Merge branch 'master-priv' into SP-138-cslc-gm

# Conflicts: # panda
2026-07-15 08:52:08 +08:00 · 2024-07-10 20:59:30 -04:00
parent 779637fb0d 606fb2d7c9
commit 518ef952cc
246 changed files with 10800 additions and 35293 deletions
@@ -1,11 +1,12 @@
 FROM ghcr.io/commaai/openpilot-base:latest

-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion
-RUN pip install ipython jupyter jupyterlab
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa gdb bash-completion
+RUN python3 -m ensurepip --upgrade
+RUN pip3 install ipython jupyter jupyterlab

 RUN cd /tmp && \
    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
-    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
+    curl -L -o virtualgl.deb "https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_$ARCH.deb" && \
    dpkg -i virtualgl.deb

 RUN usermod -aG video batman
@@ -0,0 +1,123 @@
+name: weekly CI test report
+on:
+  schedule:
+    - cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
+  workflow_dispatch:
+    inputs:
+      ci_runs:
+        description: 'The amount of runs to trigger in CI test report'
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  setup:
+    if: github.repository == 'commaai/openpilot'
+    runs-on: ubuntu-latest
+    outputs:
+      ci_runs: ${{ steps.ci_runs_setup.outputs.value }}
+    steps:
+      - id: ci_runs_setup
+        run: |
+          CI_RUNS=${{ inputs.ci_runs || '50' }}
+          mylist="value=["
+
+          for i in $(seq 1 $CI_RUNS);
+          do
+              if [ $i != $CI_RUNS ]; then
+                  mylist+="\"$i\", "
+              else
+                  mylist+="\"$i\"]"
+              fi
+          done
+
+          echo "$mylist" >> $GITHUB_OUTPUT
+          echo "Number of CI runs for report: $CI_RUNS"
+  ci_matrix_run:
+    needs: [ setup ]
+    strategy:
+      fail-fast: false
+      matrix:
+        value: ${{fromJSON(needs.setup.outputs.ci_runs)}}
+    uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
+    with:
+      run_number: ${{ matrix.value }}
+
+  report:
+    needs: [ci_matrix_run]
+    runs-on: ubuntu-latest
+    if: always()
+    steps:
+      - name: Get job results
+        uses: actions/github-script@v7
+        id: get-job-results
+        with:
+          script: |
+            const jobs = await github
+              .paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
+                owner: "commaai",
+                repo: "${{ github.event.repository.name }}",
+                run_id: "${{ github.run_id }}",
+                attempt: "${{ github.run_attempt }}",
+              })
+            var report = {}
+            jobs.slice(1, jobs.length-1).forEach(job => {
+              const jobName = job.name.split('/')[2].trim();
+              report[jobName] = report[jobName] || { successes: [], failures: [], cancelled: [] };
+              switch (job.conclusion) {
+                case "success":
+                  report[jobName].successes.push(job.html_url); break;
+                case "failure":
+                  report[jobName].failures.push(job.html_url); break;
+                case "cancelled":
+                  report[jobName].cancelled.push(job.html_url); break;
+              }
+            });
+            return JSON.stringify(report);
+
+      - name: Add job results to summary
+        env:
+          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
+        run: |
+          echo $JOB_RESULTS > job_results.json
+          generate_html_table() {
+            echo "<table>"
+            echo "<thead>"
+            echo "  <tr>"
+            echo "    <th>Job</th>"
+            echo "    <th>Succeeded ✅</th>"
+            echo "    <th>Failed ❌</th>"
+            echo "    <th>Cancelled (timed out) ⏰</th>"
+            echo "  </tr>"
+            echo "</thead>"
+            jq -r '
+              "<tbody>",
+              keys[] as $job |
+              "<tr>",
+              "  <td>\($job)</td>",
+              "  <td>",
+              "    <details>",
+              "      <summary>(\(.[$job].successes | length))</summary>",
+              "      \(.[$job].successes[])<br>",
+              "    </details>",
+              "  </td>",
+              "  <td>",
+              "    <details>",
+              "      <summary>(\(.[$job].failures | length))</summary>",
+              "      \(.[$job].failures[])<br>",
+              "    </details>",
+              "  </td>",
+              "  <td>",
+              "    <details>",
+              "      <summary>(\(.[$job].cancelled | length))</summary>",
+              "      \(.[$job].cancelled[])<br>",
+              "    </details>",
+              "  </td>",
+              "</tr>"
+            ' job_results.json
+            echo  "</tbody>"
+            echo  "</table>"
+          }
+          echo "# CI Job Summary" >> $GITHUB_STEP_SUMMARY
+          generate_html_table >> $GITHUB_STEP_SUMMARY
+
@@ -0,0 +1,21 @@
+name: weekly CI test run
+on:
+  workflow_call:
+    inputs:
+      run_number:
+        required: true
+        type: string
+
+concurrency:
+  group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  selfdrive_tests:
+    uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
+    with:
+      run_number: ${{ inputs.run_number }}
+  tools_tests:
+    uses: commaai/openpilot/.github/workflows/tools_tests.yaml@master
+    with:
+      run_number: ${{ inputs.run_number }}
@@ -5,9 +5,14 @@ on:
    branches:
      - master
  pull_request:
-
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
 concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
@@ -22,6 +27,7 @@ jobs:
    name: build docs
    runs-on: ubuntu-latest
    timeout-minutes: 45
+    if: false  # TODO: replace this with the new docs
    steps:
    - uses: actions/checkout@v4
      with:
@@ -41,10 +41,11 @@ jobs:
    if: github.repository == 'commaai/openpilot'
    steps:
    - uses: actions/checkout@v4
-    - name: poetry lock
+    - name: uv lock
      run: |
-        pip install poetry
-        poetry lock
+        python3 -m ensurepip --upgrade
+        pip3 install uv
+        uv lock --upgrade
    - name: pre-commit autoupdate
      run: |
        git config --global --add safe.directory '*'
@@ -6,9 +6,15 @@ on:
      - master
  pull_request:
  workflow_dispatch:
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string

 concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
@@ -62,18 +68,14 @@ jobs:
        cd $GITHUB_WORKSPACE
        cp .pre-commit-config.yaml $STRIPPED_DIR
        cp pyproject.toml $STRIPPED_DIR
-        cp poetry.lock $STRIPPED_DIR
        cd $STRIPPED_DIR
        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"

  build:
    strategy:
      matrix:
-        arch: ${{ fromJson(
-           ((github.repository == 'commaai/openpilot') &&
-              ((github.event_name != 'pull_request') ||
-               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
+        arch: ${{ fromJson('["x86_64"]') }} # TODO: Re-add build test for aarch64 once we switched to ubuntu-2404
+    runs-on: ubuntu-latest
    steps:
    - uses: actions/checkout@v4
      with:
@@ -82,7 +84,7 @@ jobs:
      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
      run: |
        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
+        : # (TODO: Re-add this once we test other archs) echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
        $DOCKER_LOGIN
    - uses: ./.github/workflows/setup-with-retry
      with:
@@ -90,22 +92,22 @@ jobs:
    - uses: ./.github/workflows/compile-openpilot
      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache

-  docker_push_multiarch:
-    name: docker push multiarch tag
-    runs-on: ubuntu-latest
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    needs: [build]
+  build_mac:
+    name: build macos
+    runs-on: macos-latest
    steps:
    - uses: actions/checkout@v4
      with:
-        submodules: false
-    - name: Setup docker
-      run: |
-        $DOCKER_LOGIN
-    - name: Merge x64 and arm64 tags
-      run: |
-        export PUSH_IMAGE=true
-        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
+        submodules: true
+    - run: git lfs pull
+    - name: Install dependencies
+      run: ./tools/mac_setup.sh
+      env:
+        SKIP_PROMPT: 1
+        # package install has DeprecationWarnings
+        PYTHONWARNINGS: default
+    - name: Test openpilot environment
+      run: . .venv/bin/activate && scons -h

  static_analysis:
    name: static analysis
@@ -326,5 +328,55 @@ jobs:
      - name: Upload Test Report
        uses: actions/upload-artifact@v4
        with:
-          name: report
-          path: selfdrive/ui/tests/test_ui/report
+          name: report-${{ inputs.run_number }}
+          path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number }}
+      - name: Get changes to selfdrive/ui
+        if: ${{ github.event_name == 'pull_request' }}
+        id: changed-files
+        uses: tj-actions/changed-files@v44
+        with:
+         files: |
+            selfdrive/ui/**
+      - name: Checkout ci-artifacts
+        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
+        uses: actions/checkout@v4
+        with:
+          repository: commaai/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/ci-artifacts
+          ref: master
+      - name: Push Screenshots
+        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
+        working-directory: ${{ github.workspace }}/ci-artifacts
+        run: |
+          git checkout -b openpilot/pr-${{ github.event.pull_request.number }}
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          sudo mv ${{ github.workspace }}/selfdrive/ui/tests/test_ui/report/screenshots/* .
+          git add .
+          git commit -m "screenshots for PR #${{ github.event.pull_request.number }}"
+          git push origin openpilot/pr-${{ github.event.pull_request.number }} --force
+      - name: Comment Screenshots on PR
+        if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
+        uses: thollander/actions-comment-pull-request@v2
+        with:
+          message: |
+            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
+            ## UI Screenshots
+            <table>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/homescreen.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_map.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_sidebar.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_network.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_device.png"></td>
+              </tr>
+            </table>
+          comment_tag: run_id_screenshots
+          pr_number: ${{ github.event.pull_request.number }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -60,4 +60,4 @@ runs:
        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
    # build our docker image
    - shell: bash
-      run: eval ${{ env.BUILD }}
+      run: eval ${{ env.BUILD }}
@@ -14,7 +14,7 @@ jobs:
    steps:
      - uses: actions/stale@v9
        with:
-          exempt-milestones: true
+          exempt-all-milestones: true

          # pull request config
          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
@@ -5,9 +5,14 @@ on:
    branches:
      - master
  pull_request:
-
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
 concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: tools-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
@@ -39,6 +44,43 @@ jobs:
                        source selfdrive/test/setup_vsound.sh && \
                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"

+  test_compatibility:
+    name: test 20.04 + 3.11
+    runs-on: ubuntu-20.04
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - name: Installing ubuntu dependencies
+      run: INSTALL_EXTRA_PACKAGES=no tools/install_ubuntu_dependencies.sh
+    - name: Installing python
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.11.4'
+    - name: Installing pip
+      run: pip install pip==24.0
+    - name: Installing uv
+      run: pip install uv
+    - name: git LFS
+      run: git lfs pull
+    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - name: Getting scons cache
+      uses: 'actions/cache@v4'
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}-ubuntu2004
+    - name: Building openpilot
+      run: uv run scons -u -j$(nproc)
+    - name: Saving scons cache
+      uses: actions/cache/save@v4
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+
  devcontainer:
    name: devcontainer
    runs-on: ubuntu-latest
@@ -62,6 +104,6 @@ jobs:
    - name: Test environment
      run: |
        devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
-        devcontainer exec --workspace-folder . pip install pip-install-test
+        devcontainer exec --workspace-folder . pip3 install pip-install-test
        devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
        devcontainer exec --workspace-folder . sudo touch /root/test.txt
@@ -43,6 +43,7 @@ persist
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
+cereal/messaging/bridge
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
@@ -84,3 +85,22 @@ build/

 poetry.toml
 Pipfile
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+!.vscode/*.code-snippets
+
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
@@ -1,36 +1,22 @@
 <toolSet name="External Tools">
  <tool name="Poetry SCons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
    <exec>
-      <option name="COMMAND" value="poetry" />
-      <option name="PARAMETERS" value="run scons -u -j10 --compile_db --ccflags=&quot;-fno-inline&quot;" />
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db --ccflags=\&quot;-fno-inline\&quot;&quot;" />
      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
  <tool name="Poetry SCons Clean" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
    <exec>
-      <option name="COMMAND" value="poetry" />
-      <option name="PARAMETERS" value="run scons -c" />
-      <option name="WORKING_DIRECTORY" />
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -c&quot; " />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
  <tool name="Poetry SCons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
    <exec>
-      <option name="COMMAND" value="poetry" />
-      <option name="PARAMETERS" value="run scons -u -j10 --compile_db" />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="Poetry SCons Build Debug - Jason Wen" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="poetry" />
-      <option name="PARAMETERS" value="run scons -u -j20 --compile_db --ccflags=&quot;-fno-inline&quot;" />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="Poetry SCons Build Release - Jason Wen" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="poetry" />
-      <option name="PARAMETERS" value="run scons -u -j20 --compile_db" />
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db&quot; " />
      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
@@ -19,7 +19,7 @@ repos:
    -   id: check-executables-have-shebangs
    -   id: check-shebang-scripts-are-executable
    -   id: check-added-large-files
-        exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
+        exclude: '(docs/CARS.md)|(uv.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
        args:
        - --maxkb=120
        - --enforce-all
@@ -27,13 +27,13 @@ repos:
    rev: v2.3.0
    hooks:
    -   id: codespell
-        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
+        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(uv.lock)'
        args:
        # if you've got a short variable name that's getting flagged, add it here
        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.4.8
+    rev: v0.5.0
    hooks:
    -   id: ruff
        exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -62,6 +62,8 @@ repos:
        - --quiet
        - --force
        - -j8
+        - --library=qt
+        - --include=third_party/kaitai/kaitaistream.h
 -   repo: https://github.com/cpplint/cpplint
    rev: 1.6.1
    hooks:
@@ -90,14 +92,7 @@ repos:
        language: system
        pass_filenames: false
        files: '^selfdrive/ui/translations/'
-   repo: https://github.com/python-poetry/poetry
-    rev: '1.8.0'
-    hooks:
-    -   id: poetry-check
-        name: validate poetry lock
-        args:
-        - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.4
+    rev: 0.28.6
    hooks:
    -   id: check-github-workflows
@@ -1 +0,0 @@
-3.11.4
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Release" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="Poetry SCons Build Release" CONFIG_NAME="Poetry SCons Build Release" RUN_PATH="_ui">
+  <configuration default="false" name="Build Release" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="Poetry SCons Build Release" CONFIG_NAME="Poetry SCons Build Release" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
@@ -1,6 +1,46 @@
 sunnypilot - 0.9.8.0 (2024-xx-xx)
 ========================
 * Always on driver monitoring toggle
+************************
+* UPDATED: Synced with commaai's openpilot
+  * master commit 4ef757c (July 06, 2024)
+* NEW❗: Default Driving Model: Notre Dame (July 01, 2024)
+* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282!
+  * Select from three distinct acceleration personalities: Eco, Normal, and Sport
+  * Acceleration personalities are integrated directly into the model's acceleration matrix and can be activated in real-time!
+* NEW❗: Longitudinal: Dynamic Personality thanks to rav4kumar!
+  * Dynamically adjusts following distance and reaction based on your "Driving Personality" setting
+  * Personalities adapt in real-time to your speed and the distance to the lead car
+  * Provides a more responsive and tailored driving experience compared to predefined settings
+* UPDATED: Driving Personality: Updated mode names
+  * Aggressive, Moderate, Standard, Relaxed
+* NEW❗: Toyota - Enhanced Blind Spot Monitor (BSM) thanks to arne182, rav4kumar, and eFiniLan!
+  * Enables Blind Spot Monitor (BSM) signals parsing in sunnypilot using the factory Blind Spot Monitor (BSM)
+  * sunnypilot will use debugging CAN messages to receive unfiltered BSM signals, allowing detection of more objects
+  * Supported platforms
+    * RAV4 TSS1, equipped with factory Blind Spot Monitoring (BSM)
+    * Lexus LSS1, equipped with factory Blind Spot Monitoring (BSM)
+    * Toyota TSS1/1.5, equipped with factory Blind Spot Monitoring (BSM)
+    * Prius TSS2, equipped with factory Blind Spot Monitoring (BSM)
+  * NOTE: Only enable this feature if your Toyota/Lexus vehicle has factory Blind Spot Monitor equipped, and mentioned in the supported platforms list
+* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning
+  * Re-tuned and tested by the community (July 1, 2024)
+* UPDATED: Driving Model Selector v5
+  * NEW❗: Driving Model additions
+    * Notre Dame (July 01, 2024) - NDv3
+* UPDATED: Toyota: Continued support for Smart DSU (SDSU) and Radar CAN Filter
+  * In response to the official deprecation of support for Smart DSU (SDSU) and Radar CAN Filter in the upstream ([commaai/openpilot#32777](https://github.com/commaai/openpilot/pull/32777)), sunnypilot will continue maintaining software support for Smart DSU (SDSU) and Radar CAN Filter
+* UPDATED: Continued support for Mapbox navigation
+  * In response to the official temporary deprecation of support for Mapbox navigation in the upstream ([commaai/openpilot#32773](https://github.com/commaai/openpilot/pull/32773)), sunnypilot will continue maintaining software support for Mapbox navigation
+* NEW❗: Toyota - Automatic Brake Hold (AHB) thanks to AlexandreSato!
+  * When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold
+  * NOTE: Only for Toyota/Lexus vehicles with TSS2/LSS2
+* NEW❗: Toyota - Automatic Door Locking and Unlocking thanks to AlexandreSato, cydia2020, and dragonpilot-community!
+  * Auto Lock by Speed: All doors are automatically locked when vehicle speed is approximately 6 mph (10 km/h) or higher
+  * Auto Unlock by Shift to P: All doors are automatically unlocked when shifting the shift lever to P
+* FIXED: Driving Personality:
+  * Maniac mode now correctly enforced when selected
+* Kia Ceed Plug-in Hybrid Non-SCC 2022 support thanks to TerminatorNL!

 sunnypilot - 0.9.7.1 (2024-06-13)
 ========================
@@ -8,23 +8,6 @@ ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}

-COPY SConstruct ${OPENPILOT_PATH}
-
-COPY ./openpilot ${OPENPILOT_PATH}/openpilot
-COPY ./third_party ${OPENPILOT_PATH}/third_party
-COPY ./site_scons ${OPENPILOT_PATH}/site_scons
-COPY ./rednose ${OPENPILOT_PATH}/rednose
-COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
-COPY ./tools ${OPENPILOT_PATH}/tools
-COPY ./release ${OPENPILOT_PATH}/release
-COPY ./common ${OPENPILOT_PATH}/common
-COPY ./opendbc ${OPENPILOT_PATH}/opendbc
-COPY ./cereal ${OPENPILOT_PATH}/cereal
-COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo
-COPY ./msgq ${OPENPILOT_PATH}/msgq
-COPY ./panda ${OPENPILOT_PATH}/panda
-COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
-COPY ./system ${OPENPILOT_PATH}/system
-COPY ./body ${OPENPILOT_PATH}/body
+COPY . ${OPENPILOT_PATH}/

 RUN scons --cache-readonly -j$(nproc)
@@ -1,4 +1,4 @@
-FROM ubuntu:20.04
+FROM ubuntu:24.04

 ENV PYTHONUNBUFFERED 1

@@ -15,7 +15,7 @@ ENV LC_ALL en_US.UTF-8
 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
 RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
+    cd /usr/lib/gcc/arm-none-eabi/* && \
    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp

 # Add OpenCL
@@ -30,23 +30,28 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
    gcc-arm-none-eabi \
    tmux \
    vim \
-    lsb-core \
    libx11-6 \
+    wget \
  && rm -rf /var/lib/apt/lists/*

-ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
-ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
-RUN mkdir -p /tmp/opencl-driver-intel
-
-RUN cd /tmp/opencl-driver-intel && \
-    echo INTEL_DRIVER is $INTEL_DRIVER && \
-    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
-    tar -xzf $INTEL_DRIVER && \
-    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
-    dpkg -i *.deb && \
-    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
    cd / && \
    rm -rf /tmp/opencl-driver-intel

@@ -57,26 +62,23 @@ ENV QTWEBENGINE_DISABLE_SANDBOX 1
 RUN dbus-uuidgen > /etc/machine-id

 ARG USER=batman
-ARG USER_UID=1000
+ARG USER_UID=1001
 RUN useradd -m -s /bin/bash -u $USER_UID $USER
 RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER

-ENV POETRY_VIRTUALENVS_CREATE=false
-ENV PYENV_VERSION=3.11.4
-ENV PYENV_ROOT="/home/$USER/pyenv"
-ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
-
-COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
+COPY --chown=$USER pyproject.toml uv.lock /tmp/
 COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/

+ENV VIRTUAL_ENV=/home/$USER/.venv
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
 RUN cd /tmp && \
    tools/install_python_dependencies.sh && \
+    mkdir -p $VIRTUAL_ENV && \
+    cp -r /tmp/.venv/* $VIRTUAL_ENV && \
    rm -rf /tmp/* && \
-    rm -rf /home/$USER/.cache && \
-    find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
-    rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test
+    rm -rf /home/$USER/.cache

 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot
@@ -1,17 +1,19 @@
 Version 0.9.8 (2024-XX-XX)
 ========================
-* Always on driver monitoring toggle
+* Added toggle to enable driver monitoring even when openpilot is not engaged

-Version 0.9.7 (2024-06-11)
+Version 0.9.7 (2024-06-13)
 ========================
 * New driving model
  * Inputs the past curvature for smoother and more accurate lateral control
  * Simplified neural network architecture in the model's last layers
  * Minor fixes to desire augmentation and weight decay
+* New driver monitoring model
+  * Improved end-to-end bit for phone detection
 * Adjust driving personality with the follow distance button
-* Added toggle to enable driver monitoring even when openpilot is not engaged
 * Support for hybrid variants of supported Ford models
 * Fingerprinting without the OBD-II port on all cars
+* Improved fuzzy fingerprinting for Ford and Volkswagen

 Version 0.9.6 (2024-02-27)
 ========================
@@ -14,6 +14,8 @@ SCons.Warnings.warningAsException(True)

 TICI = os.path.isfile('/TICI')
 AGNOS = TICI
+UBUNTU_FOCAL = int(subprocess.check_output('[ -f /etc/os-release ] && . /etc/os-release && [ "$ID" = "ubuntu" ] && [ "$VERSION_ID" = "20.04" ] && echo 1 || echo 0', shell=True, encoding='utf-8').rstrip())
+Export('UBUNTU_FOCAL')

 Decider('MD5-timestamp')

@@ -1,11 +1,6 @@
-# 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 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.
-
-Imagine this use case:
-* A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet
-* A calibration process subscribes to the `sensorEvents` packet to use the IMU
-* A localization process subscribes to the `sensorEvents` packet to use the IMU also
+cereal is the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs.


 ## Messaging Spec
@@ -32,11 +27,7 @@ Forks of [openpilot](https://github.com/commaai/openpilot) might want to add thi
 spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
 then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
 [custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
-fork will remain backwards-compatible with all versions of mainline cereal/openpilot and your fork.**
-
-## Pub Sub Backends
-
-cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called [msgq](messaging/msgq.cc), a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
+fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**

 Example
 ---
@@ -116,26 +116,28 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    paramsdTemporaryError @50;
    paramsdPermanentError @119;
    actuatorsApiUnavailable @120;
-    manualSteeringRequired @121;
-    manualLongitudinalRequired @122;
-    silentPedalPressed @123;
-    silentButtonEnable @124;
-    silentBrakeHold @125;
-    silentWrongGear @126;
-    spReverseGear @127;
-    preKeepHandsOnWheel @128;
-    promptKeepHandsOnWheel @129;
-    keepHandsOnWheel @130;
-    speedLimitActive @131;
-    speedLimitValueChange @132;
-    e2eLongStop @133;
-    e2eLongStart @134;
-    controlsMismatchLong @135;
-    cruiseEngageBlocked @136;
-    laneChangeRoadEdge @137;
-    speedLimitPreActive @138;
-    speedLimitConfirmed @139;
-    torqueNNLoad @140;
+    espActive @121;
+    manualSteeringRequired @122;
+    manualLongitudinalRequired @123;
+    silentPedalPressed @124;
+    silentButtonEnable @125;
+    silentBrakeHold @126;
+    silentWrongGear @127;
+    spReverseGear @128;
+    preKeepHandsOnWheel @129;
+    promptKeepHandsOnWheel @130;
+    keepHandsOnWheel @131;
+    speedLimitActive @132;
+    speedLimitValueChange @133;
+    e2eLongStop @134;
+    e2eLongStart @135;
+    controlsMismatchLong @136;
+    cruiseEngageBlocked @137;
+    laneChangeRoadEdge @138;
+    speedLimitPreActive @139;
+    speedLimitConfirmed @140;
+    torqueNNLoad @141;
+    spAutoBrakeHold @142;

    radarCanErrorDEPRECATED @15;
    communityFeatureDisallowedDEPRECATED @62;
@@ -214,6 +216,7 @@ struct CarState {
  espDisabled @32 :Bool;
  accFaulted @42 :Bool;
  carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
+  espActive @51 :Bool;

  # cruise state
  cruiseState @10 :CruiseState;
@@ -234,16 +237,16 @@ struct CarState {
  # clutch (manual transmission only)
  clutchPressed @28 :Bool;

-  madsEnabled @51 :Bool;
-  leftBlinkerOn @52 :Bool;
-  rightBlinkerOn @53 :Bool;
-  disengageByBrake @54 :Bool;
-  belowLaneChangeSpeed @55 :Bool;
-  accEnabled @56 :Bool;
-  latActive @57 :Bool;
-  gapAdjustCruiseTr @58 :Int32;
-  endToEndLong @59 :Bool;
-  customStockLong @60 :CustomStockLong;
+  madsEnabled @52 :Bool;
+  leftBlinkerOn @53 :Bool;
+  rightBlinkerOn @54 :Bool;
+  disengageByBrake @55 :Bool;
+  belowLaneChangeSpeed @56 :Bool;
+  accEnabled @57 :Bool;
+  latActive @58 :Bool;
+  gapAdjustCruiseTr @59 :Int32;
+  endToEndLong @60 :Bool;
+  customStockLong @61 :CustomStockLong;

  struct CustomStockLong {
    cruiseButton @0 :Int16;
@@ -539,8 +542,7 @@ struct CarParams {
  startingState @70 :Bool; # Does this car make use of special starting state

  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
-  longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
-  longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
+  longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
  carVin @38 :Text; # VIN number queried during fingerprinting
  dashcamOnly @41: Bool;
@@ -593,8 +595,8 @@ struct CarParams {
    kiBP @2 :List(Float32);
    kiV @3 :List(Float32);
    kf @6 :Float32;
-    deadzoneBP @4 :List(Float32);
-    deadzoneV @5 :List(Float32);
+    deadzoneBPDEPRECATED @4 :List(Float32);
+    deadzoneVDEPRECATED @5 :List(Float32);
  }

  struct LateralINDITuning {
@@ -754,4 +756,5 @@ struct CarParams {
  brakeMaxVDEPRECATED @16 :List(Float32);
  directAccelControlDEPRECATED @30 :Bool;
  maxSteeringAngleDegDEPRECATED @54 :Float32;
+  longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED @61 :Float32;
 }
@@ -18,9 +18,27 @@ enum LongitudinalPersonalitySP {
  relaxed @3;
 }

+enum AccelerationPersonality {
+  sport @0;
+  normal @1;
+  eco @2;
+  stock @3;
+}
+
+enum ModelGeneration {
+  default @0;
+  one @1;
+  two @2;
+  three @3;
+  four @4;
+  five @5;
+}
+
 struct ControlsStateSP @0x81c2f05a394cf4af {
  lateralState @0 :Text;
  personality @8 :LongitudinalPersonalitySP;
+  dynamicPersonality @9 :Bool;
+  accelPersonality @10 :AccelerationPersonality;

  lateralControlState :union {
    indiState @1 :LateralINDIState;
@@ -180,6 +198,9 @@ struct E2eLongStateSP @0xa5cd762cd951a455 {
 struct ModelDataV2SP @0xf98d843bfd7004a3 {
  laneChangePrev @0 :Bool;
  laneChangeEdgeBlock @1 :Bool;
+  customModel @2 :Bool;
+  modelGeneration @3 :ModelGeneration;
+  modelCapabilities @4 :UInt32;
 }

 struct CustomReserved7 @0xb86e6369214c01c8 {
@@ -698,7 +698,6 @@ struct ControlsState @0x97ff69c53601abf1 {
  personality @66 :LongitudinalPersonality;

  longControlState @30 :Car.CarControl.Actuators.LongControlState;
-  vPid @2 :Float32;
  vTargetLead @3 :Float32;
  vCruise @22 :Float32;  # actual set speed
  vCruiseCluster @63 :Float32;  # set speed to display in the UI
@@ -866,6 +865,38 @@ struct ControlsState @0x97ff69c53601abf1 {
  canMonoTimesDEPRECATED @21 :List(UInt64);
  desiredCurvatureRateDEPRECATED @62 :Float32;
  canErrorCounterDEPRECATED @57 :UInt32;
+  vPidDEPRECATED @2 :Float32;
+}
+
+struct DrivingModelData {
+  frameId @0 :UInt32;
+  frameIdExtra @1 :UInt32;
+  frameDropPerc @6 :Float32;
+
+  action @2 :ModelDataV2.Action;
+
+  laneLineMeta @3 :LaneLineMeta;
+  meta @4 :MetaData;
+
+  path @5 :PolyPath;
+
+  struct PolyPath {
+    xCoefficients @0 :List(Float32);
+    yCoefficients @1 :List(Float32);
+    zCoefficients @2 :List(Float32);
+  }
+
+  struct LaneLineMeta {
+    leftY @0 :Float32;
+    rightY @1 :Float32;
+    leftProb @2 :Float32;
+    rightProb @3 :Float32;
+  }
+
+  struct MetaData {
+    laneChangeState @0 :LaneChangeState;
+    laneChangeDirection @1 :LaneChangeDirection;
+  }
 }

 # All SI units and in device frame
@@ -1060,6 +1091,11 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  accels @32 :List(Float32);
  speeds @33 :List(Float32);
  jerks @34 :List(Float32);
+  aTarget @18 :Float32;
+  shouldStop @37: Bool;
+  allowThrottle @38: Bool;
+  allowBrake @39: Bool;
+

  solverExecutionTime @35 :Float32;

@@ -1076,7 +1112,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  aCruiseDEPRECATED @17 :Float32;
  vTargetDEPRECATED @3 :Float32;
  vTargetFutureDEPRECATED @14 :Float32;
-  aTargetDEPRECATED @18 :Float32;
  vStartDEPRECATED @26 :Float32;
  aStartDEPRECATED @27 :Float32;
  vMaxDEPRECATED @20 :Float32;
@@ -2244,7 +2279,6 @@ struct Event {
    carControl @23 :Car.CarControl;
    carOutput @127 :Car.CarOutput;
    longitudinalPlan @24 :LongitudinalPlan;
-    uiPlan @106 :UiPlan;
    ubloxGnss @34 :UbloxGnss;
    ubloxRaw @39 :Data;
    qcomGnss @31 :QcomGnss;
@@ -2260,6 +2294,7 @@ struct Event {
    driverMonitoringState @71: DriverMonitoringState;
    liveLocationKalman @72 :LiveLocationKalman;
    modelV2 @75 :ModelDataV2;
+    drivingModelData @128 :DrivingModelData;
    driverStateV2 @92 :DriverStateV2;

    # camera stuff, each camera state has a matching encode idx
@@ -2365,5 +2400,6 @@ struct Event {
    sensorEventsDEPRECATED @11 :List(SensorEventData);
    lateralPlanDEPRECATED @64 :LateralPlan;
    navModelDEPRECATED @104 :NavModelData;
+    uiPlanDEPRECATED @106 :UiPlan;
  }
 }
@@ -1,10 +0,0 @@
-demo
-bridge
-test_runner
-*.o
-*.os
-*.d
-*.a
-*.so
-messaging_pyx.cpp
-build/
@@ -5,20 +5,13 @@
 #include <string>
 #include <vector>
 #include <utility>
-#include <time.h>

 #include <capnp/serialize.h>

 #include "cereal/gen/cpp/log.capnp.h"
+#include "common/timing.h"
 #include "msgq/ipc.h"

-#ifdef __APPLE__
-#define CLOCK_BOOTTIME CLOCK_MONOTONIC
-#endif
-
-#define MSG_MULTIPLE_PUBLISHERS 100
-
-
 class SubMaster {
 public:
  SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
@@ -53,10 +46,7 @@ public:

  cereal::Event::Builder initEvent(bool valid = true) {
    cereal::Event::Builder event = initRoot<cereal::Event>();
-    struct timespec t;
-    clock_gettime(CLOCK_BOOTTIME, &t);
-    uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
-    event.setLogMonoTime(current_time);
+    event.setLogMonoTime(nanos_since_boot());
    event.setValid(valid);
    return event;
  }
@@ -1,4 +1,3 @@
-#include <time.h>
 #include <assert.h>
 #include <stdlib.h>
 #include <string>
@@ -7,15 +6,8 @@
 #include "cereal/services.h"
 #include "cereal/messaging/messaging.h"

-
 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");

-static inline uint64_t nanos_since_boot() {
-  struct timespec t;
-  clock_gettime(CLOCK_BOOTTIME, &t);
-  return t.tv_sec * 1000000000ULL + t.tv_nsec;
-}
-
 static inline bool inList(const std::vector<const char *> &list, const char *value) {
  for (auto &v : list) {
    if (strcmp(value, v) == 0) return true;
@@ -15,6 +15,7 @@ class TestServices(unittest.TestCase):
  def test_services(self, s):
    service = SERVICE_LIST[s]
    self.assertTrue(service.frequency <= 104)
+    self.assertTrue(service.decimation != 0)

  def test_generated_header(self):
    with tempfile.NamedTemporaryFile(suffix=".h") as f:
@@ -61,7 +61,8 @@ _services: dict[str, tuple] = {
  "driverMonitoringState": (True, 20., 10),
  "wideRoadEncodeIdx": (False, 20., 1),
  "wideRoadCameraState": (True, 20., 20),
-  "modelV2": (True, 20., 40),
+  "drivingModelData": (True, 20., 10),
+  "modelV2": (True, 20.),
  "managerState": (True, 2., 1),
  "uploaderState": (True, 0., 1),
  "navInstruction": (True, 1., 10),
@@ -69,7 +70,7 @@ _services: dict[str, tuple] = {
  "navThumbnail": (True, 0.),
  "navModelDEPRECATED": (True, 2., 4.),
  "mapRenderState": (True, 2., 1.),
-  "uiPlan": (True, 20., 40.),
+  "uiPlanDEPRECATED": (True, 20., 40.),
  "qRoadEncodeIdx": (False, 20.),
  "userFlag": (True, 0., 1),
  "microphone": (True, 10., 10),
@@ -1,7 +1,7 @@
 import jwt
 import requests
 import unicodedata
-from datetime import datetime, timedelta
+from datetime import datetime, timedelta, UTC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version

@@ -24,7 +24,7 @@ class BaseApi:
    return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)

  def _get_token(self, expiry_hours=1, **extra_payload):
-    now = datetime.utcnow()
+    now = datetime.now(UTC).replace(tzinfo=None)
    payload = {
      'identity': self.dongle_id,
      'nbf': now,
@@ -13,7 +13,7 @@ from openpilot.common.api.base import BaseApi
 API_HOST = os.getenv('SUNNYLINK_API_HOST', 'https://stg.api.sunnypilot.ai')
 UNREGISTERED_SUNNYLINK_DONGLE_ID = "UnregisteredDevice"
 MAX_RETRIES = 6
-
+CRASH_LOG_DIR = '/data/community/crashes'

 class SunnylinkApi(BaseApi):
  def __init__(self, dongle_id):
@@ -82,15 +82,17 @@ class SunnylinkApi(BaseApi):
    privkey_path = Path(Paths.persist_root()+"/comma/id_rsa")
    pubkey_path = Path(Paths.persist_root()+"/comma/id_rsa.pub")

+    start_time = time.monotonic()
+    successful_registration = False
    if not pubkey_path.is_file():
      sunnylink_dongle_id = UNREGISTERED_SUNNYLINK_DONGLE_ID
      self._status_update("Public key not found, setting dongle ID to unregistered.")
    else:
+      Params().put("LastSunnylinkPingTime", "0")  # Reset the last ping time to 0 if we are trying to register
      with pubkey_path.open() as f1, privkey_path.open() as f2:
        public_key = f1.read()
        private_key = f2.read()

-      start_time = time.monotonic()
      backoff = 1
      while True:
        register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256')
@@ -102,17 +104,35 @@ class SunnylinkApi(BaseApi):

          resp = self.api_get("v2/pilotauth/", method='POST', timeout=15, imei=imei1, imei2=imei2, serial=serial, comma_dongle_id=comma_dongle_id, public_key=public_key, register_token=register_token)

+          if resp is None:
+            raise Exception("Unable to register device, request was None")
+
+          if resp.status_code in (409, 412):
+            timeout = time.monotonic() - start_time  # Don't retry if the public key is already in use
+            key_in_use = "Public key is already in use, is your key unique? Contact your vendor for a new key."
+            unsafe_key = "Public key is known to not be unique and it's unsafe. Contact your vendor for a new key."
+            error_message = key_in_use if resp.status_code == 409 else unsafe_key
+            raise Exception(error_message)
+
          if resp.status_code != 200:
-            raise Exception(f"Failed to register with sunnylink. Status code: {resp.status_code}")
-          else:
-            dongleauth = json.loads(resp.text)
-            sunnylink_dongle_id = dongleauth["device_id"]
-            if sunnylink_dongle_id:
-              self._status_update("Device registered successfully.")
-              break
+            raise Exception(f"Failed to register with sunnylink. Status code: {resp.status_code}\nData\n:{resp.text}")
+
+          dongleauth = json.loads(resp.text)
+          sunnylink_dongle_id = dongleauth["device_id"]
+          if sunnylink_dongle_id:
+            self._status_update("Device registered successfully.")
+            successful_registration = True
+            break
        except Exception as e:
          if verbose:
            self._status_update(f"Waiting {backoff}s before retry, Exception occurred during registration: [{str(e)}]")
+
+          if not os.path.exists(CRASH_LOG_DIR):
+            os.makedirs(CRASH_LOG_DIR)
+
+          with open(f'{CRASH_LOG_DIR}/error.txt', 'a') as f:
+            f.write(f"[{datetime.now()}] sunnylink: {str(e)}\n")
+
          backoff = min(backoff * 2, 60)
          time.sleep(backoff)

@@ -123,5 +143,13 @@ class SunnylinkApi(BaseApi):

    self.params.put("SunnylinkDongleId", sunnylink_dongle_id or UNREGISTERED_SUNNYLINK_DONGLE_ID)

+    # Set the last ping time to the current time since we were just talking to the API
+    last_ping = int(time.monotonic() * 1e9) if successful_registration else start_time
+    Params().put("LastSunnylinkPingTime", str(last_ping))
+
+    # Disable sunnylink if registration was not successful
+    if not successful_registration:
+      Params().put_bool("SunnylinkEnabled", False)
+
    self.spinner = None
    return sunnylink_dongle_id
@@ -1 +1 @@
-#define CURRENT_MODEL "North Dakota (April 29, 2024)"
+#define CURRENT_MODEL "Notre Dame (July 1, 2024)"
@@ -194,7 +194,6 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"SshEnabled", PERSISTENT | BACKUP},
    {"TermsVersion", PERSISTENT},
-    {"Timezone", PERSISTENT},
    {"TrainingVersion", PERSISTENT},
    {"UbloxAvailable", PERSISTENT},
    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
@@ -210,6 +209,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"UpdaterLastFetchTime", PERSISTENT},
    {"Version", PERSISTENT},

+    {"AccelPersonality", PERSISTENT | BACKUP},
    {"AccMadsCombo", PERSISTENT | BACKUP},
    {"AmapKey1", PERSISTENT | BACKUP},
    {"AmapKey2", PERSISTENT | BACKUP},
@@ -243,6 +243,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"DrivingModelUrl", PERSISTENT},
    {"DynamicExperimentalControl", PERSISTENT | BACKUP},
    {"DynamicLaneProfile", PERSISTENT | BACKUP},
+    {"DynamicPersonality", PERSISTENT | BACKUP},
    {"EnableAmap", PERSISTENT | BACKUP},
    {"EnableGmap", PERSISTENT | BACKUP},
    {"EnableMads", PERSISTENT | BACKUP},
@@ -317,6 +318,10 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"TorqueFriction", PERSISTENT | BACKUP},
    {"TorqueMaxLatAccel", PERSISTENT | BACKUP},
    {"TorquedOverride", PERSISTENT | BACKUP},
+    {"ToyotaAutoHold", PERSISTENT | BACKUP},
+    {"ToyotaAutoLockBySpeed", PERSISTENT | BACKUP},
+    {"ToyotaAutoUnlockByShifter", PERSISTENT | BACKUP},
+    {"ToyotaEnhancedBsm", PERSISTENT | BACKUP},
    {"ToyotaSnG", PERSISTENT | BACKUP},
    {"ToyotaTSS2Long", PERSISTENT | BACKUP},
    {"TrueVEgoUi", PERSISTENT | BACKUP},
@@ -6,7 +6,7 @@ import threading
 import psutil
 from collections import deque

-from setproctitle import getproctitle
+from openpilot.common.threadname import getthreadname

 from openpilot.system.hardware import PC

@@ -62,7 +62,7 @@ class Ratekeeper:
    self._print_delay_threshold = print_delay_threshold
    self._frame = 0
    self._remaining = 0.0
-    self._process_name = getproctitle()
+    self._thread_name = getthreadname()
    self._dts = deque([self._interval], maxlen=100)
    self._last_monitor_time = time.monotonic()

@@ -97,7 +97,7 @@ class Ratekeeper:
    remaining = self._next_frame_time - time.monotonic()
    self._next_frame_time += self._interval
    if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
-      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
+      print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms")
      lagged = True
    self._frame += 1
    self._remaining = remaining
@@ -0,0 +1,8 @@
+from openpilot.common.threadname import setthreadname, getthreadname, LINUX
+
+class TestThreadName:
+  def test_set_get_threadname(self):
+    if LINUX:
+      name = 'TESTING'
+      setthreadname(name)
+      assert name == getthreadname()
@@ -0,0 +1,19 @@
+import ctypes
+import os
+
+LINUX = os.name == 'posix' and os.uname().sysname == 'Linux'
+
+if LINUX:
+  libc = ctypes.CDLL('libc.so.6')
+
+def setthreadname(name: str) -> None:
+  if LINUX:
+    name = name[-15:] + '\0'
+    libc.prctl(15, str.encode(name), 0, 0, 0)
+
+def getthreadname() -> str:
+  if LINUX:
+    name = ctypes.create_string_buffer(16)
+    libc.prctl(16, name)
+    return name.value.decode('utf-8')
+  return ""
@@ -11,12 +11,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
 |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
@@ -27,9 +27,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
 |Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
@@ -54,17 +54,17 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
 |Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
 |Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
-|Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
 |Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
@@ -90,9 +90,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Non-US only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Non-US only) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
@@ -127,7 +127,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
-|Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (Non-US only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Non-US only) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
@@ -185,8 +185,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
@@ -194,8 +194,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
 |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
@@ -206,15 +206,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
@@ -260,42 +260,42 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
 |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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||

 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
@@ -1,53 +0,0 @@
-# Minimal makefile for Sphinx documentation
-#
-
-OPENPILOT_ROOT = `git rev-parse --show-toplevel`
-
-# You can set these variables from the command line, and also
-# from the environment for the first two.
-SPHINXOPTS    ?=
-SPHINXBUILD   ?= sphinx-build
-DOCSDIR       = "$(OPENPILOT_ROOT)/docs"
-SOURCEDIR     = "$(OPENPILOT_ROOT)/build/docs"
-DOCSBUILDDIR  = "$(OPENPILOT_ROOT)/build/docs"
-BUILDDIR      = "$(OPENPILOT_ROOT)/build"
-
-# Put it first so that "make" without argument is like "make help".
-help:
-	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O)
-
-clean:
-	@echo "Cleaning build folder..."
-	rm -rf "$(BUILDDIR)"
-
-.PHONY: help Makefile
-
-# Catch-all target: route all unknown targets to Sphinx using the new
-# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
-%: Makefile
-	@echo "Cleaning build folder..."
-	rm -rf "$(BUILDDIR)"
-	mkdir -p "$(DOCSBUILDDIR)"
-
-	@echo "Copying docs & config to build folder..."
-	cp -a "$(DOCSDIR)" "$(BUILDDIR)"
-	cd "$(OPENPILOT_ROOT)" && \
-		find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" -o -name "*.svg" \) \
-			-not -path "*/.*" \
-			-not -path "./build/*" \
-			-not -path "./docs/*" \
-			-not -path "./xx/*" \
-			-exec cp --parents "{}" ./build/docs/ \;
-
-	@echo "Building rst files..."
-	sphinx-apidoc -o "$(DOCSBUILDDIR)" ../ \
-		../xx ../rednose_repo ../notebooks ../panda_jungle \
-		../third_party \
-		../panda/examples \
-		../scripts \
-		../selfdrive/modeld \
-		../selfdrive/debug \
-		$(shell find .. -type d -name "*test* -not -path "**.venv**" \")
-
-	@echo "Building html files..."
-	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O)
@@ -9,6 +9,7 @@ Most development happens on normal Ubuntu workstations, and not in cars or direc
 ```bash
 # get the latest stuff
 git pull
+git lfs pull
 git submodule update --init --recursive

 # update dependencies
@@ -22,7 +23,7 @@ scons -j8 selfdrive/ui/
 cd selfdrive/ui/ && scons -u -j8

 # test everything
-pytest .
+pytest

 # test just logging services
 cd system/loggerd && pytest .
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:42bc589954cad7f16cef694887dee2c819378f7dacfdddea2ff833ff65a109fd
-size 1122
@@ -1,2 +0,0 @@
-User-agent: *
-Sitemap: https://docs.comma.ai/sitemap.xml
@@ -1,89 +0,0 @@
-openpilot
-==========
-
-
-opendbc
------
-.. autodoxygenindex::
-   :project: opendbc_can
-
-
-cereal
------
-
-messaging
-^^^^^^^^^
-.. autodoxygenindex::
-   :project: msgq_repo_msgq
-
-visionipc
-^^^^^^^^^
-.. autodoxygenindex::
-   :project: msgq_repo_msgq_visionipc
-
-
-selfdrive
---------
-
-camerad
-^^^^^^^
-.. autodoxygenindex::
-   :project: system_camerad_cameras
-
-locationd
-^^^^^^^^^
-.. autodoxygenindex::
-   :project: selfdrive_locationd
-
-ui
-^^
-
-.. autodoxygenindex::
-   :project: selfdrive_ui
-
-replay
-""""""
-.. autodoxygenindex::
-   :project: tools_replay
-
-qt
-""
-.. autodoxygenindex::
-   :project: selfdrive_ui_qt_offroad
-.. autodoxygenindex::
-   :project: selfdrive_ui_qt_maps
-
-proclogd
-^^^^^^^^
-.. autodoxygenindex::
-   :project: system_proclogd
-
-modeld
-^^^^^^
-.. autodoxygenindex::
-   :project: selfdrive_modeld_transforms
-.. autodoxygenindex::
-   :project: selfdrive_modeld_models
-.. autodoxygenindex::
-   :project: selfdrive_modeld_runners
-
-common
-^^^^^^
-.. autodoxygenindex::
-   :project: common
-
-sensorsd
-^^^^^^^^
-.. autodoxygenindex::
-   :project: system_sensord_sensors
-
-pandad
-^^^^^^
-.. autodoxygenindex::
-   :project: selfdrive_pandad
-
-
-rednose
-------
-.. autodoxygenindex::
-   :project: rednose_repo_rednose_helpers
@@ -1,147 +0,0 @@
-# type: ignore
-
-# Configuration file for the Sphinx documentation builder.
-#
-# This file only contains a selection of the most common options. For a full
-# list see the documentation:
-# https://www.sphinx-doc.org/en/master/usage/configuration.html
-
-# -- Path setup --------------------------------------------------------------
-
-# If extensions (or modules to document with autodoc) are in another directory,
-# add these directories to sys.path here. If the directory is relative to the
-# documentation root, use os.path.abspath to make it absolute, like shown here.
-#
-import os
-import sys
-from os.path import exists
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.system.version import get_version
-
-sys.path.insert(0, os.path.abspath('.'))
-sys.path.insert(0, os.path.abspath('..'))
-
-VERSION = get_version()
-
-
-# -- Project information -----------------------------------------------------
-
-project = 'openpilot docs'
-copyright = '2021, comma.ai' # noqa: A001
-author = 'comma.ai'
-version = VERSION
-release = VERSION
-language = 'en'
-
-
-# -- General configuration ---------------------------------------------------
-
-# Add any Sphinx extension module names here, as strings. They can be
-# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
-# ones.
-extensions = [
-  'sphinx.ext.autodoc',   # Auto-generate docs
-  'sphinx.ext.viewcode',  # Add view code link to modules
-  'sphinx_rtd_theme',     # Read The Docs theme
-  'myst_parser',          # Markdown parsing
-  'breathe',              # Doxygen C/C++ integration
-  'sphinx_sitemap',       # sitemap generation for SEO
-]
-
-myst_html_meta = {
-  "description": "openpilot docs",
-  "keywords": "op, openpilot, docs, documentation",
-  "robots": "all,follow",
-  "googlebot": "index,follow,snippet,archive",
-  "property=og:locale": "en_US",
-  "property=og:site_name": "docs.comma.ai",
-  "property=og:url": "https://docs.comma.ai",
-  "property=og:title": "openpilot Documentation",
-  "property=og:type": "website",
-  "property=og:image:type": "image/jpeg",
-  "property=og:image:width": "400",
-  "property=og:image": "https://docs.comma.ai/_static/logo.png",
-  "property=og:image:url": "https://docs.comma.ai/_static/logo.png",
-  "property=og:image:secure_url": "https://docs.comma.ai/_static/logo.png",
-  "property=og:description": "openpilot Documentation",
-  "property=twitter:card": "summary_large_image",
-  "property=twitter:logo": "https://docs.comma.ai/_static/logo.png",
-  "property=twitter:title": "openpilot Documentation",
-  "property=twitter:description": "openpilot Documentation"
-}
-
-html_baseurl = 'https://docs.comma.ai/'
-sitemap_filename = "sitemap.xml"
-
-# Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
-
-# List of patterns, relative to source directory, that match files and
-# directories to ignore when looking for source files.
-# This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = []
-
-
-# -- c docs configuration ---------------------------------------------------
-
-# Breathe Configuration
-# breathe_default_project = "c_docs"
-breathe_build_directory = f"{BASEDIR}/build/docs/html/xml"
-breathe_separate_member_pages = True
-breathe_default_members = ('members', 'private-members', 'undoc-members')
-breathe_domain_by_extension = {
-  "h": "cc",
-}
-breathe_implementation_filename_extensions = ['.c', '.cc']
-breathe_doxygen_config_options = {}
-breathe_projects_source = {}
-
-# only document files that have accompanying .cc files next to them
-print("searching for c_docs...")
-for root, _, files in os.walk(BASEDIR):
-  found = False
-  breath_src = {}
-  breathe_srcs_list = []
-
-  for file in files:
-    ccFile = os.path.join(root, file)[:-2] + ".cc"
-
-    if file.endswith(".h") and exists(ccFile):
-      f = os.path.join(root, file)
-
-      parent_dir_abs = os.path.dirname(f)
-      parent_dir = parent_dir_abs[len(BASEDIR) + 1:]
-      parent_project = parent_dir.replace('/', '_')
-      print(f"\tFOUND: {f} in {parent_project}")
-
-      breathe_srcs_list.append(file)
-      found = True
-
-    if found:
-      breath_src[parent_project] = (parent_dir_abs, breathe_srcs_list)
-      breathe_projects_source.update(breath_src)
-
-print(f"breathe_projects_source: {breathe_projects_source.keys()}")
-
-# -- Options for HTML output -------------------------------------------------
-
-# The theme to use for HTML and HTML Help pages.  See the documentation for
-# a list of builtin themes.
-#
-html_theme = 'sphinx_rtd_theme'
-html_show_copyright = True
-
-# Add any paths that contain custom static files (such as style sheets) here,
-# relative to this directory. They are copied after the builtin static files,
-# so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
-html_logo = '_static/logo.png'
-html_favicon = '_static/favicon.ico'
-html_theme_options = {
-  'logo_only': False,
-  'display_version': True,
-  'vcs_pageview_mode': 'blob',
-  'style_nav_header_background': '#000000',
-}
-html_extra_path = ['_static']
@@ -1,42 +0,0 @@
-# openpilot Documentation
-
-```{include} README.md
-```
-
-```{toctree}
-:caption: 'General'
-:maxdepth: 4
-
-CARS.md
-CONTRIBUTING.md
-INTEGRATION.md
-LIMITATIONS.md
-SAFETY.md
-```
-
-```{toctree}
-:caption: 'Overview'
-:maxdepth: 2
-
-overview.rst
-```
-
-## API Documentation
-
- {ref}`genindex`
- {ref}`modindex`
- {ref}`search`
-
-```{toctree}
-:caption: 'Python API'
-:maxdepth: 2
-
-modules.rst
-```
-
-```{toctree}
-:caption: 'C/C++ API'
-:maxdepth: 4
-
-c_docs.rst
-```
@@ -0,0 +1,12 @@
+This is the source for a new https://docs.comma.ai. It's not hosted anywhere yet, but it's easy to run locally.
+
+https://www.mkdocs.org/getting-started/
+
+```
+pip install mkdocs mkdocs-terminal
+mkdocs serve
+```
+
+inspiration:
+* https://rerun.io/docs/
+* https://docs.expo.dev/
@@ -0,0 +1,5 @@
+# Developing a car brand port
+
+A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
@@ -0,0 +1,5 @@
+# Developing a car model port
+
+A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
@@ -0,0 +1,9 @@
+# What is a car port?
+
+All car ports live in `openpilot/selfdrive/car/`.
+
+* interface.py: Interface for the car, defines the CarInterface class
+* carstate.py: Reads CAN from car and builds openpilot CarState message
+* carcontroller.py: Builds CAN messages to send to car
+* values.py: Limits for actuation, general constants for cars, and supported car documentation
+* radar_interface.py: Interface for parsing radar points from the car
@@ -0,0 +1,12 @@
+# What is openpilot?
+
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+
+
+## How do I use it?
+
+openpilot is designed to be used on the comma 3X.
+
+## How does it work?
+
+In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.
@@ -0,0 +1,4 @@
+This section is for how-to's on common workflows.
+
+They'll be like this blog post we wrote:
+https://blog.comma.ai/turning-the-speed-blue/
@@ -0,0 +1,18 @@
+site_name: openpilot docs
+docs_dir: docs
+repo_url: https://github.com/commaai/openpilot/
+
+theme:
+  name: terminal
+  features:
+    - navigation.side.toc.hide
+
+nav:
+  - Getting Started:
+    - What is openpilot?: getting-started/what-is-openpilot.md
+  - How-to:
+    - Turn the speed blue: how-to/turning-the-speed-blue.md
+  - Car Porting:
+    - What is a car port?: car-porting/what-is-a-car-port.md
+    - Porting a car brand: car-porting/brand-port.md
+    - Porting a car model: car-porting/model-port.md
@@ -1,72 +0,0 @@
-openpilot
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   Debugging <selfdrive/debug/README.md>
-   system/loggerd/README.md
-   Driver Monitoring <selfdrive/monitoring/README.md>
-   Process Replay <selfdrive/test/process_replay/README.md>
-
-cereal
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   cereal/README.md
-   cereal/messaging/msgq.md
-
-models
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   models/README.md
-
-opendbc
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   opendbc/README.md
-
-panda
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   panda/README.md
-   panda/UPDATING.md
-   panda/board/README.md
-   panda/drivers/linux/README.md
-   panda/drivers/windows/README.md
-
-
-rednose
-=========
-.. toctree::
-   :maxdepth: 4
-
-   rednose_repo/README.md
-
-
-tools
-=========
-.. toctree::
-   :maxdepth: 4
-
-   tools/CTF.md
-   tools/joystick/README.md
-   tools/lib/README.md
-   tools/plotjuggler/README.md
-   tools/replay/README.md
-   tools/serial/README.md
-   Simulator <tools/sim/README.md>
-   tools/ssh/README.md
-   Webcam <tools/webcam/README.md>
-   tools/cabana/README.md
@@ -87,7 +87,7 @@ function launch {
    ./build.py
  fi

-  ./sunnylink.py; ./mapd_installer.py; ./manager.py
+  ./mapd_installer.py; ./manager.py

  # if broken, keep on screen error
  while true; do sleep 1; done
@@ -1,15 +1,140 @@
 [project]
 name = "openpilot"
 requires-python = ">= 3.11"
-readme = "README.md"
 license = {text = "MIT License"}
+version = "0.1.0"
+description = "an open source driver assistance system"
+authors = [
+  {name ="Vehicle Researcher", email="user@comma.ai"}
+]
+
+dependencies = [
+  # multiple users
+  "sounddevice",  # micd + soundd
+  "pyserial",     # pigeond + qcomgpsd
+  "requests",     # many one-off uses
+  "sympy",        # rednose + friends
+  "crcmod",       # cars + qcomgpsd
+  "tqdm",         # cars (fw_versions.py) on start + many one-off uses
+
+  # hardwared
+  "smbus2", # configuring amp
+
+  # core
+  "cffi",
+  "scons",
+  "pycapnp",
+  "Cython",
+  "setuptools",
+  "numpy < 2.0.0", # control does not support numpy 2
+
+  # body / webrtcd
+  "aiohttp",
+  "aiortc",
+  "pyaudio",
+
+  # panda
+  "libusb1",
+  "spidev; platform_system == 'Linux'",
+
+  # modeld
+  "onnx >= 1.14.0",
+  "onnxruntime >=1.16.3; platform_system == 'Linux' and platform_machine == 'aarch64'",
+  "onnxruntime-gpu >=1.16.3; platform_system == 'Linux' and platform_machine == 'x86_64'",
+
+  # logging
+  "pyzmq",
+  "sentry-sdk",
+
+  # athena
+  "PyJWT",
+  "json-rpc",
+  "websocket_client",
+
+  # acados deps
+  "casadi",
+  "future-fstrings",
+
+  # these should be removed
+  "psutil",
+  "pycryptodome", # used in updated/casync, panda, body, and a test
+
+  #logreader
+  "zstd",
+]
+
+[project.optional-dependencies]
+docs = [
+  "Jinja2",
+]
+
+testing = [
+  "coverage",
+  "hypothesis ==6.47.*",
+  "mypy",
+  "pre-commit",
+  "pytest",
+  "pytest-cov",
+  "pytest-cpp",
+  "pytest-subtests",
+  "pytest-xdist",
+  "pytest-timeout",
+  "pytest-randomly",
+  "pytest-asyncio",
+  "pytest-mock",
+  "pytest-repeat",
+  "ruff"
+]
+
+dev = [
+  "av",
+  "azure-identity",
+  "azure-storage-blob",
+  "breathe",
+  "control",
+  "dictdiffer",
+  "flaky",
+  "inputs",
+  "lru-dict",
+  "matplotlib",
+  "metadrive-simulator; platform_machine != 'aarch64'",
+  "mpld3",
+  "myst-parser",
+  "natsort",
+  "opencv-python-headless",
+  "parameterized >=0.8, <0.9",
+  #pprofile = "*"
+  "pyautogui",
+  "pygame",
+  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
+  "pywinctl",
+  "pyprof2calltree",
+  "rerun-sdk",
+  "tabulate",
+  "types-requests",
+  "types-tabulate",
+
+  # this is only pinned since 5.15.11 is broken
+  "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
+
+]
+
+[tool.uv.sources]
+metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "opencv_headless" }

 [project.urls]
 Homepage = "https://comma.ai"

+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[tool.hatch.build.targets.wheel]
+packages = [ "." ]
+
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
@@ -25,7 +150,6 @@ testpaths = [
  "selfdrive/controls",
  "selfdrive/locationd",
  "selfdrive/monitoring",
-  "selfdrive/navd/tests",
  "selfdrive/test/longitudinal_maneuvers",
  "selfdrive/test/process_replay/test_fuzzy.py",
  "system/updated",
@@ -76,128 +200,6 @@ warn_return_any=true
 # allow implicit optionals for default args
 implicit_optional = true

-
-[tool.poetry]
-name = "openpilot"
-version = "0.1.0"
-description = "an open source driver assistance system"
-authors = ["Vehicle Researcher <user@comma.ai>"]
-license = "MIT"
-readme = "README.md"
-repository = "https://github.com/commaai/openpilot"
-documentation = "https://docs.comma.ai"
-
-[tool.poetry.dependencies]
-python = "~3.11"
-
-# multiple users
-sounddevice = "*"  # micd + soundd
-pyserial = "*"     # pigeond + qcomgpsd
-requests = "*"     # many one-off uses
-sympy = "*"        # rednose + friends
-crcmod = "*"       # cars + qcomgpsd
-
-# hardwared
-smbus2 = "*"  # configuring amp
-
-# core
-cffi = "*"
-scons = "*"
-pycapnp = "*"
-Cython = "*"
-numpy = "*"
-
-# body / webrtcd
-aiohttp = "*"
-aiortc = "*"
-pyaudio = "*"
-
-# panda
-libusb1 = "*"
-spidev = { version = "*", platform = "linux" }
-
-# modeld
-onnx = ">=1.14.0"
-onnxruntime = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'aarch64'" }
-onnxruntime-gpu = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'x86_64'" }
-
-# logging
-pyzmq = "*"
-sentry-sdk = "*"
-
-# athena
-PyJWT = "*"
-json-rpc = "*"
-websocket_client = "*"
-
-# acados deps
-casadi = "*"
-future-fstrings = "*"
-
-# these should be removed
-psutil = "*"
-timezonefinder = "*"  # just used for nav ETA
-setproctitle = "*"
-pycryptodome = "*"  # used in updated/casync, panda, body, and a test
-
-[tool.poetry.group.dev.dependencies]
-av = "*"
-azure-identity = "*"
-azure-storage-blob = "*"
-breathe = "*"
-control = "*"
-coverage = "*"
-dictdiffer = "*"
-flaky = "*"
-hypothesis = "~6.47"
-inputs = "*"
-Jinja2 = "*"
-lru-dict = "*"
-matplotlib = "*"
-# No release for this fix https://github.com/metadriverse/metadrive/issues/632. Pinned to this commit until next release
-metadrive-simulator = {git = "https://github.com/metadriverse/metadrive.git", rev ="233a3a1698be7038ec3dd050ca10b547b4b3324c", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
-mpld3 = "*"
-mypy = "*"
-myst-parser = "*"
-natsort = "*"
-opencv-python-headless = "*"
-parameterized = "^0.8"
-pprofile = "*"
-polyline = "*"
-pre-commit = "*"
-pyautogui = "*"
-pytools = "<=2024.1.3" # our pinned version of pyopencl use a broken version of pytools
-pyopencl = "==2023.1.4"  # 2024.1 is broken on arm64
-pygame = "*"
-pywinctl = "*"
-pyprof2calltree = "*"
-pytest = "*"
-pytest-cov = "*"
-pytest-cpp = "*"
-pytest-subtests = "*"
-pytest-xdist = "*"
-pytest-timeout = "*"
-pytest-randomly = "*"
-pytest-asyncio = "*"
-pytest-mock = "*"
-pytest-repeat = "*"
-rerun-sdk = "*"
-ruff = "*"
-sphinx = "*"
-sphinx-rtd-theme = "*"
-sphinx-sitemap = "*"
-tabulate = "*"
-types-requests = "*"
-types-tabulate = "*"
-tqdm = "*"
-
-# this is only pinned since 5.15.11 is broken
-pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
-
-[build-system]
-requires = ["poetry-core"]
-build-backend = "poetry.core.masonry.api"
-
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
@@ -207,7 +209,8 @@ lint.select = [
  "UP",  # pyupgrade
  "TRY302", "TRY400", "TRY401", # try/excepts
  "RUF008", "RUF100",
-  "TID251"
+  "TID251",
+  "PLR1704",
 ]
 lint.ignore = [
  "E741",
@@ -0,0 +1,36 @@
+# openpilot releases
+
+## release checklist
+
+**Go to `devel-staging`**
+- [ ] update `devel-staging`: `git reset --hard origin/master-ci`
+- [ ] open a pull request from `devel-staging` to `devel`
+
+**Go to `devel`**
+- [ ] update RELEASES.md
+- [ ] close out milestone
+- [ ] post on Discord dev channel
+- [ ] bump version on master: `common/version.h` and `RELEASES.md`
+- [ ] merge the pull request
+
+tests:
+- [ ] update from previous release -> new release
+- [ ] update from new release -> previous release
+- [ ] fresh install with `openpilot-test.comma.ai`
+- [ ] drive on fresh install
+- [ ] comma body test
+- [ ] no submodules or LFS
+- [ ] check sentry, MTBF, etc.
+
+**Go to `release3`**
+- [ ] publish the blog post
+- [ ] `git reset --hard origin/release3-staging`
+- [ ] tag the release
+```
+git tag v0.X.X <commit-hash>
+git push origin v0.X.X
+```
+- [ ] create GitHub release
+- [ ] final test install on `openpilot.comma.ai`
+- [ ] update production
+- [ ] Post on Discord, X, etc.
@@ -1,7 +1,7 @@
 #!/bin/bash

 while read hash submodule ref; do
-  git -C $submodule fetch --depth 2000 origin master
+  git -C $submodule fetch --depth 3000 origin master
  git -C $submodule branch -r --contains $hash | grep "origin/master"
  if [ "$?" -eq 0 ]; then
    echo "$submodule ok"
@@ -23,7 +23,7 @@ blacklist = [
  "^common/tests/",

  # particularly large text files
-  "poetry.lock",
+  "uv.lock",
  "third_party/catch2",
  "selfdrive/car/tests/test_models.*",

@@ -33,16 +33,22 @@ blacklist = [

  "matlab.*.md",

-  ".git$",  # for submodules
  ".git/",
  ".github/",
  ".devcontainer/",
  "Darwin/",
  ".vscode/",

-  # no LFS
+  # common things
+  "LICENSE",
+  "Dockerfile",
+  ".pre-commit",
+
+  # no LFS or submodules in release
  ".lfsconfig",
  ".gitattributes",
+  ".git$",
+  ".gitmodules",
 ]

 # Sunnypilot blacklist
@@ -3,7 +3,7 @@ import os
 import time
 import numpy as np
 from multiprocessing import Process
-from setproctitle import setproctitle
+from openpilot.common.threadname import setthreadname

 def waste(core):
  os.sched_setaffinity(0, [core,])
@@ -16,7 +16,7 @@ def waste(core):
  j = 0
  while 1:
    if (i % 100) == 0:
-      setproctitle("%3d: %8d" % (core, i))
+      setthreadname("%3d: %8d" % (core, i))
      lt = time.monotonic()
      print("%3d: %8d %f  %.2f" % (core, i, lt-st, j))
      st = lt
@@ -56,6 +56,7 @@ class Car:
    self.mads_disengage_lateral_on_brake = self.params.get_bool("DisengageLateralOnBrake")
    self.mads_dlob = self.enable_mads and self.mads_disengage_lateral_on_brake
    self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake
+    self.sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
    self.CP.alternativeExperience = 0
    if not self.disengage_on_accelerator:
      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
@@ -63,6 +64,8 @@ class Car:
      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
    elif self.mads_ndlob:
      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISABLE_DISENGAGE_LATERAL_ON_BRAKE
+    if self.sp_toyota_auto_brake_hold:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB

    if self.CP.customStockLongAvailable and self.CP.pcmCruise and self.params.get_bool("CustomStockLong"):
      self.CP.pcmCruiseSpeed = False
@@ -232,6 +232,7 @@ FW_VERSIONS = {
      b'68540436AD',
      b'68598670AB',
      b'68598670AC',
+      b'68645752AA',
    ],
    (Ecu.eps, 0x75a, None): [
      b'68416741AA',
@@ -253,6 +254,7 @@ FW_VERSIONS = {
      b'68526772AD ',
      b'68526772AH ',
      b'68599493AC ',
+      b'68657433AA ',
    ],
    (Ecu.hybrid, 0x7e2, None): [
      b'05185116AF',
@@ -267,6 +269,7 @@ FW_VERSIONS = {
      b'68540977AH',
      b'68540977AK',
      b'68597647AE',
+      b'68632416AB',
    ],
  },
  CAR.JEEP_GRAND_CHEROKEE: {
@@ -290,6 +293,7 @@ FW_VERSIONS = {
    (Ecu.abs, 0x747, None): [
      b'68252642AG',
      b'68306178AD',
+      b'68336275AB',
      b'68336276AB',
    ],
    (Ecu.fwdRadar, 0x753, None): [
@@ -311,6 +315,7 @@ FW_VERSIONS = {
      b'68284456AI ',
      b'68284477AF ',
      b'68325564AH ',
+      b'68325564AI ',
      b'68325565AH ',
      b'68325565AI ',
      b'68325618AD ',
@@ -375,6 +380,7 @@ FW_VERSIONS = {
      b'68449435AE ',
      b'68496223AA ',
      b'68504959AD ',
+      b'68504959AE ',
      b'68504960AD ',
      b'68504993AC ',
    ],
@@ -433,6 +439,7 @@ FW_VERSIONS = {
      b'68527381AE',
      b'68527382AE',
      b'68527383AD',
+      b'68527383AE',
      b'68527387AE',
      b'68527403AC',
      b'68527403AD',
@@ -536,6 +543,7 @@ FW_VERSIONS = {
      b'05190341AD',
      b'68378695AJ ',
      b'68378696AJ ',
+      b'68378696AK ',
      b'68378701AI ',
      b'68378702AI ',
      b'68378710AL ',
@@ -129,7 +129,7 @@ class CarInterface(CarInterfaceBase):
        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
    if self.get_sp_pedal_disengage(ret):
      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled

    if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
      if ret.gasPressed and not ret.cruiseState.enabled:
@@ -47,7 +47,7 @@ class CAR(Platforms):
    CHRYSLER_PACIFICA_2017_HYBRID.specs,
  )
  CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")],
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-24")],
    CHRYSLER_PACIFICA_2017_HYBRID.specs,
  )
  CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
@@ -91,8 +91,8 @@ class CarHarness(EnumBase):
  subaru_d = BaseCarHarness("Subaru D connector")
  fca = BaseCarHarness("FCA connector")
  ram = BaseCarHarness("Ram connector")
-  vw = BaseCarHarness("VW connector")
-  j533 = BaseCarHarness("J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
+  vw_a = BaseCarHarness("VW A connector")
+  vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
  hyundai_a = BaseCarHarness("Hyundai A connector")
  hyundai_b = BaseCarHarness("Hyundai B connector")
  hyundai_c = BaseCarHarness("Hyundai C connector")
@@ -71,25 +71,35 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que

 if __name__ == "__main__":
  import argparse
+  from openpilot.common.params import Params
+  from openpilot.selfdrive.car.fw_versions import set_obd_multiplexing

  parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
  parser.add_argument('--debug', action='store_true')
  parser.add_argument('--bus', type=int, default=1)
+  parser.add_argument('--no-obd', action='store_true')
  parser.add_argument('--timeout', type=float, default=1.0)
  args = parser.parse_args()

  logcan = messaging.sub_sock('can')
  sendcan = messaging.pub_sock('sendcan')

-  time.sleep(1.0)
+  # Set up params for pandad
+  params = Params()
+  params.remove("FirmwareQueryDone")
+  params.put_bool("IsOnroad", False)
+  time.sleep(0.2)  # thread is 10 Hz
+  params.put_bool("IsOnroad", True)
+
+  set_obd_multiplexing(params, not args.no_obd)

  print("Getting ECU addresses ...")
  ecu_addrs = get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)

  print()
-  print("Found ECUs on addresses:")
+  print("Found ECUs on rx addresses:")
  for addr, subaddr, _ in ecu_addrs:
-    msg = f"  0x{hex(addr)}"
+    msg = f"  {hex(addr)}"
    if subaddr is not None:
      msg += f" (sub-address: {hex(subaddr)})"
    print(msg)
@@ -15,7 +15,7 @@ class CarState(CarStateBase):
    super().__init__(CP)
    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
    if CP.transmissionType == TransmissionType.automatic:
-      self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
+      self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]

    self.vehicle_sensors_valid = False

@@ -78,7 +78,7 @@ class CarState(CarStateBase):

    # gear
    if self.CP.transmissionType == TransmissionType.automatic:
-      gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"])
+      gear = self.shifter_values.get(cp.vl["PowertrainData_10"]["TrnRng_D_Rq"])
      ret.gearShifter = self.parse_gear_shifter(gear)
    elif self.CP.transmissionType == TransmissionType.manual:
      ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
@@ -157,7 +157,7 @@ class CarState(CarStateBase):

    if CP.transmissionType == TransmissionType.automatic:
      messages += [
-        ("Gear_Shift_by_Wire_FD1", 10),
+        ("PowertrainData_10", 10),
      ]
    elif CP.transmissionType == TransmissionType.manual:
      messages += [
@@ -27,10 +27,6 @@ class CarInterface(CarInterfaceBase):
    ret.steerActuatorDelay = 0.2
    ret.steerLimitTimer = 1.0

-    ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [0.5]
-    ret.longitudinalTuning.kiV = [0.]
-
    CAN = CanBus(fingerprint=fingerprint)
    cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
    if CAN.main >= 4:
@@ -109,7 +105,7 @@ class CarInterface(CarInterfaceBase):
        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
    if self.get_sp_pedal_disengage(ret):
      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled

    if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
      if ret.gasPressed and not ret.cruiseState.enabled:
@@ -53,7 +53,12 @@ class CarInterface(CarInterfaceBase):
    friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)

    def sig(val):
-      return 1 / (1 + exp(-val)) - 0.5
+      # https://timvieira.github.io/blog/post/2014/02/11/exp-normalize-trick
+      if val >= 0:
+        return 1 / (1 + exp(-val)) - 0.5
+      else:
+        z = exp(val)
+        return z / (1 + z) - 0.5

    # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
    # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
@@ -94,11 +99,7 @@ class CarInterface(CarInterfaceBase):
    else:
      ret.transmissionType = TransmissionType.automatic

-    ret.longitudinalTuning.deadzoneBP = [0.]
-    ret.longitudinalTuning.deadzoneV = [0.15]
-
-    ret.longitudinalTuning.kpBP = [5., 35.]
-    ret.longitudinalTuning.kiBP = [0.]
+    ret.longitudinalTuning.kiBP = [5., 35.]

    if candidate in CAMERA_ACC_CAR:
      ret.experimentalLongitudinalAvailable = True
@@ -110,8 +111,7 @@ class CarInterface(CarInterfaceBase):
      ret.minSteerSpeed = 10 * CV.KPH_TO_MS

      # Tuning for experimental long
-      ret.longitudinalTuning.kpV = [2.0, 1.5]
-      ret.longitudinalTuning.kiV = [0.72]
+      ret.longitudinalTuning.kiV = [2.0, 1.5]
      ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
      ret.vEgoStopping = 0.25
      ret.vEgoStarting = 0.25
@@ -132,8 +132,7 @@ class CarInterface(CarInterfaceBase):
      ret.minSteerSpeed = 7 * CV.MPH_TO_MS

      # Tuning
-      ret.longitudinalTuning.kpV = [2.4, 1.5]
-      ret.longitudinalTuning.kiV = [0.36]
+      ret.longitudinalTuning.kiV = [2.4, 1.5]

    # These cars have been put into dashcam only due to both a lack of users and test coverage.
    # These cars likely still work fine. Once a user confirms each car works and a test route is
@@ -149,7 +148,7 @@ class CarInterface(CarInterfaceBase):

    ret.steerLimitTimer = 0.4
    ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
-    ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
+    ret.longitudinalActuatorDelay = 0.5  # large delay to initially start braking

    if candidate == CAR.CHEVROLET_VOLT:
      ret.lateralTuning.pid.kpBP = [0., 40.]
@@ -245,7 +244,7 @@ class CarInterface(CarInterfaceBase):
        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
    if self.get_sp_pedal_disengage(ret):
      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled

    if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
      if ret.gasPressed and not ret.cruiseState.enabled:
@@ -242,7 +242,7 @@ class CarState(CarStateBase):
      ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active

    ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"]
-    ret.cruiseState.enabled = self.pcm_cruise_enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
+    ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
    ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])

    # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
@@ -924,7 +924,10 @@ FW_VERSIONS = {
      b'36161-T20-A070\x00\x00',
      b'36161-T20-A080\x00\x00',
      b'36161-T24-T070\x00\x00',
+      b'36161-T47-A050\x00\x00',
      b'36161-T47-A070\x00\x00',
+      b'8S102-T20-AA10\x00\x00',
+      b'8S102-T47-AA10\x00\x00',
    ],
    (Ecu.vsa, 0x18da28f1, None): [
      b'57114-T20-AB40\x00\x00',
@@ -77,17 +77,13 @@ class CarInterface(CarInterfaceBase):
    ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward

    if candidate in HONDA_BOSCH:
-      ret.longitudinalTuning.kpV = [0.25]
-      ret.longitudinalTuning.kiV = [0.05]
-      ret.longitudinalActuatorDelayUpperBound = 0.5 # s
+      ret.longitudinalActuatorDelay = 0.5 # s
      if candidate in HONDA_BOSCH_RADARLESS:
        ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN  # stock uses -4.0 m/s^2 once stopped but limited by safety model
    else:
      # default longitudinal tuning for all hondas
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
+      ret.longitudinalTuning.kiBP = [0., 5., 35.]
+      ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]

    eps_modified = False
    for fw in car_fw:
@@ -297,12 +293,12 @@ class CarInterface(CarInterfaceBase):
        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
    if self.get_sp_pedal_disengage(ret):
      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled

    if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
      if ret.gasPressed and not ret.cruiseState.enabled:
        self.CS.accEnabled = False
-      self.CS.accEnabled = self.CS.pcm_cruise_enabled
+      self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled

    ret, self.CS = self.get_sp_common_state(ret, self.CS,
                                            min_enable_speed_pcm=(self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed),
@@ -149,8 +149,8 @@ class CAR(Platforms):
  )
  HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
    [
-      HondaCarDocs("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
-      HondaCarDocs("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
    ],
    HONDA_CIVIC_BOSCH.specs,
    dbc_dict('honda_civic_ex_2022_can_generated', None),
@@ -117,9 +117,13 @@ class CarState(CarStateBase):
      ret.cruiseState.standstill = False
      ret.cruiseState.nonAdaptive = False
    elif self.CP.carFingerprint in NON_SCC_CAR:
-      ret.cruiseState.available = cp.vl['EMS16']['CRUISE_LAMP_M'] != 0
-      ret.cruiseState.enabled = cp.vl["LVR12"]['CF_Lvr_CruiseSet'] != 0
-      ret.cruiseState.speed = cp.vl["LVR12"]["CF_Lvr_CruiseSet"] * speed_conv
+      cruise_available_msg = "E_CRUISE_CONTROL" if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) else "EMS16"
+      cruise_enabled_msg = "E_CRUISE_CONTROL" if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) else "LVR12"
+      cruise_speed_msg = "ELECT_GEAR" if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) else "LVR12"
+      cruise_speed_sig = "VSetDis" if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) else "CF_Lvr_CruiseSet"
+      ret.cruiseState.available = cp.vl[cruise_available_msg]["CRUISE_LAMP_M"] != 0
+      ret.cruiseState.enabled = cp.vl[cruise_enabled_msg]["CF_Lvr_CruiseSet"] != 0
+      ret.cruiseState.speed = cp.vl[cruise_speed_msg][cruise_speed_sig] * speed_conv
      ret.cruiseState.standstill = False
      ret.cruiseState.nonAdaptive = False
    else:
@@ -135,6 +139,7 @@ class CarState(CarStateBase):
    ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
    ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
    ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
+    ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
    ret.brakeLightsDEPRECATED = bool(cp.vl["TCS13"]["BrakeLight"])
    ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED

@@ -364,6 +369,8 @@ class CarState(CarStateBase):

    if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
      messages.append(("ELECT_GEAR", 20))
+      if CP.carFingerprint in NON_SCC_CAR:
+        messages.append(("E_CRUISE_CONTROL", 10))
    elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
      pass
    elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
@@ -1,44 +1,11 @@
-# ruff: noqa: E501
 from cereal import car
 from openpilot.selfdrive.car.hyundai.values import CAR

 Ecu = car.CarParams.Ecu

-FINGERPRINTS = {
-  CAR.HYUNDAI_SANTA_FE: [{
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
-  },
-  {
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
-  },
-  {
-    67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8
-  }],
-  CAR.HYUNDAI_SONATA: [{
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
-  }],
-  CAR.KIA_STINGER: [{
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
-  }],
-  CAR.GENESIS_G90: [{
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
-  }],
-  CAR.HYUNDAI_KONA_EV: [{
-    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
-  }],
-  CAR.HYUNDAI_KONA_EV_2022: [{
-    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8
-  }],
-  CAR.KIA_NIRO_EV: [{
-    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
-  }],
-  CAR.KIA_OPTIMA_H: [{
-    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
-  },
-  {
-    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
-  }],
-}
+# The existence of SCC or RDR in the fwdRadar FW usually determines the radar's function,
+# i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does
+

 FW_VERSIONS = {
  CAR.HYUNDAI_AZERA_6TH_GEN: {
@@ -709,6 +676,7 @@ FW_VERSIONS = {
      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4000 191211',
      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4100 200706',
      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.03 95740-Q4000 180821',
+      b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.02 95740-Q4000 180705',
      b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.03 95740-Q4000 180821',
      b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.00 99211-Q4000 191211',
      b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.01 99211-Q4500 210428',
@@ -982,7 +950,9 @@ FW_VERSIONS = {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00NE1 MFC  AT CAN LHD 1.00 1.01 99211-GI010 211007',
      b'\xf1\x00NE1 MFC  AT CAN LHD 1.00 1.05 99211-GI010 220614',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.00 99211-GI100 230915',
      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI010 211007',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI100 240110',
      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI010 230110',
      b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
@@ -990,6 +960,7 @@ FW_VERSIONS = {
      b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.00 99211-GI020 230719',
      b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.05 99211-GI010 220614',
      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI020 230719',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI100 230915',
      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
@@ -1190,6 +1161,14 @@ FW_VERSIONS = {
      b'\xf1\x006T6J0_C2\x00\x006T6K1051\x00\x00TOS4N20NS2\x00\x00\x00\x00',
    ],
  },
+  CAR.KIA_CEED_PHEV_2022_NON_SCC: {
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x00CD  MDPS C 1.00 1.01 56310-XX000 4CPHC101',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00CDH LKAS AT EUR LHD 1.00 1.01 99211-CR700 931',
+    ],
+  },
  CAR.KIA_FORTE_2019_NON_SCC: {
    (Ecu.eps, 0x7D4, None): [
      b'\xf1\x00BD  MDPS C 1.00 1.04 56310/M6000 4BDDC104',
@@ -41,7 +41,7 @@ def create_lkas11(packer, frame, CP, apply_steer, steer_req,
                           CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN,
                           CAR.HYUNDAI_ELANTRA_2022_NON_SCC, CAR.GENESIS_G70_2021_NON_SCC, CAR.KIA_SELTOS_2023_NON_SCC,
-                           CAR.HYUNDAI_BAYON_1ST_GEN_NON_SCC):
+                           CAR.HYUNDAI_BAYON_1ST_GEN_NON_SCC, CAR.KIA_CEED_PHEV_2022_NON_SCC):
    values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
    values["CF_Lkas_LdwsOpt_USM"] = 2

@@ -91,14 +91,10 @@ class CarInterface(CarInterfaceBase):

    # *** longitudinal control ***
    if candidate in CANFD_CAR:
-      ret.longitudinalTuning.kpV = [0.1]
-      ret.longitudinalTuning.kiV = [0.0]
      ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR)
      if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC and not hda2:
        ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
    else:
-      ret.longitudinalTuning.kpV = [0.5]
-      ret.longitudinalTuning.kiV = [0.0]
      ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | NON_SCC_CAR)
      if candidate in CAMERA_SCC_CAR:
        ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
@@ -109,8 +105,7 @@ class CarInterface(CarInterfaceBase):
    ret.startingState = True
    ret.vEgoStarting = 0.1
    ret.startAccel = 1.0
-    ret.longitudinalActuatorDelayLowerBound = 0.5
-    ret.longitudinalActuatorDelayUpperBound = 0.5
+    ret.longitudinalActuatorDelay = 0.5

    if DBC[ret.carFingerprint]["radar"] is None:
      if ret.spFlags & (HyundaiFlagsSP.SP_ENHANCED_SCC | HyundaiFlagsSP.SP_CAMERA_SCC_LEAD):
@@ -243,7 +238,7 @@ class CarInterface(CarInterfaceBase):
          self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
    if self.get_sp_pedal_disengage(ret):
      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled

    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_buttons[-1] == 3))

@@ -320,9 +320,9 @@ class CAR(Platforms):
  )
  HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
    [
-      HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
-      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
-      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
    ],
    CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.EV,
@@ -492,7 +492,7 @@ class CAR(Platforms):
  )
  KIA_EV6 = HyundaiCanFDPlatformConfig(
    [
-      HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
+      HyundaiCarDocs("Kia EV6 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
      HyundaiCarDocs("Kia EV6 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
      HyundaiCarDocs("Kia EV6 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
    ],
@@ -534,8 +534,9 @@ class CAR(Platforms):
  )
  GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
    [
-      HyundaiCarDocs("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarDocs("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+      # TODO: Hyundai P is likely the correct harness for HDA II for 2.5T (unsupported due to missing ADAS ECU, is that the radar?)
+      HyundaiCarDocs("Genesis GV70 (2.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Genesis GV70 (3.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
    ],
    CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
    flags=HyundaiFlags.RADAR_SCC,
@@ -573,6 +574,12 @@ class CAR(Platforms):
    HYUNDAI_KONA.specs,
    spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA,
  )
+  KIA_CEED_PHEV_2022_NON_SCC = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Kia Ceed PHEV Non-SCC 2022", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_i]))],
+    CarSpecs(mass=1650, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
+    flags=HyundaiFlags.HYBRID,
+    spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA,
+  )
  KIA_FORTE_2019_NON_SCC = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Forte Non-SCC 2019", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_g]))],
    KIA_FORTE.specs,
@@ -292,6 +292,7 @@ class CarInterfaceBase(ABC):
    ret.minSteerSpeed = platform.config.specs.minSteerSpeed
    ret.tireStiffnessFactor = platform.config.specs.tireStiffnessFactor
    ret.flags |= int(platform.config.flags)
+    ret.spFlags |= int(platform.config.spFlags)

    ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)

@@ -379,16 +380,13 @@ class CarInterfaceBase(ABC):
    ret.vEgoStopping = 0.5
    ret.vEgoStarting = 0.5
    ret.stoppingControl = True
-    ret.longitudinalTuning.deadzoneBP = [0.]
-    ret.longitudinalTuning.deadzoneV = [0.]
    ret.longitudinalTuning.kf = 1.
    ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [1.]
+    ret.longitudinalTuning.kpV = [0.]
    ret.longitudinalTuning.kiBP = [0.]
-    ret.longitudinalTuning.kiV = [1.]
+    ret.longitudinalTuning.kiV = [0.]
    # TODO estimate car specific lag, use .15s for now
-    ret.longitudinalActuatorDelayLowerBound = 0.15
-    ret.longitudinalActuatorDelayUpperBound = 0.15
+    ret.longitudinalActuatorDelay = 0.15
    ret.steerLimitTimer = 1.0
    return ret

@@ -477,6 +475,8 @@ class CarInterfaceBase(ABC):
      events.add(EventName.wrongCarMode)
    if cs_out.espDisabled:
      events.add(EventName.espDisabled)
+    if cs_out.espActive:
+      events.add(EventName.espActive)
    if cs_out.stockFcw:
      events.add(EventName.stockFcw)
    if cs_out.stockAeb:
@@ -778,7 +778,6 @@ class CarStateBase(ABC):
    self.mads_enabled = False
    self.prev_mads_enabled = False
    self.control_initialized = False
-    self.pcm_cruise_enabled = False

    Q = [[0.0, 0.0], [0.0, 100.0]]
    R = 0.3
@@ -16,6 +16,7 @@ FW_VERSIONS = {
      b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXFG-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
@@ -70,7 +70,7 @@ class CarInterface(CarInterfaceBase):
        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
    if self.get_sp_pedal_disengage(ret):
      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled

    if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
      if ret.gasPressed and not ret.cruiseState.enabled:
@@ -49,7 +49,7 @@ class CarInterface(CarInterfaceBase):
    if (not ret.cruiseState.enabled and self.CS.out.cruiseState.enabled) or \
       self.get_sp_pedal_disengage(ret):
      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled

    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))

@@ -107,11 +107,6 @@ class CarInterface(CarInterfaceBase):
      ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value

    if ret.openpilotLongitudinalControl:
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [0.8, 1.0, 1.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.54, 0.36]
-
      ret.stoppingControl = True
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_LONG

@@ -146,7 +141,7 @@ class CarInterface(CarInterfaceBase):
          self.CS.madsEnabled = False
    if self.get_sp_pedal_disengage(ret):
      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled

    ret, self.CS = self.get_sp_common_state(ret, self.CS)

@@ -19,7 +19,7 @@
  "Chrysler Pacifica 2021-23": "CHRYSLER_PACIFICA_2020",
  "Chrysler Pacifica Hybrid 2017": "CHRYSLER_PACIFICA_2017_HYBRID",
  "Chrysler Pacifica Hybrid 2018": "CHRYSLER_PACIFICA_2018_HYBRID",
-  "Chrysler Pacifica Hybrid 2019-23": "CHRYSLER_PACIFICA_2019_HYBRID",
+  "Chrysler Pacifica Hybrid 2019-24": "CHRYSLER_PACIFICA_2019_HYBRID",
  "comma body": "COMMA_BODY",
  "CUPRA Ateca 2018-23": "SEAT_ATECA_MK1",
  "Dodge Durango 2020-21": "DODGE_DURANGO",
@@ -47,8 +47,8 @@
  "Genesis G90 2017-20": "GENESIS_G90",
  "Genesis GV60 (Advanced Trim) 2023": "GENESIS_GV60_EV_1ST_GEN",
  "Genesis GV60 (Performance Trim) 2023": "GENESIS_GV60_EV_1ST_GEN",
-  "Genesis GV70 (2.5T Trim) 2022-23": "GENESIS_GV70_1ST_GEN",
-  "Genesis GV70 (3.5T Trim) 2022-23": "GENESIS_GV70_1ST_GEN",
+  "Genesis GV70 (2.5T Trim, without HDA II) 2022-23": "GENESIS_GV70_1ST_GEN",
+  "Genesis GV70 (3.5T Trim, without HDA II) 2022-23": "GENESIS_GV70_1ST_GEN",
  "Genesis GV80 2023": "GENESIS_GV80",
  "GMC Sierra 1500 2020-21": "CHEVROLET_SILVERADO",
  "Honda Accord 4-Cylinder 2016-17": "HONDA_ACCORD_4CYL_9TH_GEN",
@@ -56,9 +56,9 @@
  "Honda Accord Hybrid 2018-22": "HONDA_ACCORD",
  "Honda Civic 2016-18": "HONDA_CIVIC",
  "Honda Civic 2019-21": "HONDA_CIVIC_BOSCH",
-  "Honda Civic 2022-23": "HONDA_CIVIC_2022",
+  "Honda Civic 2022-24": "HONDA_CIVIC_2022",
  "Honda Civic Hatchback 2017-21": "HONDA_CIVIC_BOSCH",
-  "Honda Civic Hatchback 2022-23": "HONDA_CIVIC_2022",
+  "Honda Civic Hatchback 2022-24": "HONDA_CIVIC_2022",
  "Honda Clarity 2018-22": "HONDA_CLARITY",
  "Honda CR-V 2015-16": "HONDA_CRV",
  "Honda CR-V 2017-22": "HONDA_CRV_5G",
@@ -87,10 +87,10 @@
  "Hyundai Elantra Non-SCC 2022": "HYUNDAI_ELANTRA_2022_NON_SCC",
  "Hyundai Genesis 2015-16": "HYUNDAI_GENESIS",
  "Hyundai i30 2017-19": "HYUNDAI_ELANTRA_GT_I30",
-  "Hyundai Ioniq 5 (Southeast Asia only) 2022-23": "HYUNDAI_IONIQ_5",
-  "Hyundai Ioniq 5 (with HDA II) 2022-23": "HYUNDAI_IONIQ_5",
-  "Hyundai Ioniq 5 (without HDA II) 2022-23": "HYUNDAI_IONIQ_5",
-  "Hyundai Ioniq 6 (with HDA II) 2023": "HYUNDAI_IONIQ_6",
+  "Hyundai Ioniq 5 (Non-US only) 2022-24": "HYUNDAI_IONIQ_5",
+  "Hyundai Ioniq 5 (with HDA II) 2022-24": "HYUNDAI_IONIQ_5",
+  "Hyundai Ioniq 5 (without HDA II) 2022-24": "HYUNDAI_IONIQ_5",
+  "Hyundai Ioniq 6 (with HDA II) 2023-24": "HYUNDAI_IONIQ_6",
  "Hyundai Ioniq Electric 2019": "HYUNDAI_IONIQ_EV_LTD",
  "Hyundai Ioniq Electric 2020": "HYUNDAI_IONIQ_EV_2020",
  "Hyundai Ioniq Hybrid 2017-19": "HYUNDAI_IONIQ",
@@ -125,7 +125,8 @@
  "Kia Carnival 2022-24": "KIA_CARNIVAL_4TH_GEN",
  "Kia Carnival (China only) 2023": "KIA_CARNIVAL_4TH_GEN",
  "Kia Ceed 2019": "KIA_CEED",
-  "Kia EV6 (Southeast Asia only) 2022-24": "KIA_EV6",
+  "Kia Ceed PHEV Non-SCC 2022": "KIA_CEED_PHEV_2022_NON_SCC",
+  "Kia EV6 (Non-US only) 2022-24": "KIA_EV6",
  "Kia EV6 (with HDA II) 2022-24": "KIA_EV6",
  "Kia EV6 (without HDA II) 2022-24": "KIA_EV6",
  "Kia Forte 2019-21": "KIA_FORTE",
@@ -186,8 +187,8 @@
  "Lexus UX Hybrid 2019-23": "TOYOTA_COROLLA_TSS2",
  "Lincoln Aviator 2020-23": "FORD_EXPLORER_MK6",
  "Lincoln Aviator Plug-in Hybrid 2020-23": "FORD_EXPLORER_MK6",
-  "MAN eTGE 2020-23": "VOLKSWAGEN_CRAFTER_MK2",
-  "MAN TGE 2017-23": "VOLKSWAGEN_CRAFTER_MK2",
+  "MAN eTGE 2020-24": "VOLKSWAGEN_CRAFTER_MK2",
+  "MAN TGE 2017-24": "VOLKSWAGEN_CRAFTER_MK2",
  "Mazda CX-5 2022-24": "MAZDA_CX5_2022",
  "Mazda CX-9 2021-23": "MAZDA_CX9_2021",
  "Nissan Altima 2019-20": "NISSAN_ALTIMA",
@@ -245,7 +246,7 @@
  "Toyota Corolla Cross Hybrid (Non-US only) 2020-22": "TOYOTA_COROLLA_TSS2",
  "Toyota Corolla Hatchback 2019-22": "TOYOTA_COROLLA_TSS2",
  "Toyota Corolla Hybrid 2020-22": "TOYOTA_COROLLA_TSS2",
-  "Toyota Corolla Hybrid (Non-US only) 2020-23": "TOYOTA_COROLLA_TSS2",
+  "Toyota Corolla Hybrid (South America only) 2020-23": "TOYOTA_COROLLA_TSS2",
  "Toyota Highlander 2017-19": "TOYOTA_HIGHLANDER",
  "Toyota Highlander 2020-23": "TOYOTA_HIGHLANDER_TSS2",
  "Toyota Highlander Hybrid 2017-19": "TOYOTA_HIGHLANDER",
@@ -277,8 +278,8 @@
  "Volkswagen California 2021-23": "VOLKSWAGEN_TRANSPORTER_T61",
  "Volkswagen Caravelle 2020": "VOLKSWAGEN_TRANSPORTER_T61",
  "Volkswagen CC 2018-22": "VOLKSWAGEN_ARTEON_MK1",
-  "Volkswagen Crafter 2017-23": "VOLKSWAGEN_CRAFTER_MK2",
-  "Volkswagen e-Crafter 2018-23": "VOLKSWAGEN_CRAFTER_MK2",
+  "Volkswagen Crafter 2017-24": "VOLKSWAGEN_CRAFTER_MK2",
+  "Volkswagen e-Crafter 2018-24": "VOLKSWAGEN_CRAFTER_MK2",
  "Volkswagen e-Golf 2014-20": "VOLKSWAGEN_GOLF_MK7",
  "Volkswagen Golf 2015-20": "VOLKSWAGEN_GOLF_MK7",
  "Volkswagen Golf Alltrack 2015-19": "VOLKSWAGEN_GOLF_MK7",
@@ -287,7 +288,7 @@
  "Volkswagen Golf GTI 2015-21": "VOLKSWAGEN_GOLF_MK7",
  "Volkswagen Golf R 2015-19": "VOLKSWAGEN_GOLF_MK7",
  "Volkswagen Golf SportsVan 2015-20": "VOLKSWAGEN_GOLF_MK7",
-  "Volkswagen Grand California 2019-23": "VOLKSWAGEN_CRAFTER_MK2",
+  "Volkswagen Grand California 2019-24": "VOLKSWAGEN_CRAFTER_MK2",
  "Volkswagen Jetta 2018-24": "VOLKSWAGEN_JETTA_MK7",
  "Volkswagen Jetta GLI 2021-24": "VOLKSWAGEN_JETTA_MK7",
  "Volkswagen Passat 2015-22": "VOLKSWAGEN_PASSAT_MK8",
@@ -18,12 +18,7 @@ class CarInterface(CarInterfaceBase):

    ret.steerControlType = car.CarParams.SteerControlType.angle

-    # Set kP and kI to 0 over the whole speed range to have the planner accel as actuator command
-    ret.longitudinalTuning.kpBP = [0]
-    ret.longitudinalTuning.kpV = [0]
-    ret.longitudinalTuning.kiBP = [0]
-    ret.longitudinalTuning.kiV = [0]
-    ret.longitudinalActuatorDelayUpperBound = 0.5 # s
+    ret.longitudinalActuatorDelay = 0.5 # s
    ret.radarTimeStep = (1.0 / 8) # 8Hz

    # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
@@ -23,7 +23,7 @@ ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra

 ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests}

-MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '40'))
+MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))


 def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
@@ -62,6 +62,7 @@ class TestCarInterfaces:

    car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                         experimental_long=args['experimental_long'], docs=False)
+    car_params = car_params.as_reader()
    car_interface = CarInterface(car_params, CarController, CarState)
    assert car_params
    assert car_interface
@@ -75,7 +76,6 @@ class TestCarInterfaces:
    # Longitudinal sanity checks
    assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
    assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
-    assert len(car_params.longitudinalTuning.deadzoneV) == len(car_params.longitudinalTuning.deadzoneBP)

    # If we're using the interceptor for gasPressed, we should be commanding gas with it
    if car_params.enableGasInterceptorDEPRECATED:
@@ -88,3 +88,4 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_KONA_NON_SCC" = "HYUNDAI_KONA_EV"
 "HYUNDAI_ELANTRA_2022_NON_SCC" = "HYUNDAI_ELANTRA_2021"
 "GENESIS_G70_2021_NON_SCC" = "HYUNDAI_SONATA"
+"KIA_CEED_PHEV_2022_NON_SCC" = "HYUNDAI_SONATA"
@@ -1,4 +1,5 @@
 from cereal import car
+from common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.params import Params
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
@@ -6,10 +7,11 @@ from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_st
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.toyota import toyotacan
 from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
-                                        MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \
+                                        MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, ToyotaFlagsSP, \
                                        UNSUPPORTED_DSU_CAR
 from opendbc.can.packer import CANPacker

+GearShifter = car.CarState.GearShifter
 SteerControlType = car.CarParams.SteerControlType
 VisualAlert = car.CarControl.HUDControl.VisualAlert

@@ -26,6 +28,12 @@ MAX_USER_TORQUE = 500
 MAX_LTA_ANGLE = 94.9461  # deg
 MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150  # slightly above steering pressed allows some resistance when changing lanes

+LEFT_BLINDSPOT = b"\x41"
+RIGHT_BLINDSPOT = b"\x42"
+
+UNLOCK_CMD = b"\x40\x05\x30\x11\x00\x40\x00\x00"
+LOCK_CMD = b"\x40\x05\x30\x11\x00\x80\x00\x00"
+

 class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
@@ -45,10 +53,33 @@ class CarController(CarControllerBase):
    self.accel = 0

    self.param_s = Params()
+    self._is_metric = self.param_s.get_bool("IsMetric")
    self._reverse_acc_change = self.param_s.get_bool("ReverseAccChange")
    self._sng_hack = self.param_s.get_bool("ToyotaSnG")

+    self.left_blindspot_debug_enabled = False
+    self.right_blindspot_debug_enabled = False
+    self.last_blindspot_frame = 0
+
+    if CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+      self.brake_hold_active: bool = False
+      self._brake_hold_counter: int = 0
+      self._brake_hold_reset: bool = False
+      self._prev_brake_pressed: bool = False
+
+    self._auto_lock_by_speed = self.param_s.get_bool("ToyotaAutoLockBySpeed")
+    self._auto_unlock_by_shifter = self.param_s.get_bool("ToyotaAutoUnlockByShifter")
+    self._auto_lock_speed = 10 * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS)
+    self._auto_lock_once = False
+    self._gear_prev = GearShifter.park
+
  def update(self, CC, CS, now_nanos):
+    if self.frame % 200 == 0:
+      self._is_metric = self.param_s.get_bool("IsMetric")
+      self._auto_lock_by_speed = self.param_s.get_bool("ToyotaAutoLockBySpeed")
+      self._auto_unlock_by_shifter = self.param_s.get_bool("ToyotaAutoUnlockByShifter")
+      self._auto_lock_speed = 10 * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS)
+
    actuators = CC.actuators
    hud_control = CC.hudControl
    pcm_cancel_cmd = CC.cruiseControl.cancel
@@ -57,6 +88,21 @@ class CarController(CarControllerBase):
    # *** control msgs ***
    can_sends = []

+    # automatic door locking and unlocking logic (@dragonpilot-community)
+    # thanks to AlexandreSato & cydia2020
+    # https://github.com/AlexandreSato/animalpilot/blob/personal/doors.py
+    gear = CS.out.gearShifter
+    if not CS.out.doorOpen:
+      if gear == GearShifter.park and self._gear_prev != gear:
+        if self._auto_unlock_by_shifter:
+          can_sends.append(make_can_msg(0x750, UNLOCK_CMD, 0))
+        self._auto_lock_once = False
+      elif gear == GearShifter.drive and not self._auto_lock_once and CS.out.vEgo >= self._auto_lock_speed:
+        if self._auto_lock_by_speed:
+          can_sends.append(make_can_msg(0x750, LOCK_CMD, 0))
+        self._auto_lock_once = True
+    self._gear_prev = gear
+
    # *** steer torque ***
    new_steer = int(round(actuators.steer * self.params.STEER_MAX))
    apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params)
@@ -141,6 +187,9 @@ class CarController(CarControllerBase):

    self.last_standstill = CS.out.standstill

+    if self.CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+      can_sends.extend(self.create_auto_brake_hold_messages(CS))
+
    # handle UI messages
    fcw_alert = hud_control.visualAlert == VisualAlert.fcw
    steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
@@ -205,6 +254,9 @@ class CarController(CarControllerBase):
    if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
      can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0])

+    if self.CP.spFlags & ToyotaFlagsSP.SP_ENHANCED_BSM and self.frame > 200:
+      can_sends.extend(self.create_enhanced_bsm_messages(CS, 20, True))
+
    new_actuators = actuators.as_builder()
    new_actuators.steer = apply_steer / self.params.STEER_MAX
    new_actuators.steerOutputCan = apply_steer
@@ -214,3 +266,67 @@ class CarController(CarControllerBase):

    self.frame += 1
    return new_actuators, can_sends
+
+  # Enhanced BSM (@arne182, @rav4kumar)
+  def create_enhanced_bsm_messages(self, CS: car.CarState, e_bsm_rate: int = 20, always_on: bool = True):
+    # let's keep all the commented out code for easy debug purpose for future.
+    can_sends = []
+
+    # left bsm
+    if not self.left_blindspot_debug_enabled:
+      if always_on or CS.out.vEgo > 6:  # eagle eye camera will stop working if left bsm is switched on under 6m/s
+        can_sends.append(toyotacan.create_set_bsm_debug_mode(LEFT_BLINDSPOT, True))
+        self.left_blindspot_debug_enabled = True
+        # print("bsm debug left, on")
+    else:
+      if not always_on and self.frame - self.last_blindspot_frame > 50:
+        can_sends.append(toyotacan.create_set_bsm_debug_mode(LEFT_BLINDSPOT, False))
+        self.left_blindspot_debug_enabled = False
+        # print("bsm debug left, off")
+      if self.frame % e_bsm_rate == 0:
+        can_sends.append(toyotacan.create_bsm_polling_status(LEFT_BLINDSPOT))
+        # if CS.out.leftBlinker:
+        self.last_blindspot_frame = self.frame
+        # print(self.last_blindspot_frame)
+        # print("bsm poll left")
+    # right bsm
+    if not self.right_blindspot_debug_enabled:
+      if always_on or CS.out.vEgo > 6:  # eagle eye camera will stop working if right bsm is switched on under 6m/s
+        can_sends.append(toyotacan.create_set_bsm_debug_mode(RIGHT_BLINDSPOT, True))
+        self.right_blindspot_debug_enabled = True
+        # print("bsm debug right, on")
+    else:
+      if not always_on and self.frame - self.last_blindspot_frame > 50:
+        can_sends.append(toyotacan.create_set_bsm_debug_mode(RIGHT_BLINDSPOT, False))
+        self.right_blindspot_debug_enabled = False
+        # print("bsm debug right, off")
+      if self.frame % e_bsm_rate == e_bsm_rate / 2:
+        can_sends.append(toyotacan.create_bsm_polling_status(RIGHT_BLINDSPOT))
+        # if CS.out.rightBlinker:
+        self.last_blindspot_frame = self.frame
+        # print(self.last_blindspot_frame)
+        # print("bsm poll right")
+
+    return can_sends
+
+  # auto brake hold (https://github.com/AlexandreSato/)
+  def create_auto_brake_hold_messages(self, CS: car.CarState, brake_hold_allowed_timer: int = 100):
+    can_sends = []
+    disallowed_gears = [GearShifter.park, GearShifter.reverse]
+    brake_hold_allowed = CS.out.standstill and CS.out.cruiseState.available and not CS.out.gasPressed and \
+                         not CS.out.cruiseState.enabled and (CS.out.gearShifter not in disallowed_gears)
+
+    if brake_hold_allowed:
+      self._brake_hold_counter += 1
+      self.brake_hold_active = self._brake_hold_counter > brake_hold_allowed_timer and not self._brake_hold_reset
+      self._brake_hold_reset = not self._prev_brake_pressed and CS.out.brakePressed and not self._brake_hold_reset
+    else:
+      self._brake_hold_counter = 0
+      self.brake_hold_active = False
+      self._brake_hold_reset = False
+    self._prev_brake_pressed = CS.out.brakePressed
+
+    if self.frame % 2 == 0:
+      can_sends.append(toyotacan.create_brake_hold_command(self.packer, self.frame, CS.pre_collision_2, self.brake_hold_active))
+
+    return can_sends
@@ -69,6 +69,21 @@ class CarState(CarStateBase):
      self.zss_angle_offset = 0.
      self.zss_threshold_count = 0

+    self._left_blindspot = False
+    self._left_blindspot_d1 = 0
+    self._left_blindspot_d2 = 0
+    self._left_blindspot_counter = 0
+
+    self._right_blindspot = False
+    self._right_blindspot_d1 = 0
+    self._right_blindspot_d2 = 0
+    self._right_blindspot_counter = 0
+
+    if CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+      self.pre_collision_2 = {}
+
+    self.frame = 0
+
  def update(self, cp, cp_cam):
    ret = car.CarState.new_message()

@@ -245,8 +260,15 @@ class CarState(CarStateBase):
      else:
        self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]

+    if self.CP.spFlags & ToyotaFlagsSP.SP_ENHANCED_BSM and self.frame > 199:
+      ret.leftBlindspot, ret.rightBlindspot = self.sp_get_enhanced_bsm(cp)
+
+    if self.CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+      self.pre_collision_2 = copy.copy(cp_cam.vl["PRE_COLLISION_2"])
+
    self._update_traffic_signals(cp_cam)
    ret.cruiseState.speedLimit = self._calculate_speed_limit()
+    self.frame += 1

    return ret

@@ -328,6 +350,43 @@ class CarState(CarStateBase):
      return self._spdval1 * CV.MPH_TO_MS
    return 0

+  # Enhanced BSM (@arne182, @rav4kumar)
+  def sp_get_enhanced_bsm(self, cp):
+    # Let's keep all the commented out code for easy debug purposes in the future.
+    distance_1 = cp.vl["DEBUG"].get('BLINDSPOTD1')
+    distance_2 = cp.vl["DEBUG"].get('BLINDSPOTD2')
+    side = cp.vl["DEBUG"].get('BLINDSPOTSIDE')
+
+    if all(val is not None for val in [distance_1, distance_2, side]):
+      if side == 65:  # left blind spot
+        if distance_1 != self._left_blindspot_d1 or distance_2 != self._left_blindspot_d2:
+          self._left_blindspot_d1 = distance_1
+          self._left_blindspot_d2 = distance_2
+          self._left_blindspot_counter = 100
+        self._left_blindspot = distance_1 > 10 or distance_2 > 10
+
+      elif side == 66:  # right blind spot
+        if distance_1 != self._right_blindspot_d1 or distance_2 != self._right_blindspot_d2:
+          self._right_blindspot_d1 = distance_1
+          self._right_blindspot_d2 = distance_2
+          self._right_blindspot_counter = 100
+        self._right_blindspot = distance_1 > 10 or distance_2 > 10
+
+      # update counters
+      self._left_blindspot_counter = max(0, self._left_blindspot_counter - 1)
+      self._right_blindspot_counter = max(0, self._right_blindspot_counter - 1)
+
+      # reset blind spot status if counter reaches 0
+      if self._left_blindspot_counter == 0:
+        self._left_blindspot = False
+        self._left_blindspot_d1 = self._left_blindspot_d2 = 0
+
+      if self._right_blindspot_counter == 0:
+        self._right_blindspot = False
+        self._right_blindspot_d1 = self._right_blindspot_d2 = 0
+
+    return self._left_blindspot, self._right_blindspot
+
  @staticmethod
  def get_can_parser(CP):
    messages = [
@@ -384,6 +443,9 @@ class CarState(CarStateBase):
    if CP.spFlags & ToyotaFlagsSP.SP_ZSS:
      messages.append(("SECONDARY_STEER_ANGLE", 0))

+    if CP.spFlags & ToyotaFlagsSP.SP_ENHANCED_BSM:
+      messages.append(("DEBUG", 65))
+
    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)

  @staticmethod
@@ -407,4 +469,7 @@ class CarState(CarStateBase):
        ("PCS_HUD", 1),
      ]

+      if CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+        messages.append(("PRE_COLLISION_2", 33))
+
    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
@@ -160,6 +160,7 @@ FW_VERSIONS = {
      b'8821F0607200    ',
      b'8821F0608000    ',
      b'8821F0608200    ',
+      b'8821F0608300    ',
      b'8821F0609000    ',
      b'8821F0609100    ',
    ],
@@ -205,6 +206,7 @@ FW_VERSIONS = {
      b'8821F0607200    ',
      b'8821F0608000    ',
      b'8821F0608200    ',
+      b'8821F0608300    ',
      b'8821F0609000    ',
      b'8821F0609100    ',
    ],
@@ -234,6 +236,7 @@ FW_VERSIONS = {
      b'\x01F152606390\x00\x00\x00\x00\x00\x00',
      b'\x01F152606400\x00\x00\x00\x00\x00\x00',
      b'\x01F152606431\x00\x00\x00\x00\x00\x00',
+      b'\x01F152633E11\x00\x00\x00\x00\x00\x00',
      b'F152633310\x00\x00\x00\x00\x00\x00',
      b'F152633D00\x00\x00\x00\x00\x00\x00',
      b'F152633D60\x00\x00\x00\x00\x00\x00',
@@ -251,6 +254,7 @@ FW_VERSIONS = {
      b'\x018966306T4000\x00\x00\x00\x00',
      b'\x018966306T4100\x00\x00\x00\x00',
      b'\x018966306V1000\x00\x00\x00\x00',
+      b'\x018966333Z1000\x00\x00\x00\x00',
      b'\x01896633T20000\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
@@ -266,6 +270,7 @@ FW_VERSIONS = {
      b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
      b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
      b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F3305400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
      b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
    ],
  },
@@ -796,6 +801,7 @@ FW_VERSIONS = {
      b'\x018821F6201400\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F5303300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
      b'\x028646F5303300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
      b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
    ],
@@ -848,6 +854,7 @@ FW_VERSIONS = {
      b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
      b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707001\x00\x00\x00\x00',
      b'\x038966347B6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
+      b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
      b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
@@ -1486,6 +1493,7 @@ FW_VERSIONS = {
      b'\x01896630EA6300\x00\x00\x00\x00',
      b'\x018966348R1300\x00\x00\x00\x00',
      b'\x018966348R8500\x00\x00\x00\x00',
+      b'\x018966348R9300\x00\x00\x00\x00',
      b'\x018966348W1300\x00\x00\x00\x00',
      b'\x018966348W2300\x00\x00\x00\x00',
    ],
@@ -160,24 +160,43 @@ class CarInterface(CarInterfaceBase):

    sp_tss2_long_tune = Params().get_bool("ToyotaTSS2Long")

+    # hand tuned (July 1, 2024)
+    def custom_tss2_longitudinal_tuning():
+      ret.vEgoStopping = 0.01
+      ret.vEgoStarting = 0.01
+      ret.stoppingDecelRate = 0.35
+
+    def default_tss2_longitudinal_tuning():
+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.25
+      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
+
+    def default_longitudinal_tuning():
+      tune.kiBP = [0., 5., 35.]
+      tune.kiV = [3.6, 2.4, 1.5]
+
    tune = ret.longitudinalTuning
-    tune.deadzoneBP = [0., 9.]
-    tune.deadzoneV = [.0, .15]
    if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED:
-      tune.kpBP = [0., 5., 20., 30.] if sp_tss2_long_tune else [0., 5., 20.]
-      tune.kpV = [1.3, 1.0, 0.7, 0.1] if sp_tss2_long_tune else [1.3, 1.0, 0.7]
-      tune.kiBP = [0.,   1.,    2.,    3.,   4.,   5.,    12.,  20.,  27., 40.] if sp_tss2_long_tune else [0., 5., 12., 20., 27.]
-      tune.kiV = [.348, .3361, .3168, .2831, .2571, .226, .198, .17,  .10, .01] if sp_tss2_long_tune else [.35, .23, .20, .17, .1]
+      if sp_tss2_long_tune:
+        tune.kiBP = [0., 5., 12., 20., 27., 36., 50]
+        tune.kiV = [0.35, 0.23, 0.20, 0.17, 0.10, 0.07, 0.01]
+        custom_tss2_longitudinal_tuning()
+      else:
+        tune.kpV = [0.0]
+        tune.kiV = [0.5]
      if candidate in TSS2_CAR:
-        ret.vEgoStopping = 0.15 if sp_tss2_long_tune else 0.25
-        ret.vEgoStarting = 0.15 if sp_tss2_long_tune else 0.25
-        ret.stopAccel = -0.4 if sp_tss2_long_tune else 0
-        ret.stoppingDecelRate = 0.05 if sp_tss2_long_tune else 0.3  # reach stopping target smoothly
+        default_tss2_longitudinal_tuning()
    else:
-      tune.kpBP = [0., 5., 35.]
-      tune.kiBP = [0., 35.]
-      tune.kpV = [3.6, 2.4, 1.5]
-      tune.kiV = [0.54, 0.36]
+      default_longitudinal_tuning()
+
+    if Params().get_bool("ToyotaEnhancedBsm"):
+      ret.spFlags |= ToyotaFlagsSP.SP_ENHANCED_BSM.value
+
+    if candidate == CAR.TOYOTA_PRIUS_TSS2:
+      ret.spFlags |= ToyotaFlagsSP.SP_NEED_DEBUG_BSM.value
+
+    if Params().get_bool("ToyotaAutoHold") and candidate in (TSS2_CAR - RADAR_ACC_CAR):
+      ret.spFlags |= ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD.value

    return ret

@@ -270,6 +289,11 @@ class CarInterface(CarInterfaceBase):
          # while in standstill, send a user alert
          events.add(EventName.manualRestart)

+    # auto brake hold
+    if self.CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+      if self.CC.brake_hold_active and not ret.brakeHoldActive:
+        events.add(EventName.spAutoBrakeHold)
+
    ret.events = events.to_msg()

    return ret
@@ -12,7 +12,8 @@ ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}


 def check_fw_version(fw_version: bytes) -> bool:
-  return b'?' not in fw_version
+  # TODO: just use the FW patterns, need to support all chunks
+  return b'?' not in fw_version and b'!' not in fw_version


 class TestToyotaInterfaces:
@@ -1,4 +1,5 @@
 from cereal import car
+from openpilot.selfdrive.car import make_can_msg

 SteerControlType = car.CarParams.SteerControlType

@@ -118,3 +119,48 @@ def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_dep
    ]})

  return packer.make_can_msg("LKAS_HUD", 0, values)
+
+
+def create_set_bsm_debug_mode(lr_blindspot, enabled):
+  dat = b"\x02\x10\x60\x00\x00\x00\x00" if enabled else b"\x02\x10\x01\x00\x00\x00\x00"
+  dat = lr_blindspot + dat
+
+  return make_can_msg(0x750, dat, 0)
+
+
+def create_bsm_polling_status(lr_blindspot):
+  return make_can_msg(0x750, lr_blindspot + b"\x02\x21\x69\x00\x00\x00\x00", 0)
+
+
+# auto brake hold
+def create_brake_hold_command(packer, frame, pre_collision_2, brake_hold_active):
+  # forward PRE_COLLISION_2 when auto brake hold is not active
+  values = {s: pre_collision_2[s] for s in [
+    "DSS1GDRV",
+    "DS1STAT2",
+    "DS1STBK2",
+    "PCSWAR",
+    "PCSALM",
+    "PCSOPR",
+    "PCSABK",
+    "PBATRGR",
+    "PPTRGR",
+    "IBTRGR",
+    "CLEXTRGR",
+    "IRLT_REQ",
+    "BRKHLD",
+    "AVSTRGR",
+    "VGRSTRGR",
+    "PREFILL",
+    "PBRTRGR",
+    "PCSDIS",
+    "PBPREPMP",
+  ]}
+
+  if brake_hold_active:
+    values = {
+      "DSS1GDRV": 0x3FF,
+      "PBRTRGR": frame % 730 < 727,  # cut actuation for 3 frames
+    }
+
+  return packer.make_can_msg("PRE_COLLISION_2", 0, values)
@@ -62,6 +62,9 @@ class ToyotaFlags(IntFlag):

 class ToyotaFlagsSP(IntFlag):
  SP_ZSS = 1
+  SP_ENHANCED_BSM = 2
+  SP_NEED_DEBUG_BSM = 4
+  SP_AUTO_BRAKE_HOLD = 8


 class Footnote(Enum):
@@ -574,6 +574,7 @@ FW_VERSIONS = {
      b'\xf1\x8704E906024AP\xf1\x891461',
      b'\xf1\x8704E906027NB\xf1\x899504',
      b'\xf1\x8704L906026EJ\xf1\x893661',
+      b'\xf1\x8704L906026EJ\xf1\x893916',
      b'\xf1\x8704L906027G \xf1\x899893',
      b'\xf1\x8705E906018BS\xf1\x890914',
      b'\xf1\x875N0906259  \xf1\x890002',
@@ -604,6 +605,7 @@ FW_VERSIONS = {
      b'\xf1\x870DD300046K \xf1\x892302',
      b'\xf1\x870DL300011N \xf1\x892001',
      b'\xf1\x870DL300011N \xf1\x892012',
+      b'\xf1\x870DL300011N \xf1\x892014',
      b'\xf1\x870DL300012M \xf1\x892107',
      b'\xf1\x870DL300012P \xf1\x892103',
      b'\xf1\x870DL300013A \xf1\x893005',
@@ -617,6 +619,7 @@ FW_VERSIONS = {
      b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1316143231313500314617011730179333423100',
      b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100',
      b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x1331310031333334313132573732379333313100',
+      b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1311140031333300314232583632369333423100',
      b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
      b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
      b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1316143231313500314641011750179333423100',
@@ -636,6 +639,7 @@ FW_VERSIONS = {
      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
+      b'\xf1\x875QF909144  \xf1\x895572\xf1\x82\x0571A60833A1',
      b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1',
      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A60634A1',
      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A62A32A1',
@@ -108,8 +108,6 @@ class CarInterface(CarInterfaceBase):
    ret.stopAccel = -0.55
    ret.vEgoStarting = 0.1
    ret.vEgoStopping = 0.5
-    ret.longitudinalTuning.kpV = [0.1]
-    ret.longitudinalTuning.kiV = [0.0]
    ret.autoResumeSng = ret.minEnableSpeed == -1

    return ret
@@ -150,7 +148,7 @@ class CarInterface(CarInterfaceBase):
        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
    if self.get_sp_pedal_disengage(ret):
      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled

    if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
      if ret.gasPressed and not ret.cruiseState.enabled:
@@ -205,7 +205,7 @@ class Footnote(Enum):
@dataclass
 class VWCarDocs(CarDocs):
  package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
-  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.j533]))
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.vw_j533]))

  def init_make(self, CP: car.CarParams):
    self.footnotes.append(Footnote.VW_EXP_LONG)
@@ -213,7 +213,7 @@ class VWCarDocs(CarDocs):
      self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)

    if CP.carFingerprint in (CAR.VOLKSWAGEN_CRAFTER_MK2, CAR.VOLKSWAGEN_TRANSPORTER_T61):
-      self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
+      self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.vw_j533])

    if abs(CP.minSteerSpeed - CarControllerParams.DEFAULT_MIN_STEER_SPEED) < 1e-3:
      self.min_steer_speed = 0
@@ -28,8 +28,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, S
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
-from openpilot.selfdrive.modeld.model_capabilities import ModelCapabilities
-from openpilot.selfdrive.sunnypilot import get_model_generation
+from openpilot.selfdrive.modeld.custom_model_metadata import CustomModelMetadata, ModelCapabilities

 from openpilot.system.athena.registration import is_registered_device
 from openpilot.system.hardware import HARDWARE
@@ -71,8 +70,7 @@ class Controls:
    if CI is None:
      cloudlog.info("controlsd is waiting for CarParams")
      with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
-        # TODO: this shouldn't need to be a builder
-        self.CP = msg.as_builder()
+        self.CP = msg
      cloudlog.info("controlsd got CarParams")

      # Uses car interface helper functions, altering state won't be considered by card for actuation
@@ -183,9 +181,13 @@ class Controls:
    self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake
    self.process_not_running = False

-    self.custom_model, self.model_gen = get_model_generation(self.params)
-    model_capabilities = ModelCapabilities.get_by_gen(self.model_gen)
-    self.model_use_lateral_planner = self.custom_model and model_capabilities & ModelCapabilities.LateralPlannerSolution
+    self.custom_model_metadata = CustomModelMetadata(params=self.params, init_only=True)
+    self.model_use_lateral_planner = self.custom_model_metadata.valid and \
+                                     self.custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution
+
+    self.dynamic_personality = self.params.get_bool("DynamicPersonality")
+
+    self.accel_personality = self.read_accel_personality_param()

    self.can_log_mono_time = 0

@@ -634,13 +636,12 @@ class Controls:
    if not CC.latActive:
      self.LaC.reset()
    if not CC.longActive:
-      self.LoC.reset(v_pid=CS.vEgo)
+      self.LoC.reset()

    if not self.joystick_mode:
      # accel PID loop
      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
-      t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL
-      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
+      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)

      # Steering PID loop and lateral MPC
      if self.model_use_lateral_planner:
@@ -831,7 +832,6 @@ class Controls:
    controlsState.state = self.state
    controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
    controlsState.longControlState = self.LoC.long_control_state
-    controlsState.vPid = float(self.LoC.v_pid)
    controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph)
    controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
    controlsState.upAccelCmd = float(self.LoC.pid.p)
@@ -860,6 +860,8 @@ class Controls:

    controlsStateSP.lateralState = lat_tuning
    controlsStateSP.personality = self.personality
+    controlsStateSP.dynamicPersonality = self.dynamic_personality
+    controlsStateSP.accelPersonality = self.accel_personality

    if self.enable_nnff and lat_tuning == 'torque':
      controlsStateSP.lateralControlState.torqueState = self.LaC.pid_long_sp
@@ -908,11 +910,19 @@ class Controls:
    except (ValueError, TypeError):
      return custom.LongitudinalPersonalitySP.standard

+  def read_accel_personality_param(self):
+    try:
+      return int(self.params.get("AccelPersonality"))
+    except (ValueError, TypeError):
+      return custom.AccelerationPersonality.stock
+
  def params_thread(self, evt):
    while not evt.is_set():
      self.is_metric = self.params.get_bool("IsMetric")
      self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
      self.personality = self.read_personality_param()
+      self.dynamic_personality = self.params.get_bool("DynamicPersonality")
+      self.accel_personality = self.read_accel_personality_param()
      if self.CP.notCar:
        self.joystick_mode = self.params.get_bool("JoystickDebugMode")

@@ -931,7 +941,7 @@ class Controls:
      while True:
        self.step()
        self.rk.monitor_time()
-    except SystemExit:
+    finally:
      e.set()
      t.join()

--- a/Show More
+++ b/Show More