_PRESSED : 57|1@1+ (1,0) [0|3] "" XXX
 BO_ 112 GEAR_ALT_2: 32 XXX
 SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
 SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
 SG_ GEAR : 60|3@1+ (1,0) [0|7] "" XXX
 BO_ 160 WHEEL_SPEEDS: 24 XXX
 SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
 SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
@@ -212,7 +217,6 @@ BO_ 416 SCC_CONTROL: 32 ADRV
 SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
 SG_ NEW_SIGNAL_1 : 64|2@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_8 : 170|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_10 : 156|5@0+ (1,0) [0|3] "" XXX
 SG_ ZEROS : 215|48@0+ (1,0) [0|281474976710655] "" XXX
 SG_ ZEROS_3 : 191|7@0+ (1,0) [0|127] "" XXX
 SG_ ZEROS_4 : 183|4@0+ (1,0) [0|63] "" XXX
@@ -237,7 +241,6 @@ BO_ 416 SCC_CONTROL: 32 ADRV
 SG_ aReqRaw : 140|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
 SG_ aReqValue : 128|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
 SG_ ZEROS_7 : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 158|2@0+ (1,0) [0|3] "" XXX
 SG_ ACCMode : 68|3@1+ (1,0) [0|7] "" XXX
 SG_ NEW_SIGNAL_12 : 35|9@1+ (0.1,0) [0|255] "" XXX
 SG_ JerkLowerLimit : 166|7@0+ (0.1,0) [0|12.7] "m/s^3" XXX
@@ -245,6 +248,7 @@ BO_ 416 SCC_CONTROL: 32 ADRV
 SG_ NEW_SIGNAL_15 : 192|11@1+ (0.1,0) [0|204.7] "m" XXX
 SG_ VSetDis : 103|8@0+ (1,0) [0|255] "km/h or mph" XXX
 SG_ MainMode_ACC : 66|1@1+ (1,0) [0|1] "" XXX
 SG_ JerkUpperLimit : 158|7@0+ (0.1,0) [0|0] "" XXX
 BO_ 426 CRUISE_BUTTONS_ALT: 16 XXX
 SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
@@ -529,7 +533,7 @@ BO_ 485 BLINDSPOTS_FRONT_CORNER_1: 16 XXX
 SG_ NEW_SIGNAL_3 : 88|1@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_4 : 80|1@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_5 : 31|2@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_6 : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ REVERSING : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_7 : 32|2@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_8 : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_9 : 55|8@0+ (1,0) [0|255] "" XXX
@@ -563,6 +567,7 @@ CM_ SG_ 1043 COUNTER_ALT "only increments on change";
 VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
 VAL_ 64 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
 VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
 VAL_ 112 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
 VAL_ 80 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
 VAL_ 80 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
 VAL_ 234 LKA_FAULT 0 "ok" 1 "lka fault" ;
@@ -167,6 +167,21 @@ BO_ 581 CAM_IDK3: 8 XXX
 SG_ S8 : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX
 BO_ 585 CAM_LKAS2: 8 XXX
 SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX
 SG_ CHKSUM : 19|12@0+ (1,-2048) [0|2048] "" XXX
 SG_ KEY : 39|32@0+ (1,0) [3294744159|3294744161] "" XXX
 BO_ 586 TI_FEEDBACK: 8 XXX
 SG_ TI_TORQUE_SENSOR : 7|8@0+ (1,-127) [-85|85] "" XXX
 SG_ CHKSUM : 15|8@0+ (1,-127) [-127|128] "" XXX
 SG_ VERSION_NUMBER : 23|8@0+ (1,0) [0|255] "" XXX
 SG_ STATE : 31|8@0+ (1,0) [0|3] "" XXX
 SG_ VIOL : 39|8@0+ (1,0) [0|255] "" XXX
 SG_ ERROR : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ RAMP_DOWN : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SPARE : 63|8@0+ (1,0) [0|255] "" XXX
 BO_ 863 CAM_TRAFFIC_SIGNS: 8 XXX
 SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX
 SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
@@ -352,12 +367,10 @@ BO_ 130 STEER: 8 XXX
 SG_ CHKSUM_MAYBE : 39|8@0+ (1,0) [0|255] "" XXX
 BO_ 120 BRAKE: 8 XXX
 SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
 SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PRESSURE : 39|8@0+ (1,0) [0|255] "" XXX
 SG_ VEHICLE_ACC_X : 5|13@0+ (0.01,-40) [-40|40] "m/s^2" XXX
 SG_ VEHICLE_ACC_Y : 8|13@0+ (0.001,-4.096) [-4.096|4.096] "m/s^2" XXX
 BO_ 304 GEAR_RELATED: 8 XXX
 SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
@@ -556,8 +569,6 @@ BO_ 535 CURVE_CTRS: 8 XXX
 BO_ 540 CRZ_CTRL: 8 XXX
 SG_ NEW_SIGNAL_6 : 10|1@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_9 : 31|1@0+ (1,0) [0|255] "" XXX
 SG_ ACC_GAS_MAYBE2 : 29|1@0+ (1,0) [0|1] "" XXX
 SG_ HANDS_OFF_STEERING : 48|1@0+ (1,0) [0|1] "" XXX
 SG_ HANDS_ON_STEER_WARN : 59|4@0+ (1,0) [0|255] "" XXX
 SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
@@ -565,13 +576,13 @@ BO_ 540 CRZ_CTRL: 8 XXX
 SG_ DISTANCE_SETTING : 20|3@0+ (1,0) [0|7] "" XXX
 SG_ MSG_1_INV : 1|1@0+ (1,0) [0|1] "" XXX
 SG_ MSG_1_COPY : 9|1@0+ (1,0) [0|1] "" XXX
 SG_ ACC_GAS_MAYBE : 23|1@0+ (1,0) [0|31] "" XXX
 SG_ ACC_ACTIVE_2 : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_10 : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ MSG_1 : 0|1@0+ (1,0) [0|3] "" XXX
 SG_ 5_SEC_DISABLE_TIMER : 45|3@0+ (1,0) [0|7] "" XXX
 SG_ NEW_SIGNAL_3 : 13|1@0+ (1,0) [0|3] "" XXX
 SG_ MSG_1_INV_COPY : 8|1@0+ (1,0) [0|7] "" XXX
 SG_ RADAR_HAS_LEAD : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ RADAR_LEAD_RELATIVE_DISTANCE : 31|3@0+ (1,0) [0|5] "" XXX
 BO_ 539 CRZ_INFO: 8 XXX
 SG_ CTR1 : 55|8@0+ (1,0) [0|255] "" XXX
@@ -765,6 +776,8 @@ CM_ SG_ 1157 LANEE_DEPARTURE_ALERT "1 off, 2 on";
 CM_ SG_ 1157 WARNING "1 Rare, 0 often";
 CM_ SG_ 1088 LANE_LINES "0 LKAS disabled, 1 no lines, 2 two lines, 3 left line, 4 right line";
 CM_ SG_ 1045 ABS_MALFUNCTION "off: 0, solid: 1, slow blink: 2, fast blink: 3";
 CM_ SG_ 120 VEHICLE_ACC_X "Vehicle acceleration of X-axis wrt. NED frame.";
 CM_ SG_ 120 VEHICLE_ACC_Y "Vehicle acceleration of Y-axis wrt. NED frame.";
 CM_ SG_ 157 CAN_OFF "Disengage Cruise if enabled, if already disabled  TURN it OFF ";
 CM_ SG_ 552 MORE_GEAR "";
 CM_ SG_ 552 GEAR "0 Shifting, 1 P, 2 R, 3 N, 4 D";
@@ -773,3 +786,5 @@ CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning";
 CM_ SG_ 540 DISTANCE_SETTING "Radar distance 0: disabled, 1: 4 bars, 2: 3 bars, 3: 2 bars, 4: 1 bar";
 CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert";
 VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;
 VAL_ 540 RADAR_HAS_LEAD 0 "NO LEAD" 1 "HAS LEAD" ;
 VAL_ 540 RADAR_LEAD_RELATIVE_DISTANCE 0 "NO LEAD" 1 "FARTHEST" 2 "4" 3 "3" 4 "2" 5 "NEAREST" ;
@@ -3,6 +3,6 @@ flake8==3.7.9
 Jinja2==3.0.3
 numpy==1.21.0
 pycapnp==1.0.0
-pylint==2.4.3
+pylint==2.15.4
 pyyaml==5.4
 scons
@@ -41,6 +41,11 @@ BO_ 767 SDSU: 8 XXX
 CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
 CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
 BO_ 1880 DEBUG: 8 XXX
 SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
 SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
 CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
@@ -106,7 +111,7 @@ BO_ 180 SPEED: 8 XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 BO_ 295 GEAR_PACKET_HYBRID: 8 XXX
- SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
+ SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX
 SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
@@ -127,6 +132,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 BO_ 467 PCM_CRUISE_2: 8 XXX
 SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX
 SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
 SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
@@ -380,8 +386,7 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX
 BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
- SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
+ SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX
 BO_ 1556 BLINKERS_STATE: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
@@ -548,6 +553,9 @@ BO_ 610 EPS_STATUS: 5 EPS
 SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 BO_ 1178 BRAKE_RELATED: 8 XXX
 SG_ BRAKE_PRESSED : 48|1@0+ (1,0) [0|1] "" XXX
 CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
@@ -41,6 +41,12 @@ BO_ 767 SDSU: 8 XXX
 CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
 CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
 BO_ 1880 DEBUG: 8 XXX
 SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
 SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
 CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
@@ -106,7 +112,7 @@ BO_ 180 SPEED: 8 XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 BO_ 295 GEAR_PACKET_HYBRID: 8 XXX
- SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
+ SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX
 SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
@@ -127,6 +133,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 BO_ 467 PCM_CRUISE_2: 8 XXX
 SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX
 SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
 SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
@@ -381,8 +388,7 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX
 BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
- SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
+ SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX
 BO_ 1556 BLINKERS_STATE: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
@@ -41,6 +41,11 @@ BO_ 767 SDSU: 8 XXX
 CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
 CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
 BO_ 1880 DEBUG: 8 XXX
 SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
 SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
 CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
@@ -106,7 +111,7 @@ BO_ 180 SPEED: 8 XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 BO_ 295 GEAR_PACKET_HYBRID: 8 XXX
- SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
+ SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX
 SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
@@ -127,6 +132,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 BO_ 467 PCM_CRUISE_2: 8 XXX
 SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX
 SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
 SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
@@ -380,8 +386,7 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX
 BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
- SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
+ SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX
 BO_ 1556 BLINKERS_STATE: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
 SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
@@ -1086,10 +1086,10 @@ BO_ 872 ACC_System: 8 XXX
 SG_ ACS_Sollbeschl : 24|11@1+ (0.005,-7.22) [-7.22|3.005] "Unit_MeterPerSeconSquar" XXX
 SG_ ACS_Anhaltewunsch : 38|1@1+ (1,0) [0|1] "" XXX
 SG_ ACS_Fehler : 39|1@1+ (1,0) [0|1] "" XXX
- SG_ ACS_zul_Regelabw : 40|8@1+ (1,0.005) [0|1.265] "Unit_MeterPerSeconSquar" XXX
+ SG_ ACS_zul_Regelabw : 40|8@1+ (0.005,0) [0|1.265] "Unit_MeterPerSeconSquar" XXX
- SG_ ACS_max_AendGrad : 48|8@1+ (1,0.02) [0.02|5.06] "Unit_MeterPerSeconSquar" XXX
+ SG_ ACS_max_AendGrad : 48|8@1+ (0.02,0) [0.02|5.06] "Unit_MeterPerSeconSquar" XXX
-BO_ 1386 ACC_GRA_Anziege: 8 XXX
+BO_ 1386 ACC_GRA_Anzeige: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ ACA_StaACC : 8|3@1+ (1,0) [0|7] "" XXX
 SG_ ACA_ID_StaACC : 11|5@1+ (1,0) [0|31] "" XXX
@@ -1100,7 +1100,7 @@ BO_ 1386 ACC_GRA_Anziege: 8 XXX
 SG_ ACA_kmh_mph : 32|1@1+ (1,0) [0|1] "" XXX
 SG_ ACA_Akustik1 : 33|1@1+ (1,0) [0|1] "" XXX
 SG_ ACA_Akustik2 : 34|1@1+ (1,0) [0|1] "" XXX
- SG_ ACA_PrioDisp : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_PrioDisp : 35|2@1+ (1,0) [0|3] "" XXX
 SG_ ACA_gemZeitl : 40|4@1+ (1,0) [0|15] "" XXX
 SG_ ACA_ACC_Verz : 44|1@1+ (1,0) [0|1] "" XXX
 SG_ ACA_StaGRA : 48|3@1+ (1,0) [0|7] "" XXX
@@ -1153,8 +1153,8 @@ BO_ 644 Motor_Bremse: 6 XXX
 SG_ MOB_COUNTER : 8|4@1+ (1,0) [0|15] "" Bremse_MK25AESP
 SG_ TSK_v_Begrenzung_aktiv : 15|1@0+ (1,0) [0|1] "" XXX
 SG_ TSK_ax_Getriebe_01 : 40|8@1+ (0.048,0) [0|255] "m/s2" XXX
- SG_ MOB_Bremsstgr : 16|11@1+ (0.76,0) [0|100] "Unit_PerCent" Vector__XXX
+ SG_ MOB_Bremsstgr : 16|11@1+ (0.048852,0) [0|100] "Unit_PerCent" Vector__XXX
- SG_ MOB_Bremsmom : 27|13@1+ (1,0) [0|8190] "Unit_NewtoMeter" Bremse_MK25AESP
+ SG_ MOB_Bremsmom : 27|13@1+ (4,0) [0|32760] "Unit_NewtoMeter"  Bremse_MK25AESP
 BO_ 870 AWV: 5 XXX
 SG_ AWV_2_Gurtstraffer : 39|1@1+ (1,0) [0|1] ""  Bremsbooster
@@ -1531,5 +1531,36 @@ CM_ SG_ 1470 XX_DLCORTLC2 "Might be DLC or TLC, might have wrong size";
 CM_ SG_ 1550 MFA_v_Signal_02 "0=km/h, 1=mph";
 VAL_ 872 ACS_Sta_ADR 2 "ADR_passiv" 0 "ADR_nicht_aktiv" 1 "ADR_aktiv" 3 "irrev_Fehler" ;
 VAL_ 872 ACS_ADR_Schub 1 "Verz_begr_auf_Schub" 0 "Verz_nicht_begr_auf_Schub" ;
 VAL_ 872 ACS_Schubabsch 1 "SA_nicht_zulaessig" 0 "SA_zulaessig" ;
 VAL_ 872 ACS_StSt_Info 3 "Systemfehler" 0 "Motorlauf_nn" 1 "Stoppverbot_Motoranlauf_nn" 2 "Motoranlauf_notwendig" ;
 VAL_ 872 ACS_MomEingriff 1 "MomEingr_verhindern" 0 "keine_Beeinfl_MomEingr_Mot" ;
 VAL_ 872 ACS_Typ_ACC 0 "Basis_ACC" 1 "ACC_mit_FollowToStop" 3 "frei" 2 "frei" ;
 VAL_ 872 ACS_FreigSollB 0 "Sollbeschl_nicht_freigeg" 1 "Sollbeschl_freigeg" ;
 VAL_ 872 ACS_Sollbeschl 2046 "ADR_nicht_aktiv" 2047 "Fehler" ;
 VAL_ 872 ACS_Anhaltewunsch 0 "kein_Haltewunsch" 1 "Fzg_haelt_an" ;
 VAL_ 872 ACS_Fehler 1 "Fehlerspeichereintrag" 0 "kein_Fehlerspeichereintrag" ;
 VAL_ 872 ACS_zul_Regelabw 254 "ADR_nicht_aktiv" 255 "Fehler" ;
 VAL_ 872 ACS_max_AendGrad 254 "Neutralwert" 0 "Neutralwert" 255 "Fehler" ;
 VAL_ 978 LH2_Sta_HCA 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active";
 VAL_ 1088 Waehlhebelposition__Getriebe_1_ 8 "P" 7 "R" 6 "N" 5 "D" 9 "U" 12 "S" 14 "T" 10 "T" 11 "T";
 VAL_ 1386 ACA_StaACC 6 "ACC_rev_aus" 0 "Hauptschalter_aus" 4 "ACC_im_Hintergrund" 3 "ACC_aktiv" 1 "Reserve" 2 "ACC_passiv" 7 "ACC_irrev_aus" 5 "frei" ;
 VAL_ 1386 ACA_ID_StaACC 0 "keine_Anzeige" ;
 VAL_ 1386 ACA_Fahrerhinw 1 "Ein" 0 "Aus" ;
 VAL_ 1386 ACA_AnzDisplay 1 "Anzeige_erw" 0 "Anzeige_nicht_erw" ;
 VAL_ 1386 ACA_Zeitluecke 3 "Zeitluecke3" 10 "Zeitluecke10" 4 "Zeitluecke4" 14 "Zeitluecke14" 11 "Zeitluecke11" 2 "Zeitluecke2" 13 "Zeitluecke13" 9 "Zeitluecke9" 1 "Zeitluecke1" 8 "Zeitluecke8" 5 "Zeitluecke5" 15 "Zeitluecke15" 0 "nicht_definiert" 12 "Zeitluecke12" 6 "Zeitluecke6" 7 "Zeitluecke7" ;
 VAL_ 1386 ACA_V_Wunsch 255 "kein_Wert_im_Speicher" ;
 VAL_ 1386 ACA_kmh_mph 0 "km_h" 1 "mph" ;
 VAL_ 1386 ACA_Akustik1 0 "kein_Gong" 1 "Gong" ;
 VAL_ 1386 ACA_Akustik2 0 "kein_Summer" 1 "Summer" ;
 VAL_ 1386 ACA_PrioDisp 1 "mittlere_Prio" 3 "keine_Anzeige_Anf" 0 "hohe_Prio" 2 "niedrige_Prio" ;
 VAL_ 1386 ACA_gemZeitl 6 "Zeitluecke6" 2 "Zeitluecke2" 7 "Zeitluecke7" 13 "Zeitluecke13" 11 "Zeitluecke11" 4 "Zeitluecke4" 8 "Zeitluecke8" 12 "Zeitluecke12" 10 "Zeitluecke10" 0 "Kein_Objekt_erfasst" 1 "Zeitluecke1" 3 "Zeitluecke3" 9 "Zeitluecke9" 15 "Zeitluecke15" 14 "Zeitluecke14" 5 "Zeitluecke5" ;
 VAL_ 1386 ACA_ACC_Verz 0 "ACC_verzoegert_nicht" 1 "ACC_verzoegert" ;
 VAL_ 1386 ACA_StaGRA 3 "GRA_aktiv" 4 "GRA_uebertreten" 2 "GRA_passiv" 0 "Hauptschalter_aus" 6 "frei" 7 "GRA_Fehler" 1 "Reserve" 5 "frei" ;
 VAL_ 1386 ACA_ID_StaGRA 0 "keine_Anzeige" ;
 VAL_ 1386 ACA_Codierung 0 "ACC" 1 "GRA" ;
 VAL_ 1386 ACA_Tachokranz 0 "nicht_beleuchtet" 1 "beleuchtet" ;
 VAL_ 1386 ACA_Aend_Zeitluecke 1 "Anzeige_angef" 0 "keine_Anzeige" ;
@@ -1,10 +1,5 @@
-from .python import (Panda, PandaDFU, # noqa: F401
+from .python.constants import McuType, BASEDIR  # noqa: F401
                     BASEDIR, pack_can_buffer, unpack_can_buffer,
                     DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, MCU_TYPE_F4, DLC_TO_LEN, LEN_TO_DLC,
                     ALTERNATIVE_EXPERIENCE, USBPACKET_MAX_SIZE)
 from .python.serial import PandaSerial  # noqa: F401
-
+from .python import (Panda, PandaDFU, # noqa: F401
-from .python.config import (BOOTSTUB_ADDRESS, BLOCK_SIZE_FX, APP_ADDRESS_FX,  # noqa: F401
+                     pack_can_buffer, unpack_can_buffer, calculate_checksum,
-                            BLOCK_SIZE_H7, APP_ADDRESS_H7, DEVICE_SERIAL_NUMBER_ADDR_H7,  # noqa: F401
+                     DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, USBPACKET_MAX_SIZE, CANPACKET_HEAD_SIZE)
                            DEVICE_SERIAL_NUMBER_ADDR_FX)
@@ -4,14 +4,15 @@ from tqdm import tqdm
 from panda import Panda
 from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE, DATA_IDENTIFIER_TYPE
 if __name__ == "__main__":
  parser = argparse.ArgumentParser()
-  parser.add_argument('--rxoffset', default="")
+  parser.add_argument("--rxoffset", default="")
-  parser.add_argument('--nonstandard', action='store_true')
+  parser.add_argument("--nonstandard", action="store_true")
-  parser.add_argument('--debug', action='store_true')
+  parser.add_argument("--no-obd", action="store_true", help="Bus 1 will not be multiplexed to the OBD-II port")
-  parser.add_argument('--addr')
+  parser.add_argument("--debug", action="store_true")
-  parser.add_argument('--bus')
+  parser.add_argument("--addr")
  parser.add_argument("--bus")
  parser.add_argument('-s', '--serial', help="Serial number of panda to use")
  args = parser.parse_args()
  if args.addr:
@@ -25,15 +26,25 @@ if __name__ == "__main__":
  for std_id in DATA_IDENTIFIER_TYPE:
    uds_data_ids[std_id.value] = std_id.name
  if args.nonstandard:
-    for uds_id in range(0xf100,0xf180):
+    for uds_id in range(0xf100, 0xf180):
      uds_data_ids[uds_id] = "IDENTIFICATION_OPTION_VEHICLE_MANUFACTURER_SPECIFIC_DATA_IDENTIFIER"
-    for uds_id in range(0xf1a0,0xf1f0):
+    for uds_id in range(0xf1a0, 0xf1f0):
      uds_data_ids[uds_id] = "IDENTIFICATION_OPTION_VEHICLE_MANUFACTURER_SPECIFIC"
-    for uds_id in range(0xf1f0,0xf200):
+    for uds_id in range(0xf1f0, 0xf200):
      uds_data_ids[uds_id] = "IDENTIFICATION_OPTION_SYSTEM_SUPPLIER_SPECIFIC"
-  panda = Panda()
+  panda_serials = Panda.list()
-  panda.set_safety_mode(Panda.SAFETY_ELM327)
+  if args.serial is None and len(panda_serials) > 1:
    print("\nMultiple pandas found, choose one:")
    for serial in panda_serials:
      with Panda(serial) as panda:
        print(f"  {serial}: internal={panda.is_internal()}")
    print()
    parser.print_help()
    exit()
  panda = Panda(serial=args.serial)
  panda.set_safety_mode(Panda.SAFETY_ELM327, 1 if args.no_obd else 0)
  print("querying addresses ...")
  with tqdm(addrs) as t:
    for addr in t:
@@ -5,18 +5,20 @@ import time
 import usb1
 import struct
 import hashlib
 import binascii
 import datetime
 import traceback
 import warnings
 import logging
 from functools import wraps
 from typing import Optional
 from itertools import accumulate
-from .config import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, SECTOR_SIZES_FX, SECTOR_SIZES_H7
+from .base import BaseHandle
-from .dfu import PandaDFU, MCU_TYPE_F2, MCU_TYPE_F4, MCU_TYPE_H7
+from .constants import McuType
 from .dfu import PandaDFU
 from .isotp import isotp_send, isotp_recv
-from .spi import SpiHandle
+from .spi import PandaSpiHandle, PandaSpiException
 from .usb import PandaUsbHandle
 __version__ = '0.0.10'
@@ -24,55 +26,48 @@ __version__ = '0.0.10'
 LOGLEVEL = os.environ.get('LOGLEVEL', 'INFO').upper()
 logging.basicConfig(level=LOGLEVEL, format='%(message)s')
 BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
 DEBUG = os.getenv("PANDADEBUG") is not None
 CAN_TRANSACTION_MAGIC = struct.pack("<I", 0x43414E2F)
 USBPACKET_MAX_SIZE = 0x40
-CANPACKET_HEAD_SIZE = 0x5
+CANPACKET_HEAD_SIZE = 0x6
 DLC_TO_LEN = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64]
 LEN_TO_DLC = {length: dlc for (dlc, length) in enumerate(DLC_TO_LEN)}
 def calculate_checksum(data):
  res = 0
  for b in data:
    res ^= b
  return res
 def pack_can_buffer(arr):
-  snds = [CAN_TRANSACTION_MAGIC]
+  snds = [b'']
  for address, _, dat, bus in arr:
    assert len(dat) in LEN_TO_DLC
    #logging.debug("  W 0x%x: 0x%s", address, dat.hex())
    extended = 1 if address >= 0x800 else 0
    data_len_code = LEN_TO_DLC[len(dat)]
-    header = bytearray(5)
+    header = bytearray(CANPACKET_HEAD_SIZE)
    word_4b = address << 3 | extended << 2
    header[0] = (data_len_code << 4) | (bus << 1)
    header[1] = word_4b & 0xFF
    header[2] = (word_4b >> 8) & 0xFF
    header[3] = (word_4b >> 16) & 0xFF
    header[4] = (word_4b >> 24) & 0xFF
    header[5] = calculate_checksum(header[:5] + dat)
    snds[-1] += header + dat
    if len(snds[-1]) > 256: # Limit chunks to 256 bytes
-      snds.append(CAN_TRANSACTION_MAGIC)
+      snds.append(b'')
  return snds
 def unpack_can_buffer(dat):
  ret = []
  if len(dat) < len(CAN_TRANSACTION_MAGIC):
    return ret
  if dat[:len(CAN_TRANSACTION_MAGIC)] != CAN_TRANSACTION_MAGIC:
    logging.error("CAN: recv didn't start with magic")
    return ret
  dat = dat[len(CAN_TRANSACTION_MAGIC):]
  while len(dat) >= CANPACKET_HEAD_SIZE:
    data_len = DLC_TO_LEN[(dat[0]>>4)]
    header = dat[:CANPACKET_HEAD_SIZE]
    dat = dat[CANPACKET_HEAD_SIZE:]
    bus = (header[0] >> 1) & 0x7
    address = (header[4] << 24 | header[3] << 16 | header[2] << 8 | header[1]) >> 3
@@ -84,17 +79,18 @@ def unpack_can_buffer(dat):
      # rejected
      bus += 192
-    data = dat[:data_len]
+    # we need more from the next transfer
-    dat = dat[data_len:]
+    if data_len > len(dat) - CANPACKET_HEAD_SIZE:
      break
-    #logging.debug("  R 0x%x: 0x%s", address, data.hex())
+    assert calculate_checksum(dat[:(CANPACKET_HEAD_SIZE+data_len)]) == 0, "CAN packet checksum incorrect"
    data = dat[CANPACKET_HEAD_SIZE:(CANPACKET_HEAD_SIZE+data_len)]
    dat = dat[(CANPACKET_HEAD_SIZE+data_len):]
    ret.append((address, 0, data, bus))
-  if len(dat) > 0:
+  return (ret, dat)
    logging.error("CAN: malformed packet. leftover data")
  return ret
 def ensure_health_packet_version(fn):
  @wraps(fn)
@@ -162,8 +158,6 @@ class Panda:
  SAFETY_FAW = 26
  SAFETY_BODY = 27
  SAFETY_HYUNDAI_CANFD = 28
  SAFETY_VOLVO_C1 = 29
  SAFETY_VOLVO_EUCD = 30
  SERIAL_DEBUG = 0
  SERIAL_ESP = 1
@@ -188,11 +182,14 @@ class Panda:
  HW_TYPE_RED_PANDA_V2 = b'\x08'
  HW_TYPE_TRES = b'\x09'
-  CAN_PACKET_VERSION = 3
+  CAN_PACKET_VERSION = 4
  HEALTH_PACKET_VERSION = 11
-  CAN_HEALTH_PACKET_VERSION = 3
+  CAN_HEALTH_PACKET_VERSION = 4
-  HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBBB")
+  # dp - 2 extra "B" at the end:
-  CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIHHBBB")
+  # "usb_power_mode": a[23],
  # "torque_interceptor_detected": a[24],
  HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBBBB")
  CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBB")
  F2_DEVICES = (HW_TYPE_PEDAL, )
  F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
@@ -201,12 +198,10 @@ class Panda:
  INTERNAL_DEVICES = (HW_TYPE_UNO, HW_TYPE_DOS)
  HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES)
  CLOCK_SOURCE_MODE_DISABLED = 0
  CLOCK_SOURCE_MODE_FREE_RUNNING = 1
  # first byte is for EPS scaling factor
  FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
  FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
  FLAG_TOYOTA_LTA = (4 << 8)
  FLAG_HONDA_ALT_BRAKE = 1
  FLAG_HONDA_BOSCH_LONG = 2
@@ -234,47 +229,96 @@ class Panda:
  FLAG_GM_HW_CAM = 1
  FLAG_GM_HW_CAM_LONG = 2
-  def __init__(self, serial: Optional[str] = None, claim: bool = True, spi: bool = False, disable_checks: bool = True):
+  def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True):
-    self._serial = serial
+    self._connect_serial = serial
    self._disable_checks = disable_checks
-    self._handle = None
+    self._handle: BaseHandle
-    self._bcd_device = None
+    self._handle_open = False
    self.can_rx_overflow_buffer = b''
    # connect and set mcu type
    self._spi = spi
    self.connect(claim)
    # reset comms
    self.can_reset_communications()
  def __enter__(self):
    return self
  def __exit__(self, *args):
    self.close()
  def close(self):
-    self._handle.close()
+    if self._handle_open:
-    self._handle = None
+      self._handle.close()
      self._handle_open = False
  def connect(self, claim=True, wait=False):
-    if self._handle is not None:
+    self.close()
      self.close()
    self._handle = None
-    if self._spi:
+    # try USB first, then SPI
-      self._handle = SpiHandle()
+    self._handle, serial, self.bootstub, bcd = self.usb_connect(self._connect_serial, claim=claim, wait=wait)
    if self._handle is None:
      self._handle, serial, self.bootstub, bcd = self.spi_connect(self._connect_serial)
-      # TODO implement
+    if self._handle is None:
-      self._serial = "SPIDEV"
+      raise Exception("failed to connect to panda")
      self.bootstub = False
-    else:
+    # Some fallback logic to determine panda and MCU type for old bootstubs,
-      self.usb_connect(claim=claim, wait=wait)
+    # since we now support multiple MCUs and need to know which fw to flash.
    # Three cases to consider:
    # A) oldest bootstubs don't have any way to distinguish
    #    MCU or panda type
    # B) slightly newer (~2 weeks after first C3's built) bootstubs
    #    have the panda type set in the USB bcdDevice
    # C) latest bootstubs also implement the endpoint for panda type
    self._bcd_hw_type = None
    ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
    missing_hw_type_endpoint = self.bootstub and ret.startswith(b'\xff\x00\xc1\x3e\xde\xad\xd0\x0d')
    if missing_hw_type_endpoint and bcd is not None:
      self._bcd_hw_type = bcd
-    assert self._handle is not None
+    # For case A, we assume F4 MCU type, since all H7 pandas should be case B at worst
    self._assume_f4_mcu = (self._bcd_hw_type is None) and missing_hw_type_endpoint
    self._serial = serial
    self._connect_serial = serial
    self._handle_open = True
    self._mcu_type = self.get_mcu_type()
    self.health_version, self.can_version, self.can_health_version = self.get_packets_versions()
-    print("connected")
+    logging.debug("connected")
    # disable openpilot's heartbeat checks
    if self._disable_checks:
      self.set_heartbeat_disabled()
      self.set_power_save(0)
-  def usb_connect(self, claim=True, wait=False):
+  @staticmethod
  def spi_connect(serial):
    # get UID to confirm slave is present and up
    handle = None
    spi_serial = None
    bootstub = None
    try:
      handle = PandaSpiHandle()
      dat = handle.controlRead(Panda.REQUEST_IN, 0xc3, 0, 0, 12, timeout=100)
      spi_serial = binascii.hexlify(dat).decode()
      bootstub = Panda.flasher_present(handle)
    except PandaSpiException:
      pass
    # no connection or wrong panda
    if None in (spi_serial, bootstub) or (serial is not None and (spi_serial != serial)):
      handle = None
      spi_serial = None
      bootstub = False
    return handle, spi_serial, bootstub, None
  @staticmethod
  def usb_connect(serial, claim=True, wait=False):
    handle, usb_serial, bootstub, bcd = None, None, None, None
    context = usb1.USBContext()
    while 1:
      try:
@@ -284,30 +328,69 @@ class Panda:
              this_serial = device.getSerialNumber()
            except Exception:
              continue
-            if self._serial is None or this_serial == self._serial:
+
-              self._serial = this_serial
+            if serial is None or this_serial == serial:
-              print("opening device", self._serial, hex(device.getProductID()))
+              logging.debug("opening device %s %s", this_serial, hex(device.getProductID()))
-              self.bootstub = device.getProductID() == 0xddee
+
-              self._handle = device.open()
+              usb_serial = this_serial
              bootstub = device.getProductID() == 0xddee
              handle = device.open()
              if sys.platform not in ("win32", "cygwin", "msys", "darwin"):
-                self._handle.setAutoDetachKernelDriver(True)
+                handle.setAutoDetachKernelDriver(True)
              if claim:
-                self._handle.claimInterface(0)
+                handle.claimInterface(0)
-                # self._handle.setInterfaceAltSetting(0, 0)  # Issue in USB stack
+                # handle.setInterfaceAltSetting(0, 0)  # Issue in USB stack
              # bcdDevice wasn't always set to the hw type, ignore if it's the old constant
-              bcd = device.getbcdDevice()
+              this_bcd = device.getbcdDevice()
-              if bcd is not None and bcd != 0x2300:
+              if this_bcd is not None and this_bcd != 0x2300:
-                self._bcd_device = bytearray([bcd >> 8, ])
+                bcd = bytearray([this_bcd >> 8, ])
              break
-      except Exception as e:
+      except Exception:
-        print("exception", e)
+        logging.exception("USB connect error")
-        traceback.print_exc()
+      if not wait or handle is not None:
      if not wait or self._handle is not None:
        break
      context = usb1.USBContext()  # New context needed so new devices show up
    usb_handle = None
    if handle is not None:
      usb_handle = PandaUsbHandle(handle)
    return usb_handle, usb_serial, bootstub, bcd
  @staticmethod
  def list():
    ret = Panda.usb_list()
    ret += Panda.spi_list()
    return list(set(ret))
  @staticmethod
  def usb_list():
    context = usb1.USBContext()
    ret = []
    try:
      for device in context.getDeviceList(skip_on_error=True):
        if device.getVendorID() == 0xbbaa and device.getProductID() in (0xddcc, 0xddee):
          try:
            serial = device.getSerialNumber()
            if len(serial) == 24:
              ret.append(serial)
            else:
              warnings.warn(f"found device with panda descriptors but invalid serial: {serial}", RuntimeWarning)
          except Exception:
            continue
    except Exception:
      pass
    return ret
  @staticmethod
  def spi_list():
    _, serial, _, _ = Panda.spi_connect(None)
    if serial is not None:
      return [serial, ]
    return []
  def reset(self, enter_bootstub=False, enter_bootloader=False, reconnect=True):
    try:
      if enter_bootloader:
@@ -322,8 +405,12 @@ class Panda:
    if not enter_bootloader and reconnect:
      self.reconnect()
  @property
  def connected(self) -> bool:
    return self._handle_open
  def reconnect(self):
-    if self._handle is not None:
+    if self._handle_open:
      self.close()
      time.sleep(1.0)
@@ -335,7 +422,7 @@ class Panda:
        success = True
        break
      except Exception:
-        print("reconnecting is taking %d seconds..." % (i + 1))
+        logging.debug("reconnecting is taking %d seconds...", i + 1)
        try:
          dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type))
          dfu.recover()
@@ -345,39 +432,41 @@ class Panda:
    if not success:
      raise Exception("reconnect failed")
-
+  @staticmethod
  def flasher_present(handle: BaseHandle) -> bool:
    fr = handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
    return fr[4:8] == b"\xde\xad\xd0\x0d"
  @staticmethod
  def flash_static(handle, code, mcu_type):
    assert mcu_type is not None, "must set valid mcu_type to flash"
    # confirm flasher is present
-    fr = handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
+    assert Panda.flasher_present(handle)
    assert fr[4:8] == b"\xde\xad\xd0\x0d"
    # determine sectors to erase
-    apps_sectors_cumsum = accumulate(SECTOR_SIZES_H7[1:] if mcu_type == MCU_TYPE_H7 else SECTOR_SIZES_FX[1:])
+    apps_sectors_cumsum = accumulate(mcu_type.config.sector_sizes[1:])
    last_sector = next((i + 1 for i, v in enumerate(apps_sectors_cumsum) if v > len(code)), -1)
    assert last_sector >= 1, "Binary too small? No sector to erase."
    assert last_sector < 7, "Binary too large! Risk of overwriting provisioning chunk."
    # unlock flash
-    print("flash: unlocking")
+    logging.warning("flash: unlocking")
    handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
    # erase sectors
-    print(f"flash: erasing sectors 1 - {last_sector}")
+    logging.warning(f"flash: erasing sectors 1 - {last_sector}")
    for i in range(1, last_sector + 1):
      handle.controlWrite(Panda.REQUEST_IN, 0xb2, i, 0, b'')
    # flash over EP2
    STEP = 0x10
-    print("flash: flashing")
+    logging.warning("flash: flashing")
    for i in range(0, len(code), STEP):
      handle.bulkWrite(2, code[i:i + STEP])
    # reset
-    print("flash: resetting")
+    logging.warning("flash: resetting")
    try:
      handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
    except Exception:
@@ -385,9 +474,9 @@ class Panda:
  def flash(self, fn=None, code=None, reconnect=True):
    if not fn:
-      fn = DEFAULT_H7_FW_FN if self._mcu_type == MCU_TYPE_H7 else DEFAULT_FW_FN
+      fn = self._mcu_type.config.app_path
    assert os.path.isfile(fn)
-    print("flash: main version is " + self.get_version())
+    logging.debug("flash: main version is %s", self.get_version())
    if not self.bootstub:
      self.reset(enter_bootstub=True)
    assert(self.bootstub)
@@ -397,7 +486,7 @@ class Panda:
        code = f.read()
    # get version
-    print("flash: bootstub version is " + self.get_version())
+    logging.debug("flash: bootstub version is %s", self.get_version())
    # do flash
    Panda.flash_static(self._handle, code, mcu_type=self._mcu_type)
@@ -428,30 +517,16 @@ class Panda:
  def wait_for_dfu(dfu_serial: str, timeout: Optional[int] = None) -> bool:
    t_start = time.monotonic()
    while dfu_serial not in PandaDFU.list():
-      print("waiting for DFU...")
+      logging.debug("waiting for DFU...")
      time.sleep(0.1)
      if timeout is not None and (time.monotonic() - t_start) > timeout:
        return False
    return True
-  @staticmethod
+  def up_to_date(self) -> bool:
-  def list():
+    current = self.get_signature()
-    context = usb1.USBContext()
+    expected = Panda.get_signature_from_firmware(self.get_mcu_type().config.app_path)
-    ret = []
+    return (current == expected)
    try:
      for device in context.getDeviceList(skip_on_error=True):
        if device.getVendorID() == 0xbbaa and device.getProductID() in (0xddcc, 0xddee):
          try:
            serial = device.getSerialNumber()
            if len(serial) == 24:
              ret.append(serial)
            else:
              warnings.warn(f"found device with panda descriptors but invalid serial: {serial}", RuntimeWarning)
          except Exception:
            continue
    except Exception:
      pass
    return ret
  def call_control_api(self, msg):
    self._handle.controlWrite(Panda.REQUEST_OUT, msg, 0, 0, b'')
@@ -487,6 +562,7 @@ class Panda:
      "fan_power": a[21],
      "safety_rx_checks_invalid": a[22],
      "usb_power_mode": a[23],
      "torque_interceptor_detected": a[24],
    }
  @ensure_can_health_packet_version
@@ -520,11 +596,12 @@ class Panda:
      "total_tx_cnt": a[13],
      "total_rx_cnt": a[14],
      "total_fwd_cnt": a[15],
-      "can_speed": a[16],
+      "total_tx_checksum_error_cnt": a[16],
-      "can_data_speed": a[17],
+      "can_speed": a[17],
-      "canfd_enabled": a[18],
+      "can_data_speed": a[18],
-      "brs_enabled": a[19],
+      "canfd_enabled": a[19],
-      "canfd_non_iso": a[20],
+      "brs_enabled": a[20],
      "canfd_non_iso": a[21],
    }
  # ******************* control *******************
@@ -532,8 +609,8 @@ class Panda:
  def enter_bootloader(self):
    try:
      self._handle.controlWrite(Panda.REQUEST_OUT, 0xd1, 0, 0, b'')
-    except Exception as e:
+    except Exception:
-      print(e)
+      logging.exception("exception while entering bootloader")
  def get_version(self):
    return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40).decode('utf8')
@@ -544,7 +621,7 @@ class Panda:
    f.seek(-128, 2)  # Seek from end of file
    return f.read(128)
-  def get_signature(self):
+  def get_signature(self) -> bytes:
    part_1 = self._handle.controlRead(Panda.REQUEST_IN, 0xd3, 0, 0, 0x40)
    part_2 = self._handle.controlRead(Panda.REQUEST_IN, 0xd4, 0, 0, 0x40)
    return bytes(part_1 + part_2)
@@ -552,10 +629,9 @@ class Panda:
  def get_type(self):
    ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
-    # bootstub doesn't implement this call, so fallback to bcdDevice
+    # old bootstubs don't implement this endpoint, see comment in Panda.device
-    invalid_type = self.bootstub and (ret is None or len(ret) != 1)
+    if self._bcd_hw_type is not None and (ret is None or len(ret) != 1):
-    if invalid_type and self._bcd_device is not None:
+      ret = self._bcd_hw_type
      ret = self._bcd_device
    return ret
@@ -568,15 +644,20 @@ class Panda:
    else:
      return (0, 0, 0)
-  def get_mcu_type(self):
+  def get_mcu_type(self) -> McuType:
    hw_type = self.get_type()
    if hw_type in Panda.F2_DEVICES:
-      return MCU_TYPE_F2
+      return McuType.F2
    elif hw_type in Panda.F4_DEVICES:
-      return MCU_TYPE_F4
+      return McuType.F4
    elif hw_type in Panda.H7_DEVICES:
-      return MCU_TYPE_H7
+      return McuType.H7
-    return None
+    else:
      # have to assume F4, see comment in Panda.connect
      if self._assume_f4_mcu:
        return McuType.F4
    raise ValueError(f"unknown HW type: {hw_type}")
  def has_obd(self):
    return self.get_type() in Panda.HAS_OBD
@@ -585,14 +666,28 @@ class Panda:
    return self.get_type() in Panda.INTERNAL_DEVICES
  def get_serial(self):
    """
      Returns the comma-issued dongle ID from our provisioning
    """
    dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
    hashsig, calc_hash = dat[0x1c:], hashlib.sha1(dat[0:0x1c]).digest()[0:4]
    assert(hashsig == calc_hash)
    return [dat[0:0x10].decode("utf8"), dat[0x10:0x10 + 10].decode("utf8")]
  def get_usb_serial(self):
    """
      Returns the serial number reported from the USB descriptor;
      matches the MCU UID
    """
    return self._serial
  def get_uid(self):
    """
      Returns the UID from the MCU
    """
    dat = self._handle.controlRead(Panda.REQUEST_IN, 0xc3, 0, 0, 12)
    return binascii.hexlify(dat).decode()
  def get_secret(self):
    return self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 1, 0, 0x10)
@@ -659,6 +754,9 @@ class Panda:
  # Timeout is in ms. If set to 0, the timeout is infinite.
  CAN_SEND_TIMEOUT_MS = 10
  def can_reset_communications(self):
    self._handle.controlWrite(Panda.REQUEST_OUT, 0xc0, 0, 0, b'')
  @ensure_can_packet_version
  def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS):
    snds = pack_can_buffer(arr)
@@ -670,10 +768,10 @@ class Panda:
            tx = tx[bs:]
            if len(tx) == 0:
              break
-            print("CAN: PARTIAL SEND MANY, RETRYING")
+            logging.error("CAN: PARTIAL SEND MANY, RETRYING")
        break
      except (usb1.USBErrorIO, usb1.USBErrorOverflow):
-        print("CAN: BAD SEND MANY, RETRYING")
+        logging.error("CAN: BAD SEND MANY, RETRYING")
  def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS):
    self.can_send_many([[addr, None, dat, bus]], timeout=timeout)
@@ -686,9 +784,10 @@ class Panda:
        dat = self._handle.bulkRead(1, 16384) # Max receive batch size + 2 extra reserve frames
        break
      except (usb1.USBErrorIO, usb1.USBErrorOverflow):
-        print("CAN: BAD RECV, RETRYING")
+        logging.error("CAN: BAD RECV, RETRYING")
        time.sleep(0.1)
-    return unpack_can_buffer(dat)
+    msgs, self.can_rx_overflow_buffer = unpack_can_buffer(self.can_rx_overflow_buffer + dat)
    return msgs
  def can_clear(self, bus):
    """Clears all messages from the specified internal CAN ringbuffer as
@@ -722,8 +821,10 @@ class Panda:
  def serial_write(self, port_number, ln):
    ret = 0
    if type(ln) == str:
      ln = bytes(ln, 'utf-8')
    for i in range(0, len(ln), 0x20):
-      ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + bytes(ln[i:i + 0x20], 'utf-8'))
+      ret += self._handle.bulkWrite(2, struct.pack("B", port_number) + ln[i:i + 0x20])
    return ret
  def serial_clear(self, port_number):
@@ -741,19 +842,15 @@ class Panda:
  # pulse low for wakeup
  def kline_wakeup(self, k=True, l=True):
    assert k or l, "must specify k-line, l-line, or both"
-    if DEBUG:
+    logging.debug("kline wakeup...")
      print("kline wakeup...")
    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf0, 2 if k and l else int(l), 0, b'')
-    if DEBUG:
+    logging.debug("kline wakeup done")
      print("kline wakeup done")
  def kline_5baud(self, addr, k=True, l=True):
    assert k or l, "must specify k-line, l-line, or both"
-    if DEBUG:
+    logging.debug("kline 5 baud...")
      print("kline 5 baud...")
    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf4, 2 if k and l else int(l), addr, b'')
-    if DEBUG:
+    logging.debug("kline 5 baud done")
      print("kline 5 baud done")
  def kline_drain(self, bus=2):
    # drain buffer
@@ -762,8 +859,7 @@ class Panda:
      ret = self._handle.controlRead(Panda.REQUEST_IN, 0xe0, bus, 0, 0x40)
      if len(ret) == 0:
        break
-      elif DEBUG:
+      logging.debug(f"kline drain: 0x{ret.hex()}")
        print(f"kline drain: 0x{ret.hex()}")
      bret += ret
    return bytes(bret)
@@ -771,8 +867,8 @@ class Panda:
    echo = bytearray()
    while len(echo) != cnt:
      ret = self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt - len(echo))
-      if DEBUG and len(ret) > 0:
+      if len(ret) > 0:
-        print(f"kline recv: 0x{ret.hex()}")
+        logging.debug(f"kline recv: 0x{ret.hex()}")
      echo += ret
    return bytes(echo)
@@ -782,14 +878,13 @@ class Panda:
      x += bytes([sum(x) % 0x100])
    for i in range(0, len(x), 0xf):
      ts = x[i:i + 0xf]
-      if DEBUG:
+      logging.debug(f"kline send: 0x{ts.hex()}")
        print(f"kline send: 0x{ts.hex()}")
      self._handle.bulkWrite(2, bytes([bus]) + ts)
      echo = self.kline_ll_recv(len(ts), bus=bus)
      if echo != ts:
-        print(f"**** ECHO ERROR {i} ****")
+        logging.error(f"**** ECHO ERROR {i} ****")
-        print(f"0x{echo.hex()}")
+        logging.error(f"0x{echo.hex()}")
-        print(f"0x{ts.hex()}")
+        logging.error(f"0x{ts.hex()}")
    assert echo == ts
  def kline_recv(self, bus=2, header_len=4):
@@ -822,6 +917,11 @@ class Panda:
    a = struct.unpack("HBBBBBB", dat)
    return datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
  # ****************** Timer *****************
  def get_microsecond_timer(self):
    dat = self._handle.controlRead(Panda.REQUEST_IN, 0xa8, 0, 0, 4)
    return struct.unpack("I", dat)[0]
  # ******************* IR *******************
  def set_ir_power(self, percentage):
    self._handle.controlWrite(Panda.REQUEST_OUT, 0xb0, int(percentage), 0, b'')
@@ -839,10 +939,10 @@ class Panda:
  def set_phone_power(self, enabled):
    self._handle.controlWrite(Panda.REQUEST_OUT, 0xb3, int(enabled), 0, b'')
  # ************** Clock Source **************
  def set_clock_source_mode(self, mode):
    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf5, int(mode), 0, b'')
  # ****************** Siren *****************
  def set_siren(self, enabled):
    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf6, int(enabled), 0, b'')
  # ****************** Debug *****************
  def set_green_led(self, enabled):
    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(enabled), 0, b'')
@@ -0,0 +1,67 @@
 from abc import ABC, abstractmethod
 from typing import List
 from .constants import McuType
 TIMEOUT = int(15 * 1e3)  # default timeout, in milliseconds
 class BaseHandle(ABC):
  """
    A handle to talk to a panda.
    Borrows heavily from the libusb1 handle API.
  """
  @abstractmethod
  def close(self) -> None:
    ...
  @abstractmethod
  def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT) -> int:
    ...
  @abstractmethod
  def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT) -> bytes:
    ...
  @abstractmethod
  def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
    ...
  @abstractmethod
  def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
    ...
 class BaseSTBootloaderHandle(ABC):
  """
    A handle to talk to a panda while it's in the STM32 bootloader.
  """
  @abstractmethod
  def get_mcu_type(self) -> McuType:
    ...
  @abstractmethod
  def close(self) -> None:
    ...
  @abstractmethod
  def clear_status(self) -> None:
    ...
  @abstractmethod
  def program(self, address: int, dat: bytes) -> None:
    ...
  @abstractmethod
  def erase_app(self) -> None:
    ...
  @abstractmethod
  def erase_bootstub(self) -> None:
    ...
  @abstractmethod
  def jump(self, address: int) -> None:
    ...
@@ -100,9 +100,9 @@ class CcpClient():
      msgs = self._panda.can_recv() or []
      if len(msgs) >= 256:
        print("CAN RX buffer overflow!!!", file=sys.stderr)
-      for rx_addr, _, rx_data, rx_bus in msgs:
+      for rx_addr, _, rx_data_bytearray, rx_bus in msgs:
        if rx_bus == self.can_bus and rx_addr == self.rx_addr:
-          rx_data = bytes(rx_data)  # convert bytearray to bytes
+          rx_data = bytes(rx_data_bytearray)
          if self.debug:
            print(f"CAN-RX: {hex(rx_addr)} - 0x{bytes.hex(rx_data)}")
          assert len(rx_data) == 8, f"message length not 8: {len(rx_data)}"
@@ -183,7 +183,7 @@ class CcpClient():
    resp = self._recv_dto(0.025)
    # mta_addr_ext = resp[0]
    mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
-    return mta_addr
+    return mta_addr  # type: ignore
  def download_6_bytes(self, data: bytes) -> int:
    if len(data) != 6:
@@ -192,7 +192,7 @@ class CcpClient():
    resp = self._recv_dto(0.025)
    # mta_addr_ext = resp[0]
    mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
-    return mta_addr
+    return mta_addr  # type: ignore
  def upload(self, size: int) -> bytes:
    if size > 5:
@@ -296,7 +296,7 @@ class CcpClient():
    resp = self._recv_dto(0.1)
    # mta_addr_ext = resp[0]
    mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
-    return mta_addr
+    return mta_addr  # type: ignore
  def program_6_bytes(self, data: bytes) -> int:
    if len(data) != 6:
@@ -305,7 +305,7 @@ class CcpClient():
    resp = self._recv_dto(0.1)
    # mta_addr_ext = resp[0]
    mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
-    return mta_addr
+    return mta_addr  # type: ignore
  def move_memory_block(self, size: int) -> None:
    self._send_cro(COMMAND_CODE.MOVE, struct.pack(f"{self.byte_order.value}I", size))
@@ -0,0 +1,57 @@
 import os
 import enum
 from typing import List, NamedTuple
 BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
 class McuConfig(NamedTuple):
  mcu: str
  mcu_idcode: int
  uid_address: int
  block_size: int
  sector_sizes: List[int]
  serial_number_address: int
  app_address: int
  app_path: str
  bootstub_address: int
  bootstub_path: str
 Fx = (
  0x1FFF7A10,
  0x800,
  [0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)],
  0x1FFF79C0,
  0x8004000,
  os.path.join(BASEDIR, "board", "obj", "panda.bin.signed"),
  0x8000000,
  os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin"),
 )
 F2Config = McuConfig("STM32F2", 0x411, *Fx)
 F4Config = McuConfig("STM32F4", 0x463, *Fx)
 H7Config = McuConfig(
  "STM32H7",
  0x483,
  0x1FF1E800,
  0x400,
  # there is an 8th sector, but we use that for the provisioning chunk, so don't program over that!
  [0x20000 for _ in range(7)],
  0x080FFFC0,
  0x8020000,
  os.path.join(BASEDIR, "board", "obj", "panda_h7.bin.signed"),
  0x8000000,
  os.path.join(BASEDIR, "board", "obj", "bootstub.panda_h7.bin"),
 )
@enum.unique
 class McuType(enum.Enum):
  F2 = F2Config
  F4 = F4Config
  H7 = H7Config
  @property
  def config(self):
    return self.value
 MCU_TYPE_BY_IDCODE = {m.config.mcu_idcode: m for m in McuType}
@@ -1,22 +1,31 @@
 import usb1
 import struct
 import binascii
-from .config import BOOTSTUB_ADDRESS, APP_ADDRESS_H7, APP_ADDRESS_FX, BLOCK_SIZE_H7, BLOCK_SIZE_FX, DEFAULT_H7_BOOTSTUB_FN, DEFAULT_BOOTSTUB_FN
+from typing import List, Optional
 from .base import BaseSTBootloaderHandle
 from .spi import STBootloaderSPIHandle, PandaSpiException
 from .usb import STBootloaderUSBHandle
 from .constants import McuType
-MCU_TYPE_F2 = 0
+class PandaDFU:
-MCU_TYPE_F4 = 1
+  def __init__(self, dfu_serial: Optional[str]):
-MCU_TYPE_H7 = 2
+    # try USB, then SPI
    handle: Optional[BaseSTBootloaderHandle]
    handle = PandaDFU.usb_connect(dfu_serial)
    if handle is None:
      handle = PandaDFU.spi_connect(dfu_serial)
-# *** DFU mode ***
+    if handle is None:
-DFU_DNLOAD = 1
+      raise Exception(f"failed to open DFU device {dfu_serial}")
 DFU_UPLOAD = 2
 DFU_GETSTATUS = 3
 DFU_CLRSTATUS = 4
 DFU_ABORT = 6
-class PandaDFU(object):
+    self._handle: BaseSTBootloaderHandle = handle
-  def __init__(self, dfu_serial):
+    self._mcu_type: McuType = self._handle.get_mcu_type()
  @staticmethod
  def usb_connect(dfu_serial: Optional[str]) -> Optional[STBootloaderUSBHandle]:
    handle = None
    context = usb1.USBContext()
    for device in context.getDeviceList(skip_on_error=True):
      if device.getVendorID() == 0x0483 and device.getProductID() == 0xdf11:
@@ -24,14 +33,37 @@ class PandaDFU(object):
          this_dfu_serial = device.open().getASCIIStringDescriptor(3)
        except Exception:
          continue
        if this_dfu_serial == dfu_serial or dfu_serial is None:
-          self._mcu_type = self.get_mcu_type(device)
+          handle = STBootloaderUSBHandle(device, device.open())
-          self._handle = device.open()
+          break
-          return
+
-    raise Exception("failed to open " + dfu_serial if dfu_serial is not None else "DFU device")
+    return handle
  @staticmethod
-  def list():
+  def spi_connect(dfu_serial: Optional[str]) -> Optional[STBootloaderSPIHandle]:
    handle = None
    this_dfu_serial = None
    try:
      handle = STBootloaderSPIHandle()
      this_dfu_serial = PandaDFU.st_serial_to_dfu_serial(handle.get_uid(), handle.get_mcu_type())
    except PandaSpiException:
      handle = None
    if dfu_serial is not None and dfu_serial != this_dfu_serial:
      handle = None
    return handle
  @staticmethod
  def list() -> List[str]:
    ret = PandaDFU.usb_list()
    ret += PandaDFU.spi_list()
    return list(set(ret))
  @staticmethod
  def usb_list() -> List[str]:
    context = usb1.USBContext()
    dfu_serials = []
    try:
@@ -46,80 +78,41 @@ class PandaDFU(object):
    return dfu_serials
  @staticmethod
-  def st_serial_to_dfu_serial(st, mcu_type=MCU_TYPE_F4):
+  def spi_list() -> List[str]:
    try:
      h = PandaDFU.spi_connect(None)
      if h is not None:
        dfu_serial = PandaDFU.st_serial_to_dfu_serial(h.get_uid(), h.get_mcu_type())
        return [dfu_serial, ]
    except PandaSpiException:
      pass
    return []
  @staticmethod
  def st_serial_to_dfu_serial(st: str, mcu_type: McuType = McuType.F4):
    if st is None or st == "none":
      return None
    uid_base = struct.unpack("H" * 6, bytes.fromhex(st))
-    if mcu_type == MCU_TYPE_H7:
+    if mcu_type == McuType.H7:
      return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4], uid_base[3])).upper().decode("utf-8")
    else:
      return binascii.hexlify(struct.pack("!HHH", uid_base[1] + uid_base[5], uid_base[0] + uid_base[4] + 0xA, uid_base[3])).upper().decode("utf-8")
-  # TODO: Find a way to detect F4 vs F2
+  def get_mcu_type(self) -> McuType:
-  def get_mcu_type(self, dev):
+    return self._mcu_type
    return MCU_TYPE_H7 if dev.getbcdDevice() == 512 else MCU_TYPE_F4
-  def status(self):
+  def reset(self):
-    while 1:
+    self._handle.jump(self._mcu_type.config.bootstub_address)
      dat = self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6)
      if dat[1] == 0:
        break
  def clear_status(self):
    # Clear status
    stat = self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6)
    if stat[4] == 0xa:
      self._handle.controlRead(0x21, DFU_CLRSTATUS, 0, 0, 0)
    elif stat[4] == 0x9:
      self._handle.controlWrite(0x21, DFU_ABORT, 0, 0, b"")
      self.status()
    stat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
  def erase(self, address):
    self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x41" + struct.pack("I", address))
    self.status()
  def program(self, address, dat, block_size=None):
    if block_size is None:
      block_size = len(dat)
    # Set Address Pointer
    self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address))
    self.status()
    # Program
    dat += b"\xFF" * ((block_size - len(dat)) % block_size)
    for i in range(0, len(dat) // block_size):
      ldat = dat[i * block_size:(i + 1) * block_size]
      print("programming %d with length %d" % (i, len(ldat)))
      self._handle.controlWrite(0x21, DFU_DNLOAD, 2 + i, 0, ldat)
      self.status()
  def program_bootstub(self, code_bootstub):
-    self.clear_status()
+    self._handle.clear_status()
-    self.erase(BOOTSTUB_ADDRESS)
+    self._handle.erase_bootstub()
-    if self._mcu_type == MCU_TYPE_H7:
+    self._handle.erase_app()
-      self.erase(APP_ADDRESS_H7)
+    self._handle.program(self._mcu_type.config.bootstub_address, code_bootstub)
      self.program(BOOTSTUB_ADDRESS, code_bootstub, BLOCK_SIZE_H7)
    else:
      self.erase(APP_ADDRESS_FX)
      self.program(BOOTSTUB_ADDRESS, code_bootstub, BLOCK_SIZE_FX)
    self.reset()
  def recover(self):
-    fn = DEFAULT_H7_BOOTSTUB_FN if self._mcu_type == MCU_TYPE_H7 else DEFAULT_BOOTSTUB_FN
+    with open(self._mcu_type.config.bootstub_path, "rb") as f:
    with open(fn, "rb") as f:
      code = f.read()
    self.program_bootstub(code)
  def reset(self):
    # **** Reset ****
    self._handle.controlWrite(0x21, DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", BOOTSTUB_ADDRESS))
    self.status()
    try:
      self._handle.controlWrite(0x21, DFU_DNLOAD, 2, 0, b"")
      _ = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
    except Exception:
      pass
@@ -1,9 +1,22 @@
 import binascii
 import os
 import fcntl
 import math
 import time
 import struct
 import spidev
 import logging
 import threading
 from contextlib import contextmanager
 from functools import reduce
-from typing import List
+from typing import List, Optional
 from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT
 from .constants import McuType, MCU_TYPE_BY_IDCODE
 try:
  import spidev
 except ImportError:
  spidev = None
 # Constants
 SYNC = 0x5A
@@ -12,17 +25,69 @@ DACK = 0x85
 NACK = 0x1F
 CHECKSUM_START = 0xAB
-MAX_RETRY_COUNT = 5
+MIN_ACK_TIMEOUT_MS = 100
 MAX_XFER_RETRY_COUNT = 5
 USB_MAX_SIZE = 0x40
-# This mimics the handle given by libusb1 for easy interoperability
+DEV_PATH = "/dev/spidev0.0"
 class SpiHandle:
  def __init__(self):
    self.spi = spidev.SpiDev()  # pylint: disable=c-extension-no-member
    self.spi.open(0, 0)
-    self.spi.max_speed_hz = 30000000
+
 class PandaSpiException(Exception):
  pass
 class PandaSpiUnavailable(PandaSpiException):
  pass
 class PandaSpiNackResponse(PandaSpiException):
  pass
 class PandaSpiMissingAck(PandaSpiException):
  pass
 class PandaSpiBadChecksum(PandaSpiException):
  pass
 class PandaSpiTransferFailed(PandaSpiException):
  pass
 SPI_LOCK = threading.Lock()
 class SpiDevice:
  """
  Provides locked, thread-safe access to a panda's SPI interface.
  """
  def __init__(self, speed=30000000):
    if not os.path.exists(DEV_PATH):
      raise PandaSpiUnavailable(f"SPI device not found: {DEV_PATH}")
    if spidev is None:
      raise PandaSpiUnavailable("spidev is not installed")
    self._spidev = spidev.SpiDev()  # pylint: disable=c-extension-no-member
    self._spidev.open(0, 0)
    self._spidev.max_speed_hz = speed
  @contextmanager
  def acquire(self):
    try:
      SPI_LOCK.acquire()
      fcntl.flock(self._spidev, fcntl.LOCK_EX)
      yield self._spidev
    finally:
      fcntl.flock(self._spidev, fcntl.LOCK_UN)
      SPI_LOCK.release()
  def close(self):
    self._spidev.close()
 class PandaSpiHandle(BaseHandle):
  """
  A class that mimics a libusb1 handle for panda SPI communications.
  """
  def __init__(self):
    self.dev = SpiDevice()
  # helpers
  def _calc_checksum(self, data: List[int]) -> int:
@@ -31,75 +96,218 @@ class SpiHandle:
      cksum ^= b
    return cksum
-  def _transfer(self, endpoint: int, data, max_rx_len: int = 1000) -> bytes:
+  def _wait_for_ack(self, spi, ack_val: int, timeout: int) -> None:
    timeout_s = max(MIN_ACK_TIMEOUT_MS, timeout) * 1e-3
    start = time.monotonic()
    while (timeout == 0) or ((time.monotonic() - start) < timeout_s):
      dat = spi.xfer2(b"\x12")[0]
      if dat == NACK:
        raise PandaSpiNackResponse
      elif dat == ack_val:
        return
    raise PandaSpiMissingAck
  def _transfer(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000) -> bytes:
    logging.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len)
    logging.debug("==============================================")
-    for n in range(MAX_RETRY_COUNT):
+    exc = PandaSpiException()
    for n in range(MAX_XFER_RETRY_COUNT):
      logging.debug("\ntry #%d", n+1)
      try:
        logging.debug("- send header")
        packet = struct.pack("<BBHH", SYNC, endpoint, len(data), max_rx_len)
        packet += bytes([reduce(lambda x, y: x^y, packet) ^ CHECKSUM_START])
-        self.spi.xfer2(packet)
+        spi.xfer2(packet)
-        logging.debug("- waiting for ACK")
+        logging.debug("- waiting for header ACK")
-        # TODO: add timeout?
+        self._wait_for_ack(spi, HACK, timeout)
        dat = b"\x00"
        while dat[0] not in [HACK, NACK]:
          dat = self.spi.xfer2(b"\x12")
        if dat[0] == NACK:
          raise Exception("Got NACK response for header")
        # send data
        logging.debug("- sending data")
        packet = bytes([*data, self._calc_checksum(data)])
-        self.spi.xfer2(packet)
+        spi.xfer2(packet)
-        logging.debug("- waiting for ACK")
+        logging.debug("- waiting for data ACK")
-        dat = b"\x00"
+        self._wait_for_ack(spi, DACK, timeout)
        while dat[0] not in [DACK, NACK]:
          dat = self.spi.xfer2(b"\xab")
        if dat[0] == NACK:
          raise Exception("Got NACK response for data")
        # get response length, then response
-        response_len_bytes = bytes(self.spi.xfer2(b"\x00" * 2))
+        response_len_bytes = bytes(spi.xfer2(b"\x00" * 2))
        response_len = struct.unpack("<H", response_len_bytes)[0]
        if response_len > max_rx_len:
          raise PandaSpiException("response length greater than max")
        logging.debug("- receiving response")
-        dat = bytes(self.spi.xfer2(b"\x00" * (response_len + 1)))
+        dat = bytes(spi.xfer2(b"\x00" * (response_len + 1)))
        if self._calc_checksum([DACK, *response_len_bytes, *dat]) != 0:
-          raise Exception("SPI got bad checksum")
+          raise PandaSpiBadChecksum
        return dat[:-1]
-      except Exception:
+      except PandaSpiException as e:
-        logging.exception("SPI transfer failed, %d retries left", n)
+        exc = e
-    raise Exception(f"SPI transaction failed {MAX_RETRY_COUNT} times")
+        logging.debug("SPI transfer failed, %d retries left", n, exc_info=True)
    raise exc
  # libusb1 functions
  def close(self):
-    self.spi.close()
+    self.dev.close()
-  def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = 0):
+  def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT):
-    return self._transfer(0, struct.pack("<BHHH", request, value, index, 0))
+    with self.dev.acquire() as spi:
      return self._transfer(spi, 0, struct.pack("<BHHH", request, value, index, 0), timeout)
-  def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = 0):
+  def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT):
-    return self._transfer(0, struct.pack("<BHHH", request, value, index, length))
+    with self.dev.acquire() as spi:
      return self._transfer(spi, 0, struct.pack("<BHHH", request, value, index, length), timeout)
  # TODO: implement these properly
-  def bulkWrite(self, endpoint: int, data: List[int], timeout: int = 0) -> int:
+  def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
-    for x in range(math.ceil(len(data) / USB_MAX_SIZE)):
+    with self.dev.acquire() as spi:
-      self._transfer(endpoint, data[USB_MAX_SIZE*x:USB_MAX_SIZE*(x+1)])
+      for x in range(math.ceil(len(data) / USB_MAX_SIZE)):
-    return len(data)
+        self._transfer(spi, endpoint, data[USB_MAX_SIZE*x:USB_MAX_SIZE*(x+1)], timeout)
      return len(data)
-  def bulkRead(self, endpoint: int, length: int, timeout: int = 0) -> bytes:
+  def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
    ret: List[int] = []
-    for _ in range(math.ceil(length / USB_MAX_SIZE)):
+    with self.dev.acquire() as spi:
-      d = self._transfer(endpoint, [], max_rx_len=USB_MAX_SIZE)
+      for _ in range(math.ceil(length / USB_MAX_SIZE)):
-      ret += d
+        d = self._transfer(spi, endpoint, [], timeout, max_rx_len=USB_MAX_SIZE)
-      if len(d) < USB_MAX_SIZE:
+        ret += d
-        break
+        if len(d) < USB_MAX_SIZE:
          break
    return bytes(ret)
 class STBootloaderSPIHandle(BaseSTBootloaderHandle):
  """
    Implementation of the STM32 SPI bootloader protocol described in:
    https://www.st.com/resource/en/application_note/an4286-spi-protocol-used-in-the-stm32-bootloader-stmicroelectronics.pdf
  """
  SYNC = 0x5A
  ACK = 0x79
  NACK = 0x1F
  def __init__(self):
    self.dev = SpiDevice(speed=1000000)
    # say hello
    try:
      with self.dev.acquire() as spi:
        spi.xfer([self.SYNC, ])
        try:
          self._get_ack(spi)
        except PandaSpiNackResponse:
          # NACK ok here, will only ACK the first time
          pass
      self._mcu_type = MCU_TYPE_BY_IDCODE[self.get_chip_id()]
    except PandaSpiException:
      raise PandaSpiException("failed to connect to panda")  # pylint: disable=W0707
  def _get_ack(self, spi, timeout=1.0):
    data = 0x00
    start_time = time.monotonic()
    while data not in (self.ACK, self.NACK) and (time.monotonic() - start_time < timeout):
      data = spi.xfer([0x00, ])[0]
      time.sleep(0.001)
    spi.xfer([self.ACK, ])
    if data == self.NACK:
      raise PandaSpiNackResponse
    elif data != self.ACK:
      raise PandaSpiMissingAck
  def _cmd(self, cmd: int, data: Optional[List[bytes]] = None, read_bytes: int = 0, predata=None) -> bytes:
    ret = b""
    with self.dev.acquire() as spi:
      # sync + command
      spi.xfer([self.SYNC, ])
      spi.xfer([cmd, cmd ^ 0xFF])
      self._get_ack(spi)
      # "predata" - for commands that send the first data without a checksum
      if predata is not None:
        spi.xfer(predata)
        self._get_ack(spi)
      # send data
      if data is not None:
        for d in data:
          if predata is not None:
            spi.xfer(d + self._checksum(predata + d))
          else:
            spi.xfer(d + self._checksum(d))
          self._get_ack(spi, timeout=20)
      # receive
      if read_bytes > 0:
        ret = spi.xfer([0x00, ]*(read_bytes + 1))[1:]
        if data is None or len(data) == 0:
          self._get_ack(spi)
    return bytes(ret)
  def _checksum(self, data: bytes) -> bytes:
    if len(data) == 1:
      ret = data[0] ^ 0xFF
    else:
      ret = reduce(lambda a, b: a ^ b, data)
    return bytes([ret, ])
  # *** Bootloader commands ***
  def read(self, address: int, length: int):
    data = [struct.pack('>I', address), struct.pack('B', length - 1)]
    return self._cmd(0x11, data=data, read_bytes=length)
  def get_chip_id(self) -> int:
    r = self._cmd(0x02, read_bytes=3)
    assert r[0] == 1  # response length - 1
    return ((r[1] << 8) + r[2])
  def go_cmd(self, address: int) -> None:
    self._cmd(0x21, data=[struct.pack('>I', address), ])
  # *** helpers ***
  def get_uid(self):
    dat = self.read(McuType.H7.config.uid_address, 12)
    return binascii.hexlify(dat).decode()
  def erase_sector(self, sector: int):
    p = struct.pack('>H', 0)  # number of sectors to erase
    d = struct.pack('>H', sector)
    self._cmd(0x44, data=[d, ], predata=p)
  # *** PandaDFU API ***
  def erase_app(self):
    self.erase_sector(1)
  def erase_bootstub(self):
    self.erase_sector(0)
  def get_mcu_type(self):
    return self._mcu_type
  def clear_status(self):
    pass
  def close(self):
    self.dev.close()
  def program(self, address, dat):
    bs = 256  # max block size for writing to flash over SPI
    dat += b"\xFF" * ((bs - len(dat)) % bs)
    for i in range(0, len(dat) // bs):
      block = dat[i * bs:(i + 1) * bs]
      self._cmd(0x31, data=[
        struct.pack('>I', address + i*bs),
        bytes([len(block) - 1]) + block,
      ])
  def jump(self, address):
    self.go_cmd(self._mcu_type.config.bootstub_address)
@@ -0,0 +1,95 @@
 import struct
 from typing import List
 from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT
 from .constants import McuType
 class PandaUsbHandle(BaseHandle):
  def __init__(self, libusb_handle):
    self._libusb_handle = libusb_handle
  def close(self):
    self._libusb_handle.close()
  def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT):
    return self._libusb_handle.controlWrite(request_type, request, value, index, data, timeout)
  def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT):
    return self._libusb_handle.controlRead(request_type, request, value, index, length, timeout)
  def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
    return self._libusb_handle.bulkWrite(endpoint, data, timeout)  # type: ignore
  def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
    return self._libusb_handle.bulkRead(endpoint, length, timeout)  # type: ignore
 class STBootloaderUSBHandle(BaseSTBootloaderHandle):
  DFU_DNLOAD = 1
  DFU_UPLOAD = 2
  DFU_GETSTATUS = 3
  DFU_CLRSTATUS = 4
  DFU_ABORT = 6
  def __init__(self, libusb_device, libusb_handle):
    self._libusb_handle = libusb_handle
    # TODO: Find a way to detect F4 vs F2
    # TODO: also check F4 BCD, don't assume in else
    self._mcu_type = McuType.H7 if libusb_device.getbcdDevice() == 512 else McuType.F4
  def _status(self) -> None:
    while 1:
      dat = self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6)
      if dat[1] == 0:
        break
  def _erase_page_address(self, address: int) -> None:
    self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x41" + struct.pack("I", address))
    self._status()
  def get_mcu_type(self):
    return self._mcu_type
  def erase_app(self):
    self._erase_page_address(self._mcu_type.config.app_address)
  def erase_bootstub(self):
    self._erase_page_address(self._mcu_type.config.bootstub_address)
  def clear_status(self):
    # Clear status
    stat = self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6)
    if stat[4] == 0xa:
      self._libusb_handle.controlRead(0x21, self.DFU_CLRSTATUS, 0, 0, 0)
    elif stat[4] == 0x9:
      self._libusb_handle.controlWrite(0x21, self.DFU_ABORT, 0, 0, b"")
      self._status()
    stat = str(self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6))
  def close(self):
    self._libusb_handle.close()
  def program(self, address, dat):
    # Set Address Pointer
    self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address))
    self._status()
    # Program
    bs = self._mcu_type.config.block_size
    dat += b"\xFF" * ((bs - len(dat)) % bs)
    for i in range(0, len(dat) // bs):
      ldat = dat[i * bs:(i + 1) * bs]
      print("programming %d with length %d" % (i, len(ldat)))
      self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 2 + i, 0, ldat)
      self._status()
  def jump(self, address):
    self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 0, 0, b"\x21" + struct.pack("I", address))
    self._status()
    try:
      self._libusb_handle.controlWrite(0x21, self.DFU_DNLOAD, 2, 0, b"")
      _ = str(self._libusb_handle.controlRead(0x21, self.DFU_GETSTATUS, 0, 0, 6))
    except Exception:
      pass
@@ -1,5 +1,6 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource>
  <file alias="bootstrap-icons.svg">../../third_party/bootstrap/bootstrap-icons.svg</file>
  <file>img_continue_triangle.svg</file>
  <file>img_circled_check.svg</file>
  <file>img_circled_slash.svg</file>
@@ -0,0 +1,372 @@
 <?xml version="1.0" encoding="utf-8"?>
 <!--
    NOTE: this is the newer (L) version of the system font configuration,
    supporting richer weight selection. Some apps will expect the older
    version, so please keep system_fonts.xml and fallback_fonts.xml in sync
    with any changes, even though framework will only read this file.
    All fonts withohut names are added to the default list. Fonts are chosen
    based on a match: full BCP-47 language tag including script, then just
    language, and finally order (the first font containing the glyph).
    Order of appearance is also the tiebreaker for weight matching. This is
    the reason why the 900 weights of Roboto precede the 700 weights - we
    prefer the former when an 800 weight is requested. Since bold spans
    effectively add 300 to the weight, this ensures that 900 is the bold
    paired with the 500 weight, ensuring adequate contrast.
 -->
 <familyset version="22">
    <!-- first font is default -->
    <family name="sans-serif">
        <font weight="100" style="normal">Roboto-Thin.ttf</font>
        <font weight="100" style="italic">Roboto-ThinItalic.ttf</font>
        <font weight="300" style="normal">Roboto-Light.ttf</font>
        <font weight="300" style="italic">Roboto-LightItalic.ttf</font>
        <font weight="400" style="normal">Roboto-Regular.ttf</font>
        <font weight="400" style="italic">Roboto-Italic.ttf</font>
        <font weight="500" style="normal">Roboto-Medium.ttf</font>
        <font weight="500" style="italic">Roboto-MediumItalic.ttf</font>
        <font weight="900" style="normal">Roboto-Black.ttf</font>
        <font weight="900" style="italic">Roboto-BlackItalic.ttf</font>
        <font weight="700" style="normal">Roboto-Bold.ttf</font>
        <font weight="700" style="italic">Roboto-BoldItalic.ttf</font>
    </family>
    <!-- Note that aliases must come after the fonts they reference. -->
    <alias name="sans-serif-thin" to="sans-serif" weight="100" />
    <alias name="sans-serif-light" to="sans-serif" weight="300" />
    <alias name="sans-serif-medium" to="sans-serif" weight="500" />
    <alias name="sans-serif-black" to="sans-serif" weight="900" />
    <alias name="arial" to="sans-serif" />
    <alias name="helvetica" to="sans-serif" />
    <alias name="tahoma" to="sans-serif" />
    <alias name="verdana" to="sans-serif" />
    <family name="sans-serif-condensed">
        <font weight="300" style="normal">RobotoCondensed-Light.ttf</font>
        <font weight="300" style="italic">RobotoCondensed-LightItalic.ttf</font>
        <font weight="400" style="normal">RobotoCondensed-Regular.ttf</font>
        <font weight="400" style="italic">RobotoCondensed-Italic.ttf</font>
        <font weight="700" style="normal">RobotoCondensed-Bold.ttf</font>
        <font weight="700" style="italic">RobotoCondensed-BoldItalic.ttf</font>
    </family>
    <alias name="sans-serif-condensed-light" to="sans-serif-condensed" weight="300" />
    <family name="serif">
        <font weight="400" style="normal">NotoSerif-Regular.ttf</font>
        <font weight="700" style="normal">NotoSerif-Bold.ttf</font>
        <font weight="400" style="italic">NotoSerif-Italic.ttf</font>
        <font weight="700" style="italic">NotoSerif-BoldItalic.ttf</font>
    </family>
    <alias name="times" to="serif" />
    <alias name="times new roman" to="serif" />
    <alias name="palatino" to="serif" />
    <alias name="georgia" to="serif" />
    <alias name="baskerville" to="serif" />
    <alias name="goudy" to="serif" />
    <alias name="fantasy" to="serif" />
    <alias name="ITC Stone Serif" to="serif" />
    <family name="monospace">
        <font weight="400" style="normal">DroidSansMono.ttf</font>
    </family>
    <alias name="sans-serif-monospace" to="monospace" />
    <alias name="monaco" to="monospace" />
    <family name="serif-monospace">
        <font weight="400" style="normal">CutiveMono.ttf</font>
    </family>
    <alias name="courier" to="serif-monospace" />
    <alias name="courier new" to="serif-monospace" />
    <family name="casual">
        <font weight="400" style="normal">ComingSoon.ttf</font>
    </family>
    <family name="cursive">
        <font weight="400" style="normal">DancingScript-Regular.ttf</font>
        <font weight="700" style="normal">DancingScript-Bold.ttf</font>
    </family>
    <family name="sans-serif-smallcaps">
        <font weight="400" style="normal">CarroisGothicSC-Regular.ttf</font>
    </family>
    <!-- fallback fonts -->
    <family variant="elegant">
        <font weight="400" style="normal">NotoNaskhArabic-Regular.ttf</font>
        <font weight="700" style="normal">NotoNaskhArabic-Bold.ttf</font>
    </family>
    <family variant="compact">
        <font weight="400" style="normal">NotoNaskhArabicUI-Regular.ttf</font>
        <font weight="700" style="normal">NotoNaskhArabicUI-Bold.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansEthiopic-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansEthiopic-Bold.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansHebrew-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansHebrew-Bold.ttf</font>
    </family>
    <family variant="elegant">
        <font weight="400" style="normal">NotoSansThai-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansThai-Bold.ttf</font>
    </family>
    <family variant="compact">
        <font weight="400" style="normal">NotoSansThaiUI-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansThaiUI-Bold.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansArmenian-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansArmenian-Bold.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansGeorgian-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansGeorgian-Bold.ttf</font>
    </family>
    <family variant="elegant">
        <font weight="400" style="normal">NotoSansDevanagari-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansDevanagari-Bold.ttf</font>
    </family>
    <family variant="compact">
        <font weight="400" style="normal">NotoSansDevanagariUI-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansDevanagariUI-Bold.ttf</font>
    </family>
    <!-- Gujarati should come after Devanagari -->
    <family variant="elegant">
        <font weight="400" style="normal">NotoSansGujarati-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansGujarati-Bold.ttf</font>
    </family>
    <family variant="compact">
        <font weight="400" style="normal">NotoSansGujaratiUI-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansGujaratiUI-Bold.ttf</font>
    </family>
    <!-- Gurmukhi should come after Devanagari -->
    <family variant="elegant">
        <font weight="400" style="normal">NotoSansGurmukhi-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansGurmukhi-Bold.ttf</font>
    </family>
    <family variant="compact">
        <font weight="400" style="normal">NotoSansGurmukhiUI-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansGurmukhiUI-Bold.ttf</font>
    </family>
    <family variant="elegant">
        <font weight="400" style="normal">NotoSansTamil-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansTamil-Bold.ttf</font>
    </family>
    <family variant="compact">
        <font weight="400" style="normal">NotoSansTamilUI-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansTamilUI-Bold.ttf</font>
    </family>
    <family variant="elegant">
        <font weight="400" style="normal">NotoSansMalayalam-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansMalayalam-Bold.ttf</font>
    </family>
    <family variant="compact">
        <font weight="400" style="normal">NotoSansMalayalamUI-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansMalayalamUI-Bold.ttf</font>
    </family>
    <family variant="elegant">
        <font weight="400" style="normal">NotoSansBengali-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansBengali-Bold.ttf</font>
    </family>
    <family variant="compact">
        <font weight="400" style="normal">NotoSansBengaliUI-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansBengaliUI-Bold.ttf</font>
    </family>
    <family variant="elegant">
        <font weight="400" style="normal">NotoSansTelugu-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansTelugu-Bold.ttf</font>
    </family>
    <family variant="compact">
        <font weight="400" style="normal">NotoSansTeluguUI-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansTeluguUI-Bold.ttf</font>
    </family>
    <family variant="elegant">
        <font weight="400" style="normal">NotoSansKannada-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansKannada-Bold.ttf</font>
    </family>
    <family variant="compact">
        <font weight="400" style="normal">NotoSansKannadaUI-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansKannadaUI-Bold.ttf</font>
    </family>
    <family variant="elegant">
        <font weight="400" style="normal">NotoSansOriya-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansOriya-Bold.ttf</font>
    </family>
    <family variant="compact">
        <font weight="400" style="normal">NotoSansOriyaUI-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansOriyaUI-Bold.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansSinhala-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansSinhala-Bold.ttf</font>
    </family>
    <family variant="elegant">
        <font weight="400" style="normal">NotoSansKhmer-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansKhmer-Bold.ttf</font>
    </family>
    <family variant="compact">
        <font weight="400" style="normal">NotoSansKhmerUI-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansKhmerUI-Bold.ttf</font>
    </family>
    <family variant="elegant">
        <font weight="400" style="normal">NotoSansLao-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansLao-Bold.ttf</font>
    </family>
    <family variant="compact">
        <font weight="400" style="normal">NotoSansLaoUI-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansLaoUI-Bold.ttf</font>
    </family>
    <family variant="elegant">
        <font weight="400" style="normal">NotoSansMyanmar-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansMyanmar-Bold.ttf</font>
    </family>
    <family variant="compact">
        <font weight="400" style="normal">NotoSansMyanmarUI-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansMyanmarUI-Bold.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansThaana-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansThaana-Bold.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansCham-Regular.ttf</font>
        <font weight="700" style="normal">NotoSansCham-Bold.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansBalinese-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansBamum-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansBatak-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansBuginese-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansBuhid-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansCanadianAboriginal-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansCherokee-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansCoptic-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansGlagolitic-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansHanunoo-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansJavanese-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansKayahLi-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansLepcha-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansLimbu-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansLisu-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansMandaic-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansMeeteiMayek-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansNewTaiLue-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansNKo-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansOlChiki-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansRejang-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansSaurashtra-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansSundanese-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansSylotiNagri-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansSyriacEstrangela-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansTagbanwa-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansTaiTham-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansTaiViet-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansTibetan-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansTifinagh-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansVai-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansYi-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansSymbols-Regular-Subsetted.ttf</font>
    </family>
    <family lang="ja">
        <font weight="400" style="normal">NotoSansJP-Regular.otf</font>
    </family>
    <family lang="ko">
        <font weight="400" style="normal">NotoSansKR-Regular.otf</font>
    </family>
    <family>
        <font weight="400" style="normal">NanumGothic.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoColorEmoji.ttf</font>
    </family>
    <family lang="zh-Hans">
        <font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
        <font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
        <font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
    </family>
    <family lang="zh-Hant">
        <font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
        <font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
        <font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
    </family>
    <family lang="ja">
        <font weight="400" style="normal">MTLmr3m.ttf</font>
    </family>
    <!--
        Tai Le and Mongolian are intentionally kept last, to make sure they don't override
        the East Asian punctuation for Chinese.
    -->
    <family>
        <font weight="400" style="normal">NotoSansTaiLe-Regular.ttf</font>
    </family>
    <family>
        <font weight="400" style="normal">NotoSansMongolian-Regular.ttf</font>
    </family>
 </familyset>
@@ -36,7 +36,7 @@ from common.file_helpers import CallbackReader
 from common.params import Params
 from common.realtime import sec_since_boot, set_core_affinity
 from system.hardware import HARDWARE, PC, AGNOS
-from selfdrive.loggerd.config import ROOT
+from system.loggerd.config import ROOT
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.statsd import STATS_DIR
 from system.swaglog import SWAGLOG_DIR, cloudlog
@@ -577,8 +577,7 @@ def get_logs_to_send_sorted() -> List[str]:
 def log_handler(end_event: threading.Event) -> None:
-  # dont upload any logs for now
+  if PC:
  if True:
    return
  log_files = []
@@ -100,7 +100,7 @@ def register(show_spinner=False) -> Optional[str]:
  if dongle_id:
    params.put("DongleId", dongle_id)
-    set_offroad_alert("Offroad_UnofficialHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
+    # set_offroad_alert("Offroad_UnofficialHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
  return dongle_id
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
eFini	c6efa8341a	Merge pull request #190 from dragonpilot-community/beta2_override Update drive_helpers.py	2023-04-15 11:58:40 +08:00
eFini	0bb2cfda06	Update drive_helpers.py	2023-04-14 22:01:07 +08:00
eFini	4c8fe7af7e	Merge pull request #189 from dragonpilot-community/eFiniLan-patch-5 Update drive_helpers.py	2023-04-14 10:46:56 +08:00
eFini	a9f879e64d	Update drive_helpers.py	2023-04-14 10:46:07 +08:00
Dragonpilot Team	cf18a8fb09	dragonpilot 2023-04-13T02:41:11 for EON/C2 version: dragonpilot v0.9.2 beta for EON/C2 date: 2023-04-13T02:41:11 dp-dev(priv2) master commit: 4526e2dbd703c5d3e958825e64d5912ae452ab30	2023-04-13 02:41:27 +00:00
Dragonpilot Team	ca1186a7bf	dragonpilot 2023-04-01T09:36:15 for EON/C2 version: dragonpilot v0.9.2 beta for EON/C2 date: 2023-04-01T09:36:15 dp-dev(priv2) master commit: 29bbbec9ef69d7527f4715114749c18d4e22768c	2023-04-01 09:36:19 +00:00
eFini	d244592a40	Update events.py	2023-03-31 10:58:48 +08:00
Dragonpilot Team	b0e747ea3b	dragonpilot 2023-03-30T08:35:14 for EON/C2 version: dragonpilot v0.9.2 beta for EON/C2 date: 2023-03-30T08:35:14 dp-dev(priv2) master commit: 42cfd61d1e0f0a69237e69d75c5b5f69e417a8c9	2023-03-30 08:35:23 +00:00
eFini	c0ac87c36c	Update power_monitoring.py	2023-03-30 09:01:53 +08:00
Dragonpilot Team	eeb43a5107	dragonpilot 2023-03-29T09:55:29 for EON/C2 version: dragonpilot v0.9.2 beta for EON/C2 date: 2023-03-29T09:55:29 dp-dev(priv2) master commit: 7a10a5f475f257bfcaf0f300d0441aef80be52d8	2023-03-29 09:55:32 +00:00
Dragonpilot Team	ea800c8f74	dragonpilot 2023-03-27T06:11:06 for EON/C2 version: dragonpilot v0.9.2 beta for EON/C2 date: 2023-03-27T06:11:06 dp-dev(priv2) master commit: 0a08aa2b73a505e11e4c98ac6c5989464b7d339f	2023-03-27 06:27:07 +00:00
Dragonpilot Team	f770882b7f	dragonpilot 2023-02-08T03:42:25 for EON/C2 version: dragonpilot v0.9.1 beta for EON/C2 date: 2023-02-08T03:42:25 dp-dev(priv2) master commit: 806adddf718b97255ba36d4a9dbd5f6bad383787	2023-02-08 03:42:33 +00:00
eFini	34925962d5	Update controlsd.py	2023-02-07 21:23:37 +08:00
eFini	3977b6d1ff	Merge pull request #181 from dragonpilot-community/eFiniLan-patch-2 Update interface.py	2023-02-07 13:19:49 +08:00
eFini	77edcc0058	Update interface.py	2023-02-07 13:19:28 +08:00
Dragonpilot Team	8555e48fc9	dragonpilot 2023-02-07T02:56:39 for EON/C2 version: dragonpilot v0.9.1 beta for EON/C2 date: 2023-02-07T02:56:39 dp-dev(priv2) master commit: 459790d03b790e5f3a8cff18710ac4d44841a16a	2023-02-07 03:00:39 +00:00
Dragonpilot Team	1f2e3aa8b6	dragonpilot 2022-12-30T07:51:42 for EON/C2 version: dragonpilot v0.9.1 beta for EON/C2 date: 2022-12-30T07:51:42 dp-dev(priv2) master commit: 4e8e00606410c2bbe03b93fc89a91caec37d1f3a	2022-12-30 07:51:55 +00:00
Dragonpilot Team	398aeb927b	dragonpilot 2022-12-23T08:15:11 for EON/C2 version: dragonpilot v0.9.1 beta for EON/C2 date: 2022-12-23T08:15:11 dp-dev(priv2) master commit: 3cc44ae87d697a5e07bfa58c4e799730bea0b63a	2022-12-23 08:26:46 +00:00
Dragonpilot Team	de34fa87ee	dragonpilot 2022-11-30T09:37:39 for EON/C2 version: dragonpilot v0.9.1 beta for EON/C2 date: 2022-11-30T09:37:39 dp-dev(priv2) master commit: e2204c868277f20a263c2f93e88c42999d0b0c15	2022-12-01 03:54:37 +00:00
Dragonpilot Team	1fdc1202d1	dragonpilot 2022-11-02T08:11:06 for EON/C2 version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-11-02T08:11:06 dp-dev(priv2) master commit: fa5dbfe5c771a59cf8b82a9cfc26b28989824d31	2022-11-02 08:11:20 +00:00
Dragonpilot Team	4c3c884245	dragonpilot 2022-10-07T10:01:36 for EON/C2 version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-10-07T10:01:36 dp-dev(priv2) master commit: 3aecc0939a714f5f572b3cbe85669ed389161870	2022-10-07 10:05:16 +00:00
Dragonpilot Team	fe6459224b	dragonpilot 2022-09-15T06:50:26 for EON/C2 version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-09-15T06:50:26 dp-dev(priv2) master commit: 4d0dc8f4278758e1c000fbbef41ad124187335e2	2022-09-15 06:50:40 +00:00
Dragonpilot Team	30a852791f	dragonpilot 2022-09-07T01:33:02 for EON/C2 version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-09-07T01:33:02 dp-dev(priv2) master commit: 705261266a609f9ab22a8704a4cf2a380df5a79f	2022-09-07 01:33:08 +00:00
Dragonpilot Team	9546ca4273	dragonpilot 2022-09-06T04:35:28 for EON/C2 version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-09-06T04:35:28 dp-dev(priv2) master commit: 705261266a609f9ab22a8704a4cf2a380df5a79f	2022-09-06 04:35:35 +00:00
Dragonpilot Team	e55a27c37e	dragonpilot 2022-09-01T09:01:29 for EON/C2 version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-09-01T09:01:29 dp-dev(priv2) master commit: 1aee3e0728e47b4789623262fd595a3bccb7fe6e	2022-09-01 09:01:42 +00:00
Dragonpilot Team	99f7f6023e	dragonpilot 2022-08-30T07:26:22 for EON/C2 version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-08-30T07:26:22 dp-dev(priv2) master commit: 0b0eacf73b22b4ff5341143a3beb2d2d681d989b	2022-08-30 07:26:35 +00:00
Dragonpilot Team	58e0b3246f	dragonpilot 2022-08-26T01:39:55 for EON/C2 version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-08-26T01:39:55 dp-dev(priv2) master commit: 2cc578fbfc144eaecebf1803c8b59db45c2e9715	2022-08-26 01:40:08 +00:00
Dragonpilot Team	66006fe0e9	dragonpilot 2022-08-19T01:11:48 for EON/C2 version: dragonpilot v0.8.16 beta for EON/C2 date: 2022-08-19T01:11:48 dp-dev(priv2) master commit: 4aee191bc9d1c5099913455ff9e5fa1c3a7a7903	2022-08-19 01:19:48 +00:00
Dragonpilot Team	b437663252	dragonpilot 2022-08-17T05:06:08 for EON/C2 version: dragonpilot v0.8.16 beta for EON/C2 date: 2022-08-18T23:02:08 dp-dev(priv2) master commit: 96dd81dde40b92d0686ec5761cfaaab24300b027	2022-08-19 01:01:52 +00:00
Dragonpilot Team	4d7a40310f	dragonpilot 2022-08-11T09:38:43 for EON/C2 version: dragonpilot v0.8.16 beta for EON/C2 date: 2022-08-11T09:38:43 dp-dev(priv2) master commit: c6cd233f23f60e7a6055d42850bc593c0e69082e	2022-08-11 09:48:37 +00:00
`@@ -1 +1 @@`
	`#define COMMA_VERSION "2023.02.08"`	`#define COMMA_VERSION "2023.04.13"`