Merge remote-tracking branch 'commaai/openpilot/master' into camera-scc-long

# Conflicts:
#	docs/CARS.md
#	panda
#	selfdrive/car/hyundai/carstate.py

.gitattributes

@@ -1,2 +1,3 @@
 *.dlc filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
+selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text

.github/workflows/badges.yaml

@@ -7,7 +7,7 @@ on:
 env:
   BASE_IMAGE: openpilot-base
   DOCKER_REGISTRY: ghcr.io/commaai
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c
 
 jobs:
   badges:

.github/workflows/prebuilt.yaml

@@ -21,6 +21,7 @@ jobs:
       IMAGE_NAME: openpilot-prebuilt
     steps:
     - name: Wait for green check mark
+      if: ${{ github.event_name != 'workflow_dispatch' }}
       uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
       with:
         ref: master
@@ -38,3 +39,5 @@ jobs:
       run: |
         $DOCKER_LOGIN
         docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest
+        docker tag $DOCKER_REGISTRY/$IMAGE_NAME:latest $DOCKER_REGISTRY/$IMAGE_NAME:$GITHUB_SHA
+        docker push $DOCKER_REGISTRY/$IMAGE_NAME:$GITHUB_SHA

.github/workflows/release.yaml

@@ -7,10 +7,20 @@ on:
 jobs:
   build_masterci:
     name: build master-ci
+    env:
+      TARGET_DIR: /tmp/openpilot
+      ImageOS: ubuntu20
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
     runs-on: ubuntu-20.04
     if: github.repository == 'commaai/openpilot'
     steps:
+    - name: Install wait-on-check-action dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y libyaml-dev
     - name: Wait for green check mark
+      if: ${{ github.event_name != 'workflow_dispatch' }}
       uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
       with:
         ref: master
@@ -22,7 +32,19 @@ jobs:
         submodules: true
         fetch-depth: 0
     - name: Pull LFS
-      run: git lfs pull
+      run: |
+        git config --global --add safe.directory '*'
+        git lfs pull
     - name: Build master-ci
       run: |
+        release/build_devel.sh
+    - name: Run tests
+      run: |
+        export PYTHONPATH=$TARGET_DIR
+        cd $TARGET_DIR
+        scons -j$(nproc)
+        selfdrive/car/tests/test_car_interfaces.py
+    - name: Push master-ci
+      run: |
+        unset TARGET_DIR
         BRANCH=master-ci release/build_devel.sh

.github/workflows/selfdrive_tests.yaml

@@ -2,8 +2,8 @@ name: selfdrive
 
 on:
   push:
-    branches-ignore:
-      - 'testing-closet*'
+    branches:
+      - master
   pull_request:
 
 concurrency:
@@ -11,6 +11,8 @@ concurrency:
   cancel-in-progress: true
 
 env:
+  PYTHONWARNINGS: error
+
   BASE_IMAGE: openpilot-base
   CL_BASE_IMAGE: openpilot-base-cl
   DOCKER_REGISTRY: ghcr.io/commaai
@@ -20,11 +22,11 @@ env:
   BUILD: |
       DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
 
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
 
   BUILD_CL: |
-      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
-  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
+      DOCKER_BUILDKIT=1 docker build --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
+  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
 
   UNIT_TEST: coverage run --append -m unittest discover
 
@@ -39,28 +41,34 @@ jobs:
       with:
         submodules: true
     - name: Build devel
+      timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
     - uses: ./.github/workflows/setup
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      timeout-minutes: 1
       run: release/check-submodules.sh
     - name: Build openpilot and run checks
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py"
     - name: Run tests
+      timeout-minutes: 2
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
                         python -m unittest discover selfdrive/car"
     - name: pre-commit
+      timeout-minutes: 3
       run: |
         cd $GITHUB_WORKSPACE
         cp .pre-commit-config.yaml $STRIPPED_DIR
-        cp .pylintrc $STRIPPED_DIR
         cp mypy.ini $STRIPPED_DIR
+        cp pyproject.toml $STRIPPED_DIR
+        cp poetry.lock $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "pre-commit run --all"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
 
   build_all:
     name: build all
@@ -70,76 +78,116 @@ jobs:
       with:
         submodules: true
     - uses: ./.github/workflows/setup
-      with:
-        save-cache: true
     - name: Build openpilot with all flags
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 12 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh"
-    - name: Cleanup scons cache
+    - name: Cleanup scons cache and rebuild
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 2 || 30) }} # allow more time when we missed the scons cache
       run: |
           ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
                           scons -j$(nproc) --cache-populate"
+    - name: Save scons cache
+      uses: actions/cache/save@v3
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: ~/scons_cache
+        key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
 
-  #build_mac:
-  #  name: build macos
-  #  runs-on: macos-latest
-  #  steps:
-  #  - uses: actions/checkout@v3
-  #    with:
-  #      submodules: true
-  #  - name: Determine pre-existing Homebrew packages
-  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
-  #    run: |
-  #      echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
-  #      ls -1 /usr/local/Cellar >> $GITHUB_ENV
-  #      echo 'EOF' >> $GITHUB_ENV
-  #  - name: Cache dependencies
-  #    id: dependency-cache
-  #    uses: actions/cache@v2
-  #    with:
-  #      path: |
-  #        ~/.pyenv
-  #        ~/.local/share/virtualenvs/
-  #        /usr/local/Cellar
-  #        ~/github_brew_cache_entries.txt
-  #        /tmp/scons_cache
-  #      key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }}
-  #      restore-keys: macos-
-  #  - name: Brew link restored dependencies
-  #    run: |
-  #      if [ -f ~/github_brew_cache_entries.txt ]; then
-  #        while read pkg; do
-  #          brew link --force "$pkg" # `--force` for keg-only packages
-  #        done < ~/github_brew_cache_entries.txt
-  #      else
-  #        echo "Cache entries not found"
-  #      fi
-  #  - name: Install dependencies
-  #    run: ./tools/mac_setup.sh
-  #  - name: Build openpilot
-  #    run: |
-  #      source tools/openpilot_env.sh
-  #      poetry run selfdrive/manager/build.py
-  #
-  #      # cleanup scons cache
-  #      rm -rf /tmp/scons_cache/
-  #      poetry run scons -j$(nproc) --cache-populate
-  #  - name: Remove pre-existing Homebrew packages for caching
-  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
-  #    run: |
-  #      cd /usr/local/Cellar
-  #      new_cellar=$(ls -1)
-  #      comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
-  #        if [[ $pkg != "zstd" ]]; then # caching step needs zstd
-  #          rm -rf "$pkg"
-  #        fi
-  #      done
-  #      comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
+  build_mac:
+    name: build macos
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+    - name: Determine pre-existing Homebrew packages
+      if: steps.dependency-cache.outputs.cache-hit != 'true'
+      run: |
+        echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
+        brew list --formula -1 >> $GITHUB_ENV
+        echo 'EOF' >> $GITHUB_ENV
+    - name: Restore scons cache
+      id: scons-restore-cache
+      uses: actions/cache/restore@v3
+      with:
+        path: /tmp/scons_cache
+        key: macos_scons-${{ github.sha }}
+        restore-keys: macos_scons-
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v3
+      with:
+        path: |
+          ~/github_brew_cache_entries.txt
+          ~/.pyenv
+          ~/Library/Caches/pypoetry
+          /usr/local/Cellar
+          /usr/local/opt
+          /usr/local/Caskroom/gcc-arm-*
+          /opt/homebrew/Cellar
+          /opt/homebrew/opt
+          /opt/homebrew/Caskroom/gcc-arm-*
+          /Applications/ArmGNUToolchain/*/*/*
+        key: macos_deps-${{ hashFiles('tools/mac_setup.sh', 'tools/install_python_dependencies.sh', 'poetry.lock') }}
+        restore-keys: macos_deps-
+    - name: Brew link restored dependencies
+      run: |
+        if [ -f ~/github_brew_cache_entries.txt ]; then
+          brew link --force --overwrite $(cat ~/github_brew_cache_entries.txt) # `--force` for keg-only packages
+          if [ -d /Applications/ArmGNUToolchain ]; then # link gcc-arm-embedded manually
+            GCC_TOOLCHAIN="$(echo /Applications/ArmGNUToolchain/**/**/bin)"
+            echo "$GCC_TOOLCHAIN" >> $GITHUB_PATH
+          fi
+        else
+          echo "Cache entries not found"
+        fi
+    - name: Install dependencies
+      if: steps.dependency-cache.outputs.cache-hit != 'true'
+      run: ./tools/mac_setup.sh
+      env:
+        # package install has DeprecationWarnings
+        PYTHONWARNINGS: default
+    - name: Build openpilot
+      run: |
+        source tools/openpilot_env.sh
+        poetry run scons -j$(nproc)
+    - name: Run tests
+      run: |
+        source tools/openpilot_env.sh
+        export PYTHONPATH=$PWD
+        poetry run tools/plotjuggler/test_plotjuggler.py
+    - name: Pre Cache - Cleanup scons cache
+      if: github.ref == 'refs/heads/master'
+      run: |
+        source tools/openpilot_env.sh
+        rm -rf /tmp/scons_cache/*
+        poetry run scons -j$(nproc) --cache-populate
+    - name: Save scons cache
+      id: scons-save-cache
+      uses: actions/cache/save@v3
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: /tmp/scons_cache
+        key: macos_scons-${{ github.sha }}
+    - name: Pre Cache - Remove pre-existing Homebrew packages
+      if: steps.dependency-cache.outputs.cache-hit != 'true'
+      run: |
+        new_cellar=$(brew list --formula -1)
+        exceptions="zstd lz4 xz" # caching step needs zstd
+        comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
+          if [[ " $exceptions " != *" $pkg "* ]]; then
+            rm -rf "$(brew --cellar)/$pkg"
+          fi
+        done
+        comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
+        # .fseventsd directory causes permission errors in dep caching step
+        # its used by the system to observe changes within the directory - toolchain works without it, just remove it
+        sudo rm -rf /Applications/ArmGNUToolchain/*/*/.fseventsd
 
   docker_push:
     name: docker push
     runs-on: ubuntu-20.04
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast
     steps:
     - uses: actions/checkout@v3
       with:
@@ -150,12 +198,16 @@ jobs:
       run: |
         $DOCKER_LOGIN
         docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
+        docker tag $DOCKER_REGISTRY/$BASE_IMAGE:latest $DOCKER_REGISTRY/$BASE_IMAGE:$GITHUB_SHA
+        docker push $DOCKER_REGISTRY/$BASE_IMAGE:$GITHUB_SHA
     - name: Build CL Docker image
       run: eval "$BUILD_CL"
     - name: Push to container registry
       run: |
         $DOCKER_LOGIN
         docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest
+        docker tag $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest $DOCKER_REGISTRY/$CL_BASE_IMAGE:$GITHUB_SHA
+        docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:$GITHUB_SHA
 
   static_analysis:
     name: static analysis
@@ -167,7 +219,8 @@ jobs:
     - name: Build Docker image
       run: eval "$BUILD"
     - name: pre-commit
-      run: ${{ env.RUN }} "pre-commit run --all"
+      timeout-minutes: 4
+      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
 
   valgrind:
     name: valgrind
@@ -180,6 +233,7 @@ jobs:
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run valgrind
+      timeout-minutes: 1
       run: |
         ${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py"
     - name: Print logs
@@ -195,8 +249,10 @@ jobs:
         submodules: true
     - uses: ./.github/workflows/setup
     - name: Build openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run unit tests
+      timeout-minutes: 40
       run: |
         ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
                         $UNIT_TEST common && \
@@ -207,6 +263,8 @@ jobs:
                         $UNIT_TEST system/loggerd && \
                         $UNIT_TEST selfdrive/car && \
                         $UNIT_TEST selfdrive/locationd && \
+                        $UNIT_TEST selfdrive/test/longitudinal_maneuvers && \
+                        $UNIT_TEST system/tests && \
                         $UNIT_TEST system/ubloxd && \
                         selfdrive/locationd/test/_test_locationd_lib.py && \
                         ./system/ubloxd/tests/test_glonass_runner && \
@@ -225,9 +283,10 @@ jobs:
                         ./tools/replay/tests/test_replay && \
                         ./tools/cabana/tests/test_cabana && \
                         ./system/camerad/test/ae_gray_test && \
+                        ./selfdrive/test/process_replay/test_fuzzy.py && \
                         coverage xml"
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v2
+      uses: codecov/codecov-action@v3
 
   process_replay:
     name: process replay
@@ -241,12 +300,13 @@ jobs:
       id: dependency-cache
       uses: actions/cache@v3
       with:
-        path: /tmp/comma_download_cache
+        path: ~/comma_download_cache
         key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
     - name: Build openpilot
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run replay
+      timeout-minutes: 20
       run: |
         ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                         coverage xml"
@@ -265,7 +325,7 @@ jobs:
       run: |
         ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v2
+      uses: codecov/codecov-action@v3
 
   test_modeld:
     name: model tests
@@ -275,48 +335,29 @@ jobs:
       with:
         submodules: true
     - uses: ./.github/workflows/setup
+    - name: Build base Docker image
+      run: eval "$BUILD"
     - name: Build Docker image
       # Sim docker is needed to get the OpenCL drivers
       run: eval "$BUILD_CL"
     - name: Build openpilot
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
+    # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
     - name: Run model replay with ONNX
+      timeout-minutes: 2
       run: |
-        ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+        ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
+                           ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
                            coverage xml"
     - name: Run unit tests
+      timeout-minutes: 4
       run: |
-        ${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \
+        ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
+                           $UNIT_TEST selfdrive/modeld && \
                            coverage xml"
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v2
-
-  test_longitudinal:
-    name: longitudinal
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Test longitudinal
-      run: |
-        ${{ env.RUN }} "mkdir -p selfdrive/test/out && \
-                        cd selfdrive/test/longitudinal_maneuvers && \
-                        coverage run ./test_longitudinal.py && \
-                        coverage xml"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v2
-    - uses: actions/upload-artifact@v2
-      if: always()
-      continue-on-error: true
-      with:
-        name: longitudinal
-        path: selfdrive/test/longitudinal_maneuvers/out/longitudinal/
+      uses: codecov/codecov-action@v3
 
   test_cars:
     name: cars
@@ -332,13 +373,14 @@ jobs:
     - uses: ./.github/workflows/setup
     - name: Cache test routes
       id: dependency-cache
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      uses: actions/cache@v3
       with:
-        path: /tmp/comma_download_cache
+        path: ~/comma_download_cache
         key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
+      timeout-minutes: 25
       run: |
         ${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \
                         coverage xml && \
@@ -347,7 +389,7 @@ jobs:
         NUM_JOBS: 5
         JOB_ID: ${{ matrix.job }}
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v2
+      uses: codecov/codecov-action@v3
 
   car_docs_diff:
     name: PR comments
@@ -370,7 +412,7 @@ jobs:
         id: save_diff
         run: |
           ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") || true
+          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info")
           output="${output//$'\n'/'%0A'}"
           echo "::set-output name=diff::$output"
       - name: Find comment

.github/workflows/setup/action.yaml

@@ -1,10 +1,5 @@
 name: 'openpilot env setup'
 
-inputs:
-  save-cache:
-    default: false
-    required: false
-
 runs:
   using: "composite"
   steps:
@@ -18,15 +13,10 @@ runs:
       run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
     - shell: bash
       run: echo "$CACHE_COMMIT_DATE"
-    - shell: bash
-      run: echo "CACHE_SKIP_SAVE=true" >> $GITHUB_ENV
-      if: github.ref != 'refs/heads/master' || inputs.save-cache == 'false'
-    - id: scons-cache
-      # TODO: change the version to the released version
-      # when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+    - id: restore-scons-cache
+      uses: actions/cache/restore@v3
       with:
-        path: /tmp/scons_cache
+        path: ~/scons_cache
         key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
           scons-${{ env.CACHE_COMMIT_DATE }}-

.github/workflows/tools_tests.yaml

@@ -2,8 +2,8 @@ name: tools
 
 on:
   push:
-    branches-ignore:
-      - 'testing-closet*'
+    branches:
+      - master
   pull_request:
 
 concurrency:
@@ -19,17 +19,18 @@ env:
   BUILD: |
       DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
 
-  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
 
   BUILD_CL: |
       DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
-  RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
+  RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
 
 
 jobs:
   plotjuggler:
     name: plotjuggler
     runs-on: ubuntu-20.04
+    timeout-minutes: 45
     steps:
     - uses: actions/checkout@v3
       with:
@@ -37,6 +38,7 @@ jobs:
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Unit test
+      timeout-minutes: 2
       run: |
         ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \
                         apt-get update && \
@@ -50,6 +52,7 @@ jobs:
     env:
       IMAGE_NAME: openpilot-sim
     if: github.repository == 'commaai/openpilot'
+    timeout-minutes: 45
     steps:
     - uses: actions/checkout@v3
       with:
@@ -71,17 +74,18 @@ jobs:
   docs:
     name: build docs
     runs-on: ubuntu-20.04
+    timeout-minutes: 45
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build docker container
       run: |
-        DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile .
+        DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs-base:latest -t $DOCKER_REGISTRY/openpilot-docs-base:latest -f docs/docker/Dockerfile --target openpilot-docs-base .
+        DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs-base:latest --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile .
     - name: Push docker container
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         $DOCKER_LOGIN
-        docker push $DOCKER_REGISTRY/openpilot-docs:latest
-
-
+        docker push $DOCKER_REGISTRY/openpilot-docs-base:latest
+        docker push $DOCKER_REGISTRY/openpilot-docs:latest

.gitignore

@@ -45,7 +45,9 @@ selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
+selfdrive/ui/translations/alerts_generated.h
 selfdrive/test/longitudinal_maneuvers/out
+selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
@@ -54,7 +56,6 @@ selfdrive/modeld/_dmonitoringmodeld
 /src/
 
 one
-openpilot
 notebooks
 xx
 yy
@@ -83,3 +84,4 @@ build/
 !**/.gitkeep
 
 poetry.toml
+Pipfile

.pre-commit-config.yaml

@@ -17,13 +17,13 @@ repos:
     -   id: check-added-large-files
         args: ['--maxkb=100']
 -   repo: https://github.com/codespell-project/codespell
-    rev: v2.2.4
+    rev: v2.2.5
     hooks:
     -   id: codespell
         exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.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
+        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: local
     hooks:
@@ -32,32 +32,13 @@ repos:
         entry: mypy
         language: system
         types: [python]
+        args: ['--explicit-package-bases']
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
--   repo: https://github.com/PyCQA/flake8
-    rev: 6.0.0
+-   repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.0.282
     hooks:
-    -   id: flake8
-        exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/'
-        additional_dependencies: ['flake8-no-implicit-concat']
-        args:
-        - --indent-size=2
-        - --enable-extensions=NIC
-        - --select=F,E112,E113,E304,E502,E701,E702,E703,E71,E72,E731,W191,W6
-        - --statistics
-        - -j4
--   repo: local
-    hooks:
-    -   id: pylint
-        name: pylint
-        entry: pylint
-        language: system
-        types: [python]
+    -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
-        args:
-        - -j0
-        - -rn
-        - -sn
-        - --rcfile=.pylintrc
 -   repo: local
     hooks:
     -   id: cppcheck
@@ -80,6 +61,10 @@ repos:
         language: script
         pass_filenames: false
 -   repo: https://github.com/python-poetry/poetry
-    rev: '1.4.0'
+    rev: '1.5.0'
     hooks:
     -   id: poetry-check
+    -   id: poetry-lock
+        name: validate poetry lock
+        args: 
+        - --check

.pylintrc

@@ -1,469 +0,0 @@
-[MASTER]
-
-# A comma-separated list of package or module names from where C extensions may
-# be loaded. Extensions are loading into the active Python interpreter and may
-# run arbitrary code
-extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5,av
-
-# Add files or directories to the blacklist. They should be base names, not
-# paths.
-ignore=CVS
-
-# Add files or directories matching the regex patterns to the blacklist. The
-# regex matches against base names, not paths.
-ignore-patterns=
-
-# Python code to execute, usually for sys.path manipulation such as
-# pygtk.require().
-#init-hook=
-
-# Use multiple processes to speed up Pylint.
-jobs=4
-
-# List of plugins (as comma separated values of python modules names) to load,
-# usually to register additional checkers.
-load-plugins=
-
-# Pickle collected data for later comparisons.
-persistent=yes
-
-# Specify a configuration file.
-#rcfile=
-
-# When enabled, pylint would attempt to guess common misconfiguration and emit
-# user-friendly hints instead of false-positive error messages
-suggestion-mode=yes
-
-# Allow loading of arbitrary C extensions. Extensions are imported into the
-# active Python interpreter and may run arbitrary code.
-unsafe-load-any-extension=no
-
-
-[MESSAGES CONTROL]
-
-# Only show warnings with the listed confidence levels. Leave empty to show
-# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
-confidence=
-
-# Disable the message, report, category or checker with the given id(s). You
-# can either give multiple identifiers separated by comma (,) or put this
-# option multiple times (only on the command line, not in the configuration
-# file where it should appear only once).You can also use "--disable=all" to
-# disable everything first and then reenable specific checks. For example, if
-# you want to run only the similarities checker, you can use "--disable=all
-# --enable=similarities". If you want to run only the classes checker, but have
-# no Warning level messages displayed, use"--disable=all --enable=classes
-# --disable=W"
-disable=C,R,W0613,W0511,W0212,W0201,W0106,W0603,W0621,W0703,W1201,W1203,E1136,W1514
-
-
-# Enable the message, report, category or checker with the given id(s). You can
-# either give multiple identifier separated by comma (,) or put this option
-# multiple time (only on the command line, not in the configuration file where
-# it should appear only once). See also the "--disable" option for examples.
-enable=c-extension-no-member
-
-
-[REPORTS]
-
-# Python expression which should return a note less than 10 (10 is the highest
-# note). You have access to the variables errors warning, statement which
-# respectively contain the number of errors / warnings messages and the total
-# number of statements analyzed. This is used by the global evaluation report
-# (RP0004).
-evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
-
-# Template used to display messages. This is a python new-style format string
-# used to format the message information. See doc for all details
-#msg-template=
-
-# Set the output format. Available formats are text, parseable, colorized, json
-# and msvs (visual studio).You can also give a reporter class, eg
-# mypackage.mymodule.MyReporterClass.
-output-format=text
-
-# Tells whether to display a full report or only the messages
-reports=no
-
-# Activate the evaluation score.
-score=yes
-
-
-[REFACTORING]
-
-# Maximum number of nested blocks for function / method body
-max-nested-blocks=5
-
-# Complete name of functions that never returns. When checking for
-# inconsistent-return-statements if a never returning function is called then
-# it will be considered as an explicit return statement and no message will be
-# printed.
-never-returning-functions=optparse.Values,sys.exit
-
-
-[LOGGING]
-
-# Logging modules to check that the string format arguments are in logging
-# function parameter format
-logging-modules=logging
-
-
-[SPELLING]
-
-# Limits count of emitted suggestions for spelling mistakes
-max-spelling-suggestions=4
-
-# Spelling dictionary name. Available dictionaries: none. To make it working
-# install python-enchant package.
-spelling-dict=
-
-# List of comma separated words that should not be checked.
-spelling-ignore-words=
-
-# A path to a file that contains private dictionary; one word per line.
-spelling-private-dict-file=
-
-# Tells whether to store unknown words to indicated private dictionary in
-# --spelling-private-dict-file option instead of raising a message.
-spelling-store-unknown-words=no
-
-
-[MISCELLANEOUS]
-
-# List of note tags to take in consideration, separated by a comma.
-notes=FIXME,
-      XXX,
-      TODO
-
-
-[SIMILARITIES]
-
-# Ignore comments when computing similarities.
-ignore-comments=yes
-
-# Ignore docstrings when computing similarities.
-ignore-docstrings=yes
-
-# Ignore imports when computing similarities.
-ignore-imports=no
-
-# Minimum lines number of a similarity.
-min-similarity-lines=4
-
-
-[TYPECHECK]
-
-# List of decorators that produce context managers, such as
-# contextlib.contextmanager. Add to this list to register other decorators that
-# produce valid context managers.
-contextmanager-decorators=contextlib.contextmanager
-
-# List of members which are set dynamically and missed by pylint inference
-# system, and so shouldn't trigger E1101 when accessed. Python regular
-# expressions are accepted.
-generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.* ft4222.* carla.*
-
-# Tells whether missing members accessed in mixin class should be ignored. A
-# mixin class is detected if its name ends with "mixin" (case insensitive).
-ignore-mixin-members=yes
-
-# This flag controls whether pylint should warn about no-member and similar
-# checks whenever an opaque object is returned when inferring. The inference
-# can return multiple potential results while evaluating a Python object, but
-# some branches might not be evaluated, which results in partial inference. In
-# that case, it might be useful to still emit no-member and other checks for
-# the rest of the inferred objects.
-ignore-on-opaque-inference=yes
-
-# List of class names for which member attributes should not be checked (useful
-# for classes with dynamically set attributes). This supports the use of
-# qualified names.
-ignored-classes=optparse.Values,thread._local,_thread._local
-
-# List of module names for which member attributes should not be checked
-# (useful for modules/projects where namespaces are manipulated during runtime
-# and thus existing member attributes cannot be deduced by static analysis. It
-# supports qualified module names, as well as Unix pattern matching.
-ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
-
-# Show a hint with possible names when a member name was not found. The aspect
-# of finding the hint is based on edit distance.
-missing-member-hint=yes
-
-# The minimum edit distance a name should have in order to be considered a
-# similar match for a missing member name.
-missing-member-hint-distance=1
-
-# The total number of similar names that should be taken in consideration when
-# showing a hint for a missing member.
-missing-member-max-choices=1
-
-
-[VARIABLES]
-
-# List of additional names supposed to be defined in builtins. Remember that
-# you should avoid to define new builtins when possible.
-additional-builtins=
-
-# Tells whether unused global variables should be treated as a violation.
-allow-global-unused-variables=yes
-
-# List of strings which can identify a callback function by name. A callback
-# name must start or end with one of those strings.
-callbacks=cb_,
-          _cb
-
-# A regular expression matching the name of dummy variables (i.e. expectedly
-# not used).
-dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
-
-# Argument names that match this expression will be ignored. Default to name
-# with leading underscore
-ignored-argument-names=_.*|^ignored_|^unused_
-
-# Tells whether we should check for unused import in __init__ files.
-init-import=no
-
-# List of qualified module names which can have objects that can redefine
-# builtins.
-redefining-builtins-modules=six.moves,past.builtins,future.builtins
-
-
-[FORMAT]
-
-# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
-expected-line-ending-format=
-
-# Regexp for a line that is allowed to be longer than the limit.
-ignore-long-lines=^\s*(# )?<?https?://\S+>?$
-
-# Number of spaces of indent required inside a hanging  or continued line.
-indent-after-paren=4
-
-# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
-# tab).
-indent-string='  '
-
-# Maximum number of characters on a single line.
-max-line-length=100
-
-# Maximum number of lines in a module
-max-module-lines=1000
-
-# Allow the body of a class to be on the same line as the declaration if body
-# contains single statement.
-single-line-class-stmt=no
-
-# Allow the body of an if to be on the same line as the test if there is no
-# else.
-single-line-if-stmt=no
-
-
-[BASIC]
-
-# Naming style matching correct argument names
-argument-naming-style=snake_case
-
-# Regular expression matching correct argument names. Overrides argument-
-# naming-style
-#argument-rgx=
-
-# Naming style matching correct attribute names
-attr-naming-style=snake_case
-
-# Regular expression matching correct attribute names. Overrides attr-naming-
-# style
-#attr-rgx=
-
-# Bad variable names which should always be refused, separated by a comma
-bad-names=foo,
-          bar,
-          baz,
-          toto,
-          tutu,
-          tata
-
-# Naming style matching correct class attribute names
-class-attribute-naming-style=any
-
-# Regular expression matching correct class attribute names. Overrides class-
-# attribute-naming-style
-#class-attribute-rgx=
-
-# Naming style matching correct class names
-class-naming-style=PascalCase
-
-# Regular expression matching correct class names. Overrides class-naming-style
-#class-rgx=
-
-# Naming style matching correct constant names
-const-naming-style=UPPER_CASE
-
-# Regular expression matching correct constant names. Overrides const-naming-
-# style
-#const-rgx=
-
-# Minimum line length for functions/classes that require docstrings, shorter
-# ones are exempt.
-docstring-min-length=-1
-
-# Naming style matching correct function names
-function-naming-style=snake_case
-
-# Regular expression matching correct function names. Overrides function-
-# naming-style
-#function-rgx=
-
-# Good variable names which should always be accepted, separated by a comma
-good-names=i,
-           j,
-           k,
-           ex,
-           Run,
-           _
-
-# Include a hint for the correct naming format with invalid-name
-include-naming-hint=no
-
-# Naming style matching correct inline iteration names
-inlinevar-naming-style=any
-
-# Regular expression matching correct inline iteration names. Overrides
-# inlinevar-naming-style
-#inlinevar-rgx=
-
-# Naming style matching correct method names
-method-naming-style=snake_case
-
-# Regular expression matching correct method names. Overrides method-naming-
-# style
-#method-rgx=
-
-# Naming style matching correct module names
-module-naming-style=snake_case
-
-# Regular expression matching correct module names. Overrides module-naming-
-# style
-#module-rgx=
-
-# Colon-delimited sets of names that determine each other's naming style when
-# the name regexes allow several styles.
-name-group=
-
-# Regular expression which should only match function or class names that do
-# not require a docstring.
-no-docstring-rgx=^_
-
-# List of decorators that produce properties, such as abc.abstractproperty. Add
-# to this list to register other decorators that produce valid properties.
-property-classes=abc.abstractproperty
-
-# Naming style matching correct variable names
-variable-naming-style=snake_case
-
-# Regular expression matching correct variable names. Overrides variable-
-# naming-style
-#variable-rgx=
-
-
-[DESIGN]
-
-# Maximum number of arguments for function / method
-max-args=5
-
-# Maximum number of attributes for a class (see R0902).
-max-attributes=7
-
-# Maximum number of boolean expressions in a if statement
-max-bool-expr=5
-
-# Maximum number of branch for function / method body
-max-branches=12
-
-# Maximum number of locals for function / method body
-max-locals=15
-
-# Maximum number of parents for a class (see R0901).
-max-parents=7
-
-# Maximum number of public methods for a class (see R0904).
-max-public-methods=20
-
-# Maximum number of return / yield for function / method body
-max-returns=6
-
-# Maximum number of statements in function / method body
-max-statements=50
-
-# Minimum number of public methods for a class (see R0903).
-min-public-methods=2
-
-
-[CLASSES]
-
-# List of method names used to declare (i.e. assign) instance attributes.
-defining-attr-methods=__init__,
-                      __new__,
-                      setUp
-
-# List of member names, which should be excluded from the protected access
-# warning.
-exclude-protected=_asdict,
-                  _fields,
-                  _replace,
-                  _source,
-                  _make
-
-# List of valid names for the first argument in a class method.
-valid-classmethod-first-arg=cls
-
-# List of valid names for the first argument in a metaclass class method.
-valid-metaclass-classmethod-first-arg=mcs
-
-
-[IMPORTS]
-
-# Allow wildcard imports from modules that define __all__.
-allow-wildcard-with-all=no
-
-# Analyse import fallback blocks. This can be used to support both Python 2 and
-# 3 compatible code, which means that the block might have code that exists
-# only in one or another interpreter, leading to false positives when analysed.
-analyse-fallback-blocks=no
-
-# Deprecated modules which should not be used, separated by a comma
-deprecated-modules=regsub,
-                   TERMIOS,
-                   Bastion,
-                   rexec
-
-# Create a graph of external dependencies in the given file (report RP0402 must
-# not be disabled)
-ext-import-graph=
-
-# Create a graph of every (i.e. internal and external) dependencies in the
-# given file (report RP0402 must not be disabled)
-import-graph=
-
-# Create a graph of internal dependencies in the given file (report RP0402 must
-# not be disabled)
-int-import-graph=
-
-# Force import order to recognize a module as part of the standard
-# compatibility libraries.
-known-standard-library=
-
-# Force import order to recognize a module as part of a third party library.
-known-third-party=enchant
-
-[STRING]
-
-# This flag controls whether the implicit-str-concat should generate a warning
-# on implicit string concatenation in sequences defined over several lines.
-check-str-concat-over-line-jumps=yes
-
-[EXCEPTIONS]
-
-# Exceptions that will emit a warning when being caught. Defaults to
-# "Exception"
-overgeneral-exceptions=Exception

.python-version

@@ -1 +1 @@
-3.8.10
+3.11.4

Dockerfile.openpilot

@@ -2,7 +2,7 @@ FROM ghcr.io/commaai/openpilot-base:latest
 
 ENV PYTHONUNBUFFERED 1
 
-ENV OPENPILOT_PATH /home/batman/openpilot/
+ENV OPENPILOT_PATH /home/batman/openpilot
 ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 
 RUN mkdir -p ${OPENPILOT_PATH}
@@ -23,5 +23,6 @@ COPY ./cereal ${OPENPILOT_PATH}/cereal
 COPY ./panda ${OPENPILOT_PATH}/panda
 COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
 COPY ./system ${OPENPILOT_PATH}/system
+COPY ./body ${OPENPILOT_PATH}/body
 
 RUN scons --cache-readonly -j$(nproc)

Dockerfile.openpilot_base

@@ -13,12 +13,12 @@ ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
 ENV POETRY_VIRTUALENVS_CREATE=false
-ENV PYENV_VERSION=3.8.10
+ENV PYENV_VERSION=3.11.4
 ENV PYENV_ROOT="/root/.pyenv"
 ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
 
-COPY pyproject.toml poetry.lock .python-version update_requirements.sh /tmp/
-COPY tools/ubuntu_setup.sh /tmp/tools/
+COPY pyproject.toml poetry.lock .python-version /tmp/
+COPY tools/ubuntu_setup.sh tools/install_python_dependencies.sh /tmp/tools/
 RUN cd /tmp && \
     tools/ubuntu_setup.sh && \
     rm -rf /var/lib/apt/lists/* && \

Jenkinsfile

@@ -6,6 +6,8 @@ ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <
 set -e
 
 export CI=1
+export PYTHONWARNINGS=error
+export LOGPRINT=debug
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
@@ -18,6 +20,23 @@ export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 source ~/.bash_profile
 if [ -f /TICI ]; then
   source /etc/profile
+
+  if ! systemctl is-active --quiet systemd-resolved; then
+    echo "restarting resolved"
+    sudo systemctl start systemd-resolved
+    sleep 3
+  fi
+
+  # restart aux USB
+  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
+    echo "restarting aux usb"
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
+    sleep 0.5
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
+  fi
+fi
+if [ -f /data/openpilot/launch_env.sh ]; then
+  source /data/openpilot/launch_env.sh
 fi
 
 ln -snf ${env.TEST_DIR} /data/pythonpath
@@ -47,6 +66,7 @@ pipeline {
   agent none
   environment {
     CI = "1"
+    PYTHONWARNINGS = "error"
     TEST_DIR = "/data/openpilot"
     SOURCE_DIR = "/data/openpilot_source/"
     AZURE_TOKEN = credentials('azure_token')
@@ -125,17 +145,44 @@ pipeline {
         }
         */
 
+        stage('PC tests') {
+          agent {
+            dockerfile {
+              filename 'Dockerfile.openpilot_base'
+              args '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache'
+            }
+          }
+          steps {
+            sh "git config --global --add safe.directory '*'"
+            sh "git submodule update --init --depth=1 --recursive"
+            sh "git lfs pull"
+            // tests that our build system's dependencies are configured properly, needs a machine with lots of cores
+            sh "scons --clean && scons --no-cache --random -j42"
+            sh "INTERNAL_SEG_CNT=400 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
+                pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
+          }
+
+          post {
+            always {
+              sh "rm -rf ${WORKSPACE}/* || true"
+              sh "rm -rf .* || true"
+            }
+          }
+        }
+
         stage('tizi-tests') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           steps {
             phone_steps("tizi", [
               ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "SINGLE_PANDA=1 python selfdrive/boardd/tests/test_boardd_loopback.py"],
-              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
-              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
-              ["test camerad", "python system/camerad/test/test_camerad.py"],
-              ["test exposure", "python system/camerad/test/test_exposure.py"],
-              ["test amp", "python system/hardware/tici/tests/test_amplifier.py"],
+              ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
+              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+              ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+              ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+              ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
             ])
           }
         }
@@ -147,11 +194,11 @@ pipeline {
           }
           steps {
             phone_steps("tici-needs-can", [
-              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
+              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
               ["build openpilot", "cd selfdrive/manager && ./build.py"],
               ["check dirty", "release/check-dirty.sh"],
               ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-              ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+              ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
             ])
           }
         }
@@ -161,7 +208,7 @@ pipeline {
           steps {
             phone_steps("tici-loopback", [
               ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+              ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
             ])
           }
         }
@@ -171,34 +218,28 @@ pipeline {
           steps {
             phone_steps("tici-common", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test power draw", "python system/hardware/tici/tests/test_power_draw.py"],
-              ["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
-              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
-              ["test pigeond", "python system/sensord/tests/test_pigeond.py"],
-              ["test manager", "python selfdrive/manager/test/test_manager.py"],
-              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
+              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+              ["test power draw", "pytest system/hardware/tici/tests/test_power_draw.py"],
+              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
+              ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
+              ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
+              ["test nav", "pytest selfdrive/navd/tests/"],
             ])
           }
         }
 
-        stage('camerad-ar') {
+        stage('camerad') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           steps {
             phone_steps("tici-ar0231", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "python system/camerad/test/test_camerad.py"],
-              ["test exposure", "python system/camerad/test/test_exposure.py"],
+              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
             ])
-          }
-        }
-
-        stage('camerad-ox') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
             phone_steps("tici-ox03c10", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "python system/camerad/test/test_camerad.py"],
-              ["test exposure", "python system/camerad/test/test_exposure.py"],
+              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
             ])
           }
         }
@@ -208,11 +249,11 @@ pipeline {
           steps {
             phone_steps("tici-lsmc", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
             ])
             phone_steps("tici-bmx-lsm", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
             ])
           }
         }
@@ -220,9 +261,9 @@ pipeline {
         stage('replay') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           steps {
-            phone_steps("tici-common", [
+            phone_steps("tici-replay", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["model replay", "cd selfdrive/test/process_replay && NO_NAV=1 ./model_replay.py"],
+              ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
             ])
           }
         }

README.md

@@ -1,4 +1,4 @@
-![](https://i.imgur.com/b0ZyIx5.jpg)
+![openpilot on the comma 3X](https://github.com/commaai/openpilot/assets/4038174/f1081737-8718-4241-a22a-3ceba526361a)
 
 Table of Contents
 =======================
@@ -39,10 +39,10 @@ Running on a dedicated device in a car
 ------
 
 To use openpilot in a car, you need four things
-* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
-* This software. The setup procedure of the comma three allows the user to enter a URL for custom software.
+* A supported device to run this software: a [comma 3X](https://comma.ai/shop/comma-3x) or comma three.
+* This software. The setup procedure of the comma 3/3X allows the user to enter a URL for custom software.
 The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
-* One of [the 200+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
+* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
 
 We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
@@ -67,7 +67,7 @@ Documentation related to openpilot development can be found on [docs.comma.ai](h
 
 You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
 
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions).
 
 And [follow us on Twitter](https://twitter.com/comma_ai).
 

RELEASES.md

@@ -1,14 +1,63 @@
-Version 0.9.2 (2023-03-XX)
+Version 0.9.5 (202X-XX-XX)
 ========================
-* New driving model, trained on a new dataset
-* Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
+* Lexus IS 2023 support thanks to L3R5!
+
+Version 0.9.4 (2023-07-27)
+========================
+* comma 3X support
+* Navigate on openpilot in Experimental mode
+  * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
+  * When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
+  * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
+  * When navigate on openpilot is active, the path on the map is green
+* UI updates
+  * Navigation settings moved to home screen and map
+  * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
+  * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
+* Bookmarked segments are preserved on the device's storage
+* Ford Focus 2018 support
+* Kia Carnival 2023 support thanks to sunnyhaibin!
+
+Version 0.9.3 (2023-06-29)
+========================
+* New driving model
+  * Improved height estimation and added height tracking in liveCalibration
+  * Model inputs refactor
+* New driving personality setting
+  * Three settings: aggressive, standard, and relaxed
+  * Standard is recommended and the default
+  * In aggressive mode, lead follow distance is shorter and acceleration response is quicker
+  * In relaxed mode, lead follow distance is longer
+* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
+* Improved thermal management logic
+
+Version 0.9.2 (2023-05-22)
+========================
+* New driving model
+  * Reduced turn diving
+  * Trained on a new dataset
+* UI updates
+  * New experimental mode visualization
+  * Draw MPC path instead of model-predicted path
+* AGNOS 7
+  * Faster boot time
+  * Fixes rare no sounds bug
+  * Fixes bootsplash bug at extreme temperatures
 * Buick LaCrosse 2017-19 support thanks to koch-cf!
 * Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
+* Ford Bronco Sport 2021-22 support
+* Ford Escape 2020-22 support
+* Ford Explorer 2020-22 support
+* Ford Kuga 2020-22 support
+* Ford Maverick 2022-23 support
+* Genesis GV80 2023 support thanks to JWingate80!
 * Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
 * Kia Niro EV 2023 support thanks to JosselinLecocq!
 * Lexus ES 2017-18 support
+* Lincoln Aviator 2021 support
 * Škoda Fabia 2022-23 support thanks to jyoung8607!
 
+
 Version 0.9.1 (2023-02-28)
 ========================
 * New driving model

SConstruct

@@ -64,20 +64,25 @@ AddOption('--no-test',
           default=os.path.islink(Dir('#laika/').abspath),
           help='skip building test files')
 
+## Architecture name breakdown (arch)
+## - larch64: linux tici aarch64
+## - aarch64: linux pc aarch64
+## - x86_64:  linux pc x64
+## - Darwin:  mac x64 or arm64
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-
-if arch == "aarch64" and AGNOS:
+  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+elif arch == "aarch64" and AGNOS:
   arch = "larch64"
-
+assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
 
 lenv = {
   "PATH": os.environ['PATH'],
   "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
   "PYTHONPATH": Dir("#").abspath,
 
-  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
   "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
   "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
 }
@@ -110,26 +115,20 @@ else:
   cflags = []
   cxxflags = []
   cpppath = []
+  rpath += [
+    Dir("#cereal").abspath,
+    Dir("#common").abspath
+  ]
 
   # MacOS
   if arch == "Darwin":
-    if real_arch == "x86_64":
-      lenv["TERA_PATH"] = Dir("#").abspath + f"/third_party/acados/Darwin_x86_64/t_renderer"
-
-    brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
-      f"#third_party/libyuv/{yuv_dir}/lib",
+      f"#third_party/libyuv/{arch}/lib",
+      f"#third_party/acados/{arch}/lib",
       f"{brew_prefix}/lib",
-      f"{brew_prefix}/Library",
       f"{brew_prefix}/opt/openssl@3.0/lib",
-      f"{brew_prefix}/Cellar",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
-    if real_arch == "x86_64":
-      libpath.append(f"#third_party/acados/Darwin_x86_64/lib")
-    else:
-      libpath.append(f"#third_party/acados/{arch}/lib")
 
     cflags += ["-DGL_SILENCE_DEPRECATION"]
     cxxflags += ["-DGL_SILENCE_DEPRECATION"]
@@ -137,24 +136,26 @@ else:
       f"{brew_prefix}/include",
       f"{brew_prefix}/opt/openssl@3.0/include",
     ]
-  # Linux 86_64
+    lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
+  # Linux
   else:
     libpath = [
-      "#third_party/acados/x86_64/lib",
-      "#third_party/snpe/x86_64-linux-clang",
-      "#third_party/libyuv/x64/lib",
-      "#third_party/mapbox-gl-native-qt/x86_64",
+      f"#third_party/acados/{arch}/lib",
+      f"#third_party/libyuv/{arch}/lib",
+      f"#third_party/mapbox-gl-native-qt/{arch}",
       "#cereal",
       "#common",
       "/usr/lib",
       "/usr/local/lib",
     ]
 
-  rpath += [
-    Dir("#third_party/snpe/x86_64-linux-clang").abspath,
-    Dir("#cereal").abspath,
-    Dir("#common").abspath
-  ]
+    if arch == "x86_64":
+      libpath += [
+        f"#third_party/snpe/{arch}"
+      ]
+      rpath += [
+        Dir(f"#third_party/snpe/{arch}").abspath,
+      ]
 
 if GetOption('asan'):
   ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
@@ -200,7 +201,6 @@ env = Environment(
     "#third_party/catch2/include",
     "#third_party/libyuv/include",
     "#third_party/json11",
-    "#third_party/curl/include",
     "#third_party/linux/include",
     "#third_party/snpe/include",
     "#third_party/mapbox-gl-native-qt/include",
@@ -231,7 +231,9 @@ env = Environment(
 )
 
 if arch == "Darwin":
-  env['RPATHPREFIX'] = "-rpath "
+  # RPATH is not supported on macOS, instead use the linker flags
+  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
+  env["LINKFLAGS"] += darwin_rpath_link_flags
 
 if GetOption('compile_db'):
   env.CompilationDatabase('compile_commands.json')
@@ -268,13 +270,11 @@ py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"].remove("-Werror")
 
 envCython["LIBS"] = []
 if arch == "Darwin":
-  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
-elif arch == "aarch64":
-  envCython["LINKFLAGS"] = ["-shared"]
-  envCython["LIBS"] = [os.path.basename(py_include)]
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
@@ -286,10 +286,7 @@ qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "
 
 qt_libs = []
 if arch == "Darwin":
-  if real_arch == "arm64":
-    qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
-  else:
-    qt_env['QTDIR'] = "/usr/local/opt/qt@5"
+  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
   qt_dirs = [
     os.path.join(qt_env['QTDIR'], "include"),
   ]
@@ -337,7 +334,7 @@ qt_flags = [
 qt_env['CXXFLAGS'] += qt_flags
 qt_env['LIBPATH'] += ['#selfdrive/ui']
 qt_env['LIBS'] = qt_libs
-qt_env['QT_MOCHPREFIX'] = cache_dir + '/moc_files/moc_'
+qt_env['QT3_MOCHPREFIX'] = cache_dir + '/moc_files/moc_'
 
 if GetOption("clazy"):
   checks = [
@@ -405,13 +402,17 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'system/camerad/SConscript',
   'system/clocksd/SConscript',
   'system/proclogd/SConscript',
   'system/ubloxd/SConscript',
+  'system/loggerd/SConscript',
 ])
 if arch != "Darwin":
-  SConscript(['system/logcatd/SConscript'])
+  SConscript([
+    'system/camerad/SConscript',
+    'system/sensord/SConscript',
+    'system/logcatd/SConscript',
+  ])
 
 # Build openpilot
 
@@ -428,21 +429,15 @@ SConscript(['third_party/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['common/transformations/SConscript'])
 
-SConscript(['selfdrive/modeld/SConscript'])
-
+SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
-
-SConscript(['selfdrive/boardd/SConscript'])
-
-SConscript(['system/loggerd/SConscript'])
-
 SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['system/sensord/SConscript'])
-SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/navd/SConscript'])
+SConscript(['selfdrive/modeld/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])
 
-if (arch in ['x86_64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'):
+if (arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
   SConscript(['tools/cabana/SConscript'])
 

common/clutil.cc

@@ -38,8 +38,8 @@ void cl_print_info(cl_platform_id platform, cl_device_id device) {
   LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
   LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
   LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
-  LOGD("max work group size: %d", work_group_size);
-  LOGD("type = %d = ", device_type, type_str);
+  LOGD("max work group size: %zu", work_group_size);
+  LOGD("type = %d, %s", (int)device_type, type_str);
 }
 
 void cl_print_build_errors(cl_program program, cl_device_id device) {
@@ -62,7 +62,7 @@ cl_device_id cl_get_device_id(cl_device_type device_type) {
   CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
 
   for (size_t i = 0; i < num_platforms; ++i) {
-    LOGD("platform[%d] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
+    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
 
     // Get first device
     if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {

common/file_helpers.py

@@ -5,7 +5,7 @@ from atomicwrites import AtomicWriter
 
 
 def mkdirs_exists_ok(path):
-  if path.startswith('http://') or path.startswith('https://'):
+  if path.startswith(('http://', 'https://')):
     raise ValueError('URL path')
   try:
     os.makedirs(path)

common/gpio.cc

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

common/gpio.py

@@ -1,4 +1,4 @@
-import glob
+from functools import lru_cache
 from typing import Optional, List
 
 def gpio_init(pin: int, output: bool) -> None:
@@ -25,12 +25,27 @@ def gpio_read(pin: int) -> Optional[bool]:
 
   return val
 
-def get_irq_for_action(action: str) -> List[int]:
-  ret = []
-  for fn in glob.glob('/sys/kernel/irq/*/actions'):
-    with open(fn) as f:
+def gpio_export(pin: int) -> None:
+  try:
+    with open("/sys/class/gpio/export", 'w') as f:
+      f.write(str(pin))
+  except Exception:
+    print(f"Failed to export gpio {pin}")
+
+@lru_cache(maxsize=None)
+def get_irq_action(irq: int) -> List[str]:
+  try:
+    with open(f"/sys/kernel/irq/{irq}/actions") as f:
       actions = f.read().strip().split(',')
-      if action in actions:
-        irq = int(fn.split('/')[-2])
+      return actions
+  except FileNotFoundError:
+    return []
+
+def get_irqs_for_action(action: str) -> List[str]:
+  ret = []
+  with open("/proc/interrupts") as f:
+    for l in f.readlines():
+      irq = l.split(':')[0].strip()
+      if irq.isdigit() and action in get_irq_action(irq):
         ret.append(irq)
   return ret

common/logging_extra.py

@@ -65,7 +65,7 @@ class SwagFormatter(logging.Formatter):
 
     return record_dict
 
-  def format(self, record):
+  def format(self, record): # noqa: A003
     if self.swaglogger is None:
       raise Exception("must set swaglogger before calling format()")
     return json_robust_dumps(self.format_dict(record))
@@ -95,7 +95,7 @@ class SwagLogFileFormatter(SwagFormatter):
       k += "$a"
     return k, v
 
-  def format(self, record):
+  def format(self, record): # noqa: A003
     if isinstance(record, str):
       v = json.loads(record)
     else:
@@ -153,9 +153,9 @@ class SwagLogger(logging.Logger):
   def bind_global(self, **kwargs):
     self.global_ctx.update(kwargs)
 
-  def event(self, event_name, *args, **kwargs):
+  def event(self, event, *args, **kwargs):
     evt = NiceOrderedDict()
-    evt['event'] = event_name
+    evt['event'] = event
     if args:
       evt['args'] = args
     evt.update(kwargs)

common/modeldata.h

@@ -10,6 +10,9 @@ const int LON_MPC_N = 32;
 const float MIN_DRAW_DISTANCE = 10.0;
 const float MAX_DRAW_DISTANCE = 100.0;
 
+const float RYG_GREEN = 0.01165;
+const float RYG_YELLOW = 0.06157;
+
 template <typename T, size_t size>
 constexpr std::array<T, size> build_idxs(float max_val) {
   std::array<T, size> result{};
@@ -24,23 +27,12 @@ constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
 constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
 constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
 
-const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
+const mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
                                            0.0, 2648.0, 1208.0 / 2,
                                            0.0, 0.0, 1.0}};
 
 // tici ecam focal probably wrong? magnification is not consistent across frame
 // Need to retrain model before this can be changed
-const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
+const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
                                            0.0, 567.0, 1208.0 / 2,
                                            0.0, 0.0, 1.0}};
-
-static inline mat3 get_model_yuv_transform() {
-  float db_s = 1.0;
-  const mat3 transform = (mat3){{
-    1.0, 0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0, 0.0, 1.0
-  }};
-  // Can this be removed since scale is 1?
-  return transform_scale_buffer(transform, db_s);
-}

common/params.cc

@@ -85,6 +85,9 @@ private:
 
 std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"ApiCache_Device", PERSISTENT},
+    {"ApiCache_DriveStats", PERSISTENT},
+    {"ApiCache_NavDestinations", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
     {"AthenadPid", PERSISTENT},
     {"AthenadUploadQueue", PERSISTENT},
@@ -92,27 +95,28 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
     {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
     {"CarBatteryCapacity", PERSISTENT},
-    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CarParamsCache", CLEAR_ON_MANAGER_START},
     {"CarParamsPersistent", PERSISTENT},
-    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CompletedTrainingVersion", PERSISTENT},
-    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CurrentBootlog", PERSISTENT},
-    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"DisablePowerDown", PERSISTENT},
-    {"ExperimentalMode", PERSISTENT},
-    {"ExperimentalModeConfirmed", PERSISTENT},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT},
     {"DisableUpdates", PERSISTENT},
     {"DisengageOnAccelerator", PERSISTENT},
+    {"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
     {"DongleId", PERSISTENT},
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"ForcePowerDown", CLEAR_ON_MANAGER_START},
+    {"ExperimentalLongitudinalEnabled", PERSISTENT},
+    {"ExperimentalMode", PERSISTENT},
+    {"ExperimentalModeConfirmed", PERSISTENT},
+    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
     {"GitDiff", PERSISTENT},
@@ -133,16 +137,17 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsOffroad", CLEAR_ON_MANAGER_START},
     {"IsOnroad", PERSISTENT},
     {"IsRhdDetected", PERSISTENT},
+    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"IsTestedBranch", CLEAR_ON_MANAGER_START},
-    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
-    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
     {"LanguageSetting", PERSISTENT},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
+    {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
     {"LastSystemShutdown", CLEAR_ON_MANAGER_START},
     {"LastUpdateException", CLEAR_ON_MANAGER_START},
@@ -150,58 +155,57 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveParameters", PERSISTENT},
     {"LiveTorqueCarParams", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
-    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
-    {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
-    {"NavSettingTime24h", PERSISTENT},
+    {"LongitudinalPersonality", PERSISTENT},
+    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"NavSettingLeftSide", PERSISTENT},
+    {"NavSettingTime24h", PERSISTENT},
     {"NavdRender", PERSISTENT},
-    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
+    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
+    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
+    {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
+    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
+    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
+    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
+    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
+    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
     {"OpenpilotEnabledToggle", PERSISTENT},
-    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"PandaLogState", PERSISTENT},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
     {"Passive", PERSISTENT},
     {"PrimeType", PERSISTENT},
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ShouldDoUpdate", CLEAR_ON_MANAGER_START},
-    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
     {"SubscriberInfo", PERSISTENT},
     {"TermsVersion", PERSISTENT},
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},
-    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
-    {"UpdaterState", CLEAR_ON_MANAGER_START},
-    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
-    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterAvailableBranches", CLEAR_ON_MANAGER_START},
     {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
     {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
+    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
     {"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
     {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
+    {"UpdaterState", CLEAR_ON_MANAGER_START},
+    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"Version", PERSISTENT},
     {"VisionRadarToggle", PERSISTENT},
-    {"WideCameraOnly", PERSISTENT},
-    {"ApiCache_Device", PERSISTENT},
-    {"ApiCache_DriveStats", PERSISTENT},
-    {"ApiCache_NavDestinations", PERSISTENT},
-    {"ApiCache_Owner", PERSISTENT},
-    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
-    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
-    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
-    {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
-    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
-    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
-    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
-    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
-    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
-    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
+    {"WheeledBody", PERSISTENT},
 };
 
 } // namespace
@@ -305,14 +309,19 @@ std::map<std::string, std::string> Params::readAll() {
 void Params::clearAll(ParamKeyType key_type) {
   FileLock file_lock(params_path + "/.lock");
 
-  if (key_type == ALL) {
-    util::remove_files_in_dir(getParamPath());
-  } else {
-    for (auto &[key, type] : keys) {
-      if (type & key_type) {
-        unlink(getParamPath(key).c_str());
+  // 1) delete params of key_type
+  // 2) delete files that are not defined in the keys.
+  if (DIR *d = opendir(getParamPath().c_str())) {
+    struct dirent *de = NULL;
+    while ((de = readdir(d))) {
+      if (de->d_type != DT_DIR) {
+        auto it = keys.find(de->d_name);
+        if (it == keys.end() || (it->second & key_type)) {
+          unlink(getParamPath(de->d_name).c_str());
+        }
       }
     }
+    closedir(d);
   }
 
   fsync_dir(getParamPath());

common/params.h

@@ -7,8 +7,8 @@
 enum ParamKeyType {
   PERSISTENT = 0x02,
   CLEAR_ON_MANAGER_START = 0x04,
-  CLEAR_ON_IGNITION_ON = 0x08,
-  CLEAR_ON_IGNITION_OFF = 0x10,
+  CLEAR_ON_ONROAD_TRANSITION = 0x08,
+  CLEAR_ON_OFFROAD_TRANSITION = 0x10,
   DONT_LOG = 0x20,
   ALL = 0xFFFFFFFF
 };

common/params_pyx.pyx

@@ -9,8 +9,8 @@ cdef extern from "common/params.h":
   cpdef enum ParamKeyType:
     PERSISTENT
     CLEAR_ON_MANAGER_START
-    CLEAR_ON_IGNITION_ON
-    CLEAR_ON_IGNITION_OFF
+    CLEAR_ON_ONROAD_TRANSITION
+    CLEAR_ON_OFFROAD_TRANSITION
     ALL
 
   cdef cppclass c_Params "Params":

common/spinner.py

@@ -29,11 +29,11 @@ class Spinner():
 
   def close(self):
     if self.spinner_proc is not None:
+      self.spinner_proc.kill()
       try:
-        self.spinner_proc.stdin.close()
-      except BrokenPipeError:
-        pass
-      self.spinner_proc.terminate()
+        self.spinner_proc.communicate(timeout=2.)
+      except subprocess.TimeoutExpired:
+        print("WARNING: failed to kill spinner")
       self.spinner_proc = None
 
   def __del__(self):

common/swaglog.cc

@@ -135,4 +135,3 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun
   cloudlog_t_common(levelnum, filename, lineno, func, frame_id, fmt, args);
   va_end(args);
 }
-

common/swaglog.h

@@ -9,23 +9,29 @@
 #define CLOUDLOG_CRITICAL 50
 
 
+#ifdef __GNUC__
+#define SWAG_LOG_CHECK_FMT(a, b) __attribute__ ((format (printf, a, b)))
+#else
+#define SWAG_LOG_CHECK_FMT(a, b)
+#endif
+
 void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
-                const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
+                const char* fmt, ...) SWAG_LOG_CHECK_FMT(5, 6);
 
 void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
-                 const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
+                 const char* fmt, ...) SWAG_LOG_CHECK_FMT(5, 6);
 
 void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
-                 uint32_t frame_id, const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
+                 uint32_t frame_id, const char* fmt, ...) SWAG_LOG_CHECK_FMT(6, 7);
 
 
 #define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
                                            __func__, \
-                                           fmt, ## __VA_ARGS__);
- 
+                                           fmt, ## __VA_ARGS__)
+
 #define cloudlog_t(lvl, ...) cloudlog_te(lvl, __FILE__, __LINE__, \
                                           __func__, \
-                                          __VA_ARGS__);
+                                          __VA_ARGS__)
 
 
 #define cloudlog_rl(burst, millis, lvl, fmt, ...)   \

common/tests/test_params.py

@@ -1,7 +1,9 @@
+import os
 import threading
 import time
 import tempfile
 import shutil
+import uuid
 import unittest
 
 from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking
@@ -28,9 +30,16 @@ class TestParams(unittest.TestCase):
     self.params.put("CarParams", "test")
     self.params.put("DongleId", "cb38263377b873ee")
     assert self.params.get("CarParams") == b"test"
+
+    undefined_param = self.params.get_param_path(uuid.uuid4().hex)
+    with open(undefined_param, "w") as f:
+      f.write("test")
+    assert os.path.isfile(undefined_param)
+
     self.params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
     assert self.params.get("CarParams") is None
     assert self.params.get("DongleId") is not None
+    assert not os.path.isfile(undefined_param)
 
   def test_params_two_things(self):
     self.params.put("DongleId", "bob")

common/tests/test_util.cc

@@ -143,20 +143,3 @@ TEST_CASE("util::create_directories") {
     REQUIRE(util::create_directories("", 0755) == false);
   }
 }
-
-TEST_CASE("util::remove_files_in_dir") {
-  std::string tmp_dir = "/tmp/test_remove_all_in_dir";
-  system("rm /tmp/test_remove_all_in_dir -rf");
-  REQUIRE(util::create_directories(tmp_dir, 0755));
-  const int tmp_file_cnt = 10;
-  for (int i = 0; i < tmp_file_cnt; ++i) {
-    std::string tmp_file = tmp_dir + "/test_XXXXXX";
-    int fd = mkstemp((char*)tmp_file.c_str());
-    close(fd);
-    REQUIRE(util::file_exists(tmp_file.c_str()));
-  }
-
-  REQUIRE(util::read_files_in_dir(tmp_dir).size() == tmp_file_cnt);
-  util::remove_files_in_dir(tmp_dir);
-  REQUIRE(util::read_files_in_dir(tmp_dir).empty());
-}

common/time.py

@@ -0,0 +1,6 @@
+import datetime
+
+MIN_DATE = datetime.datetime(year=2023, month=6, day=1)
+
+def system_time_valid():
+  return datetime.datetime.now() > MIN_DATE

common/transformations/camera.py

@@ -61,14 +61,6 @@ device_frame_from_view_frame = np.array([
 view_frame_from_device_frame = device_frame_from_view_frame.T
 
 
-def get_calib_from_vp(vp):
-  vp_norm = normalize(vp)
-  yaw_calib = np.arctan(vp_norm[0])
-  pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
-  roll_calib = 0
-  return roll_calib, pitch_calib, yaw_calib
-
-
 # aka 'extrinsic_matrix'
 # road : x->forward, y -> left, z->up
 def get_view_frame_from_road_frame(roll, pitch, yaw, height):
@@ -131,6 +123,14 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf
   return img_pts_denormalized[:, :2].reshape(input_shape)
 
 
+def get_calib_from_vp(vp, intrinsics=fcam_intrinsics):
+  vp_norm = normalize(vp, intrinsics)
+  yaw_calib = np.arctan(vp_norm[0])
+  pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
+  roll_calib = 0
+  return roll_calib, pitch_calib, yaw_calib
+
+
 def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
   # device from ecef frame
   # device frame is x -> forward, y-> right, z -> down

common/util.cc

@@ -2,6 +2,7 @@
 
 #include <sys/ioctl.h>
 #include <sys/stat.h>
+#include <sys/resource.h>
 #include <dirent.h>
 
 #include <cassert>
@@ -60,6 +61,20 @@ int set_core_affinity(std::vector<int> cores) {
 #endif
 }
 
+int set_file_descriptor_limit(uint64_t limit_val) {
+  struct rlimit limit;
+  int status;
+
+  if ((status = getrlimit(RLIMIT_NOFILE, &limit)) < 0)
+    return status;
+
+  limit.rlim_cur = limit_val;
+  if ((status = setrlimit(RLIMIT_NOFILE, &limit)) < 0)
+    return status;
+
+  return 0;
+}
+
 std::string read_file(const std::string& fn) {
   std::ifstream f(fn, std::ios::binary | std::ios::in);
   if (f.is_open()) {
@@ -99,22 +114,6 @@ std::map<std::string, std::string> read_files_in_dir(const std::string &path) {
   return ret;
 }
 
-void remove_files_in_dir(const std::string &path) {
-  DIR *d = opendir(path.c_str());
-  if (!d) return;
-
-  std::string fn;
-  struct dirent *de = NULL;
-  while ((de = readdir(d))) {
-    if (de->d_type != DT_DIR) {
-      fn = path + "/" + de->d_name;
-      unlink(fn.c_str());
-    }
-  }
-
-  closedir(d);
-}
-
 int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
   int fd = HANDLE_EINTR(open(path, flags, mode));
   if (fd == -1) {
@@ -205,7 +204,7 @@ bool create_directories(const std::string& dir, mode_t mode) {
   return createDirectory(dir, mode);
 }
 
-std::string getenv(const char* key, const char* default_val) {
+std::string getenv(const char* key, std::string default_val) {
   const char* val = ::getenv(key);
   return val ? val : default_val;
 }
@@ -229,10 +228,17 @@ std::string hexdump(const uint8_t* in, const size_t size) {
   return ss.str();
 }
 
+int random_int(int min, int max) {
+  std::random_device dev;
+  std::mt19937 rng(dev());
+  std::uniform_int_distribution<std::mt19937::result_type> dist(min, max);
+  return dist(rng);
+}
+
 std::string random_string(std::string::size_type length) {
-  const char* chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ";
+  const std::string chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ";
   std::mt19937 rg{std::random_device{}()};
-  std::uniform_int_distribution<std::string::size_type> pick(0, sizeof(chrs) - 2);
+  std::uniform_int_distribution<std::string::size_type> pick(0, chrs.length() - 1);
   std::string s;
   s.reserve(length);
   while (length--) {
@@ -276,7 +282,7 @@ struct tm get_time() {
 bool time_valid(struct tm sys_time) {
   int year = 1900 + sys_time.tm_year;
   int month = 1 + sys_time.tm_mon;
-  return (year > 2021) || (year == 2021 && month >= 6);
+  return (year > 2023) || (year == 2023 && month >= 6);
 }
 
 }  // namespace util

common/util.h

@@ -44,6 +44,7 @@ namespace util {
 void set_thread_name(const char* name);
 int set_realtime_priority(int level);
 int set_core_affinity(std::vector<int> cores);
+int set_file_descriptor_limit(uint64_t limit);
 
 // ***** Time helpers *****
 struct tm get_time();
@@ -70,18 +71,20 @@ std::string string_format(const std::string& format, Args... args) {
   return std::string(buf.get(), buf.get() + size - 1);
 }
 
-std::string getenv(const char* key, const char* default_val = "");
+std::string getenv(const char* key, std::string default_val = "");
 int getenv(const char* key, int default_val);
 float getenv(const char* key, float default_val);
 
 std::string hexdump(const uint8_t* in, const size_t size);
-std::string random_string(std::string::size_type length);
 std::string dir_name(std::string const& path);
 
-// **** file fhelpers *****
+// ***** random helpers *****
+int random_int(int min, int max);
+std::string random_string(std::string::size_type length);
+
+// **** file helpers *****
 std::string read_file(const std::string& fn);
 std::map<std::string, std::string> read_files_in_dir(const std::string& path);
-void remove_files_in_dir(const std::string& path);
 int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664);
 
 FILE* safe_fopen(const char* filename, const char* mode);

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.2"
+#define COMMA_VERSION "0.9.5"

docs/CARS.md

@@ -4,265 +4,282 @@
 
 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 243 Supported Cars
+# 257 Supported Cars
 
-|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
+|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Honda Nidec</a>||
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Honda Nidec</a>||
-|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Honda Bosch A</a>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">J533</a>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">J533</a>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">J533</a>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533</a>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533</a>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533</a>||
-|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">OBD-II</a>||
-|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II</a>||
-|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II</a>||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM</a>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM</a>||
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">GM</a>||
-|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">GM</a>||
-|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">OBD-II</a>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">FCA</a>||
-|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA</a>||
-|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">FCA</a>||
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">FCA</a>||
-|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-22">FCA</a>||
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 power v2<br>- 1 comma three<br>- 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 power v2<br>- 1 comma three<br>- 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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
+|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
+|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
+|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
+|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
-|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>||
-|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>||
-|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>||
-|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Hyundai H</a>||
-|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C</a>||
-|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A</a>||
-|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K</a>||
-|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 2022-23">Hyundai L</a>||
-|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">OBD-II</a>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">GM</a>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A</a>||
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec</a>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A</a>||
-|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec</a>||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A</a>||
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A</a>||
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Honda Bosch A</a>||
-|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec</a>||
-|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec</a>||
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec</a>||
-|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Honda Bosch B</a>||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A</a>||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A</a>||
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec</a>||
-|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-21">Honda Nidec</a>||
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec</a>||
-|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Honda Nidec</a>||
-|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B</a>||
-|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Hyundai E</a>||
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Hyundai J</a>||
-|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Hyundai E</a>||
-|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Hyundai Q</a>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Hyundai Q</a>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Hyundai K</a>||
-|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Hyundai C</a>||
-|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Hyundai H</a>||
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Hyundai C</a>||
-|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Hyundai H</a>||
-|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Hyundai C</a>||
-|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Hyundai H</a>||
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Hyundai B</a>||
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Hyundai G</a>||
-|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O</a>||
-|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Hyundai I</a>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Hyundai H</a>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Hyundai N</a>||
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Hyundai D</a>||
-|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Hyundai L</a>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022">Hyundai L</a>||
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Hyundai L</a>||
-|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Hyundai E</a>||
-|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Hyundai A</a>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Hyundai A</a>||
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Hyundai L</a>||
-|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Hyundai N</a>||
-|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Hyundai N</a>||
-|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Hyundai L</a>||
-|Hyundai|Tucson Hybrid 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022">Hyundai N</a>||
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Hyundai E</a>||
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">FCA</a>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA</a>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Hyundai E</a>||
-|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Hyundai P</a>||
-|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Hyundai P</a>||
-|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Hyundai L</a>||
-|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G</a>||
-|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A</a>||
-|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A</a>||
-|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Hyundai A</a>||
-|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Hyundai F</a>||
-|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A</a>||
-|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Hyundai C</a>||
-|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Hyundai D</a>||
-|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Hyundai B</a>||
-|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Hyundai G</a>||
-|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Hyundai A</a>||
-|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Hyundai E</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Hyundai K</a>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Hyundai A</a>||
-|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Hyundai N</a>||
-|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Hyundai N</a>||
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Hyundai K</a>||
-|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H</a>||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota</a>||
-|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2017-18">Toyota</a>||
-|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota</a>||
-|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota</a>||
-|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota</a>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota</a>||
-|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota</a>||
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota</a>||
-|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota</a>||
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota</a>||
-|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Toyota</a>||
-|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota</a>||
-|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota</a>||
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota</a>||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Toyota</a>||
-|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota</a>||
-|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota</a>||
-|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota</a>||
-|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda</a>||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda</a>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B</a>||
-|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-23">Nissan A</a>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A</a>||
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A</a>||
-|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Ram</a>||
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533</a>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533</a>||
-|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A</a>||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Subaru A</a>||
-|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Subaru A</a>||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Subaru A</a>||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Subaru A</a>||
-|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Subaru B</a>||
-|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B</a>||
-|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A</a>||
-|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533</a>[<sup>10</sup>](#footnotes)||
-|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533</a>[<sup>10</sup>](#footnotes)||
-|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533</a>||
-|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533</a>||
-|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533</a>||
-|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533</a>||
-|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533</a>[<sup>10</sup>](#footnotes)||
-|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">J533</a>||
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Toyota</a>||
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Toyota</a>||
-|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Toyota</a>||
-|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Toyota</a>||
-|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Toyota</a>||
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Toyota</a>||
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Toyota</a>||
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Toyota</a>||
-|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Toyota</a>||
-|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Toyota</a>||
-|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Toyota</a>||
-|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Toyota</a>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Toyota</a>||
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Toyota</a>||
-|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Toyota</a>||
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Toyota</a>||
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota</a>||
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Toyota</a>||
-|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Toyota</a>||
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Toyota</a>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Toyota</a>||
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Toyota</a>||
-|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Toyota</a>||
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Toyota</a>||
-|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Toyota</a>||
-|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Toyota</a>||
-|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Toyota</a>||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Toyota</a>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Toyota</a>||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Toyota</a>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Toyota</a>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Toyota</a>||
-|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Toyota</a>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">J533</a>||
-|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">J533</a>||
-|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533</a>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533</a>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533</a>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533</a>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533</a>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">J533</a>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">J533</a>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533</a>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533</a>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533</a>||
-|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533</a>||
-|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533</a>||
-|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533</a>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533</a>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533</a>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">J533</a>[<sup>10</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">J533</a>[<sup>10</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533</a>[<sup>10</sup>](#footnotes)||
-|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533</a>[<sup>10</sup>](#footnotes)||
-|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533</a>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">J533</a>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">J533</a>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">J533</a>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">J533</a>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">J533</a>||
-|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2017">J533</a>||
+|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
+|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
+|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
+|Ford|Maverick 2022|LARIAT Luxury|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 power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
+|Ford|Maverick 2023|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 power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023">Buy Here</a></sub></details>||
+|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
+|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
+|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
+|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
+|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
+|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
+|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 power v2<br>- 1 comma three<br>- 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 power v2<br>- 1 comma three<br>- 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 power v2<br>- 1 comma three<br>- 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>5</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 power v2<br>- 1 comma three<br>- 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|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 power v2<br>- 1 comma three<br>- 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">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 power v2<br>- 1 comma three<br>- 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|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 power v2<br>- 1 comma three<br>- 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">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 power v2<br>- 1 comma three<br>- 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 power v2<br>- 1 comma three<br>- 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 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
+|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
+|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
+|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
+|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
+|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 power v2<br>- 1 comma three<br>- 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>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Buy Here</a></sub></details>||
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
+|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
+|Hyundai|Tucson Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Carnival 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2023">Buy Here</a></sub></details>||
+|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 power v2<br>- 1 comma three<br>- 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) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
+|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
+|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
+|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
+|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
+|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
+|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
+|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022">Buy Here</a></sub></details>||
+|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-22">Buy Here</a></sub></details>||
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
+|Lexus|IS 2023|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 power v2<br>- 1 comma three<br>- 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=IS 2023">Buy Here</a></sub></details>||
+|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
+|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
+|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
+|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
+|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
+|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
+|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
+|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
+|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
+|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-23">Buy Here</a></sub></details>||
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
+|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
+|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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>7</sup>](#footnotes)|Stock|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 power v2<br>- 1 comma three<br>- 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>7</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 A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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>||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 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|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 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|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 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|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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>7</sup>](#footnotes)|Stock|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 power v2<br>- 1 comma three<br>- 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>7</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 A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Kamiq 2021[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021">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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015, 2018-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 power v2<br>- 1 comma three<br>- 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 power v2<br>- 1 comma three<br>- 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 power v2<br>- 1 comma three<br>- 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>||
+|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
+|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
+|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
+|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
+|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
+|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
+|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
+|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
+|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-23">Buy Here</a></sub></details>||
+|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
+|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
+|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
+|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
+|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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|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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 2017-23|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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-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 three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
-<a id="footnotes"></a>
+### Footnotes
 <sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.  <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. All the hardware needed is sold in the <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD kit</a>. <br />
-<sup>6</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>9</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>10</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
+<sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>6</sup>Requires a comma 3X or <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
+<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>8</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>9</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>10</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality. <br />
+<sup>12</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>13</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
@@ -281,6 +298,7 @@ If your car has the following packages or features, then it's a good candidate f
 | Make | Required Package/Features |
 | ---- | ------------------------- |
 | Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
 | Nissan | Any car with ProPILOT will likely work. |
@@ -295,7 +313,7 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi
 ### Toyota Security
 
 openpilot does not yet support these Toyota models due to a new message authentication method.
-[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models.
+[Vote](https://comma.ai/shop#toyota-security) if you'd like to see openpilot support on these models.
 
 * Toyota RAV4 Prime 2021+
 * Toyota Sienna 2021+

docs/SAFETY.md

@@ -25,9 +25,12 @@ ensuring two main safety requirements.
    by stepping on the brake pedal or by pressing the cancel button.
 2. The vehicle must not alter its trajectory too quickly for the driver to safely
    react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits.
+   to operate within reasonable limits[^1]. 
 
 For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
 
 **Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
   not fully meeting the above requirements.
+
+[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. 
+

docs/conf.py

@@ -29,7 +29,7 @@ VERSION = get_version()
 # -- Project information -----------------------------------------------------
 
 project = 'openpilot docs'
-copyright = '2021, comma.ai'
+copyright = '2021, comma.ai' # noqa: A001
 author = 'comma.ai'
 version = VERSION
 release = VERSION
@@ -100,7 +100,7 @@ breathe_projects_source = {}
 
 # only document files that have accompanying .cc files next to them
 print("searching for c_docs...")
-for root, dirs, files in os.walk(BASEDIR):
+for root, _, files in os.walk(BASEDIR):
   found = False
   breath_src = {}
   breathe_srcs_list = []

docs/docker/Dockerfile

@@ -1,4 +1,4 @@
-FROM ghcr.io/commaai/openpilot-base:latest
+FROM ghcr.io/commaai/openpilot-base:latest as openpilot-docs-base
 
 ENV PYTHONUNBUFFERED 1
 

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="6.2"
+  export AGNOS_VERSION="8.2"
 fi
 
 if [ -z "$PASSIVE" ]; then

mypy.ini

@@ -1,5 +1,5 @@
 [mypy]
-python_version = 3.8
+python_version = 3.11
 plugins = numpy.typing.mypy_plugin
 files = body, common, docs, scripts, selfdrive, site_scons, system, tools
 exclude = ^(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)

openpilot/__init__.py

@@ -0,0 +1,3 @@
+
+
+

openpilot/common

@@ -0,0 +1 @@
+../common

openpilot/selfdrive

@@ -0,0 +1 @@
+../selfdrive/

openpilot/system

@@ -0,0 +1 @@
+../system/

openpilot/third_party

@@ -0,0 +1 @@
+../third_party

openpilot/tools

@@ -0,0 +1 @@
+../tools

pyproject.toml

@@ -1,3 +1,9 @@
+[tool.pytest.ini_options]
+minversion = "6.0"
+addopts = "--ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/"
+python_files = "test_*.py"
+timeout = "30"  # you get this long by default
+
 [tool.poetry]
 name = "openpilot"
 version = "0.1.0"
@@ -10,175 +16,110 @@ documentation = "https://docs.comma.ai"
 
 
 [tool.poetry.dependencies]
-python = "~3.8"
-atomicwrites = "^1.4.0"
-casadi = { version = "==3.5.5", platform = "linux" }
-cffi = "^1.15.1"
-crcmod = "^1.7"
-cryptography = "^37.0.4"
-Cython = "^0.29.30"
-flake8 = "^4.0.1"
-Flask = "^2.1.2"
-future-fstrings = "^1.2.0"  # for acados
-gunicorn = "^20.1.0"
+python = "~3.11"
+atomicwrites = "*"
+aiohttp = "*"
+aiortc = "*"
+casadi = "==3.6.3"
+cffi = "*"
+crcmod = "*"
+cryptography = "*"
+Cython = "*"
+future-fstrings = "*"  # for acados
 hatanaka = "==2.4"
-hexdump = "^3.3"
-Jinja2 = "^3.1.2"
-json-rpc = "^1.13.0"
-libusb1 = "^3.0.0"
-nose = "^1.3.7"
-numpy = "^1.23.0"
-onnx = "^1.12.0"
-onnxruntime-gpu = { version = "^1.11.1", platform = "linux" }
-pillow = "^9.2.0"
-poetry = "==1.2.2"
-protobuf = "==3.20.1"
-psutil = "^5.9.1"
-pycapnp = "==1.1.0"
-pycryptodome = "^3.15.0"
-PyJWT = "^2.5.0"
-pylint = "^2.15.4"
-pyopencl = "^2022.2.4"
-pyserial = "^3.5"
-python-dateutil = "^2.8.2"
-PyYAML = "^6.0"
-pyzmq = "^23.2.0"
-requests = "^2.28.1"
-scons = "^4.3.0"
-sentry-sdk = "^1.6.0"
-setproctitle = "^1.2.3"
-six = "^1.16.0"
-smbus2 = "^0.4.2"
-sounddevice = "^0.4.5"
-spidev = { version = "^3.6", platform = "linux" }
-spidev2 = { version = "^0.9.0", platform = "linux" }
-sympy = "^1.10.1"
-timezonefinder = "^6.0.1"
-tqdm = "^4.64.0"
-urllib3 = "^1.26.10"
-utm = "^0.7.0"
-websocket_client = "^1.3.3"
-polyline = "^1.4.0"
+hexdump = "*"
+Jinja2 = "*"
+json-rpc = "*"
+libusb1 = "*"
+numpy = "~1.23"  # pinned for acados
+onnx = ">=1.14.0"
+onnxruntime-gpu = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
+pillow = "*"
+psutil = "*"
+pyaudio = "*"
+pycapnp = "*"
+pycryptodome = "*"
+pydub = "*"
+PyJWT = "*"
+pyopencl = "*"
+pyserial = "*"
+PyYAML = "*"
+pyzmq = "*"
+requests = "*"
+scons = "*"
+sentry-sdk = "==1.28.1"  # needs to be updated with AGNOS
+setproctitle = "*"
+smbus2 = "*"
+sounddevice = "*"
+spidev = { version = "*", platform = "linux" }
+spidev2 = { version = "*", platform = "linux" }
+sympy = "*"
+timezonefinder = "*"
+tqdm = "*"
+urllib3 = "*"
+websocket_client = "*"
+polyline = "*"
 sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}
 
 
 [tool.poetry.group.dev.dependencies]
-av = "^9.2.0"
+av = "*"
 azure-storage-blob = "~2.1"
-breathe = "^4.34.0"
-carla = { version = "==0.9.13", platform = "linux" }
-control = "^0.9.2"
-coverage = "^6.4.1"
-dictdiffer = "^0.9.0"
-fastcluster = "^1.2.6"
-ft4222 = "^1.4.1"
-hexdump = "^3.3"
+breathe = "*"
+carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
+coverage = "*"
+dictdiffer = "*"
+ft4222 = "*"
 hypothesis = "==6.46.7"
-inputs = "^0.5"
-lru-dict = "^1.1.7"
-lxml = "^4.9.1"
-markdown-it-py = "^2.1.0"
-matplotlib = "^3.5.2"
-mpld3 = "^0.5.8"
-mypy = "^0.961"
-myst-parser = "^0.18.0"
-natsort = "^8.1.0"
-numpy = "^1.23.0"
-opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" }
-pandas = "^1.4.3"
-parameterized = "^0.8.1"
-paramiko = "^2.11.0"
-pprofile = "^2.1.0"
-pre-commit = "^2.19.0"
-pycurl = "^7.45.1"
-pygame = "^2.1.2"
-pyprof2calltree = "^1.4.5"
-pytest = "^7.1.2"
-pytest-xdist = "^2.5.0"
-reverse_geocoder = "^1.5.1"
-scipy = "^1.8.1"
-sphinx = "^5.0.2"
-sphinx-rtd-theme = "^1.0.0"
-sphinx-sitemap = "^2.2.0"
-subprocess32 = "^3.5.4"
-tabulate = "^0.8.10"
-tenacity = "^8.0.1"
-types-atomicwrites = "^1.4.5"
-types-certifi = "^2021.10.8"
-types-pycurl = "^7.45.1"
-types-PyYAML = "^6.0"
-types-requests = "^2.28.11"
-types-tabulate = "^0.8.10"
-
-
-[tool.poetry.group.xx]
-optional = true
-
-[tool.poetry.group.xx.dependencies]
-aenum = "^3.1.11"
-aiohttp = "^3.8.1"
-albumentations = "^1.2.1"
-apex = { url = "https://github.com/commaai/apex/releases/download/pytorch2.0.0%2Bcu11.8/apex-0.1-cp38-cp38-linux_x86_64.whl" }
-azure-cli-core = "^2.38.0"
-azure-common = "^1.1.28"
-azure-core = "^1.24.2"
-azure-nspkg = "~3.0"
-azure-storage-common = "~2.1"
-azure-storage-nspkg = "~3.1"
-blosc = "==1.9.2"
-cloudpickle = "^2.1.0"
-configargparse = "^1.5.3"
-cupy-cuda11x = "^11.6.0"
-datadog = "^0.44.0"
-dotmap = "^1.3.30"
-einops = "^0.5.0"
-elasticsearch = "^8.3.1"
-Flask-Cors = "^3.0.10"
-Flask-SocketIO = "^5.2.0"
-GeoAlchemy2 = "^0.12.1"
-imageio = "^2.19.5"
-influxdb-client = "^1.30.0"
-ipykernel = "^6.15.1"
-ipython = "^8.4.0"
-joblib = "^1.1.0"
-json-logging-py = "^0.2"
-jupyter = "^1.0.0"
-jupyterlab = "^3.4.4"
-jupyterlab-vim = "^0.15.1"
-Markdown = "^3.4.1"
-msgpack-python = "^0.5.6"
-networkx = "~2.8"
-nvidia-ml-py3 = "^7.352.0"
-onnx2torch = "^1.5.4"
-onnxoptimizer = "^0.3.1"
-osmium = "^3.3.0"
-pillow-avif-plugin = "^1.2.2"
-pipenv = "==2022.10.12"
-plotly = "^5.9.0"
-pycuda = "^2022.1"
-Pygments = "^2.12.0"
-PyMySQL = "~0.9"
-pyproj = "^3.3.1"
-python-logstash = "^0.4.8"
-redis = "^4.3.4"
-s2sphere = "^0.2.5"
-scikit-image = "^0.19.3"
-scikit-learn = "^1.1.1"
-segmentation-models-pytorch = "==0.2.1"
-simplejson = "^3.17.6"
-SQLAlchemy = "^1.4.39"
-torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.0%2Bcu118-cp38-cp38-linux_x86_64.whl" }
-torchsummary = "^1.5.1"
-torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.1%2Bcu118-cp38-cp38-linux_x86_64.whl" }
-triton = "^2.0.0"
-Werkzeug = "^2.1.2"
-zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }
-omegaconf = "^2.3.0"
-osmnx = "==1.2.2"
-tritonclient = {version = "2.28.0", extras = ["http"]}
-tensorrt = "^8.6.0"
+inputs = "*"
+lru-dict = "*"
+markdown-it-py = "*"
+matplotlib = "*"
+mpld3 = "*"
+mypy = "*"
+myst-parser = "*"
+natsort = "*"
+opencv-python-headless = "*"
+pandas = "*"
+parameterized = "^0.8"
+pprofile = "*"
+pre-commit = "*"
+pycurl = "*"
+pygame = "*"
+pyprof2calltree = "*"
+pytest = "*"
+pytest-xdist = "*"
+scipy = "*"
+sphinx = "*"
+sphinx-rtd-theme = "*"
+sphinx-sitemap = "*"
+tabulate = "*"
+tenacity = "*"
+types-atomicwrites = "*"
+types-certifi = "*"
+types-pycurl = "*"
+types-PyYAML = "*"
+types-requests = "*"
+types-tabulate = "*"
+pyqt5 = "*"
 
 
 [build-system]
 requires = ["poetry-core"]
 build-backend = "poetry.core.masonry.api"
+
+# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
+[tool.ruff]
+select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B"]
+ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"]
+line-length = 160
+target-version="py311"
+exclude = [
+  "panda",
+  "opendbc",
+  "laika_repo",
+  "rednose_repo",
+  "tinygrad_repo",
+  "third_party",
+]
+flake8-implicit-str-concat.allow-multiline=false

release/build_devel.sh

@@ -44,9 +44,6 @@ git clean -xdff
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
 cp -pR --parents $(cat release/files_*) $TARGET_DIR/
-if [ ! -z "$EXTRA_FILES" ]; then
-  cp -pR --parents $EXTRA_FILES $TARGET_DIR/
-fi
 
 # in the directory
 cd $TARGET_DIR

release/build_release.sh

@@ -52,17 +52,13 @@ echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"
 
-# Build panda firmware
-pushd panda/
-CERT=/data/pandaextra/certs/release RELEASE=1 scons -u .
-mv board/obj/panda.bin.signed /tmp/panda.bin.signed
-mv board/obj/panda_h7.bin.signed /tmp/panda_h7.bin.signed
-popd
-
 # Build
 export PYTHONPATH="$BUILD_DIR"
 scons -j$(nproc)
 
+# release panda fw
+CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
+
 # Ensure no submodules in release
 if test "$(git submodule--helper list | wc -l)" -gt "0"; then
   echo "submodules found:"
@@ -78,15 +74,9 @@ find . -name '*.os' -delete
 find . -name '*.pyc' -delete
 find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
-rm -rf panda/board panda/certs panda/crypto
 rm -rf .sconsign.dblite Jenkinsfile release/
 rm selfdrive/modeld/models/supercombo.onnx
 
-# Move back signed panda fw
-mkdir -p panda/board/obj
-mv /tmp/panda.bin.signed panda/board/obj/panda.bin.signed
-mv /tmp/panda_h7.bin.signed panda/board/obj/panda_h7.bin.signed
-
 # Restore third_party
 git checkout third_party/
 

release/files_common

@@ -35,6 +35,7 @@ common/filter_simple.py
 common/stat_live.py
 common/spinner.py
 common/text_window.py
+common/time.py
 
 common/kalman/.gitignore
 common/kalman/*
@@ -59,6 +60,7 @@ release/*
 
 tools/__init__.py
 tools/lib/*
+tools/bodyteleop/*
 tools/joystick/*
 tools/replay/*.cc
 tools/replay/*.h
@@ -181,7 +183,6 @@ selfdrive/controls/lib/desire_helper.py
 selfdrive/controls/lib/drive_helpers.py
 selfdrive/controls/lib/events.py
 selfdrive/controls/lib/latcontrol_angle.py
-selfdrive/controls/lib/latcontrol_indi.py
 selfdrive/controls/lib/latcontrol_torque.py
 selfdrive/controls/lib/latcontrol_pid.py
 selfdrive/controls/lib/latcontrol.py
@@ -189,7 +190,6 @@ selfdrive/controls/lib/lateral_planner.py
 selfdrive/controls/lib/longcontrol.py
 selfdrive/controls/lib/longitudinal_planner.py
 selfdrive/controls/lib/pid.py
-selfdrive/controls/lib/radar_helpers.py
 selfdrive/controls/lib/vehicle_model.py
 
 selfdrive/controls/lib/lateral_mpc_lib/.gitignore
@@ -290,9 +290,11 @@ selfdrive/thermald/power_monitoring.py
 selfdrive/thermald/fan_controller.py
 
 selfdrive/test/__init__.py
+selfdrive/test/fuzzy_generation.py
 selfdrive/test/helpers.py
 selfdrive/test/setup_device_ci.sh
 selfdrive/test/test_onroad.py
+selfdrive/test/test_time_to_onroad.py
 
 selfdrive/ui/.gitignore
 selfdrive/ui/SConscript
@@ -416,8 +418,6 @@ selfdrive/assets/navigation/*
 third_party/.gitignore
 third_party/SConscript
 
-third_party/cluster/*
-
 third_party/linux/**
 third_party/opencl/**
 
@@ -431,14 +431,11 @@ third_party/kaitai/*.h
 third_party/kaitai/*.cpp
 
 third_party/libyuv/include/**
-third_party/libyuv/lib/**
-third_party/libyuv/larch64/**
 
 third_party/snpe/include/**
 third_party/snpe/dsp**
 
-third_party/acados/x86_64/**
-third_party/acados/larch64/**
+third_party/acados/.gitignore
 third_party/acados/include/**
 third_party/acados/acados_template/**
 
@@ -468,6 +465,7 @@ body/crypto/**
 cereal/.gitignore
 cereal/__init__.py
 cereal/car.capnp
+cereal/custom.capnp
 cereal/legacy.capnp
 cereal/log.capnp
 cereal/services.py
@@ -477,6 +475,10 @@ cereal/logger/logger.h
 cereal/messaging/.gitignore
 cereal/messaging/__init__.py
 cereal/messaging/bridge.cc
+cereal/messaging/event.cc
+cereal/messaging/event.h
+cereal/messaging/impl_fake.cc
+cereal/messaging/impl_fake.h
 cereal/messaging/impl_msgq.cc
 cereal/messaging/impl_msgq.h
 cereal/messaging/impl_zmq.cc
@@ -559,8 +561,8 @@ opendbc/hyundai_kia_mando_front_radar_generated.dbc
 
 opendbc/mazda_2017.dbc
 
-opendbc/nissan_x_trail_2017.dbc
-opendbc/nissan_leaf_2018.dbc
+opendbc/nissan_x_trail_2017_generated.dbc
+opendbc/nissan_leaf_2018_generated.dbc
 
 opendbc/subaru_global_2017_generated.dbc
 opendbc/subaru_outback_2015_generated.dbc

release/files_pc

@@ -2,6 +2,7 @@ selfdrive/modeld/runners/onnx*
 
 third_party/mapbox-gl-native-qt/x86_64/*.so
 
-third_party/libyuv/x64/**
+third_party/libyuv/x86_64/**
 third_party/snpe/x86_64/**
 third_party/snpe/x86_64-linux-clang/**
+third_party/acados/x86_64/**

release/files_tici

@@ -1,6 +1,8 @@
+third_party/libyuv/larch64/**
 third_party/snpe/larch64**
 third_party/snpe/aarch64-ubuntu-gcc7.5/*
 third_party/mapbox-gl-native-qt/include/*
+third_party/acados/larch64/**
 
 system/timezoned.py
 

scripts/cell.sh

@@ -1,3 +1,3 @@
 #!/usr/bin/bash
 nmcli connection modify --temporary lte ipv4.route-metric 1 ipv6.route-metric 1
-nmcli con up --wait --ask lte
+nmcli con up lte

scripts/code_stats.py

@@ -8,7 +8,7 @@ fouts = {x.decode('utf-8') for x in subprocess.check_output(['git', 'ls-files'])
 
 pyf = []
 for d in ["cereal", "common", "scripts", "selfdrive", "tools"]:
-  for root, dirs, files in os.walk(d):
+  for root, _, files in os.walk(d):
     for f in files:
       if f.endswith(".py"):
         pyf.append(os.path.join(root, f))
@@ -40,7 +40,7 @@ for f in sorted(pyf):
   print("%5d %s %s" % (lns, f, xbit))
   if 'test' in f:
     testlns += lns
-  elif f.startswith('tools/') or f.startswith('scripts/') or f.startswith('selfdrive/debug'):
+  elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')):
     scriptlns += lns
   elif f.startswith('selfdrive/car'):
     carlns += lns

selfdrive/assets/navigation/icon_directions.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g fill="#fff" clip-path="url(#a)" transform="matrix(2.3325 0 0 2.3825 -72.89 -63.797)"><path d="M31.25 53.12A15.62 15.62 0 0 1 46.88 37.5h9.37v-9.16a1.56 1.56 0 0 1 2.56-1.2l14.75 12.28c.75.63.75 1.78 0 2.4l-14.75 12.3a1.56 1.56 0 0 1-2.56-1.2v-9.17h-9.38a9.37 9.37 0 0 0-9.37 9.37v15.63h-6.25z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>

selfdrive/assets/navigation/icon_directions_outlined.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="300" height="300" fill="none" viewBox="0 0 100 100"><g fill="#fff" clip-path="url(#a)"><path d="M31.25 53.12A15.62 15.62 0 0 1 46.88 37.5h9.37v-9.16a1.56 1.56 0 0 1 2.56-1.2l14.75 12.28c.75.63.75 1.78 0 2.4l-14.75 12.3a1.56 1.56 0 0 1-2.56-1.2v-9.17h-9.38a9.37 9.37 0 0 0-9.37 9.37v15.63h-6.25V53.12Z"/><path fill-rule="evenodd" d="M43.44 2.72a9.28 9.28 0 0 1 13.12 0l40.72 40.72a9.26 9.26 0 0 1 0 13.12L56.56 97.28a9.26 9.26 0 0 1-13.1 0L2.71 56.56a9.26 9.26 0 0 1 0-13.11L43.44 2.72Zm8.75 4.37a3.1 3.1 0 0 0-4.38 0L7.1 47.81a3.1 3.1 0 0 0 0 4.38L47.8 92.9a3.1 3.1 0 0 0 4.38 0L92.9 52.2a3.1 3.1 0 0 0 0-4.38L52.2 7.1Z" clip-rule="evenodd"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>

selfdrive/assets/navigation/icon_favorite.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g clip-path="url(#a)"><path fill="#fff" d="M49.1 0 36.35 31.82H0l27.27 27.27L13.64 100l35.45-23.64L86.36 100 72.73 59.1 100 31.81H63.64L49.09 0Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>

selfdrive/assets/navigation/icon_home.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g clip-path="url(#a)"><path fill="#fff" d="M7.7 98.08c0 1.06.85 1.92 1.92 1.92h28.84V76.92h23.08V100H90.4c1.06 0 1.92-.86 1.92-1.92V53.85H7.69v44.23ZM99.47 42.9l-7.17-6.3V7.7a7.7 7.7 0 0 0-15.39 0v15.4L51.4.68A1.92 1.92 0 0 0 48.68.6l-.08.08L.52 42.72a1.92 1.92 0 0 0 1.38 3.24l13.49.2h82.68a1.92 1.92 0 0 0 1.41-3.25Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>

selfdrive/assets/navigation/icon_recent.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g fill="#fff" clip-path="url(#a)"><path d="M53.22 6.37a43.75 43.75 0 0 0-3.21-.12V0a50 50 0 0 1 3.68.14l-.47 6.23Zm12.53 2.81c-2-.77-4.06-1.4-6.16-1.87l1.37-6.1c2.4.54 4.75 1.25 7.04 2.14l-2.25 5.83Zm8.56 4.44c-.9-.6-1.8-1.16-2.74-1.69l3.08-5.44a50.15 50.15 0 0 1 6.12 4.09l-3.85 4.93a43.75 43.75 0 0 0-2.61-1.89ZM85.77 24.8a43.7 43.7 0 0 0-4.08-4.97l4.53-4.31a52.14 52.14 0 0 1 4.66 5.68l-5.1 3.6Zm4.65 8.45a36.5 36.5 0 0 0-1.34-2.92l5.59-2.81a48.6 48.6 0 0 1 2.8 6.8l-5.93 1.95a43.9 43.9 0 0 0-1.12-3.02Zm3.31 15.67a43.68 43.68 0 0 0-.62-6.4l6.15-1.07c.42 2.41.67 4.86.73 7.31l-6.25.16Zm-.81 9.61c.2-1.06.37-2.12.5-3.19l6.2.77a49.3 49.3 0 0 1-1.43 7.22l-6.02-1.67c.28-1.03.53-2.07.75-3.13ZM86.97 73.4A44.16 44.16 0 0 0 90 67.72l5.72 2.53c-1 2.25-2.16 4.42-3.47 6.49l-5.28-3.34Zm-6.03 7.53c.76-.77 1.5-1.55 2.19-2.36l4.74 4.08a49.2 49.2 0 0 1-2.51 2.7l-4.42-4.42Z"/><path d="M50 6.25a43.75 43.75 0 1 0 30.94 74.68l4.42 4.42A50 50 0 1 1 50 0v6.25Z"/><path d="M46.88 18.75a3.13 3.13 0 0 1 3.13 3.12v32.56l20.3 11.6a3.12 3.12 0 0 1-3.1 5.42l-21.88-12.5a3.12 3.12 0 0 1-1.57-2.7V21.86a3.12 3.12 0 0 1 3.12-3.12Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>

selfdrive/assets/navigation/icon_settings.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="128" height="128" fill="#fff" class="bi bi-gear-fill"><path d="M75.24 8.4c-3.304-11.2-19.176-11.2-22.48 0l-.8 2.72a11.712 11.712 0 0 1-16.84 6.976l-2.48-1.36c-10.264-5.584-21.488 5.64-15.896 15.896l1.352 2.488c3.568 6.56.184 14.728-6.976 16.84l-2.72.8c-11.2 3.304-11.2 19.176 0 22.48l2.72.8a11.712 11.712 0 0 1 6.976 16.84l-1.36 2.48c-5.584 10.264 5.64 21.488 15.896 15.896l2.488-1.352a11.712 11.712 0 0 1 16.84 6.976l.8 2.72c3.304 11.2 19.176 11.2 22.48 0l.8-2.72a11.712 11.712 0 0 1 16.84-6.976l2.48 1.36c10.264 5.584 21.488-5.64 15.896-15.896l-1.352-2.488a11.712 11.712 0 0 1 6.976-16.84l2.72-.8c11.2-3.304 11.2-19.176 0-22.48l-2.72-.8a11.712 11.712 0 0 1-6.976-16.84l1.36-2.48c5.584-10.264-5.64-21.488-15.896-15.896l-2.488 1.352a11.712 11.712 0 0 1-16.84-6.976ZM64 87.44a23.44 23.44 0 1 1 0-46.88 23.432 23.432 0 0 1 0 46.864z" style="stroke-width:8"/></svg>

selfdrive/assets/navigation/icon_work.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g clip-path="url(#a)"><path fill="#fff" d="M77.78 22.22V6.42L70.67 0H29.33l-7.1 8.3v13.92H5.55L0 27.78v66.66L5.56 100h88.88l5.56-5.56V27.78l-5.56-5.56H77.78Zm-44.45-11.1h33.34v11.1H33.33v-11.1Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>

selfdrive/assets/offroad/icon_wifi_uploading.svg

@@ -0,0 +1,6 @@
+<svg width="68" height="68" viewBox="0 0 68 68" fill="none" xmlns="http://www.w3.org/2000/svg">
+<path d="M34.0004 8.63599C21.8284 8.63599 10.7444 13.26 2.31243 20.808C1.56443 21.488 1.4964 22.644 2.1084 23.392L4.76041 26.452C5.44041 27.2 6.59641 27.268 7.34441 26.588C14.4164 20.196 23.7324 16.32 33.9324 16.32C44.1324 16.32 53.4484 20.196 60.5204 26.588C61.2684 27.268 62.4244 27.2 63.1044 26.452L65.7564 23.392C66.4364 22.644 66.3004 21.488 65.5524 20.808C57.2564 13.26 46.1724 8.63599 34.0004 8.63599Z" fill="#465BEA"/>
+<path d="M34.0004 22.032C25.1604 22.032 17.0684 25.432 11.0164 30.94C10.2684 31.62 10.2004 32.708 10.8804 33.456L13.3964 36.38C14.0764 37.196 15.2324 37.196 16.0484 36.516C20.8084 32.164 27.1324 29.512 34.0684 29.512C41.0044 29.512 47.3284 32.164 52.0884 36.516C52.8364 37.196 54.0604 37.196 54.7404 36.38L57.2564 33.456C57.8684 32.708 57.8684 31.552 57.1204 30.94C50.9324 25.364 42.8404 22.032 34.0004 22.032Z" fill="#465BEA"/>
+<path d="M34.0007 35.36C28.4247 35.36 23.3927 37.536 19.6527 41.14C18.9727 41.82 18.9047 42.908 19.5847 43.656L21.9647 46.444C22.6447 47.26 23.8687 47.26 24.6167 46.58C27.0647 44.2 30.3287 42.772 34.0007 42.772C37.6727 42.772 40.9367 44.2 43.3847 46.58C44.1327 47.328 45.3567 47.26 46.0367 46.444L48.4167 43.656C49.0287 42.908 49.0287 41.82 48.3487 41.14C44.6087 37.536 39.5767 35.36 34.0007 35.36Z" fill="#465BEA"/>
+<path d="M34.0005 48.688C31.7565 48.688 29.7165 49.708 28.3565 51.34C27.7445 52.02 27.7445 53.04 28.3565 53.72L32.6405 58.684C33.3885 59.5 34.6804 59.5 35.4284 58.684L39.7125 53.72C40.3245 53.04 40.3245 52.02 39.7125 51.34C38.2845 49.708 36.2445 48.688 34.0005 48.688Z" fill="#465BEA"/>
+</svg>

selfdrive/athena/athenad.py

@@ -42,6 +42,10 @@ from selfdrive.statsd import STATS_DIR
 from system.swaglog import SWAGLOG_DIR, cloudlog
 from system.version import get_commit, get_origin, get_short_branch, get_version
 
+
+# TODO: use socket constant when mypy recognizes this as a valid attribute
+TCP_USER_TIMEOUT = 18
+
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = {8022}
@@ -81,7 +85,7 @@ class UploadItem:
   url: str
   headers: Dict[str, str]
   created_at: int
-  id: Optional[str]
+  id: Optional[str] # noqa: A003 (to match the response from the remote server)
   retry_count: int = 0
   current: bool = False
   progress: float = 0
@@ -137,10 +141,11 @@ class UploadQueueCache:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
 
 
-def handle_long_poll(ws: WebSocket) -> None:
+def handle_long_poll(ws: WebSocket, exit_event: Optional[threading.Event]) -> None:
   end_event = threading.Event()
 
   threads = [
+    threading.Thread(target=ws_manage, args=(ws, end_event), name='ws_manage'),
     threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'),
     threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
     threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
@@ -154,8 +159,9 @@ def handle_long_poll(ws: WebSocket) -> None:
   for thread in threads:
     thread.start()
   try:
-    while not end_event.is_set():
-      time.sleep(0.1)
+    while not end_event.wait(0.1):
+      if exit_event is not None and exit_event.is_set():
+        end_event.set()
   except (KeyboardInterrupt, SystemExit):
     end_event.set()
     raise
@@ -171,7 +177,7 @@ def jsonrpc_handler(end_event: threading.Event) -> None:
     try:
       data = recv_queue.get(timeout=1)
       if "method" in data:
-        cloudlog.debug(f"athena.jsonrpc_handler.call_method {data}")
+        cloudlog.event("athena.jsonrpc_handler.call_method", data=data)
         response = JSONRPCResponseManager.handle(data, dispatcher)
         send_queue.put_nowait(response.json)
       elif "id" in data and ("result" in data or "error" in data):
@@ -207,6 +213,16 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
         break
 
 
+def cb(sm, item, tid, sz: int, cur: int) -> None:
+  # Abort transfer if connection changed to metered after starting upload
+  sm.update(0)
+  metered = sm['deviceState'].networkMetered
+  if metered and (not item.allow_cellular):
+    raise AbortTransferException
+
+  cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
+
+
 def upload_handler(end_event: threading.Event) -> None:
   sm = messaging.SubMaster(['deviceState'])
   tid = threading.get_ident()
@@ -236,15 +252,6 @@ def upload_handler(end_event: threading.Event) -> None:
         continue
 
       try:
-        def cb(sz: int, cur: int) -> None:
-          # Abort transfer if connection changed to metered after starting upload
-          sm.update(0)
-          metered = sm['deviceState'].networkMetered
-          if metered and (not item.allow_cellular):
-            raise AbortTransferException
-
-          cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
-
         fn = item.path
         try:
           sz = os.path.getsize(fn)
@@ -252,7 +259,7 @@ def upload_handler(end_event: threading.Event) -> None:
           sz = -1
 
         cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=item.retry_count)
-        response = _do_upload(item, cb)
+        response = _do_upload(item, partial(cb, sm, item, tid))
 
         if response.status_code not in (200, 201, 401, 403, 412):
           cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered)
@@ -517,6 +524,11 @@ def getSshAuthorizedKeys() -> str:
   return Params().get("GithubSshKeys", encoding='utf8') or ''
 
 
+@dispatcher.add_method
+def getGithubUsername() -> str:
+  return Params().get("GithubUsername", encoding='utf8') or ''
+
+
 @dispatcher.add_method
 def getSimInfo():
   return HARDWARE.get_sim_info()
@@ -749,11 +761,30 @@ def ws_send(ws: WebSocket, end_event: threading.Event) -> None:
       end_event.set()
 
 
+def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
+  params = Params()
+  onroad_prev = None
+  sock = ws.sock
+
+  while True:
+    onroad = params.get_bool("IsOnroad")
+    if onroad != onroad_prev:
+      onroad_prev = onroad
+
+      sock.setsockopt(socket.IPPROTO_TCP, TCP_USER_TIMEOUT, 16000 if onroad else 0)
+      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
+      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
+      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3)
+
+    if end_event.wait(5):
+      break
+
+
 def backoff(retries: int) -> int:
   return random.randrange(0, min(128, int(2 ** retries)))
 
 
-def main():
+def main(exit_event: Optional[threading.Event] = None):
   try:
     set_core_affinity([0, 1, 2, 3])
   except Exception:
@@ -766,27 +797,31 @@ def main():
   ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
   api = Api(dongle_id)
 
+  conn_start = None
   conn_retries = 0
-  while 1:
+  while exit_event is None or not exit_event.is_set():
     try:
-      cloudlog.event("athenad.main.connecting_ws", ws_uri=ws_uri)
+      if conn_start is None:
+        conn_start = time.monotonic()
+
+      cloudlog.event("athenad.main.connecting_ws", ws_uri=ws_uri, retries=conn_retries)
       ws = create_connection(ws_uri,
                              cookie="jwt=" + api.get_token(),
                              enable_multithread=True,
                              timeout=30.0)
-      cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri)
+      cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri, retries=conn_retries,
+                     duration=time.monotonic() - conn_start)
+      conn_start = None
 
       conn_retries = 0
       cur_upload_items.clear()
 
-      handle_long_poll(ws)
+      handle_long_poll(ws, exit_event)
     except (KeyboardInterrupt, SystemExit):
       break
     except (ConnectionError, TimeoutError, WebSocketException):
       conn_retries += 1
       params.remove("LastAthenaPingTime")
-    except socket.timeout:
-      params.remove("LastAthenaPingTime")
     except Exception:
       cloudlog.exception("athenad.main.exception")
 

selfdrive/athena/tests/helpers.py

@@ -52,7 +52,8 @@ class MockApi():
 class MockParams():
   default_params = {
     "DongleId": b"0000000000000000",
-    "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private",  # noqa: E501
+    "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501
+    "GithubUsername": b"commaci",
     "GsmMetered": True,
     "AthenadUploadQueue": '[]',
   }

selfdrive/athena/tests/test_athenad.py

@@ -159,7 +159,7 @@ class TestAthenadMethods(unittest.TestCase):
     resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {})
     self.assertEqual(resp['enqueued'], 1)
     self.assertNotIn('failed', resp)
-    self.assertDictContainsSubset({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}, resp['items'][0])
+    self.assertLessEqual({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}.items(), resp['items'][0].items())
     self.assertIsNotNone(resp['items'][0].get('id'))
     self.assertEqual(athenad.upload_queue.qsize(), 1)
 
@@ -253,7 +253,8 @@ class TestAthenadMethods(unittest.TestCase):
       end_event.set()
 
   def test_cancelUpload(self):
-    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True)
+    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={},
+                              created_at=int(time.time()*1000), id='id', allow_cellular=True)
     athenad.upload_queue.put_nowait(item)
     dispatcher["cancelUpload"](item.id)
 
@@ -317,7 +318,8 @@ class TestAthenadMethods(unittest.TestCase):
       end_event.set()
 
   def test_listUploadQueue(self):
-    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True)
+    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={},
+                              created_at=int(time.time()*1000), id='id', allow_cellular=True)
     athenad.upload_queue.put_nowait(item)
 
     items = dispatcher["listUploadQueue"]()
@@ -377,6 +379,10 @@ class TestAthenadMethods(unittest.TestCase):
     keys = dispatcher["getSshAuthorizedKeys"]()
     self.assertEqual(keys, MockParams().params["GithubSshKeys"].decode('utf-8'))
 
+  def test_getGithubUsername(self):
+    keys = dispatcher["getGithubUsername"]()
+    self.assertEqual(keys, MockParams().params["GithubUsername"].decode('utf-8'))
+
   def test_getVersion(self):
     resp = dispatcher["getVersion"]()
     keys = ["version", "remote", "branch", "commit"]

selfdrive/athena/tests/test_athenad_ping.py

@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+import subprocess
+import threading
+import time
+import unittest
+from typing import Callable, cast, Optional
+from unittest.mock import MagicMock
+
+from common.params import Params
+from common.timeout import Timeout
+from selfdrive.athena import athenad
+from selfdrive.manager.helpers import write_onroad_params
+from system.hardware import TICI
+
+
+def wifi_radio(on: bool) -> None:
+  if not TICI:
+    return
+  print(f"wifi {'on' if on else 'off'}")
+  subprocess.run(["nmcli", "radio", "wifi", "on" if on else "off"], check=True)
+
+
+class TestAthenadPing(unittest.TestCase):
+  params: Params
+  dongle_id: str
+
+  athenad: threading.Thread
+  exit_event: threading.Event
+
+  _create_connection: Callable
+
+  def _get_ping_time(self) -> Optional[str]:
+    return cast(Optional[str], self.params.get("LastAthenaPingTime", encoding="utf-8"))
+
+  def _clear_ping_time(self) -> None:
+    self.params.remove("LastAthenaPingTime")
+
+  def _received_ping(self) -> bool:
+    return self._get_ping_time() is not None
+
+  @classmethod
+  def setUpClass(cls) -> None:
+    cls.params = Params()
+    cls.dongle_id = cls.params.get("DongleId", encoding="utf-8")
+    cls._create_connection = athenad.create_connection
+    athenad.create_connection = MagicMock(wraps=cls._create_connection)
+
+  @classmethod
+  def tearDownClass(cls) -> None:
+    wifi_radio(True)
+    athenad.create_connection = cls._create_connection
+
+  def setUp(self) -> None:
+    wifi_radio(True)
+    self._clear_ping_time()
+
+    self.exit_event = threading.Event()
+    self.athenad = threading.Thread(target=athenad.main, args=(self.exit_event,))
+
+    athenad.create_connection.reset_mock()
+
+  def tearDown(self) -> None:
+    if self.athenad.is_alive():
+      self.exit_event.set()
+      self.athenad.join()
+
+  def assertTimeout(self, reconnect_time: float) -> None:
+    self.athenad.start()
+
+    time.sleep(1)
+    athenad.create_connection.assert_called_once()
+    athenad.create_connection.reset_mock()
+
+    # check normal behaviour
+    with self.subTest("Wi-Fi: receives ping"), Timeout(70, "no ping received"):
+      while not self._received_ping():
+        time.sleep(0.1)
+      print("ping received")
+
+    athenad.create_connection.assert_not_called()
+
+    # websocket should attempt reconnect after short time
+    with self.subTest("LTE: attempt reconnect"):
+      wifi_radio(False)
+      print("waiting for reconnect attempt")
+      start_time = time.monotonic()
+      with Timeout(reconnect_time, "no reconnect attempt"):
+        while not athenad.create_connection.called:
+          time.sleep(0.1)
+        print(f"reconnect attempt after {time.monotonic() - start_time:.2f}s")
+
+    self._clear_ping_time()
+
+    # check ping received after reconnect
+    with self.subTest("LTE: receives ping"), Timeout(70, "no ping received"):
+      while not self._received_ping():
+        time.sleep(0.1)
+      print("ping received")
+
+  @unittest.skipIf(not TICI, "only run on desk")
+  def test_offroad(self) -> None:
+    write_onroad_params(False, self.params)
+    self.assertTimeout(100)  # expect approx 90s
+
+  @unittest.skipIf(not TICI, "only run on desk")
+  def test_onroad(self) -> None:
+    write_onroad_params(True, self.params)
+    self.assertTimeout(30)  # expect 20-30s
+
+
+if __name__ == "__main__":
+  unittest.main()

selfdrive/boardd/boardd.cc

@@ -51,7 +51,6 @@
 #define MIN_IR_POWER 0.0f
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
-#define NIBBLE_TO_HEX(n) ((n) < 10 ? (n) + '0' : ((n) - 10) + 'a')
 using namespace std::chrono_literals;
 
 std::atomic<bool> ignition(false);
@@ -94,11 +93,12 @@ void sync_time(Panda *panda, SyncTimeDir dir) {
       }
     }
   } else if (dir == SyncTimeDir::FROM_PANDA) {
+    LOGW("System time: %s, RTC time: %s", get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
+
     if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) {
       const struct timeval tv = {mktime(&rtc_time), 0};
       settimeofday(&tv, 0);
-      LOGE("System time wrong, setting from RTC. System: %s RTC: %s",
-           get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
+      LOGE("System time wrong, setting from RTC.");
     }
   }
 }
@@ -155,7 +155,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
     }
     util::sleep_for(100);
   }
-  LOGW("got %d bytes CarParams", params.size());
+  LOGW("got %lu bytes CarParams", params.size());
 
   AlignedBuffer aligned_buf;
   capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size()));
@@ -199,6 +199,10 @@ Panda *connect(std::string serial="", uint32_t index=0) {
   }
   //panda->enable_deepsleep();
 
+  if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) {
+    throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
+  }
+
   sync_time(panda.get(), SyncTimeDir::FROM_PANDA);
   return panda.release();
 }
@@ -225,13 +229,15 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
     cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
 
-    //Dont send if older than 1 second
+    // Don't send if older than 1 second
     if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) {
       for (const auto& panda : pandas) {
         LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str());
         panda->can_send(event.getSendcan());
         LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str());
       }
+    } else {
+      LOGE("sendcan too old to send: %" PRIu64 ", %" PRIu64, nanos_since_boot(), event.getLogMonoTime());
     }
   }
 }
@@ -239,10 +245,9 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
 void can_recv_thread(std::vector<Panda *> pandas) {
   util::set_thread_name("boardd_can_recv");
 
-  // can = 8006
   PubMaster pm({"can"});
 
-  // run at 100hz
+  // run at 100Hz
   const uint64_t dt = 10000000ULL;
   uint64_t next_frame_time = nanos_since_boot() + dt;
   std::vector<can_frame> raw_can_data;
@@ -272,7 +277,7 @@ void can_recv_thread(std::vector<Panda *> pandas) {
       std::this_thread::sleep_for(std::chrono::nanoseconds(remaining));
     } else {
       if (ignition) {
-        LOGW("missed cycles (%d) %lld", (int)-1*remaining/dt, remaining);
+        LOGW("missed cycles (%lu) %lld", (unsigned long)(-1*remaining/dt), (long long)remaining);
       }
       next_frame_time = cur_time;
     }
@@ -281,20 +286,6 @@ void can_recv_thread(std::vector<Panda *> pandas) {
   }
 }
 
-void send_empty_peripheral_state(PubMaster *pm) {
-  MessageBuilder msg;
-  auto peripheralState  = msg.initEvent().initPeripheralState();
-  peripheralState.setPandaType(cereal::PandaState::PandaType::UNKNOWN);
-  pm->send("peripheralState", msg);
-}
-
-void send_empty_panda_state(PubMaster *pm) {
-  MessageBuilder msg;
-  auto pandaStates = msg.initEvent().initPandaStates(1);
-  pandaStates[0].setPandaType(cereal::PandaState::PandaType::UNKNOWN);
-  pm->send("pandaStates", msg);
-}
-
 std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started) {
   bool ignition_local = false;
   const uint32_t pandas_cnt = pandas.size();
@@ -310,6 +301,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
   std::vector<std::array<can_health_t, PANDA_CAN_CNT>> pandaCanStates;
   pandaCanStates.reserve(pandas_cnt);
 
+  const bool red_panda_comma_three = (pandas.size() == 2) &&
+                                     (pandas[0]->hw_type == cereal::PandaState::PandaType::DOS) &&
+                                     (pandas[1]->hw_type == cereal::PandaState::PandaType::RED_PANDA);
+
   for (const auto& panda : pandas){
     auto health_opt = panda->get_state();
     if (!health_opt) {
@@ -332,6 +327,13 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       health.ignition_line_pkt = 1;
     }
 
+    // on comma three setups with a red panda, the dos can
+    // get false positive ignitions due to the harness box
+    // without a harness connector, so ignore it
+    if (red_panda_comma_three && (panda->hw_type == cereal::PandaState::PandaType::DOS)) {
+      health.ignition_line_pkt = 0;
+    }
+
     ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));
 
     pandaStates.push_back(health);
@@ -346,7 +348,6 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
     }
 
-  #ifndef __x86_64__
     bool power_save_desired = !ignition_local;
     if (health.power_save_enabled_pkt != power_save_desired) {
       panda->set_power_saving(power_save_desired);
@@ -356,7 +357,6 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     if (!ignition_local && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
       panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
     }
-  #endif
 
     if (!panda->comms_healthy()) {
       evt.setValid(false);
@@ -388,6 +388,8 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     ps.setFanStallCount(health.fan_stall_count);
     ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid));
     ps.setSpiChecksumErrorCount(health.spi_checksum_error_count);
+    ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
+    ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
 
     std::array<cereal::PandaState::PandaCanState::Builder, PANDA_CAN_CNT> cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
 
@@ -414,6 +416,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       cs[j].setCanfdEnabled(can_health.canfd_enabled);
       cs[j].setBrsEnabled(can_health.brs_enabled);
       cs[j].setCanfdNonIso(can_health.canfd_non_iso);
+      cs[j].setIrq0CallRate(can_health.irq0_call_rate);
+      cs[j].setIrq1CallRate(can_health.irq1_call_rate);
+      cs[j].setIrq2CallRate(can_health.irq2_call_rate);
+      cs[j].setCanCoreResetCnt(can_health.can_core_reset_cnt);
     }
 
     // Convert faults bitset to capnp list
@@ -457,16 +463,23 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) {
   pm->send("peripheralState", msg);
 }
 
-void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofing_started) {
+void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
   util::set_thread_name("boardd_panda_state");
 
   Params params;
   SubMaster sm({"controlsState"});
+  PubMaster pm({"pandaStates", "peripheralState"});
 
   Panda *peripheral_panda = pandas[0];
-  bool ignition_last = false;
+  bool is_onroad = false;
+  bool is_onroad_last = false;
   std::future<bool> safety_future;
 
+  std::vector<std::string> connected_serials;
+  for (Panda *p : pandas) {
+    connected_serials.push_back(p->hw_serial());
+  }
+
   LOGD("start panda state thread");
 
   // run at 2hz
@@ -474,8 +487,8 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
     uint64_t start_time = nanos_since_boot();
 
     // send out peripheralState
-    send_peripheral_state(pm, peripheral_panda);
-    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started);
+    send_peripheral_state(&pm, peripheral_panda);
+    auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
 
     if (!ignition_opt) {
       continue;
@@ -483,27 +496,45 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
 
     ignition = *ignition_opt;
 
-    // TODO: make this check fast, currently takes 16ms
-    // check if we have new pandas and are offroad
-    if (!ignition && (pandas.size() != Panda::list().size())) {
-      LOGW("Reconnecting to changed amount of pandas!");
-      do_exit = true;
-      break;
+    // check if we should have pandad reconnect
+    if (!ignition) {
+      bool comms_healthy = true;
+      for (const auto &panda : pandas) {
+        comms_healthy &= panda->comms_healthy();
+      }
+
+      if (!comms_healthy) {
+        LOGE("Reconnecting, communication to pandas not healthy");
+        do_exit = true;
+
+      } else {
+        // check for new pandas
+        for (std::string &s : Panda::list(true)) {
+          if (!std::count(connected_serials.begin(), connected_serials.end(), s)) {
+            LOGW("Reconnecting to new panda: %s", s.c_str());
+            do_exit = true;
+            break;
+          }
+        }
+      }
+
+      if (do_exit) {
+        break;
+      }
     }
 
-    // clear ignition-based params and set new safety on car start
-    if (ignition && !ignition_last) {
-      params.clearAll(CLEAR_ON_IGNITION_ON);
+    is_onroad = params.getBool("IsOnroad");
+
+    // set new safety on onroad transition, after params are cleared
+    if (is_onroad && !is_onroad_last) {
       if (!safety_future.valid() || safety_future.wait_for(0ms) == std::future_status::ready) {
         safety_future = std::async(std::launch::async, safety_setter_thread, pandas);
       } else {
         LOGW("Safety setter thread already running");
       }
-    } else if (!ignition && ignition_last) {
-      params.clearAll(CLEAR_ON_IGNITION_OFF);
     }
 
-    ignition_last = ignition;
+    is_onroad_last = is_onroad;
 
     sm.update(0);
     const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();
@@ -523,22 +554,20 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
 
   SubMaster sm({"deviceState", "driverCameraState"});
 
-  uint64_t last_front_frame_t = 0;
+  uint64_t last_driver_camera_t = 0;
   uint16_t prev_fan_speed = 999;
   uint16_t ir_pwr = 0;
   uint16_t prev_ir_pwr = 999;
-  unsigned int cnt = 0;
 
   FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
 
   while (!do_exit && panda->connected()) {
-    cnt++;
-    sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update?
+    sm.update(1000);
 
     if (sm.updated("deviceState") && !no_fan_control) {
       // Fan speed
       uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired();
-      if (fan_speed != prev_fan_speed || cnt % 100 == 0) {
+      if (fan_speed != prev_fan_speed || sm.frame % 100 == 0) {
         panda->set_fan_speed(fan_speed);
         prev_fan_speed = fan_speed;
       }
@@ -549,7 +578,7 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
       int cur_integ_lines = event.getDriverCameraState().getIntegLines();
 
       cur_integ_lines = integ_lines_filter.update(cur_integ_lines);
-      last_front_frame_t = event.getLogMonoTime();
+      last_driver_camera_t = event.getLogMonoTime();
 
       if (cur_integ_lines <= CUTOFF_IL) {
         ir_pwr = 100.0 * MIN_IR_POWER;
@@ -560,48 +589,48 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
       }
     }
 
-    // Disable ir_pwr on front frame timeout
-    uint64_t cur_t = nanos_since_boot();
-    if (cur_t - last_front_frame_t > 1e9) {
+    // Disable IR on input timeout
+    if (nanos_since_boot() - last_driver_camera_t > 1e9) {
       ir_pwr = 0;
     }
 
-    if (ir_pwr != prev_ir_pwr || cnt % 100 == 0 || ir_pwr >= 50.0) {
+    if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0 || ir_pwr >= 50.0) {
       panda->set_ir_pwr(ir_pwr);
       prev_ir_pwr = ir_pwr;
     }
 
     // Write to rtc once per minute when no ignition present
-    if (!ignition && (cnt % 120 == 1)) {
+    if (!ignition && (sm.frame % 120 == 1)) {
       sync_time(panda, SyncTimeDir::TO_PANDA);
     }
   }
 }
 
 void boardd_main_thread(std::vector<std::string> serials) {
-  PubMaster pm({"pandaStates", "peripheralState"});
-  LOGW("attempting to connect");
+  LOGW("launching boardd");
 
   if (serials.size() == 0) {
-    // connect to all
     serials = Panda::list();
 
-    // exit if no pandas are connected
     if (serials.size() == 0) {
       LOGW("no pandas found, exiting");
       return;
     }
   }
 
+  std::string serials_str;
+  for (int i = 0; i < serials.size(); i++) {
+    serials_str += serials[i];
+    if (i < serials.size() - 1) serials_str += ", ";
+  }
+  LOGW("connecting to pandas: %s", serials_str.c_str());
+
   // connect to all provided serials
   std::vector<Panda *> pandas;
   for (int i = 0; i < serials.size() && !do_exit; /**/) {
     Panda *p = connect(serials[i], i);
     if (!p) {
-      // send empty pandaState & peripheralState and try again
-      send_empty_panda_state(&pm);
-      send_empty_peripheral_state(&pm);
-      util::sleep_for(500);
+      util::sleep_for(100);
       continue;
     }
 
@@ -610,12 +639,12 @@ void boardd_main_thread(std::vector<std::string> serials) {
   }
 
   if (!do_exit) {
-    LOGW("connected to board");
-    Panda *peripheral_panda = pandas[0];
+    LOGW("connected to all pandas");
+
     std::vector<std::thread> threads;
 
-    threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr);
-    threads.emplace_back(peripheral_control_thread, peripheral_panda, getenv("NO_FAN_CONTROL") != nullptr);
+    threads.emplace_back(panda_state_thread, pandas, getenv("STARTED") != nullptr);
+    threads.emplace_back(peripheral_control_thread, pandas[0], getenv("NO_FAN_CONTROL") != nullptr);
 
     threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr);
     threads.emplace_back(can_recv_thread, pandas);
@@ -623,7 +652,6 @@ void boardd_main_thread(std::vector<std::string> serials) {
     for (auto &t : threads) t.join();
   }
 
-  // we have exited, clean up pandas
   for (Panda *panda : pandas) {
     delete panda;
   }

selfdrive/boardd/boardd_api_impl.pyx

@@ -4,13 +4,15 @@ from libcpp.vector cimport vector
 from libcpp.string cimport string
 from libcpp cimport bool
 
-cdef struct can_frame:
-  long address
-  string dat
-  long busTime
-  long src
+cdef extern from "panda.h":
+  cdef struct can_frame:
+    long address
+    string dat
+    long busTime
+    long src
 
-cdef extern void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
+cdef extern from "can_list_to_can_capnp.cc":
+  void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
 
 def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   cdef vector[can_frame] can_list

selfdrive/boardd/can_list_to_can_capnp.cc

@@ -1,8 +1,6 @@
 #include "cereal/messaging/messaging.h"
 #include "panda.h"
 
-extern "C" {
-
 void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
   MessageBuilder msg;
   auto event = msg.initEvent(valid);
@@ -21,5 +19,3 @@ void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::stri
   kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>((unsigned char *)out.data(), msg_size));
   capnp::writeMessage(output_stream, msg);
 }
-
-}

selfdrive/boardd/panda.cc

@@ -13,14 +13,17 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
   // try USB first, then SPI
   try {
     handle = std::make_unique<PandaUsbHandle>(serial);
+    LOGW("connected to %s over USB", serial.c_str());
   } catch (std::exception &e) {
 #ifndef __APPLE__
     handle = std::make_unique<PandaSpiHandle>(serial);
+    LOGW("connected to %s over SPI", serial.c_str());
+#else
+    throw e;
 #endif
   }
 
   hw_type = get_hw_type();
-
   has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
             (hw_type == cereal::PandaState::PandaType::DOS) ||
             (hw_type == cereal::PandaState::PandaType::TRES);
@@ -42,13 +45,15 @@ std::string Panda::hw_serial() {
   return handle->hw_serial;
 }
 
-std::vector<std::string> Panda::list() {
+std::vector<std::string> Panda::list(bool usb_only) {
   std::vector<std::string> serials = PandaUsbHandle::list();
 
 #ifndef __APPLE__
-  for (auto s : PandaSpiHandle::list()) {
-    if (std::find(serials.begin(), serials.end(), s) == serials.end()) {
-      serials.push_back(s);
+  if (!usb_only) {
+    for (auto s : PandaSpiHandle::list()) {
+      if (std::find(serials.begin(), serials.end(), s) == serials.end()) {
+        serials.push_back(s);
+      }
     }
   }
 #endif
@@ -149,6 +154,19 @@ std::optional<std::string> Panda::get_serial() {
   return err >= 0 ? std::make_optional(serial_buf) : std::nullopt;
 }
 
+bool Panda::up_to_date() {
+  if (auto fw_sig = get_firmware_version()) {
+    for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed" }) {
+      auto content = util::read_file(std::string("../../panda/board/obj/") + fn);
+      if (content.size() >= fw_sig->size() &&
+          memcmp(content.data() + content.size() - fw_sig->size(), fw_sig->data(), fw_sig->size()) == 0) {
+        return true;
+      }
+    }
+  }
+  return false;
+}
+
 void Panda::set_power_saving(bool power_saving) {
   handle->control_write(0xe7, power_saving, 0);
 }

selfdrive/boardd/panda.h

@@ -57,7 +57,7 @@ public:
   std::string hw_serial();
 
   // Static functions
-  static std::vector<std::string> list();
+  static std::vector<std::string> list(bool usb_only=false);
 
   // Panda functionality
   cereal::PandaState::PandaType get_hw_type();
@@ -72,6 +72,7 @@ public:
   std::optional<can_health_t> get_can_state(uint16_t can_number);
   void set_loopback(bool loopback);
   std::optional<std::vector<uint8_t>> get_firmware_version();
+  bool up_to_date();
   std::optional<std::string> get_serial();
   void set_power_saving(bool power_saving);
   void enable_deepsleep();

selfdrive/boardd/panda_comms.h

@@ -1,8 +1,9 @@
 #pragma once
 
-#include <mutex>
 #include <atomic>
 #include <cstdint>
+#include <mutex>
+#include <string>
 #include <vector>
 
 #ifndef __APPLE__
@@ -13,7 +14,7 @@
 
 
 #define TIMEOUT 0
-#define SPI_BUF_SIZE 1024
+#define SPI_BUF_SIZE 2048
 
 
 // comms base class
@@ -73,9 +74,9 @@ private:
   uint8_t rx_buf[SPI_BUF_SIZE];
   inline static std::recursive_mutex hw_lock;
 
-  int wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack);
-  int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len);
-  int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
-  int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
+  int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length);
+  int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout);
+  int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
+  int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
 };
 #endif

selfdrive/boardd/pandad.py

@@ -3,30 +3,80 @@
 import os
 import usb1
 import time
+import json
 import subprocess
 from typing import List, NoReturn
 from functools import cmp_to_key
 
-from panda import Panda, PandaDFU
+from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
 from common.basedir import BASEDIR
 from common.params import Params
+from selfdrive.boardd.set_time import set_time
 from system.hardware import HARDWARE
 from system.swaglog import cloudlog
 
 
 def get_expected_signature(panda: Panda) -> bytes:
   try:
-    return Panda.get_signature_from_firmware(panda.get_mcu_type().config.app_path)
+    fn = os.path.join(FW_PATH, panda.get_mcu_type().config.app_fn)
+    return Panda.get_signature_from_firmware(fn)
   except Exception:
     cloudlog.exception("Error computing expected signature")
     return b""
 
+def read_panda_logs(panda: Panda) -> None:
+  """
+    Forward panda logs to the cloud
+  """
+
+  params = Params()
+  serial = panda.get_usb_serial()
+
+  log_state = {}
+  try:
+    l = json.loads(params.get("PandaLogState"))
+    for k, v in l.items():
+      if isinstance(k, str) and isinstance(v, int):
+        log_state[k] = v
+  except (TypeError, json.JSONDecodeError):
+    cloudlog.exception("failed to parse PandaLogState")
+
+  try:
+    if serial in log_state:
+      logs = panda.get_logs(last_id=log_state[serial])
+    else:
+      logs = panda.get_logs(get_all=True)
+
+    # truncate logs to 100 entries if needed
+    MAX_LOGS = 100
+    if len(logs) > MAX_LOGS:
+      cloudlog.warning(f"Panda {serial} has {len(logs)} logs, truncating to {MAX_LOGS}")
+      logs = logs[-MAX_LOGS:]
+
+    # update log state
+    if len(logs) > 0:
+      log_state[serial] = logs[-1]["id"]
+
+    for log in logs:
+      if log['timestamp'] is not None:
+        log['timestamp'] = log['timestamp'].isoformat()
+      cloudlog.event("panda_log", **log, serial=serial)
+
+    params.put("PandaLogState", json.dumps(log_state))
+  except Exception:
+    cloudlog.exception(f"Error getting logs for panda {serial}")
+
 
 def flash_panda(panda_serial: str) -> Panda:
-  panda = Panda(panda_serial)
+  try:
+    panda = Panda(panda_serial)
+  except PandaProtocolMismatch:
+    cloudlog.warning("detected protocol mismatch, reflashing panda")
+    HARDWARE.recover_internal_panda()
+    raise
 
   fw_signature = get_expected_signature(panda)
-  internal_panda = panda.is_internal() and not panda.bootstub
+  internal_panda = panda.is_internal()
 
   panda_version = "bootstub" if panda.bootstub else panda.get_version()
   panda_signature = b"" if panda.bootstub else panda.get_signature()
@@ -39,11 +89,11 @@ def flash_panda(panda_serial: str) -> Panda:
 
   if panda.bootstub:
     bootstub_version = panda.get_version()
-    cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. Bootstub version: {bootstub_version}")
+    cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. {bootstub_version=}, {internal_panda=}")
     if internal_panda:
       HARDWARE.recover_internal_panda()
     panda.recover(reset=(not internal_panda))
-    cloudlog.info("Done flashing bootloader")
+    cloudlog.info("Done flashing bootstub")
 
   if panda.bootstub:
     cloudlog.info("Panda still not booting, exiting")
@@ -76,23 +126,28 @@ def panda_sort_cmp(a: Panda, b: Panda):
 
 
 def main() -> NoReturn:
+  count = 0
   first_run = True
   params = Params()
 
   while True:
     try:
+      count += 1
+      cloudlog.event("pandad.flash_and_connect", count=count)
       params.remove("PandaSignatures")
 
       # Flash all Pandas in DFU mode
-      for serial in PandaDFU.list():
-        cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
-        PandaDFU(serial).recover()
-      time.sleep(1)
+      dfu_serials = PandaDFU.list()
+      if len(dfu_serials) > 0:
+        for serial in dfu_serials:
+          cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
+          PandaDFU(serial).recover()
+        time.sleep(1)
 
       panda_serials = Panda.list()
       if len(panda_serials) == 0:
         if first_run:
-          cloudlog.info("Resetting internal panda")
+          cloudlog.info("No pandas found, resetting internal panda")
           HARDWARE.reset_internal_panda()
           time.sleep(2)  # wait to come back up
         continue
@@ -104,17 +159,6 @@ def main() -> NoReturn:
       for serial in panda_serials:
         pandas.append(flash_panda(serial))
 
-      # check health for lost heartbeat
-      for panda in pandas:
-        health = panda.health()
-        if health["heartbeat_lost"]:
-          params.put_bool("PandaHeartbeatLost", True)
-          cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
-
-        if first_run:
-          cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
-          panda.reset()
-
       # Ensure internal panda is present if expected
       internal_pandas = [panda for panda in pandas if panda.is_internal()]
       if HARDWARE.has_internal_panda() and len(internal_pandas) == 0:
@@ -125,18 +169,45 @@ def main() -> NoReturn:
 
       # sort pandas to have deterministic order
       pandas.sort(key=cmp_to_key(panda_sort_cmp))
-      panda_serials = list(map(lambda p: p.get_usb_serial(), pandas))  # type: ignore
+      panda_serials = [p.get_usb_serial() for p in pandas]
 
       # log panda fw versions
       params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
 
-      # close all pandas
+      for panda in pandas:
+        # check health for lost heartbeat
+        health = panda.health()
+        if health["heartbeat_lost"]:
+          params.put_bool("PandaHeartbeatLost", True)
+          cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
+
+        read_panda_logs(panda)
+
+        if first_run:
+          if panda.is_internal():
+            # update time from RTC
+            set_time(cloudlog)
+
+          # reset panda to ensure we're in a good state
+          cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
+          if panda.is_internal():
+            HARDWARE.reset_internal_panda()
+          else:
+            panda.reset(reconnect=False)
+
       for p in pandas:
         p.close()
+    # TODO: wrap all panda exceptions in a base panda exception
     except (usb1.USBErrorNoDevice, usb1.USBErrorPipe):
       # a panda was disconnected while setting everything up. let's try again
       cloudlog.exception("Panda USB exception while setting up")
       continue
+    except PandaProtocolMismatch:
+      cloudlog.exception("pandad.protocol_mismatch")
+      continue
+    except Exception:
+      cloudlog.exception("pandad.uncaught_exception")
+      continue
 
     first_run = False
 

selfdrive/boardd/set_time.py

@@ -3,7 +3,7 @@ import os
 import datetime
 from panda import Panda
 
-MIN_DATE = datetime.datetime(year=2023, month=4, day=1)
+from common.time import MIN_DATE
 
 def set_time(logger):
   sys_time = datetime.datetime.today()

selfdrive/boardd/spi.cc

@@ -22,6 +22,12 @@
 #define SPI_NACK 0x1FU
 #define SPI_CHECKSUM_START 0xABU
 
+
+enum SpiError {
+  NACK = -2,
+  ACK_TIMEOUT = -3,
+};
+
 struct __attribute__((packed)) spi_header {
   uint8_t sync;
   uint8_t endpoint;
@@ -29,8 +35,7 @@ struct __attribute__((packed)) spi_header {
   uint16_t max_rx_len;
 };
 
-const int SPI_MAX_RETRIES = 5;
-const int SPI_ACK_TIMEOUT = 50; // milliseconds
+const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds
 const std::string SPI_DEVICE = "/dev/spidev0.0";
 
 class LockEx {
@@ -41,8 +46,8 @@ public:
   };
 
   ~LockEx() {
-    m.unlock();
     flock(fd, LOCK_UN);
+    m.unlock();
   }
 
 private:
@@ -63,6 +68,10 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
   // revs of the comma three may not support this speed
   uint32_t spi_speed = 50000000;
 
+  if (!util::file_exists(SPI_DEVICE)) {
+    goto fail;
+  }
+
   spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
   if (spi_fd < 0) {
     LOGE("failed opening SPI device %d", spi_fd);
@@ -89,7 +98,7 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
   }
 
   // get hw UID/serial
-  ret = control_read(0xc3, 0, 0, uid, uid_len);
+  ret = control_read(0xc3, 0, 0, uid, uid_len, 100);
   if (ret == uid_len) {
     std::stringstream stream;
     for (int i = 0; i < uid_len; i++) {
@@ -127,38 +136,34 @@ void PandaSpiHandle::cleanup() {
 
 
 int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout) {
-  LockEx lock(spi_fd, hw_lock);
   ControlPacket_t packet = {
     .request = request,
     .param1 = param1,
     .param2 = param2,
     .length = 0
   };
-  return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), NULL, 0);
+  return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), NULL, 0, timeout);
 }
 
 int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout) {
-  LockEx lock(spi_fd, hw_lock);
   ControlPacket_t packet = {
     .request = request,
     .param1 = param1,
     .param2 = param2,
     .length = length
   };
-  return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), data, length);
+  return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), data, length, timeout);
 }
 
 int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
-  LockEx lock(spi_fd, hw_lock);
-  return bulk_transfer(endpoint, data, length, NULL, 0);
+  return bulk_transfer(endpoint, data, length, NULL, 0, timeout);
 }
 int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
-  LockEx lock(spi_fd, hw_lock);
-  return bulk_transfer(endpoint, NULL, 0, data, length);
+  return bulk_transfer(endpoint, NULL, 0, data, length, timeout);
 }
 
-int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len) {
-  const int xfer_size = 0x40 * 15;
+int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout) {
+  const int xfer_size = SPI_BUF_SIZE - 0x40;
 
   int ret = 0;
   uint16_t length = (tx_data != NULL) ? tx_len : rx_len;
@@ -166,16 +171,16 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t
     int d;
     if (tx_data != NULL) {
       int len = std::min(xfer_size, tx_len - (xfer_size * i));
-      d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0);
+      d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0, timeout);
     } else {
       uint16_t to_read = std::min(xfer_size, rx_len - ret);
-      d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read);
+      d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read, timeout);
     }
 
     if (d < 0) {
       LOGE("SPI: bulk transfer failed with %d", d);
       comms_healthy = false;
-      return -1;
+      return d;
     }
 
     ret += d;
@@ -213,21 +218,55 @@ bool check_checksum(uint8_t *data, int data_len) {
 }
 
 
-int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) {
+int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) {
   int ret;
+  int nack_count = 0;
+  int timeout_count = 0;
+  bool timed_out = false;
+  double start_time = millis_since_boot();
 
-  int count = SPI_MAX_RETRIES;
   do {
-    // TODO: handle error
-    ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len);
-    count--;
-  } while (ret < 0 && connected && count > 0);
+    ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len, timeout);
+
+    if (ret < 0) {
+      timed_out = (timeout != 0) && (timeout_count > 5);
+      timeout_count += ret == SpiError::ACK_TIMEOUT;
+
+      // give other threads a chance to run
+      std::this_thread::yield();
+
+      if (ret == SpiError::NACK) {
+        // prevent busy waiting while the panda is NACK'ing
+        // due to full TX buffers
+        nack_count += 1;
+        if (nack_count > 3) {
+          usleep(std::clamp(nack_count*10, 200, 2000));
+        }
+      }
+    }
+  } while (ret < 0 && connected && !timed_out);
+
+  if (ret < 0) {
+    LOGE("transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time);
+  }
 
   return ret;
 }
 
-int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
+int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length) {
   double start_millis = millis_since_boot();
+  if (timeout == 0) {
+    timeout = SPI_ACK_TIMEOUT;
+  }
+  timeout = std::clamp(timeout, 100U, SPI_ACK_TIMEOUT);
+
+  spi_ioc_transfer transfer = {
+    .tx_buf = (uint64_t)tx_buf,
+    .rx_buf = (uint64_t)rx_buf,
+    .len = length
+  };
+  tx_buf[0] = tx;
+
   while (true) {
     int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
     if (ret < 0) {
@@ -238,23 +277,24 @@ int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
     if (rx_buf[0] == ack) {
       break;
     } else if (rx_buf[0] == SPI_NACK) {
-      LOGW("SPI: got NACK");
-      return -1;
+      LOGD("SPI: got NACK");
+      return SpiError::NACK;
     }
 
     // handle timeout
-    if (millis_since_boot() - start_millis > SPI_ACK_TIMEOUT) {
+    if (millis_since_boot() - start_millis > timeout) {
       LOGD("SPI: timed out waiting for ACK");
-      return -1;
+      return SpiError::ACK_TIMEOUT;
     }
   }
 
   return 0;
 }
 
-int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) {
+int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) {
   int ret;
   uint16_t rx_data_len;
+  LockEx lock(spi_fd, hw_lock);
 
   // needs to be less, since we need to have space for the checksum
   assert(tx_len < SPI_BUF_SIZE);
@@ -283,9 +323,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   }
 
   // Wait for (N)ACK
-  tx_buf[0] = 0x12;
-  transfer.len = 1;
-  ret = wait_for_ack(transfer, SPI_HACK);
+  ret = wait_for_ack(SPI_HACK, 0x11, timeout, 1);
   if (ret < 0) {
     goto transfer_fail;
   }
@@ -303,28 +341,18 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   }
 
   // Wait for (N)ACK
-  tx_buf[0] = 0xab;
-  transfer.len = 1;
-  ret = wait_for_ack(transfer, SPI_DACK);
+  ret = wait_for_ack(SPI_DACK, 0x13, timeout, 3);
   if (ret < 0) {
     goto transfer_fail;
   }
 
-  // Read data len
-  transfer.len = 2;
-  transfer.rx_buf = (uint64_t)(rx_buf + 1);
-  ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
-  if (ret < 0) {
-    LOGE("SPI: failed to read rx data len");
-    goto transfer_fail;
-  }
+  // Read data
   rx_data_len = *(uint16_t *)(rx_buf+1);
   if (rx_data_len >= SPI_BUF_SIZE) {
     LOGE("SPI: RX data len larger than buf size %d", rx_data_len);
     goto transfer_fail;
   }
 
-  // Read data
   transfer.len = rx_data_len + 1;
   transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1);
   ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -1,14 +1,15 @@
 #!/usr/bin/env python3
 import os
+import copy
 import random
 import time
 import unittest
 from collections import defaultdict
+from pprint import pprint
 
 import cereal.messaging as messaging
-from cereal import car
+from cereal import car, log
 from common.params import Params
-from common.spinner import Spinner
 from common.timeout import Timeout
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car import make_can_msg
@@ -22,21 +23,17 @@ class TestBoardd(unittest.TestCase):
   def setUpClass(cls):
     os.environ['STARTED'] = '1'
     os.environ['BOARDD_LOOPBACK'] = '1'
-    cls.spinner = Spinner()
-
-  @classmethod
-  def tearDownClass(cls):
-    cls.spinner.close()
 
   @phone_only
   @with_processes(['pandad'])
   def test_loopback(self):
-    # wait for boardd to init
-    time.sleep(2)
+    params = Params()
+    params.put_bool("IsOnroad", False)
 
-    with Timeout(60, "boardd didn't start"):
+    with Timeout(90, "boardd didn't start"):
       sm = messaging.SubMaster(['pandaStates'])
-      while sm.rcv_frame['pandaStates'] < 1 and len(sm['pandaStates']) == 0:
+      while sm.rcv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
+          any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
         sm.update(1000)
 
     num_pandas = len(sm['pandaStates'])
@@ -44,30 +41,31 @@ class TestBoardd(unittest.TestCase):
     self.assertEqual(num_pandas, expected_pandas, "connected pandas ({num_pandas}) doesn't match expected panda count ({expected_pandas}). \
                                                    connect another panda for multipanda tests.")
 
-    # boardd blocks on CarVin and CarParams
+    # boardd safety setting relies on these params
     cp = car.CarParams.new_message()
 
     safety_config = car.CarParams.SafetyConfig.new_message()
     safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
     cp.safetyConfigs = [safety_config]*num_pandas
 
-    params = Params()
+    params.put_bool("IsOnroad", True)
     params.put_bool("FirmwareQueryDone", True)
     params.put_bool("ControlsReady", True)
     params.put("CarParams", cp.to_bytes())
 
     sendcan = messaging.pub_sock('sendcan')
     can = messaging.sub_sock('can', conflate=False, timeout=100)
-    time.sleep(0.2)
+    sm = messaging.SubMaster(['pandaStates'])
+    time.sleep(0.5)
 
     n = 200
     for i in range(n):
-      self.spinner.update(f"boardd loopback {i}/{n}")
+      print(f"boardd loopback {i}/{n}")
 
       sent_msgs = defaultdict(set)
-      for _ in range(random.randrange(10)):
+      for _ in range(random.randrange(20, 100)):
         to_send = []
-        for __ in range(random.randrange(100)):
+        for __ in range(random.randrange(20)):
           bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
           addr = random.randrange(1, 1<<29)
           dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
@@ -75,21 +73,29 @@ class TestBoardd(unittest.TestCase):
           to_send.append(make_can_msg(addr, dat, bus))
         sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
 
-      for _ in range(100 * 2):
+      sent_loopback = copy.deepcopy(sent_msgs)
+      sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()})
+      sent_total = {k: len(v) for k, v in sent_loopback.items()}
+      for _ in range(100 * 5):
+        sm.update(0)
         recvd = messaging.drain_sock(can, wait_for_one=True)
         for msg in recvd:
           for m in msg.can:
-            if m.src >= 128:
-              key = (m.address, m.dat)
-              assert key in sent_msgs[m.src-128], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}"
-              sent_msgs[m.src-128].discard(key)
+            key = (m.address, m.dat)
+            assert key in sent_loopback[m.src], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}"
+            sent_loopback[m.src].discard(key)
 
-        if all(len(v) == 0 for v in sent_msgs.values()):
+        if all(len(v) == 0 for v in sent_loopback.values()):
           break
 
       # if a set isn't empty, messages got dropped
-      for bus in sent_msgs.keys():
-        assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages"
+      pprint(sent_msgs)
+      pprint(sent_loopback)
+      print({k: len(x) for k, x in sent_loopback.items()})
+      print(sum([len(x) for x in sent_loopback.values()]))
+      pprint(sm['pandaStates'])  # may drop messages due to RX buffer overflow
+      for bus in sent_loopback.keys():
+        assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages"
 
 
 if __name__ == "__main__":

selfdrive/boardd/tests/test_boardd_usbprotocol.cc

@@ -1,18 +1,11 @@
 #define CATCH_CONFIG_MAIN
 #define CATCH_CONFIG_ENABLE_BENCHMARKING
-#include <random>
 
 #include "catch2/catch.hpp"
 #include "cereal/messaging/messaging.h"
+#include "common/util.h"
 #include "selfdrive/boardd/panda.h"
 
-int random_int(int min, int max) {
-  std::random_device dev;
-  std::mt19937 rng(dev());
-  std::uniform_int_distribution<std::mt19937::result_type> dist(min, max);
-  return dist(rng);
-}
-
 struct PandaTest : public Panda {
   PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type);
   void test_can_send();
@@ -44,10 +37,10 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
   auto can_list = msg.initEvent().initSendcan(can_list_size);
   for (uint8_t i = 0; i < can_list_size; ++i) {
     auto can = can_list[i];
-    uint32_t id = random_int(0, std::size(dlc_to_len) - 1);
+    uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1);
     const std::string &dat = test_data[dlc_to_len[id]];
     can.setAddress(i);
-    can.setSrc(random_int(0, 3) + bus_offset);
+    can.setSrc(util::random_int(0, 3) + bus_offset);
     can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size()));
     total_pakets_size += sizeof(can_header) + dat.size();
   }

selfdrive/boardd/tests/test_pandad.py

@@ -1,36 +1,72 @@
 #!/usr/bin/env python3
+import os
 import time
 import unittest
 
 import cereal.messaging as messaging
-from panda import Panda
+from cereal import log
 from common.gpio import gpio_set, gpio_init
+from common.params import Params
+from panda import Panda, PandaDFU, PandaProtocolMismatch
 from selfdrive.test.helpers import phone_only
 from selfdrive.manager.process_config import managed_processes
 from system.hardware import HARDWARE
 from system.hardware.tici.pins import GPIO
 
+HERE = os.path.dirname(os.path.realpath(__file__))
+
 
 class TestPandad(unittest.TestCase):
 
+  def setUp(self):
+    self.params = Params()
+    self.start_log_state = self.params.get("PandaLogState")
+
   def tearDown(self):
     managed_processes['pandad'].stop()
 
   def _wait_for_boardd(self, timeout=30):
     sm = messaging.SubMaster(['peripheralState'])
-    for _ in range(timeout):
-      sm.update(1000)
-      if sm.updated['peripheralState']:
+    for _ in range(timeout*10):
+      sm.update(100)
+      if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
         break
 
-    if not sm.updated['peripheralState']:
+    if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
       raise Exception("boardd failed to start")
 
+    # simple check that we did something with the panda logs
+    cur_log_state = self.params.get("PandaLogState")
+    assert cur_log_state != self.start_log_state
+
+  def _go_to_dfu(self):
+    HARDWARE.recover_internal_panda()
+    assert Panda.wait_for_dfu(None, 10)
+
+  def _flash_and_test(self, fn, expect_mismatch=False):
+    self._go_to_dfu()
+    pd = PandaDFU(None)
+    if fn is None:
+      fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn)
+    with open(fn, "rb") as f:
+      pd.program_bootstub(f.read())
+    pd.reset()
+    HARDWARE.reset_internal_panda()
+
+    assert Panda.wait_for_panda(None, 10)
+    if expect_mismatch:
+      with self.assertRaises(PandaProtocolMismatch):
+        Panda()
+    else:
+      with Panda() as p:
+        assert p.bootstub
+
+    managed_processes['pandad'].start()
+    self._wait_for_boardd(45)
+
   @phone_only
   def test_in_dfu(self):
     HARDWARE.recover_internal_panda()
-    time.sleep(1)
-
     managed_processes['pandad'].start()
     self._wait_for_boardd(60)
 
@@ -54,9 +90,29 @@ class TestPandad(unittest.TestCase):
 
     assert any(Panda(s).is_internal() for s in Panda.list())
 
-  #def test_out_of_date_fw(self):
-  #  pass
+  @phone_only
+  def test_best_case_startup_time(self):
+    # run once so we're setup
+    managed_processes['pandad'].start()
+    self._wait_for_boardd()
+    managed_processes['pandad'].stop()
 
+    # should be fast this time
+    managed_processes['pandad'].start()
+    self._wait_for_boardd(8)
+
+  @phone_only
+  def test_protocol_version_check(self):
+    if HARDWARE.get_device_type() == 'tici':
+      self.skipTest("")
+
+    # flash old fw
+    fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
+    self._flash_and_test(fn, expect_mismatch=True)
+
+  @phone_only
+  def test_release_to_devel_bootstub(self):
+    self._flash_and_test(None)
 
 if __name__ == "__main__":
   unittest.main()

selfdrive/car/CARS_template.md

@@ -1,6 +1,10 @@
-{% set footnote_tag = '[<sup>{}</sup>](#footnotes)' -%}
-{% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' -%}
-{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' -%}
+{% set footnote_tag = '[<sup>{}</sup>](#footnotes)' %}
+{% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' %}
+{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' %}
+{# Force hardware column wider by using a blank image with max width. #}
+{% set width_tag = '<a href="##"><img width=2000></a>%s<br>&nbsp;' %}
+{% set hardware_col_name = 'Hardware Needed' %}
+{% set wide_hardware_col_name = width_tag|format(hardware_col_name) -%}
 
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
@@ -10,14 +14,14 @@ A supported vehicle is one that just works when you install a comma three. All s
 
 # {{all_car_info | length}} Supported Cars
 
-|{{Column | map(attribute='value') | join('|')}}|
+|{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
 |---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
 {% for car_info in all_car_info %}
 |{% for column in Column %}{{car_info.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
 
 {% endfor %}
 
-<a id="footnotes"></a>
+### Footnotes
 {% for footnote in footnotes %}
 <sup>{{loop.index}}</sup>{{footnote}} <br />
 {% endfor %}
@@ -39,6 +43,7 @@ If your car has the following packages or features, then it's a good candidate f
 | Make | Required Package/Features |
 | ---- | ------------------------- |
 | Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
 | Nissan | Any car with ProPILOT will likely work. |
@@ -53,7 +58,7 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi
 ### Toyota Security
 
 openpilot does not yet support these Toyota models due to a new message authentication method.
-[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models.
+[Vote](https://comma.ai/shop#toyota-security) if you'd like to see openpilot support on these models.
 
 * Toyota RAV4 Prime 2021+
 * Toyota Sienna 2021+

selfdrive/car/__init__.py

@@ -1,10 +1,12 @@
 # functions common among cars
-import capnp
 from collections import namedtuple
+from typing import Dict, Optional
+
+import capnp
 
 from cereal import car
 from common.numpy_fast import clip, interp
-from typing import Dict
+
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
@@ -130,6 +132,30 @@ def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
   return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim)
 
 
+def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_frames: int,
+                           max_above_limit_frames: int, max_mismatching_frames: int = 1):
+  """
+  Several cars have the ability to work around their EPS limits by cutting the
+  request bit of their LKAS message after a certain number of frames above the limit.
+  """
+
+  # Count up to max_above_limit_frames, at which point we need to cut the request for above_limit_frames to avoid a fault
+  if request and fault_condition:
+    above_limit_frames += 1
+  else:
+    above_limit_frames = 0
+
+  # Once we cut the request bit, count additionally to max_mismatching_frames before setting the request bit high again.
+  # Some brands do not respect our workaround without multiple messages on the bus, for example
+  if above_limit_frames > max_above_limit_frames:
+    request = False
+
+  if above_limit_frames >= max_above_limit_frames + max_mismatching_frames:
+    above_limit_frames = 0
+
+  return above_limit_frames, request
+
+
 def crc8_pedal(data):
   crc = 0xFF    # standard init value
   poly = 0xD5   # standard crc8: x8+x7+x6+x4+x2+1
@@ -175,3 +201,15 @@ def get_safety_config(safety_model, safety_param = None):
   if safety_param is not None:
     ret.safetyParam = safety_param
   return ret
+
+
+class CanBusBase:
+  offset: int
+
+  def __init__(self, CP, fingerprint: Optional[Dict[int, Dict[int, int]]]) -> None:
+    if CP is None:
+      assert fingerprint is not None
+      num = max([k for k, v in fingerprint.items() if len(v)], default=0) // 4 + 1
+    else:
+      num = len(CP.safetyConfigs)
+    self.offset = 4 * (num - 1)

selfdrive/car/body/carcontroller.py

@@ -1,5 +1,6 @@
 import numpy as np
 
+from common.params import Params
 from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car.body import bodycan
@@ -23,10 +24,14 @@ class CarController:
     self.speed_pid = PIDController(0.115, k_i=0.23, rate=1/DT_CTRL)
     self.balance_pid = PIDController(1300, k_i=0, k_d=280, rate=1/DT_CTRL)
     self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
+    self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
 
     self.torque_r_filtered = 0.
     self.torque_l_filtered = 0.
 
+    params = Params()
+    self.wheeled_body = params.get("WheeledBody")
+
   @staticmethod
   def deadband_filter(torque, deadband):
     if torque > 0:
@@ -40,24 +45,27 @@ class CarController:
     torque_l = 0
     torque_r = 0
 
-    llk_valid = len(CC.orientationNED) > 0 and len(CC.angularVelocity) > 0
+    llk_valid = len(CC.orientationNED) > 1 and len(CC.angularVelocity) > 1
     if CC.enabled and llk_valid:
       # Read these from the joystick
       # TODO: this isn't acceleration, okay?
       speed_desired = CC.actuators.accel / 5.
-      speed_diff_desired = -CC.actuators.steer
+      speed_diff_desired = -CC.actuators.steer / 2.
 
       speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2.
       speed_error = speed_desired - speed_measured
 
-      freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or
-                           (speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR))
-      angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator)
+      if self.wheeled_body is None:
+        freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or
+                             (speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR))
+        angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator)
 
-      # Clip angle error, this is enough to get up from stands
-      angle_error = np.clip((-CC.orientationNED[1]) - angle_setpoint, -MAX_ANGLE_ERROR, MAX_ANGLE_ERROR)
-      angle_error_rate = np.clip(-CC.angularVelocity[1], -1., 1.)
-      torque = self.balance_pid.update(angle_error, error_rate=angle_error_rate)
+        # Clip angle error, this is enough to get up from stands
+        angle_error = np.clip((-CC.orientationNED[1]) - angle_setpoint, -MAX_ANGLE_ERROR, MAX_ANGLE_ERROR)
+        angle_error_rate = np.clip(-CC.angularVelocity[1], -1., 1.)
+        torque = self.balance_pid.update(angle_error, error_rate=angle_error_rate)
+      else:
+        torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False)
 
       speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
       turn_error = speed_diff_measured - speed_diff_desired

selfdrive/car/body/carstate.py

@@ -32,29 +32,9 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("SPEED_L", "MOTORS_DATA"),
-      ("SPEED_R", "MOTORS_DATA"),
-      ("ELEC_ANGLE_L", "MOTORS_DATA"),
-      ("ELEC_ANGLE_R", "MOTORS_DATA"),
-      ("COUNTER", "MOTORS_DATA"),
-      ("CHECKSUM", "MOTORS_DATA"),
-      ("IGNITION", "VAR_VALUES"),
-      ("ENABLE_MOTORS", "VAR_VALUES"),
-      ("FAULT", "VAR_VALUES"),
-      ("MOTOR_ERR_L", "VAR_VALUES"),
-      ("MOTOR_ERR_R", "VAR_VALUES"),
-      ("MCU_TEMP", "BODY_DATA"),
-      ("BATT_VOLTAGE", "BODY_DATA"),
-      ("BATT_PERCENTAGE", "BODY_DATA"),
-      ("CHARGER_CONNECTED", "BODY_DATA"),
-    ]
-
-    checks = [
+    messages = [
       ("MOTORS_DATA", 100),
       ("VAR_VALUES", 10),
       ("BODY_DATA", 1),
     ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)

selfdrive/car/car_helpers.py

@@ -13,6 +13,8 @@ from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
 
+FRAME_FINGERPRINT = 100  # 1s
+
 EventName = car.CarEvent.EventName
 
 
@@ -79,6 +81,7 @@ interfaces = load_interfaces(interface_names)
 def fingerprint(logcan, sendcan, num_pandas):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
+  disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
   ecu_rx_addrs = set()
   params = Params()
 
@@ -88,11 +91,12 @@ def fingerprint(logcan, sendcan, num_pandas):
 
     cached_params = params.get("CarParamsCache")
     if cached_params is not None:
-      cached_params = car.CarParams.from_bytes(cached_params)
-      if cached_params.carName == "mock":
-        cached_params = None
+      with car.CarParams.from_bytes(cached_params) as cached_params:
+        if cached_params.carName == "mock":
+          cached_params = None
 
-    if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
+    if cached_params is not None and len(cached_params.carFw) > 0 and \
+       cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
       cloudlog.warning("Using cached CarParams")
       vin, vin_rx_addr = cached_params.carVin, 0
       car_fw = list(cached_params.carFw)
@@ -124,7 +128,6 @@ def fingerprint(logcan, sendcan, num_pandas):
   finger = gen_empty_fingerprint()
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
   frame = 0
-  frame_fingerprint = 100  # 1s
   car_fingerprint = None
   done = False
 
@@ -150,12 +153,12 @@ def fingerprint(logcan, sendcan, num_pandas):
     # if we only have one car choice and the time since we got our first
     # message has elapsed, exit
     for b in candidate_cars:
-      if len(candidate_cars[b]) == 1 and frame > frame_fingerprint:
+      if len(candidate_cars[b]) == 1 and frame > FRAME_FINGERPRINT:
         # fingerprint done
         car_fingerprint = candidate_cars[b][0]
 
     # bail if no cars left or we've been waiting for more than 2s
-    failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > frame_fingerprint) or frame > 200
+    failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > FRAME_FINGERPRINT) or frame > 200
     succeeded = car_fingerprint is not None
     done = failed or succeeded
 
@@ -175,7 +178,8 @@ def fingerprint(logcan, sendcan, num_pandas):
     source = car.CarParams.FingerprintSource.fixed
 
   cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached,
-                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, error=True)
+                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, fingerprints=finger,
+                 error=True)
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 

selfdrive/car/chrysler/carstate.py

@@ -80,7 +80,8 @@ class CarState(CarStateBase):
     ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0
 
     if self.CP.carFingerprint in RAM_CARS:
-      self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']  # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
+      # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
+      self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']
       ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1
     else:
       ret.steerFaultTemporary = cp.vl["EPS_2"]["LKAS_TEMPORARY_FAULT"] == 1
@@ -97,51 +98,16 @@ class CarState(CarStateBase):
     return ret
 
   @staticmethod
-  def get_cruise_signals():
-    signals = [
-      ("ACC_AVAILABLE", "DAS_3"),
-      ("ACC_ACTIVE", "DAS_3"),
-      ("ACC_FAULTED", "DAS_3"),
-      ("ACC_STANDSTILL", "DAS_3"),
-      ("COUNTER", "DAS_3"),
-      ("ACC_SET_SPEED_KPH", "DAS_4"),
-      ("ACC_STATE", "DAS_4"),
-    ]
-    checks = [
+  def get_cruise_messages():
+    messages = [
       ("DAS_3", 50),
       ("DAS_4", 50),
     ]
-    return signals, checks
+    return messages
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("DOOR_OPEN_FL", "BCM_1"),
-      ("DOOR_OPEN_FR", "BCM_1"),
-      ("DOOR_OPEN_RL", "BCM_1"),
-      ("DOOR_OPEN_RR", "BCM_1"),
-      ("Brake_Pedal_State", "ESP_1"),
-      ("Accelerator_Position", "ECM_5"),
-      ("WHEEL_SPEED_FL", "ESP_6"),
-      ("WHEEL_SPEED_RR", "ESP_6"),
-      ("WHEEL_SPEED_RL", "ESP_6"),
-      ("WHEEL_SPEED_FR", "ESP_6"),
-      ("STEERING_ANGLE", "STEERING"),
-      ("STEERING_ANGLE_HP", "STEERING"),
-      ("STEERING_RATE", "STEERING"),
-      ("TURN_SIGNALS", "STEERING_LEVERS"),
-      ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"),
-      ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"),
-      ("COUNTER", "EPS_2",),
-      ("COLUMN_TORQUE", "EPS_2"),
-      ("EPS_TORQUE_MOTOR", "EPS_2"),
-      ("LKAS_TEMPORARY_FAULT", "EPS_2"),
-      ("LKAS_STATE", "EPS_2"),
-      ("COUNTER", "CRUISE_BUTTONS"),
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
       ("ESP_1", 50),
       ("EPS_2", 100),
@@ -155,53 +121,30 @@ class CarState(CarStateBase):
     ]
 
     if CP.enableBsm:
-      signals += [
-        ("RIGHT_STATUS", "BSM_1"),
-        ("LEFT_STATUS", "BSM_1"),
-      ]
-      checks.append(("BSM_1", 2))
+      messages.append(("BSM_1", 2))
 
     if CP.carFingerprint in RAM_CARS:
-      signals += [
-        ("DASM_FAULT", "EPS_3"),
-        ("Vehicle_Speed", "ESP_8"),
-        ("Gear_State", "Transmission_Status"),
-      ]
-      checks += [
+      messages += [
         ("ESP_8", 50),
         ("EPS_3", 50),
         ("Transmission_Status", 50),
       ]
     else:
-      signals += [
-        ("PRNDL", "GEAR"),
-        ("SPEED_LEFT", "SPEED_1"),
-        ("SPEED_RIGHT", "SPEED_1"),
-      ]
-      checks += [
+      messages += [
         ("GEAR", 50),
         ("SPEED_1", 100),
       ]
-      signals += CarState.get_cruise_signals()[0]
-      checks += CarState.get_cruise_signals()[1]
+      messages += CarState.get_cruise_messages()
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = [
-      # sig_name, sig_address, default
-      ("CAR_MODEL", "DAS_6"),
-    ]
-    checks = [
+    messages = [
       ("DAS_6", 4),
     ]
 
     if CP.carFingerprint in RAM_CARS:
-      signals += [
-        ("AUTO_HIGH_BEAM_ON", "DAS_6"),
-      ]
-      signals += CarState.get_cruise_signals()[0]
-      checks += CarState.get_cruise_signals()[1]
+      messages += CarState.get_cruise_messages()
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)

selfdrive/car/chrysler/radar_interface.py

@@ -22,18 +22,12 @@ def _create_radar_can_parser(car_fingerprint):
   #  ('LONG_DIST', 1074),
   #  ('LONG_DIST', 1075),
 
-  signals = list(zip(['LONG_DIST'] * msg_n +
-                     ['LAT_DIST'] * msg_n +
-                     ['REL_SPEED'] * msg_n,
-                     RADAR_MSGS_C * 2 +  # LONG_DIST, LAT_DIST
-                     RADAR_MSGS_D))  # REL_SPEED
+  messages = list(zip(RADAR_MSGS_C +
+                      RADAR_MSGS_D,
+                      [20] * msg_n +  # 20Hz (0.05s)
+                      [20] * msg_n, strict=True))  # 20Hz (0.05s)
 
-  checks = list(zip(RADAR_MSGS_C +
-                    RADAR_MSGS_D,
-                    [20] * msg_n +  # 20Hz (0.05s)
-                    [20] * msg_n))  # 20Hz (0.05s)
-
-  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
+  return CANParser(DBC[car_fingerprint]['radar'], messages, 1)
 
 def _address_to_track(address):
   if address in RADAR_MSGS_C:
@@ -52,7 +46,7 @@ class RadarInterface(RadarInterfaceBase):
 
   def update(self, can_strings):
     if self.rcp is None or self.CP.radarUnavailable:
-      return super().update(None)
+      return None
 
     vls = self.rcp.update_strings(can_strings)
     self.updated_messages.update(vls)
@@ -89,4 +83,4 @@ class RadarInterface(RadarInterfaceBase):
     ret.points = [x for x in self.pts.values() if x.dRel != 0]
 
     self.updated_messages.clear()
-    return ret
+    return ret

selfdrive/car/chrysler/values.py

@@ -1,12 +1,12 @@
+# ruff: noqa: E501
 from enum import IntFlag
-from dataclasses import dataclass
-from enum import Enum
+from dataclasses import dataclass, field
 from typing import Dict, List, Optional, Union
 
 from cereal import car
 from panda.python import uds
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness
+from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
@@ -61,13 +61,13 @@ RAM_CARS = RAM_DT | RAM_HD
 @dataclass
 class ChryslerCarInfo(CarInfo):
   package: str = "Adaptive Cruise Control (ACC)"
-  harness: Enum = Harness.fca
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
 
 
 CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
   CAR.PACIFICA_2018_HYBRID: None,  # same platforms
-  CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"),
+  CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
   CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
   CAR.PACIFICA_2020: [
     ChryslerCarInfo("Chrysler Pacifica 2019-20"),
@@ -75,10 +75,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   ],
   CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
   CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
-  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness=Harness.ram),
+  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarHarness.ram])),
   CAR.RAM_HD: [
-    ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram),
-    ChryslerCarInfo("Ram 3500 2019-22", harness=Harness.ram),
+    ChryslerCarInfo("Ram 2500 2020-22", car_parts=CarParts.common([CarHarness.ram])),
+    ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
   ],
 }
 
@@ -127,9 +127,12 @@ FINGERPRINTS = {
     # Based on "8190c7275a24557b|2020-02-24--09-57-23"
   {
     168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1536: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
+  },
+  {
+    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 450: 8, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2018: 8, 2020: 8, 2026: 8, 2028: 8
   }],
   CAR.JEEP_CHEROKEE: [{
-    55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+    55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 1576: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   },
     # Based on c88f65eeaee4003a|2022-08-04--15-37-16
   {
@@ -165,7 +168,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [CHRYSLER_VERSION_REQUEST],
       [CHRYSLER_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission],
+      whitelist_ecus=[Ecu.abs, Ecu.hybrid, Ecu.engine, Ecu.transmission],
       bus=0,
     ),
     Request(
@@ -176,8 +179,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
     ),
   ],
   extra_ecus=[
-    (Ecu.hcp, 0x7e2, None),  # manages transmission on hybrids
-    (Ecu.abs, 0x7e4, None),  # alt address for abs on hybrids
+    (Ecu.hybrid, 0x7e2, None),  # manages transmission on hybrids
+    (Ecu.abs, 0x7e4, None),     # alt address for abs on hybrids
   ],
 )
 
@@ -222,8 +225,11 @@ FW_VERSIONS = {
       b'68453511AC',
       b'68453513AD',
       b'68453514AD',
+      b'68510280AG',
       b'68510283AG',
+      b'68527346AE',
       b'68527375AD',
+      b'68527382AE',
     ],
     (Ecu.srs, 0x744, None): [
       b'68428609AB',
@@ -232,6 +238,7 @@ FW_VERSIONS = {
       b'68490898AA',
       b'68500728AA',
       b'68615033AA',
+      b'68615034AA',
     ],
     (Ecu.abs, 0x747, None): [
       b'68292406AH',
@@ -245,11 +252,14 @@ FW_VERSIONS = {
       b'68438456AF',
       b'68535469AB',
       b'68535470AC',
+      b'68548900AB',
       b'68586307AB',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672892AB',
       b'04672932AB',
+      b'04672932AC',
+      b'22DTRHD_AA',
       b'68320950AH',
       b'68320950AI',
       b'68320950AJ',
@@ -261,8 +271,10 @@ FW_VERSIONS = {
       b'68475160AG',
     ],
     (Ecu.eps, 0x75A, None): [
+      b'21590101AA',
       b'68273275AF',
       b'68273275AG',
+      b'68273275AH',
       b'68312176AE',
       b'68312176AG',
       b'68440789AC',
@@ -271,13 +283,21 @@ FW_VERSIONS = {
       b'68522583AB',
       b'68522585AB',
       b'68552788AA',
+      b'68552789AA',
       b'68552790AA',
+      b'68585106AB',
+      b'68585109AB',
       b'68585112AB',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'05036065AE ',
       b'05036066AE ',
+      b'05149592AE ',
+      b'05149591AD ',
+      b'05149846AA ',
+      b'05149848AA ',
       b'68378701AI ',
+      b'68378748AL ',
       b'68378758AM ',
       b'68448163AJ',
       b'68448165AK',
@@ -286,6 +306,7 @@ FW_VERSIONS = {
       b'68539650AD',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'05149536AC',
       b'68360078AL',
       b'68360080AM',
       b'68360081AM',
@@ -295,6 +316,7 @@ FW_VERSIONS = {
       b'68445533AB',
       b'68484467AC',
       b'68502994AD',
+      b'68520867AE',
       b'68540431AB',
     ],
   },
@@ -307,6 +329,7 @@ FW_VERSIONS = {
       b'68525485AB',
       b'68525487AB',
       b'68525498AB',
+      b'68528791AF',
     ],
     (Ecu.srs, 0x744, None): [
       b'68399794AC',
@@ -322,9 +345,11 @@ FW_VERSIONS = {
       b'68504022AC',
       b'68530686AB',
       b'68530686AC',
+      b'68544596AC',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672895AB',
+      b'04672934AB',
       b'56029827AG',
       b'56029827AH',
       b'68462657AE',
@@ -334,6 +359,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x761, None): [
       b'68421036AC',
       b'68507906AB',
+      b'68534023AC',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'52370131AF',
@@ -342,6 +368,7 @@ FW_VERSIONS = {
       b'52370931CT',
       b'52401032AE',
       b'52421132AF',
+      b'52421332AF',
       b'68527616AD ',
       b'M2370131MB',
       b'M2421132MB',