Merge remote-tracking branch 'upstream/commaai/openpilot/master'

# Conflicts:
#	.pre-commit-config.yaml
#	cereal
#	opendbc
#	panda
#	selfdrive/car/hyundai/carstate.py
#	selfdrive/car/hyundai/interface.py
#	selfdrive/car/toyota/interface.py

.github/workflows/repo.yml

@@ -0,0 +1,28 @@
+name: repo
+
+on:
+  schedule:
+    - cron: "0 15 * * 2"
+  workflow_dispatch:
+
+jobs:
+  pre-commit-autoupdate:
+    name: pre-commit autoupdate
+    runs-on: ubuntu-20.04
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
+    steps:
+    - uses: actions/checkout@v3
+    - name: pre-commit autoupdate
+      run: |
+        git config --global --add safe.directory '*'
+        pre-commit autoupdate
+    - name: Create Pull Request
+      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      with:
+        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        commit-message: Update pre-commit hook versions
+        title: 'pre-commit: autoupdate hooks'
+        branch: pre-commit-updates
+        base: master
+        delete-branch: true

.pre-commit-config.yaml

@@ -1,5 +1,5 @@
 repos:
 -   repo: https://github.com/python-poetry/poetry
-    rev: '1.2.2'
+    rev: '1.4.0'
     hooks:
     -   id: poetry-check

Jenkinsfile

@@ -125,6 +125,21 @@ pipeline {
         }
         */
 
+        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"],
+            ])
+          }
+        }
+
         stage('build') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           environment {
@@ -156,7 +171,7 @@ pipeline {
           steps {
             phone_steps("tici-common", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test power draw", "python system/hardware/tici/test_power_draw.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"],

RELEASES.md

@@ -3,6 +3,10 @@ Version 0.9.2 (2023-03-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.
 * Buick LaCrosse 2017-19 support thanks to koch-cf!
+* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
+* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
+* Kia Niro EV 2023 support thanks to JosselinLecocq!
+* Lexus ES 2017-18 support
 * Škoda Fabia 2022-23 support thanks to jyoung8607!
 
 Version 0.9.1 (2023-02-28)

SConstruct

@@ -5,6 +5,10 @@ import sysconfig
 import platform
 import numpy as np
 
+import SCons.Errors
+
+SCons.Warnings.warningAsException(True)
+
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI
 
@@ -118,7 +122,7 @@ else:
       f"#third_party/libyuv/{yuv_dir}/lib",
       f"{brew_prefix}/lib",
       f"{brew_prefix}/Library",
-      f"{brew_prefix}/opt/openssl/lib",
+      f"{brew_prefix}/opt/openssl@3.0/lib",
       f"{brew_prefix}/Cellar",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
@@ -131,7 +135,7 @@ else:
     cxxflags += ["-DGL_SILENCE_DEPRECATION"]
     cpppath += [
       f"{brew_prefix}/include",
-      f"{brew_prefix}/opt/openssl/include",
+      f"{brew_prefix}/opt/openssl@3.0/include",
     ]
   # Linux 86_64
   else:
@@ -310,8 +314,14 @@ else:
     qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
   elif arch != "Darwin":
     qt_libs += ["GL"]
+qt_env['QT3DIR'] = qt_env['QTDIR']
+
+# compatibility for older SCons versions
+try:
+  qt_env.Tool('qt3')
+except SCons.Errors.UserError:
+  qt_env.Tool('qt')
 
-qt_env.Tool('qt')
 qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
 qt_flags = [
   "-D_REENTRANT",
@@ -432,11 +442,8 @@ SConscript(['system/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/navd/SConscript'])
 
-if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
+if (arch in ['x86_64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
-
-  opendbc = abspath([File('opendbc/can/libdbc.so')])
-  Export('opendbc')
   SConscript(['tools/cabana/SConscript'])
 
 external_sconscript = GetOption('external_sconscript')

common/gpio.py

@@ -1,4 +1,5 @@
-from typing import Optional
+import glob
+from typing import Optional, List
 
 def gpio_init(pin: int, output: bool) -> None:
   try:
@@ -23,3 +24,13 @@ def gpio_read(pin: int) -> Optional[bool]:
     print(f"Failed to set gpio {pin} value: {e}")
 
   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:
+      actions = f.read().strip().split(',')
+      if action in actions:
+        irq = int(fn.split('/')[-2])
+        ret.append(irq)
+  return ret

common/i2c.cc

@@ -15,7 +15,7 @@
 #define UNUSED(x) (void)(x)
 
 #ifdef QCOM2
-// TODO: decide if we want to isntall libi2c-dev everywhere
+// TODO: decide if we want to install libi2c-dev everywhere
 extern "C" {
   #include <linux/i2c-dev.h>
   #include <i2c/smbus.h>

common/statlog.cc

@@ -5,6 +5,7 @@
 #include "common/statlog.h"
 #include "common/util.h"
 
+#include <cstdarg>
 #include <stdio.h>
 #include <mutex>
 #include <zmq.h>

common/swaglog.cc

@@ -5,6 +5,7 @@
 #include "common/swaglog.h"
 
 #include <cassert>
+#include <cstdarg>
 #include <cstring>
 #include <limits>
 #include <mutex>

docs/CARS.md

@@ -2,9 +2,9 @@
 
 # Supported Cars
 
-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.
+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.
 
-# 239 Supported Cars
+# 243 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -23,6 +23,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |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>||
@@ -44,9 +45,9 @@ A supported vehicle is one that just works when you install a comma three. All s
 |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>||
+|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>||
+|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>||
@@ -54,12 +55,13 @@ A supported vehicle is one that just works when you install a comma three. All s
 |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 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-22">Honda Nidec</a>||
+|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>||
@@ -74,7 +76,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |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 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-21">Hyundai H</a>||
+|Hyundai|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)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O</a>||
@@ -98,8 +100,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |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[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022">Hyundai P</a>||
-|Kia|EV6 (without HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022">Hyundai L</a>||
+|Kia|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>||
@@ -107,8 +109,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |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 Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021">Hyundai F</a>||
-|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2022">Hyundai H</a>||
+|Kia|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>||
@@ -125,6 +127,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |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>|
@@ -146,7 +149,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |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 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-22">Nissan A</a>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|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>||
@@ -237,8 +240,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533</a>||
 |Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533</a>||
 |Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533</a>||
-|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2020-22">J533</a>[<sup>10</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2020-22">J533</a>[<sup>10</sup>](#footnotes)||
+|Volkswagen|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>||
@@ -246,6 +249,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |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>||
 
 <a id="footnotes"></a>

docs/docker/Dockerfile

@@ -11,6 +11,7 @@ WORKDIR ${OPENPILOT_PATH}
 
 COPY SConstruct ${OPENPILOT_PATH}
 
+COPY ./body ${OPENPILOT_PATH}/body
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
 COPY ./laika ${OPENPILOT_PATH}/laika

poetry.lock

@@ -55,7 +55,7 @@ frozenlist = ">=1.1.0"
 name = "alabaster"
 version = "0.7.12"
 description = "A configurable sidebar-enabled Sphinx theme"
-category = "dev"
+category = "main"
 optional = false
 python-versions = "*"
 
@@ -374,7 +374,7 @@ azure-nspkg = ">=2.0.0"
 name = "babel"
 version = "2.10.3"
 description = "Internationalization utilities"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.6"
 
@@ -856,7 +856,7 @@ python-versions = "*"
 name = "docutils"
 version = "0.17.1"
 description = "Docutils -- Python Documentation Utilities"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
@@ -1390,7 +1390,7 @@ tifffile = ["tifffile"]
 name = "imagesize"
 version = "1.4.1"
 description = "Getting image size from png/jpeg/jpeg2000/gif file"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
@@ -2519,6 +2519,33 @@ category = "main"
 optional = false
 python-versions = ">=3.8"
 
+[[package]]
+name = "nvidia-cublas-cu12"
+version = "12.1.0.26"
+description = "CUBLAS native runtime libraries"
+category = "dev"
+optional = false
+python-versions = ">=3"
+
+[[package]]
+name = "nvidia-cuda-runtime-cu12"
+version = "12.1.55"
+description = "CUDA Runtime native Libraries"
+category = "dev"
+optional = false
+python-versions = ">=3"
+
+[[package]]
+name = "nvidia-cudnn-cu12"
+version = "8.9.0.131"
+description = "cuDNN runtime libraries"
+category = "dev"
+optional = false
+python-versions = ">=3"
+
+[package.dependencies]
+nvidia-cublas-cu12 = "*"
+
 [[package]]
 name = "nvidia-ml-py3"
 version = "7.352.0"
@@ -2703,6 +2730,23 @@ category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
+[[package]]
+name = "panflute"
+version = "2.3.0"
+description = "Pythonic Pandoc filters"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+click = ">=6,<9"
+pyyaml = ">=3,<7"
+
+[package.extras]
+dev = ["configparser", "coverage", "flake8", "pandocfilters", "pytest", "pytest-cov", "requests"]
+extras = ["yamlloader (>=1,<2)"]
+pypi = ["Pygments", "docutils", "twine", "wheel"]
+
 [[package]]
 name = "parameterized"
 version = "0.8.1"
@@ -3115,7 +3159,7 @@ python-versions = ">=3.6"
 name = "pygments"
 version = "2.13.0"
 description = "Pygments is a syntax highlighting package written in Python."
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.6"
 
@@ -3426,7 +3470,7 @@ numpy = ["numpy (>=1.6.0)"]
 name = "pytz"
 version = "2022.5"
 description = "World timezone definitions, modern and historical"
-category = "dev"
+category = "main"
 optional = false
 python-versions = "*"
 
@@ -3714,6 +3758,27 @@ python-versions = ">=3.6"
 [package.dependencies]
 setuptools = "*"
 
+[[package]]
+name = "sconscontrib"
+version = "1.0"
+description = ""
+category = "main"
+optional = false
+python-versions = ">=3.6, <4"
+develop = false
+
+[package.dependencies]
+docutils = "*"
+panflute = "*"
+SCons = ">=4"
+sphinx = "*"
+
+[package.source]
+type = "git"
+url = "https://github.com/SCons/scons-contrib.git"
+reference = "HEAD"
+resolved_reference = "f3b0100d3a628e4d18f496815903660a99489bae"
+
 [[package]]
 name = "secretstorage"
 version = "3.3.3"
@@ -3892,7 +3957,7 @@ python-versions = ">=3.7"
 name = "snowballstemmer"
 version = "2.2.0"
 description = "This package provides 29 stemmers for 28 languages generated from Snowball algorithms."
-category = "dev"
+category = "main"
 optional = false
 python-versions = "*"
 
@@ -3930,7 +3995,7 @@ python-versions = ">=3.6"
 name = "sphinx"
 version = "5.3.0"
 description = "Python documentation generator"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.6"
 
@@ -3989,7 +4054,7 @@ sphinx = ">=1.2"
 name = "sphinxcontrib-applehelp"
 version = "1.0.2"
 description = "sphinxcontrib-applehelp is a sphinx extension which outputs Apple help books"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.5"
 
@@ -4001,7 +4066,7 @@ test = ["pytest"]
 name = "sphinxcontrib-devhelp"
 version = "1.0.2"
 description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp document."
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.5"
 
@@ -4013,7 +4078,7 @@ test = ["pytest"]
 name = "sphinxcontrib-htmlhelp"
 version = "2.0.0"
 description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.6"
 
@@ -4025,7 +4090,7 @@ test = ["html5lib", "pytest"]
 name = "sphinxcontrib-jsmath"
 version = "1.0.1"
 description = "A sphinx extension which renders display math in HTML via JavaScript"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.5"
 
@@ -4036,7 +4101,7 @@ test = ["flake8", "mypy", "pytest"]
 name = "sphinxcontrib-qthelp"
 version = "1.0.3"
 description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp document."
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.5"
 
@@ -4048,7 +4113,7 @@ test = ["pytest"]
 name = "sphinxcontrib-serializinghtml"
 version = "1.1.5"
 description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)."
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.5"
 
@@ -4164,6 +4229,22 @@ python-versions = ">=3.6"
 [package.extras]
 doc = ["reno", "sphinx", "tornado (>=4.5)"]
 
+[[package]]
+name = "tensorrt"
+version = "8.6.0"
+description = "A high performance deep learning inference library"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+nvidia-cublas-cu12 = "*"
+nvidia-cuda-runtime-cu12 = "*"
+nvidia-cudnn-cu12 = "*"
+
+[package.extras]
+numpy = ["numpy"]
+
 [[package]]
 name = "terminado"
 version = "0.16.0"
@@ -4659,7 +4740,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
 [metadata]
 lock-version = "1.1"
 python-versions = "~3.8"
-content-hash = "b7cd75dfa0dcddff224696ccc7f41d87aac64652f744ab386321c1eee920fbe9"
+content-hash = "774e90b7d2bef68c6d219c8afc3d5717a104a04b9cd7b1b215655eb48fa62d04"
 
 [metadata.files]
 adal = [
@@ -5579,6 +5660,14 @@ fastcluster = [
     {file = "fastcluster-1.2.6-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9020899b67fe492d0ed87a3e993ec9962c5a0b51ea2df71d86b1766f065f1cef"},
     {file = "fastcluster-1.2.6-cp310-cp310-win32.whl", hash = "sha256:6cf156d4203708348522393c523c2e61c81f5a6a500e0411dcba2b064551ea2f"},
     {file = "fastcluster-1.2.6-cp310-cp310-win_amd64.whl", hash = "sha256:1801c9daa9aa5bbbb0830efe8bd3034b4b7a417e4b8dd353683999be29797df2"},
+    {file = "fastcluster-1.2.6-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:ce70c743490f6778b463524d1767a9ecccd31c8bd2dbb5739bb2174168c15d39"},
+    {file = "fastcluster-1.2.6-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:ac1b84d4b28456a379a71451d13995eb3242143452ce9c861f8913360de842a3"},
+    {file = "fastcluster-1.2.6-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:55b49f6033c45a28f93540847b495ed0f718b5c3f4fef446cf77e3726662e1d5"},
+    {file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c1c776a4ec7594f47cd2e1e2da73a30134f1d402d7c93a81e3cb7c3d8e191173"},
+    {file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:aca61d16435bb7aea3901939d7d7d7e36aff9bb538123e649166a3014b280054"},
+    {file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:04ea4a68e0675072ca761bad33322a0e998cb43693fd41165bc420d7db40429a"},
+    {file = "fastcluster-1.2.6-cp311-cp311-win32.whl", hash = "sha256:773043d5db2790e1ff2a4e1eae0b6a60afb2a93ad2c74897a56c80bc800db04f"},
+    {file = "fastcluster-1.2.6-cp311-cp311-win_amd64.whl", hash = "sha256:841d128daa6597d13781793eb482b0b566bbd58d2a9d1e2cf1b58838773beb14"},
     {file = "fastcluster-1.2.6-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:cf5acfe1156849279ebd44a8d1fbcbe8b8e21334f7538eda782ae31e7dade9e2"},
     {file = "fastcluster-1.2.6-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cb27c13225f5f77f3c5986a27ca27277cce7db12844330cf535019cd38021257"},
     {file = "fastcluster-1.2.6-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:5fe543b6d45da27e84e5af6248722475b88943d8ef40d835cbabbb0ba5ee786b"},
@@ -6860,6 +6949,17 @@ numpy = [
     {file = "numpy-1.23.4-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:4d52914c88b4930dafb6c48ba5115a96cbab40f45740239d9f4159c4ba779962"},
     {file = "numpy-1.23.4.tar.gz", hash = "sha256:ed2cc92af0efad20198638c69bb0fc2870a58dabfba6eb722c933b48556c686c"},
 ]
+nvidia-cublas-cu12 = [
+    {file = "nvidia_cublas_cu12-12.1.0.26-py3-none-manylinux1_x86_64.whl", hash = "sha256:4fd00bd12d442f53929616f45ba67552a13d8940f6e766d11d83973a21ada910"},
+    {file = "nvidia_cublas_cu12-12.1.0.26-py3-none-win_amd64.whl", hash = "sha256:5c668dcb5cbf49e1add058328300aa90fd012eb958a646a8777d55da2eca5eaa"},
+]
+nvidia-cuda-runtime-cu12 = [
+    {file = "nvidia_cuda_runtime_cu12-12.1.55-py3-none-manylinux1_x86_64.whl", hash = "sha256:a485693383c7a28ba022587c5a640353ef61a21eb2e87382d0a76340bda92e2e"},
+    {file = "nvidia_cuda_runtime_cu12-12.1.55-py3-none-win_amd64.whl", hash = "sha256:6939e48161354dbc096dcc6f7910cb2387227f0bac462c2cff51a7d5b50ad200"},
+]
+nvidia-cudnn-cu12 = [
+    {file = "nvidia_cudnn_cu12-8.9.0.131-py3-none-manylinux1_x86_64.whl", hash = "sha256:2a95c2e0201187509021270f52971435d171e65627a482b9ebdfdde6749ad485"},
+]
 nvidia-ml-py3 = [
     {file = "nvidia-ml-py3-7.352.0.tar.gz", hash = "sha256:390f02919ee9d73fe63a98c73101061a6b37fa694a793abf56673320f1f51277"},
 ]
@@ -6980,6 +7080,10 @@ pandocfilters = [
     {file = "pandocfilters-1.5.0-py2.py3-none-any.whl", hash = "sha256:33aae3f25fd1a026079f5d27bdd52496f0e0803b3469282162bafdcbdf6ef14f"},
     {file = "pandocfilters-1.5.0.tar.gz", hash = "sha256:0b679503337d233b4339a817bfc8c50064e2eff681314376a47cb582305a7a38"},
 ]
+panflute = [
+    {file = "panflute-2.3.0-py3-none-any.whl", hash = "sha256:02673bcbdb521a805f08a2ca0ce864de86ad409ad406a01b3700fcf2aca81635"},
+    {file = "panflute-2.3.0.tar.gz", hash = "sha256:cefd9dfc48ccd9732a53db57610701d22806da397a8a97e5cc8dc070b55865ca"},
+]
 parameterized = [
     {file = "parameterized-0.8.1-py2.py3-none-any.whl", hash = "sha256:9cbb0b69a03e8695d68b3399a8a5825200976536fe1cb79db60ed6a4c8c9efe9"},
     {file = "parameterized-0.8.1.tar.gz", hash = "sha256:41bbff37d6186430f77f900d777e5bb6a24928a1c46fb1de692f8b52b8833b5c"},
@@ -7968,6 +8072,7 @@ scons = [
     {file = "SCons-4.4.0-py3-none-any.whl", hash = "sha256:cbbd73b83cf85f1aaaf986370359de1bbfd3af97a765cb3554734f6dcec734e1"},
     {file = "SCons-4.4.0.tar.gz", hash = "sha256:7703c4e9d2200b4854a31800c1dbd4587e1fa86e75f58795c740bcfa7eca7eaa"},
 ]
+sconscontrib = []
 secretstorage = [
     {file = "SecretStorage-3.3.3-py3-none-any.whl", hash = "sha256:f356e6628222568e3af06f2eba8df495efa13b3b63081dafd4f7d9a7b7bc9f99"},
     {file = "SecretStorage-3.3.3.tar.gz", hash = "sha256:2403533ef369eca6d2ba81718576c5e0f564d5cca1b58f73a8b23e7d4eeebd77"},
@@ -8314,6 +8419,13 @@ tenacity = [
     {file = "tenacity-8.1.0-py3-none-any.whl", hash = "sha256:35525cd47f82830069f0d6b73f7eb83bc5b73ee2fff0437952cedf98b27653ac"},
     {file = "tenacity-8.1.0.tar.gz", hash = "sha256:e48c437fdf9340f5666b92cd7990e96bc5fc955e1298baf4a907e3972067a445"},
 ]
+tensorrt = [
+    {file = "tensorrt-8.6.0-cp310-none-manylinux_2_17_x86_64.whl", hash = "sha256:8850d470a92e17e65686fce2a5105dc51fc89f2b438d60d66027288a165732ba"},
+    {file = "tensorrt-8.6.0-cp36-none-manylinux_2_17_x86_64.whl", hash = "sha256:1eb0b9b29f3f6c9a6f737b95d1edfe63353dd6b5427478b1c580c9cb72340749"},
+    {file = "tensorrt-8.6.0-cp37-none-manylinux_2_17_x86_64.whl", hash = "sha256:ae2e99fb98952d71d6a7443335f7f8e1a8c471b8136e33bb491f11e410dea3cd"},
+    {file = "tensorrt-8.6.0-cp38-none-manylinux_2_17_x86_64.whl", hash = "sha256:ba9eb8d1a7c32c63981b4203b72b90b38402ad000ec554fb8dd85a7401de60dd"},
+    {file = "tensorrt-8.6.0-cp39-none-manylinux_2_17_x86_64.whl", hash = "sha256:4dc971cd8def3b41086c34d93ca8bff56f5d7d9a2ab5f8738307d040b0bf751e"},
+]
 terminado = [
     {file = "terminado-0.16.0-py3-none-any.whl", hash = "sha256:3e995072a7178a104c41134548ce9b03e4e7f0a538e9c29df4f1fbc81c7cfc75"},
     {file = "terminado-0.16.0.tar.gz", hash = "sha256:fac14374eb5498bdc157ed32e510b1f60d5c3c7981a9f5ba018bb9a64cec0c25"},

pyproject.toml

@@ -59,6 +59,7 @@ urllib3 = "^1.26.10"
 utm = "^0.7.0"
 websocket_client = "^1.3.3"
 polyline = "^1.4.0"
+sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}
 
 
 [tool.poetry.group.dev.dependencies]
@@ -175,6 +176,7 @@ zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "mas
 omegaconf = "^2.3.0"
 osmnx = "==1.2.2"
 tritonclient = {version = "2.28.0", extras = ["http"]}
+tensorrt = "^8.6.0"
 
 
 [build-system]

release/files_common

@@ -399,9 +399,9 @@ selfdrive/modeld/runners/run.h
 selfdrive/monitoring/dmonitoringd.py
 selfdrive/monitoring/driver_monitor.py
 
+selfdrive/navd/.gitignore
 selfdrive/navd/__init__.py
-selfdrive/navd/navd.py
-selfdrive/navd/helpers.py
+selfdrive/navd/**
 
 selfdrive/assets/.gitignore
 selfdrive/assets/assets.qrc
@@ -414,6 +414,7 @@ selfdrive/assets/images/*
 selfdrive/assets/offroad/*
 selfdrive/assets/sounds/*
 selfdrive/assets/training/*
+selfdrive/assets/navigation/*
 
 third_party/.gitignore
 third_party/SConscript

release/files_tici

@@ -4,9 +4,6 @@ third_party/mapbox-gl-native-qt/include/*
 
 system/timezoned.py
 
-selfdrive/assets/navigation/*
-selfdrive/assets/training_wide/*
-
 system/camerad/cameras/camera_qcom2.cc
 system/camerad/cameras/camera_qcom2.h
 system/camerad/cameras/camera_util.cc

selfdrive/assets/compress-images.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 echo "compressing training guide images"
-optipng -o7 -strip all training/* training_wide/*
+optipng -o7 -strip all training/*
 
 # This can sometimes provide smaller images
-# mogrify -quality 100 -format jpg training_wide/* training/*
+# mogrify -quality 100 -format jpg training/*

selfdrive/boardd/SConscript

@@ -1,9 +1,11 @@
 Import('env', 'envCython', 'common', 'cereal', 'messaging')
 
 libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj']
-env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'panda_comms.cc', 'spi.cc'], LIBS=libs)
+panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
+
+env.Program('boardd', ['main.cc', 'boardd.cc'], LIBS=[panda] + libs)
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
 
 envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
 if GetOption('test'):
-  env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc', 'panda_comms.cc', 'spi.cc'], LIBS=libs)
+  env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc'], LIBS=[panda] + libs)

selfdrive/boardd/boardd.cc

@@ -363,6 +363,8 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     }
 
     auto ps = pss[i];
+    ps.setVoltage(health.voltage_pkt);
+    ps.setCurrent(health.current_pkt);
     ps.setUptime(health.uptime_pkt);
     ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt);
     ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt);
@@ -383,7 +385,9 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
     ps.setInterruptLoad(health.interrupt_load);
     ps.setFanPower(health.fan_power);
+    ps.setFanStallCount(health.fan_stall_count);
     ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid));
+    ps.setSpiChecksumErrorCount(health.spi_checksum_error_count);
 
     std::array<cereal::PandaState::PandaCanState::Builder, PANDA_CAN_CNT> cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
 
@@ -418,7 +422,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
 
     size_t j = 0;
     for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
-         f <= size_t(cereal::PandaState::FaultType::SIREN_MALFUNCTION); f++) {
+         f <= size_t(cereal::PandaState::FaultType::HEARTBEAT_LOOP_WATCHDOG); f++) {
       if (fault_bits.test(f)) {
         faults.set(j, cereal::PandaState::FaultType(f));
         j++;

selfdrive/boardd/panda.cc

@@ -21,9 +21,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
 
   hw_type = get_hw_type();
 
-  assert((hw_type != cereal::PandaState::PandaType::WHITE_PANDA) &&
-         (hw_type != cereal::PandaState::PandaType::GREY_PANDA));
-
   has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
             (hw_type == cereal::PandaState::PandaType::DOS) ||
             (hw_type == cereal::PandaState::PandaType::TRES);

selfdrive/boardd/pandad.py

@@ -115,6 +115,14 @@ def main() -> NoReturn:
           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:
+        cloudlog.error("Internal panda is missing, resetting")
+        HARDWARE.reset_internal_panda()
+        time.sleep(2)  # wait to come back up
+        continue
+
       # 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

selfdrive/boardd/set_time.py

@@ -1,11 +1,9 @@
 #!/usr/bin/env python3
-import datetime
 import os
-import struct
-import usb1
+import datetime
+from panda import Panda
 
-REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
-MIN_DATE = datetime.datetime(year=2021, month=4, day=1)
+MIN_DATE = datetime.datetime(year=2023, month=4, day=1)
 
 def set_time(logger):
   sys_time = datetime.datetime.today()
@@ -14,24 +12,27 @@ def set_time(logger):
     return
 
   try:
-    ctx = usb1.USBContext()
-    dev = ctx.openByVendorIDAndProductID(0xbbaa, 0xddcc)
-    if dev is None:
-      logger.info("No panda found")
+    ps = Panda.list()
+    if len(ps) == 0:
+      logger.error("Failed to set time, no pandas found")
       return
 
-    # Set system time from panda RTC time
-    dat = dev.controlRead(REQUEST_IN, 0xa0, 0, 0, 8)
-    a = struct.unpack("HBBBBBB", dat)
-    panda_time = datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
-    if panda_time > MIN_DATE:
-      logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
-      os.system(f"TZ=UTC date -s '{panda_time}'")
+    for s in ps:
+      with Panda(serial=s) as p:
+        if not p.is_internal():
+          continue
+
+        # Set system time from panda RTC time
+        panda_time = p.get_datetime()
+        if panda_time > MIN_DATE:
+          logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
+          os.system(f"TZ=UTC date -s '{panda_time}'")
+        break
   except Exception:
-    logger.warn("Failed to fetch time from panda")
+    logger.exception("Failed to fetch time from panda")
 
 if __name__ == "__main__":
   import logging
-  logging.basicConfig(level=logging.INFO)
+  logging.basicConfig(level=logging.DEBUG)
 
   set_time(logging)

selfdrive/boardd/spi.cc

@@ -57,9 +57,12 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
   uint8_t uid[uid_len] = {0};
 
   uint32_t spi_mode = SPI_MODE_0;
-  uint32_t spi_speed = 30000000;
   uint8_t spi_bits_per_word = 8;
 
+  // 50MHz is the max of the 845. note that some older
+  // revs of the comma three may not support this speed
+  uint32_t spi_speed = 50000000;
+
   spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
   if (spi_fd < 0) {
     LOGE("failed opening SPI device %d", spi_fd);

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -40,8 +40,9 @@ class TestBoardd(unittest.TestCase):
         sm.update(1000)
 
     num_pandas = len(sm['pandaStates'])
-    if TICI:
-      self.assertGreater(num_pandas, 1, "connect another panda for multipanda tests")
+    expected_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
+    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
     cp = car.CarParams.new_message()

selfdrive/boardd/tests/test_pandad.py

@@ -4,9 +4,11 @@ import unittest
 
 import cereal.messaging as messaging
 from panda import Panda
+from common.gpio import gpio_set, gpio_init
 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
 
 
 class TestPandad(unittest.TestCase):
@@ -14,9 +16,9 @@ class TestPandad(unittest.TestCase):
   def tearDown(self):
     managed_processes['pandad'].stop()
 
-  def _wait_for_boardd(self):
+  def _wait_for_boardd(self, timeout=30):
     sm = messaging.SubMaster(['peripheralState'])
-    for _ in range(30):
+    for _ in range(timeout):
       sm.update(1000)
       if sm.updated['peripheralState']:
         break
@@ -30,7 +32,7 @@ class TestPandad(unittest.TestCase):
     time.sleep(1)
 
     managed_processes['pandad'].start()
-    self._wait_for_boardd()
+    self._wait_for_boardd(60)
 
   @phone_only
   def test_in_bootstub(self):
@@ -40,6 +42,18 @@ class TestPandad(unittest.TestCase):
     managed_processes['pandad'].start()
     self._wait_for_boardd()
 
+  @phone_only
+  def test_internal_panda_reset(self):
+    gpio_init(GPIO.STM_RST_N, True)
+    gpio_set(GPIO.STM_RST_N, 1)
+    time.sleep(0.5)
+    assert all(not Panda(s).is_internal() for s in Panda.list())
+
+    managed_processes['pandad'].start()
+    self._wait_for_boardd()
+
+    assert any(Panda(s).is_internal() for s in Panda.list())
+
   #def test_out_of_date_fw(self):
   #  pass
 

selfdrive/car/CARS_template.md

@@ -6,7 +6,7 @@
 
 # Supported Cars
 
-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.
+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.
 
 # {{all_car_info | length}} Supported Cars
 

selfdrive/car/body/interface.py

@@ -8,7 +8,7 @@ from selfdrive.car.body.values import SPEED_FROM_RPM
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.notCar = True
     ret.carName = "body"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]

selfdrive/car/car_helpers.py

@@ -187,7 +187,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
     candidate = "mock"
 
   CarInterface, CarController, CarState = interfaces[candidate]
-  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed)
+  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
   CP.carVin = vin
   CP.carFw = car_fw
   CP.fingerprintSource = source

selfdrive/car/chrysler/interface.py

@@ -8,7 +8,7 @@ from selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "chrysler"
     ret.dashcamOnly = candidate in RAM_HD
 

selfdrive/car/docs.py

@@ -29,7 +29,7 @@ def get_all_car_info() -> List[CarInfo]:
   all_car_info: List[CarInfo] = []
   footnotes = get_all_footnotes()
   for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
-    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False)
+    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False, docs=True)
 
     if CP.dashcamOnly or car_info is None:
       continue

selfdrive/car/docs_definitions.py

@@ -117,8 +117,20 @@ def split_name(name: str) -> Tuple[str, str, str]:
 
 @dataclass
 class CarInfo:
+  # make + model + model years
   name: str
+
+  # Example for Toyota Corolla MY20
+  # requirements: Lane Tracing Assist (LTA) and Dynamic Radar Cruise Control (DRCC)
+  # US Market reference: "All", since all Corolla in the US come standard with LTA and DRCC
+
+  # the simplest description of the requirements for the US market
   package: str
+
+  # the minimum compatibility requirements for this model, regardless
+  # of market. can be a package, trim, or list of features
+  requirements: Optional[str] = None
+
   video_link: Optional[str] = None
   footnotes: List[Enum] = field(default_factory=list)
   min_steer_speed: Optional[float] = None

selfdrive/car/ecu_addrs.py

@@ -55,6 +55,10 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
       can_packets = messaging.drain_sock(logcan, wait_for_one=True)
       for packet in can_packets:
         for msg in packet.can:
+          if not len(msg.dat):
+            cloudlog.warning("ECU addr scan: skipping empty remote frame")
+            continue
+
           subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
           if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr):
             if debug:

selfdrive/car/ford/fordcan.py

@@ -158,8 +158,7 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool,
     else:
       lines = 30  # LA_Off
 
-  # TODO: use level 1 for no sound when less severe?
-  hands_on_wheel_dsply = 2 if steer_alert else 0
+  hands_on_wheel_dsply = 1 if steer_alert else 0
 
   values = {
     **stock_values,

selfdrive/car/ford/interface.py

@@ -11,7 +11,7 @@ GearShifter = car.CarState.GearShifter
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
 

selfdrive/car/ford/values.py

@@ -27,10 +27,11 @@ class CarControllerParams:
   STEER_DRIVER_ALLOWANCE = 1.0  # Driver intervention threshold, Nm
 
   # Curvature rate limits
-  # TODO: unify field names used by curvature and angle control cars
-  # ~2 m/s^3 up, ~-3 m/s^3 down
-  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.004, 0.00044, 0.00016])
-  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.006, 0.00066, 0.00024])
+  # The curvature signal is limited to 0.003 to 0.009 m^-1/sec by the EPS depending on speed and direction
+  # Limit to ~2 m/s^3 up, ~3 m/s^3 down at 75 mph
+  # Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.0002, 0.0001])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015])
 
   ACCEL_MAX = 2.0               # m/s^s max acceleration
   ACCEL_MIN = -3.5              # m/s^s max deceleration
@@ -84,7 +85,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
     FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"),
   ],
   CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"),
-  CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022", "Co-Pilot360 Assist"),
+  CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
 }
 
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -150,6 +151,7 @@ FW_VERSIONS = {
       b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.shiftByWire, 0x732, None): [
@@ -217,6 +219,7 @@ FW_VERSIONS = {
     ],
     (Ecu.abs, 0x760, None): [
       b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -228,6 +231,7 @@ FW_VERSIONS = {
       b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.shiftByWire, 0x732, None): [
       b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',

selfdrive/car/fw_versions.py

@@ -221,6 +221,10 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
   brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
 
   for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
+    # Skip this brand if there are no matching present ECUs
+    if not len(brand_matches[brand]):
+      continue
+
     car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
     all_car_fw.extend(car_fw)
     # Try to match using FW returned from this brand only

selfdrive/car/gm/interface.py

@@ -69,11 +69,10 @@ class CarInterface(CarInterfaceBase):
       return self.torque_from_lateral_accel_linear
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
-    use_off_car_defaults = len(fingerprint[0]) == 0  # Pick sensible carParams during offline doc generation/CI jobs
 
     if candidate in EV_CAR:
       ret.transmissionType = TransmissionType.direct
@@ -98,7 +97,6 @@ class CarInterface(CarInterfaceBase):
       # Tuning for experimental long
       ret.longitudinalTuning.kpV = [2.0, 1.5]
       ret.longitudinalTuning.kiV = [0.72]
-      ret.stopAccel = -2.0
       ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
@@ -111,7 +109,7 @@ class CarInterface(CarInterfaceBase):
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = True
       ret.networkLocation = NetworkLocation.gateway
-      ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not use_off_car_defaults
+      ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
       ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
       # supports stop and go, but initial engage must (conservatively) be above 18mph
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
@@ -235,6 +233,15 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.4
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    elif candidate == CAR.TRAILBLAZER:
+      ret.mass = 1345. + STD_CARGO_KG
+      ret.wheelbase = 2.64
+      ret.steerRatio = 16.8
+      ret.centerToFront = ret.wheelbase * 0.4
+      tire_stiffness_factor = 1.0
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
     # mass and CG position, so all cars will have approximately similar dyn behaviors
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,

selfdrive/car/gm/values.py

@@ -73,6 +73,7 @@ class CAR:
   BOLT_EUV = "CHEVROLET BOLT EUV 2022"
   SILVERADO = "CHEVROLET SILVERADO 1500 2020"
   EQUINOX = "CHEVROLET EQUINOX 2019"
+  TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021"
 
 
 class Footnote(Enum):
@@ -105,14 +106,15 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
   CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
   CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
   CAR.BOLT_EUV: [
-    GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210"),
+    GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
     GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
   ],
   CAR.SILVERADO: [
     GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
-    GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", "https://youtu.be/5HbNoBLzRwE"),
+    GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
   ],
   CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
+  CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"),
 }
 
 
@@ -207,6 +209,12 @@ FINGERPRINTS = {
   {
     190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
   }],
+  # Trailblazer also matches as a Silverado, so comment out to avoid conflicts.
+  # TODO: split with FW versions
+  CAR.TRAILBLAZER: [
+  {
+  #   190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
+  }],
 }
 
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
@@ -214,6 +222,6 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_power
 EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
 
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
-CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}
+CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
 
 STEER_THRESHOLD = 1.0

selfdrive/car/honda/carstate.py

@@ -104,7 +104,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     else:
       checks.append(("CRUISE_PARAMS", 50))
 
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
     signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
   elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
     signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"))
@@ -121,7 +121,10 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR"))
     checks.append(("GAS_SENSOR", 50))
 
-  if CP.openpilotLongitudinalControl:
+  if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+    signals.append(("CRUISE_FAULT", "CRUISE_FAULT_STATUS"))
+    checks.append(("CRUISE_FAULT_STATUS", 50))
+  elif CP.openpilotLongitudinalControl:
     signals += [
       ("BRAKE_ERROR_1", "STANDSTILL"),
       ("BRAKE_ERROR_2", "STANDSTILL")
@@ -177,7 +180,7 @@ class CarState(CarStateBase):
     # panda checks if the signal is non-zero
     ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
     # TODO: find a common signal across all cars
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
     elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
       ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
@@ -192,7 +195,9 @@ class CarState(CarStateBase):
     # NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver
     ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
 
-    if self.CP.openpilotLongitudinalControl:
+    if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+      self.brake_error = cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"]
+    elif self.CP.openpilotLongitudinalControl:
       self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
     ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
 
@@ -303,7 +308,7 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
       self.lkas_hud = cp_cam.vl["LKAS_HUD"]
 
-    if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ):
+    if self.CP.enableBsm:
       # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
       # more info here: https://github.com/commaai/openpilot/pull/1867
       ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
@@ -350,7 +355,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_body_can_parser(CP):
-    if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G:
+    if CP.enableBsm:
       signals = [("BSM_ALERT", "BSM_STATUS_RIGHT"),
                  ("BSM_ALERT", "BSM_STATUS_LEFT")]
 

selfdrive/car/honda/interface.py

@@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase):
       return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "honda"
 
     if candidate in HONDA_BOSCH:
@@ -193,15 +193,18 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.75
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
 
-    elif candidate == CAR.HRV:
+    elif candidate in (CAR.HRV, CAR.HRV_3G):
       ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.61
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 15.2
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
       tire_stiffness_factor = 0.5
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
-      ret.wheelSpeedFactor = 1.025
+      if candidate == CAR.HRV:
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
+        ret.wheelSpeedFactor = 1.025
+      else:
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]  # TODO: can probably use some tuning
 
     elif candidate == CAR.ACURA_RDX:
       ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG

selfdrive/car/honda/values.py

@@ -87,6 +87,7 @@ class CAR:
   FIT = "HONDA FIT 2018"
   FREED = "HONDA FREED 2020"
   HRV = "HONDA HRV 2019"
+  HRV_3G = "HONDA HR-V 2023"
   ODYSSEY = "HONDA ODYSSEY 2018"
   ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019"
   ACURA_RDX = "ACURA RDX 2018"
@@ -116,19 +117,19 @@ class HondaCarInfo(CarInfo):
 
 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.ACCORD: [
-    HondaCarInfo("Honda Accord 2018-22", "All", "https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
     HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
   ],
   CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
   CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
   CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
     HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
   ],
   CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
   CAR.CIVIC_2022: [
-    HondaCarInfo("Honda Civic 2022", "All"),
-    HondaCarInfo("Honda Civic Hatchback 2022", "All"),
+    HondaCarInfo("Honda Civic 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+    HondaCarInfo("Honda Civic Hatchback 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
   ],
   CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
   CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
@@ -138,6 +139,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All"),
   CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"),
   CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
   CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
@@ -146,7 +148,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
     HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
     HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
   ],
-  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
   CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
 }
@@ -1246,6 +1248,7 @@ FW_VERSIONS = {
       b'37805-5YF-A750\x00\x00',
       b'37805-5YF-A850\x00\x00',
       b'37805-5YF-A870\x00\x00',
+      b'37805-5YF-AD20\x00\x00',
       b'37805-5YF-C210\x00\x00',
       b'37805-5YF-C220\x00\x00',
       b'37805-5YF-C410\000\000',
@@ -1254,16 +1257,20 @@ FW_VERSIONS = {
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TJB-A030\x00\x00',
       b'57114-TJB-A040\x00\x00',
+      b'57114-TJB-A120\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TJB-A040\x00\x00',
       b'36802-TJB-A050\x00\x00',
+      b'36802-TJB-A540\x00\x00',
     ],
     (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TJB-A040\x00\x00',
+      b'36161-TJB-A530\x00\x00',
     ],
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-TJB-A520\x00\x00',
+      b'54008-TJB-A530\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28102-5YK-A610\x00\x00',
@@ -1271,6 +1278,7 @@ FW_VERSIONS = {
       b'28102-5YK-A630\x00\x00',
       b'28102-5YK-A700\x00\x00',
       b'28102-5YK-A711\x00\x00',
+      b'28102-5YK-A800\x00\x00',
       b'28102-5YL-A620\x00\x00',
       b'28102-5YL-A700\x00\x00',
       b'28102-5YL-A711\x00\x00',
@@ -1282,6 +1290,7 @@ FW_VERSIONS = {
       b'78109-TJB-AB10\x00\x00',
       b'78109-TJB-AD10\x00\x00',
       b'78109-TJB-AF10\x00\x00',
+      b'78109-TJB-AQ20\x00\x00',
       b'78109-TJB-AR10\x00\x00',
       b'78109-TJB-AS10\000\000',
       b'78109-TJB-AU10\x00\x00',
@@ -1293,22 +1302,26 @@ FW_VERSIONS = {
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TJB-A040\x00\x00',
+      b'77959-TJB-A120\x00\x00',
       b'77959-TJB-A210\x00\x00',
     ],
     (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
       b'46114-TJB-A040\x00\x00',
       b'46114-TJB-A050\x00\x00',
       b'46114-TJB-A060\x00\x00',
+      b'46114-TJB-A120\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TJB-A040\x00\x00',
       b'38897-TJB-A110\x00\x00',
       b'38897-TJB-A120\x00\x00',
+      b'38897-TJB-A220\x00\x00',
     ],
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TJB-A030\x00\x00',
       b'39990-TJB-A040\x00\x00',
-      b'39990-TJB-A130\x00\x00'
+      b'39990-TJB-A070\x00\x00',
+      b'39990-TJB-A130\x00\x00',
     ],
   },
   CAR.RIDGELINE: {
@@ -1408,6 +1421,32 @@ FW_VERSIONS = {
       b'78109-THW-A110\x00\x00',
     ],
   },
+  CAR.HRV_3G: {
+    (Ecu.eps, 0x18DA30F1, None): [
+      b'39990-3W0-A030\x00\x00',
+    ],
+    (Ecu.gateway, 0x18DAEFF1, None): [
+      b'38897-3W1-A010\x00\x00',
+    ],
+    (Ecu.srs, 0x18DA53F1, None): [
+      b'77959-3V0-A820\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18DA60F1, None): [
+      b'78108-3V1-A220\x00\x00',
+    ],
+    (Ecu.vsa, 0x18DA28F1, None): [
+      b'57114-3W0-A040\x00\x00',
+    ],
+    (Ecu.transmission, 0x18DA1EF1, None): [
+      b'28101-6EH-A010\x00\x00',
+    ],
+    (Ecu.programmedFuelInjection, 0x18DA10F1, None): [
+      b'37805-6CT-A710\x00\x00',
+    ],
+    (Ecu.electricBrakeBooster, 0x18DA2BF1, None): [
+      b'46114-3W0-A020\x00\x00',
+    ],
+  },
   CAR.ACURA_ILX: {
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TX6-A010\x00\x00',
@@ -1526,6 +1565,7 @@ DBC = {
   CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
   CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
   CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
+  CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None),
   CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
   CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
   CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
@@ -1545,6 +1585,6 @@ HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
 HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
                                 CAR.PILOT, CAR.RIDGELINE}
 HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
-               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022}
-HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G}
-HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022}
+               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
+HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G}
+HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}

selfdrive/car/hyundai/carcontroller.py

@@ -5,6 +5,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.hyundai import hyundaicanfd, hyundaican
+from selfdrive.car.hyundai.hyundaicanfd import CanBus
 from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -44,6 +45,7 @@ def process_hud_alert(enabled, fingerprint, hud_control):
 class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
+    self.CAN = CanBus(CP)
     self.params = CarControllerParams(CP)
     self.packer = CANPacker(dbc_name)
     self.angle_limit_counter = 0
@@ -87,12 +89,12 @@ class CarController:
       # for longitudinal control, either radar or ADAS driving ECU
       addr, bus = 0x7d0, 0
       if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
-        addr, bus = 0x730, 5
+        addr, bus = 0x730, self.CAN.ECAN
       can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
 
       # for blinkers
       if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-        can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 5])
+        can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
 
     # >90 degree steering fault prevention
     # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
@@ -114,25 +116,25 @@ class CarController:
       hda2_long = hda2 and self.CP.openpilotLongitudinalControl
 
       # steering control
-      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, lat_active, apply_steer))
+      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, lat_active, apply_steer))
 
       # disable LFA on HDA2
       if self.frame % 5 == 0 and hda2:
-        can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
+        can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4))
 
       # LFA and HDA icons
       if self.frame % 5 == 0 and (not hda2 or hda2_long):
-        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled))
+        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
 
       # blinkers
       if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-        can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, CC.leftBlinker, CC.rightBlinker))
+        can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
 
       if self.CP.openpilotLongitudinalControl:
         if hda2:
-          can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))
+          can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
         if self.frame % 2 == 0:
-          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
+          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
                                                            set_speed_in_units))
           self.accel_last = accel
       else:
@@ -141,11 +143,11 @@ class CarController:
           # cruise cancel
           if CC.cruiseControl.cancel:
             if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-              can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, CS.cruise_info))
+              can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CAN, CS.cruise_info))
               self.last_button_frame = self.frame
             else:
               for _ in range(20):
-                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.CANCEL))
+                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
               self.last_button_frame = self.frame
 
           # cruise standstill resume
@@ -155,7 +157,7 @@ class CarController:
               pass
             else:
               for _ in range(20):
-                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.RES_ACCEL))
+                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
               self.last_button_frame = self.frame
     else:
       can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active,

selfdrive/car/hyundai/carstate.py

@@ -6,8 +6,8 @@ from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus
-from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.hyundaicanfd import CanBus
+from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
@@ -27,9 +27,9 @@ class CarState(CarStateBase):
                           "GEAR_SHIFTER"
     if CP.carFingerprint in CANFD_CAR:
       self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
-    elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
+    elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
-    elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
+    elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
       self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
     else:  # preferred and elect gear methods use same definition
       self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
@@ -130,11 +130,11 @@ class CarState(CarStateBase):
 
     # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
     # as this seems to be standard over all cars, but is not the preferred method.
-    if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
+    if self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       gear = cp.vl["CLU15"]["CF_Clu_Gear"]
-    elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
+    elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
       gear = cp.vl["TCU12"]["CUR_GR"]
-    elif self.CP.carFingerprint in FEATURES["use_elect_gears"]:
+    elif self.CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
       gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
     else:
       gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
@@ -392,12 +392,12 @@ class CarState(CarStateBase):
         ("EMS16", 100),
       ]
 
-    if CP.carFingerprint in FEATURES["use_cluster_gears"]:
+    if CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       signals.append(("CF_Clu_Gear", "CLU15"))
-    elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
+    elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
       signals.append(("CUR_GR", "TCU12"))
       checks.append(("TCU12", 100))
-    elif CP.carFingerprint in FEATURES["use_elect_gears"]:
+    elif CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
       signals.append(("Elect_Gear_Shifter", "ELECT_GEAR"))
       checks.append(("ELECT_GEAR", 20))
     else:
@@ -579,7 +579,7 @@ class CarState(CarStateBase):
       signals.append(("SPEED_LIMIT_1", "CLUSTER_SPEED_LIMIT"))
       checks.append(("CLUSTER_SPEED_LIMIT", 10))
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_e_can_bus(CP))
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).ECAN)
 
   @staticmethod
   def get_cam_can_parser_canfd(CP):
@@ -610,4 +610,4 @@ class CarState(CarStateBase):
       signals.append(("SPEED_LIMIT_1", "CLUSTER_SPEED_LIMIT"))
       checks.append(("CLUSTER_SPEED_LIMIT", 10))
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).CAM)

selfdrive/car/hyundai/hyundaicanfd.py

@@ -1,14 +1,44 @@
+import math
+
 from common.numpy_fast import clip
 from selfdrive.car.hyundai.values import HyundaiFlags
 
-def get_e_can_bus(CP):
-  # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
-  # have a different harness than the HDA1 and non-HDA variants in order to split
-  # a different bus, since the steering is done by different ECUs.
-  return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4
+
+class CanBus:
+  def __init__(self, CP, hda2=None, fingerprint=None):
+    if CP is None:
+      assert None not in (hda2, fingerprint)
+      num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4)
+    else:
+      hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value
+      num = len(CP.safetyConfigs)
+
+    # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
+    # have a different harness than the HDA1 and non-HDA variants in order to split
+    # a different bus, since the steering is done by different ECUs.
+    self._a, self._e = 1, 0
+    if hda2:
+      self._a, self._e = 0, 1
+
+    offset = 4*(num - 1)
+    self._a += offset
+    self._e += offset
+    self._cam = 2 + offset
+
+  @property
+  def ECAN(self):
+    return self._e
+
+  @property
+  def ACAN(self):
+    return self._a
+
+  @property
+  def CAM(self):
+    return self._cam
 
 
-def create_steering_messages(packer, CP, enabled, lat_active, apply_steer):
+def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
 
   ret = []
 
@@ -26,45 +56,45 @@ def create_steering_messages(packer, CP, enabled, lat_active, apply_steer):
 
   if CP.flags & HyundaiFlags.CANFD_HDA2:
     if CP.openpilotLongitudinalControl:
-      ret.append(packer.make_can_msg("LFA", 5, values))
-    ret.append(packer.make_can_msg("LKAS", 4, values))
+      ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
+    ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values))
   else:
-    ret.append(packer.make_can_msg("LFA", 4, values))
+    ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
 
   return ret
 
-def create_cam_0x2a4(packer, camera_values):
+def create_cam_0x2a4(packer, CAN, camera_values):
   camera_values.update({
     "BYTE7": 0,
   })
-  return packer.make_can_msg("CAM_0x2a4", 4, camera_values)
+  return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, camera_values)
 
-def create_buttons(packer, CP, cnt, btn):
+def create_buttons(packer, CP, CAN, cnt, btn):
   values = {
     "COUNTER": cnt,
     "SET_ME_1": 1,
     "CRUISE_BUTTONS": btn,
   }
 
-  bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 6
+  bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
   return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
 
-def create_acc_cancel(packer, CP, cruise_info_copy):
+def create_acc_cancel(packer, CAN, cruise_info_copy):
   values = cruise_info_copy
   values.update({
     "ACCMode": 4,
   })
-  return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values)
+  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 
-def create_lfahda_cluster(packer, CP, enabled):
+def create_lfahda_cluster(packer, CAN, enabled):
   values = {
     "HDA_ICON": 1 if enabled else 0,
     "LFA_ICON": 2 if enabled else 0,
   }
-  return packer.make_can_msg("LFAHDA_CLUSTER", get_e_can_bus(CP), values)
+  return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
 
-def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_override, set_speed):
+def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed):
   jerk = 5
   jn = jerk / 50
   if not enabled or gas_override:
@@ -92,15 +122,15 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
     "DISTANCE_SETTING": 4,
   }
 
-  return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values)
+  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 
 
-def create_spas_messages(packer, frame, left_blink, right_blink):
+def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
   ret = []
 
   values = {
   }
-  ret.append(packer.make_can_msg("SPAS1", 5, values))
+  ret.append(packer.make_can_msg("SPAS1", CAN.ECAN, values))
 
   blink = 0
   if left_blink:
@@ -110,12 +140,12 @@ def create_spas_messages(packer, frame, left_blink, right_blink):
   values = {
     "BLINKER_CONTROL": blink,
   }
-  ret.append(packer.make_can_msg("SPAS2", 5, values))
+  ret.append(packer.make_can_msg("SPAS2", CAN.ECAN, values))
 
   return ret
 
 
-def create_adrv_messages(packer, frame):
+def create_adrv_messages(packer, CAN, frame):
   # messages needed to car happy after disabling
   # the ADAS Driving ECU to do longitudinal control
 
@@ -123,7 +153,7 @@ def create_adrv_messages(packer, frame):
 
   values = {
   }
-  ret.append(packer.make_can_msg("ADRV_0x51", 4, values))
+  ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
 
   if frame % 2 == 0:
     values = {
@@ -133,7 +163,7 @@ def create_adrv_messages(packer, frame):
       'SET_ME_FC': 0xfc,
       'SET_ME_9': 0x9,
     }
-    ret.append(packer.make_can_msg("ADRV_0x160", 5, values))
+    ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
 
   if frame % 5 == 0:
     values = {
@@ -142,25 +172,25 @@ def create_adrv_messages(packer, frame):
       'SET_ME_TMP_F': 0xf,
       'SET_ME_TMP_F_2': 0xf,
     }
-    ret.append(packer.make_can_msg("ADRV_0x1ea", 5, values))
+    ret.append(packer.make_can_msg("ADRV_0x1ea", CAN.ECAN, values))
 
     values = {
       'SET_ME_E1': 0xe1,
       'SET_ME_3A': 0x3a,
     }
-    ret.append(packer.make_can_msg("ADRV_0x200", 5, values))
+    ret.append(packer.make_can_msg("ADRV_0x200", CAN.ECAN, values))
 
   if frame % 20 == 0:
     values = {
       'SET_ME_15': 0x15,
     }
-    ret.append(packer.make_can_msg("ADRV_0x345", 5, values))
+    ret.append(packer.make_can_msg("ADRV_0x345", CAN.ECAN, values))
 
   if frame % 100 == 0:
     values = {
       'SET_ME_22': 0x22,
       'SET_ME_41': 0x41,
     }
-    ret.append(packer.make_can_msg("ADRV_0x1da", 5, values))
+    ret.append(packer.make_can_msg("ADRV_0x1da", CAN.ECAN, values))
 
   return ret

selfdrive/car/hyundai/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus
+from selfdrive.car.hyundai.hyundaicanfd import CanBus
 from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, NON_SCC_CAR, Buttons
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
@@ -19,7 +19,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "hyundai"
     ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 
@@ -28,17 +28,20 @@ class CarInterface(CarInterfaceBase):
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
     ret.dashcamOnly = candidate in ({CAR.KIA_OPTIMA_H, } | NON_SCC_CAR)
 
+    hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
+    CAN = CanBus(None, hda2, fingerprint)
+
     if candidate in CANFD_CAR:
       # detect HDA2 with ADAS Driving ECU
-      if Ecu.adas in [fw.ecu for fw in car_fw]:
+      if hda2:
         ret.flags |= HyundaiFlags.CANFD_HDA2.value
       else:
         # non-HDA2
-        if 0x1cf not in fingerprint[4]:
+        if 0x1cf not in fingerprint[CAN.ECAN]:
           ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
         # ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
-        if 0x130 not in fingerprint[4]:
-          if 0x40 not in fingerprint[4]:
+        if 0x130 not in fingerprint[CAN.ECAN]:
+          if 0x40 not in fingerprint[CAN.ECAN]:
             ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value
           else:
             ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
@@ -139,10 +142,10 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1985. + STD_CARGO_KG
       ret.wheelbase = 2.78
       ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
-    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN):
-      ret.mass = 3452. * CV.LB_TO_KG + STD_CARGO_KG  # average of all the cars
+    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN):
+      ret.mass = 3543. * CV.LB_TO_KG + STD_CARGO_KG  # average of all the cars
       ret.wheelbase = 2.7
-      ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73  # Spec
+      ret.steerRatio = 13.6  # average of all the cars
       tire_stiffness_factor = 0.385
       if candidate == CAR.KIA_NIRO_PHEV:
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
@@ -251,9 +254,9 @@ class CarInterface(CarInterfaceBase):
 
     # *** feature detection ***
     if candidate in CANFD_CAR:
-      ret.enableBsm = 0x1e5 in fingerprint[get_e_can_bus(ret)]
+      ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
 
-      if 0x1fa in fingerprint[get_e_can_bus(ret)]:
+      if 0x1fa in fingerprint[CAN.ECAN]:
         ret.flags |= HyundaiFlags.SP_NAV_MSG.value
     else:
       ret.enableBsm = 0x58b in fingerprint[0]
@@ -263,15 +266,17 @@ class CarInterface(CarInterfaceBase):
 
     # *** panda safety config ***
     if candidate in CANFD_CAR:
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
-                           get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]
+      cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
+      if CAN.ECAN >= 4:
+        cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
+      ret.safetyConfigs = cfgs
 
       if ret.flags & HyundaiFlags.CANFD_HDA2:
-        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
       if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
-        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
     else:
       if candidate in LEGACY_SAFETY_MODE_CAR:
         # these cars require a special panda safety mode due to missing counters and checksums in the messages
@@ -309,12 +314,12 @@ class CarInterface(CarInterfaceBase):
     if CP.openpilotLongitudinalControl and not ((CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or (CP.flags & HyundaiFlags.SP_ENHANCED_SCC)):
       addr, bus = 0x7d0, 0
       if CP.flags & HyundaiFlags.CANFD_HDA2.value:
-        addr, bus = 0x730, 5
+        addr, bus = 0x730, CanBus(CP).ECAN
       disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
 
     # for blinkers
     if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-      disable_ecu(logcan, sendcan, bus=5, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
+      disable_ecu(logcan, sendcan, bus=CanBus(CP.ECAN), addr=0x7B1, com_cont_req=b'\x28\x83\x01')
 
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)

selfdrive/car/hyundai/tests/test_hyundai.py

@@ -2,16 +2,21 @@
 import unittest
 
 from cereal import car
-from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS
+from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS, CAN_GEARS, LEGACY_SAFETY_MODE_CAR, CHECKSUM, CAMERA_SCC_CAR
 
 Ecu = car.CarParams.Ecu
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 
 class TestHyundaiFingerprint(unittest.TestCase):
+  def test_canfd_not_in_can_features(self):
+    can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, CAMERA_SCC_CAR)
+    for car_model in CANFD_CAR:
+      self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list")
+
   def test_auxiliary_request_ecu_whitelist(self):
     # Asserts only auxiliary Ecus can exist in database for CAN-FD cars
-    whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.bus > 3}
+    whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.auxiliary}
 
     for car_model in CANFD_CAR:
       ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}

selfdrive/car/hyundai/values.py

@@ -106,6 +106,7 @@ class CAR:
   KIA_K5_2021 = "KIA K5 2021"
   KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
   KIA_NIRO_EV = "KIA NIRO EV 2020"
+  KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
   KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
   KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
   KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN"
@@ -167,23 +168,23 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c),
   CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", harness=Harness.hyundai_h),
   CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c),
-  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", "All", harness=Harness.hyundai_h),
+  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", harness=Harness.hyundai_h),
   CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b),
   CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g),
   CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness=Harness.hyundai_o),
   CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i),  # TODO: check packages
   CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d),
-  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", "https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l),
+  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l),
   CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l),
   CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l),
-  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", "https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
+  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
   CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e),
   CAR.TUCSON: [
     HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
     HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
   ],
   CAR.PALISADE: [
-    HyundaiCarInfo("Hyundai Palisade 2020-22", "All", "https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
     HyundaiCarInfo("Kia Telluride 2020-22", "All", harness=Harness.hyundai_h),
   ],
   CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
@@ -205,18 +206,18 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness=Harness.hyundai_a),
   CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", harness=Harness.hyundai_a),
   CAR.KIA_NIRO_EV: [
-    HyundaiCarInfo("Kia Niro EV 2019", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
-    HyundaiCarInfo("Kia Niro EV 2020", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
-    HyundaiCarInfo("Kia Niro EV 2021", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
-    HyundaiCarInfo("Kia Niro EV 2022", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
+    HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
+    HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
   ],
+  CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", harness=Harness.hyundai_a),
   CAR.KIA_NIRO_PHEV: [
     HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
     HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", harness=Harness.hyundai_d),
   ],
   CAR.KIA_NIRO_HEV_2021: [
-    HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f),  # TODO: could be hyundai_d, verify
-    HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Kia Niro Hybrid 2021-22", harness=Harness.hyundai_f),  # TODO: 2021 could be hyundai_d, verify
   ],
   CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", harness=Harness.hyundai_a),
   CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b),  # TODO: may support 2016, 2018
@@ -228,7 +229,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
   CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness=Harness.hyundai_n),
   CAR.KIA_SORENTO: [
-    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
+    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
     HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
   ],
   CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness=Harness.hyundai_k),
@@ -239,8 +240,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
   CAR.KIA_EV6: [
     HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", harness=Harness.hyundai_p),
-    HyundaiCarInfo("Kia EV6 (without HDA II) 2022", "Highway Driving Assist", harness=Harness.hyundai_l),
-    HyundaiCarInfo("Kia EV6 (with HDA II) 2022", "Highway Driving Assist II", harness=Harness.hyundai_p)
+    HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", harness=Harness.hyundai_l),
+    HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_p)
   ],
 
   # Genesis
@@ -390,14 +391,14 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [HYUNDAI_VERSION_REQUEST_ALT],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.parkingAdas],
+      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
       bus=0,
       auxiliary=True,
     ),
     Request(
       [HYUNDAI_VERSION_REQUEST_ALT],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.parkingAdas],
+      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
       bus=1,
       auxiliary=True,
       obd_multiplexing=False,
@@ -460,6 +461,7 @@ FW_VERSIONS = {
       b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2200         ',
       b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
       b'\xf1\x00AEhe SCC F-CUP      1.00 1.02 99110-G2100         ',
+      b'\xf1\x00AEhe SCC FHCUP      1.00 1.00 99110-G2600         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2510 4APHC101',
@@ -547,7 +549,6 @@ FW_VERSIONS = {
       b'\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
       b'\xf1\x00DN8_ SCC FHCUP      1.00 1.01 99110-L1000         ',
       b'\xf1\x00DN89110-L0000         \xaa\xaa\xaa\xaa\xaa\xaa\xaa     ',
-      b'\xf1\x8799110L0000\xf1\x00DN8_ SCC F-CUP      1.00 1.00 99110-L0000         ',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
@@ -556,6 +557,7 @@ FW_VERSIONS = {
       b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
       b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
       b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300',
+      b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100',
       b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
       b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
       b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
@@ -579,6 +581,7 @@ FW_VERSIONS = {
       b'HM6M2_0a0_BD0',
       b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B',
       b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00',
+      b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00',
       b'\xf1\x81HM6M1_0a0_G20',
     ],
     (Ecu.eps, 0x7d4, None): [
@@ -598,6 +601,7 @@ FW_VERSIONS = {
       b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
       b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.02 99211-L1000 190422',
@@ -918,18 +922,23 @@ FW_VERSIONS = {
   CAR.KIA_STINGER_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CK__ SCC F-CUP      1.00 1.00 99110-J5500         ',
+      b'\xf1\x00CK__ SCC FHCUP      1.00 1.00 99110-J5500         ',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81HM6M1_0a0_H00',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5380 4C2VR503',
+      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5300 4C2CL503',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CK  MFC  AT AUS RHD 1.00 1.00 99211-J5500 210622',
+      b'\xf1\x00CK  MFC  AT KOR LHD 1.00 1.00 99211-J5500 210622',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6',
+      b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2',
     ],
   },
   CAR.PALISADE: {
@@ -1359,6 +1368,14 @@ FW_VERSIONS = {
       b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.03 95740-Q4000 180821',
     ],
   },
+  CAR.KIA_NIRO_EV_2ND_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SG2_ RDR -----      1.00 1.01 99110-AT000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SG2EMFC  AT EUR LHD 1.01 1.09 99211-AT000 220801',
+    ],
+  },
   CAR.KIA_NIRO_PHEV: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1557,25 +1574,29 @@ FW_VERSIONS = {
       b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.05 99210-AA000 210930',
       b'\xf1\000CN7HMFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
       b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.07 99210-AA000 220426',
+      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.08 99210-AA000 220728',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\000CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
+      b'\xf1\x00CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
       b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103',
       b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103',
       b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102',
+      b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa',
       b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\000\000\000\000',
       b'\xf1\x816U3K3051\000\000\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa',
       b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00',
+      b'\xf1\x006U3L0_C2\x00\x006U3K9051\x00\x00HCN0G16NS1\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00',
     ]
   },
   CAR.KONA_HEV: {
@@ -1688,6 +1709,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
@@ -1706,6 +1728,7 @@ FW_VERSIONS = {
   },
   CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
@@ -1778,14 +1801,14 @@ CHECKSUM = {
   "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
 }
 
-FEATURES = {
+CAN_GEARS = {
   # which message has the gear
   "use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
   "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
   "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
 }
 
-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN}
 
 # The radar does SCC on these cars when HDA I, rather than the camera
 CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN}
@@ -1794,7 +1817,7 @@ CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, C
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 
 HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN}  # these cars use a different gas signal
-EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN}
+EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
 LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER,
@@ -1865,4 +1888,5 @@ DBC = {
   CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
 }

selfdrive/car/interfaces.py

@@ -64,6 +64,7 @@ class CarInterfaceBase(ABC):
     self.frame = 0
     self.steering_unpressed = 0
     self.low_speed_alert = False
+    self.no_steer_warning = False
     self.silent_steer_warning = True
     self.v_ego_cluster_seen = False
 
@@ -92,12 +93,12 @@ class CarInterfaceBase(ABC):
     """
     Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
     """
-    return cls.get_params(candidate, gen_empty_fingerprint(), list(), False)
+    return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False)
 
   @classmethod
-  def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool):
+  def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
     ret = CarInterfaceBase.get_std_params(candidate)
-    ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long)
+    ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
 
     # Set common params using fields set by the car interface
     # TODO: get actual value, for now starting with reasonable value for
@@ -114,7 +115,7 @@ class CarInterfaceBase(ABC):
 
   @staticmethod
   @abstractmethod
-  def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool):
+  def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
     raise NotImplementedError
 
   @staticmethod
@@ -278,13 +279,19 @@ class CarInterfaceBase(ABC):
     # Handle permanent and temporary steering faults
     self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
     if cs_out.steerFaultTemporary:
-      # if the user overrode recently, show a less harsh alert
-      if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
-        self.silent_steer_warning = True
-        events.add(EventName.steerTempUnavailableSilent)
+      if cs_out.steeringPressed and (not self.CS.out.steerFaultTemporary or self.no_steer_warning):
+        self.no_steer_warning = True
       else:
-        events.add(EventName.steerTempUnavailable)
+        self.no_steer_warning = False
+
+        # if the user overrode recently, show a less harsh alert
+        if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
+          self.silent_steer_warning = True
+          events.add(EventName.steerTempUnavailableSilent)
+        else:
+          events.add(EventName.steerTempUnavailable)
     else:
+      self.no_steer_warning = False
       self.silent_steer_warning = False
     if cs_out.steerFaultPermanent:
       events.add(EventName.steerUnavailable)

selfdrive/car/isotp_parallel_query.py

@@ -100,18 +100,16 @@ class IsoTpParallelQuery:
     while True:
       self.rx()
 
-      if all(request_done.values()):
-        break
-
       for tx_addr, msg in msgs.items():
         try:
-          dat, updated = msg.recv()
+          dat, rx_in_progress = msg.recv()
         except Exception:
           cloudlog.exception(f"Error processing UDS response: {tx_addr}")
           request_done[tx_addr] = True
           continue
 
-        if updated:
+        # Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses
+        if rx_in_progress:
           response_timeouts[tx_addr] = time.monotonic() + timeout
 
         if not dat:
@@ -123,6 +121,7 @@ class IsoTpParallelQuery:
 
         if response_valid:
           if counter + 1 < len(self.request):
+            response_timeouts[tx_addr] = time.monotonic() + timeout
             msg.send(self.request[counter + 1])
             request_counter[tx_addr] += 1
           else:
@@ -132,18 +131,21 @@ class IsoTpParallelQuery:
           error_code = dat[2] if len(dat) > 2 else -1
           if error_code == 0x78:
             response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout
-            if self.debug:
-              cloudlog.warning(f"iso-tp query response pending: {tx_addr}")
+            cloudlog.error(f"iso-tp query response pending: {tx_addr}")
           else:
-            response_timeouts[tx_addr] = 0
             request_done[tx_addr] = True
             cloudlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
 
+      # Mark request done if address timed out
       cur_time = time.monotonic()
-      if cur_time - max(response_timeouts.values()) > 0:
-        for tx_addr in msgs:
+      for tx_addr in response_timeouts:
+        if cur_time - response_timeouts[tx_addr] > 0:
           if request_counter[tx_addr] > 0 and not request_done[tx_addr]:
             cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}")
+          request_done[tx_addr] = True
+
+      # Break if all requests are done (finished or timed out)
+      if all(request_done.values()):
         break
 
       if cur_time - start_time > total_timeout:

selfdrive/car/mazda/interface.py

@@ -11,7 +11,7 @@ EventName = car.CarEvent.EventName
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "mazda"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
     ret.radarUnavailable = True

selfdrive/car/mazda/values.py

@@ -258,11 +258,14 @@ FW_VERSIONS = {
   CAR.MAZDA6: {
     (Ecu.eps, 0x730, None): [
       b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GFBC-3210X-A-00\000\000\000\000\000\000\000\000\000',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX4F-188K2-D\000\000\000\000\000\000\000\000\000\000\000\000',
       b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYH7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -270,13 +273,16 @@ FW_VERSIONS = {
     ],
     (Ecu.abs, 0x760, None): [
       b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GDDM-437K2-A\000\000\000\000\000\000\000\000\000\000\000\000',
     ],
     (Ecu.fwdCamera, 0x706, None): [
       b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-P\000\000\000\000\000\000\000\000\000\000\000\000',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYH3-21PS1-D\000\000\000\000\000\000\000\000\000\000\000\000',
       b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -291,6 +297,7 @@ FW_VERSIONS = {
       b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXGW-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',

selfdrive/car/mock/interface.py

@@ -19,7 +19,7 @@ class CarInterface(CarInterfaceBase):
     self.prev_speed = 0.
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "mock"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
     ret.mass = 1700.

selfdrive/car/nissan/interface.py

@@ -8,7 +8,7 @@ from selfdrive.car.nissan.values import CAR
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "nissan"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
     ret.autoResumeSng = False

selfdrive/car/nissan/values.py

@@ -39,7 +39,7 @@ class NissanCarInfo(CarInfo):
 
 CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
   CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
-  CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-22", video_link="https://youtu.be/vaMbtAh_0cY"),
+  CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
   CAR.LEAF_IC: None,  # same platforms
   CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
   CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness=Harness.nissan_b),

selfdrive/car/subaru/carcontroller.py

@@ -1,7 +1,7 @@
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.subaru import subarucan
-from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams
+from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams, SubaruFlags
 
 
 class CarController:
@@ -10,9 +10,10 @@ class CarController:
     self.apply_steer_last = 0
     self.frame = 0
 
-    self.es_lkas_cnt = -1
+    self.es_lkas_state_cnt = -1
     self.es_distance_cnt = -1
     self.es_dashstatus_cnt = -1
+    self.infotainmentstatus_cnt = -1
     self.cruise_button_prev = 0
     self.last_cancel_frame = 0
 
@@ -79,11 +80,15 @@ class CarController:
         can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg))
         self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"]
 
-      if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]:
-        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert,
-                                                  hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                                                  hud_control.leftLaneDepart, hud_control.rightLaneDepart))
-        self.es_lkas_cnt = CS.es_lkas_msg["COUNTER"]
+      if self.es_lkas_state_cnt != CS.es_lkas_state_msg["COUNTER"]:
+        can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
+                                                        hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                        hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+        self.es_lkas_state_cnt = CS.es_lkas_state_msg["COUNTER"]
+
+      if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT and self.infotainmentstatus_cnt != CS.es_infotainmentstatus_msg["COUNTER"]:
+        can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert))
+        self.infotainmentstatus_cnt = CS.es_infotainmentstatus_msg["COUNTER"]
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX

selfdrive/car/subaru/carstate.py

@@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
 from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS
+from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags
 
 
 class CarState(CarStateBase):
@@ -81,11 +81,13 @@ class CarState(CarStateBase):
       ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
       ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
       ret.stockFcw = cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2
-      self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
+      self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
 
     cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
     self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
     self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
+    if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
+      self.es_infotainmentstatus_msg = copy.copy(cp_cam.vl["INFOTAINMENT_STATUS"])
 
     return ret
 
@@ -254,7 +256,7 @@ class CarState(CarStateBase):
       ]
     else:
       signals = [
-        ("Counter", "ES_DashStatus"),
+        ("COUNTER", "ES_DashStatus"),
         ("PCB_Off", "ES_DashStatus"),
         ("LDW_Off", "ES_DashStatus"),
         ("Signal1", "ES_DashStatus"),
@@ -307,6 +309,15 @@ class CarState(CarStateBase):
         signals += CarState.get_global_es_distance_signals()[0]
         checks += CarState.get_global_es_distance_signals()[1]
 
+      if CP.flags & SubaruFlags.SEND_INFOTAINMENT:
+        signals += [
+          ("LKAS_State_Infotainment", "INFOTAINMENT_STATUS"),
+          ("LKAS_Blue_Lines", "INFOTAINMENT_STATUS"),
+          ("Signal1", "INFOTAINMENT_STATUS"),
+          ("Signal2", "INFOTAINMENT_STATUS"),
+        ]
+        checks.append(("INFOTAINMENT_STATUS", 10))
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
 
   @staticmethod

selfdrive/car/subaru/interface.py

@@ -3,17 +3,21 @@ from cereal import car
 from panda import Panda
 from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
-from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS
+from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags
 
 
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "subaru"
     ret.radarUnavailable = True
     ret.autoResumeSng = False
 
+    # Detect infotainment message sent from the camera
+    if candidate not in PREGLOBAL_CARS and 0x323 in fingerprint[2]:
+      ret.flags |= SubaruFlags.SEND_INFOTAINMENT.value
+
     if candidate in PREGLOBAL_CARS:
       ret.enableBsm = 0x25c in fingerprint[0]
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]

selfdrive/car/subaru/subarucan.py

@@ -21,9 +21,9 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
     values["Cruise_Cancel"] = 1
   return packer.make_can_msg("ES_Distance", bus, values)
 
-def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
+def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
 
-  values = copy.copy(es_lkas_msg)
+  values = copy.copy(es_lkas_state_msg)
 
   # Filter the stock LKAS "Keep hands on wheel" alert
   if values["LKAS_Alert_Msg"] == 1:
@@ -56,11 +56,8 @@ def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_
     elif right_lane_depart:
       values["LKAS_Alert"] = 11 # Right lane departure dash alert
 
-  if enabled:
-    values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines
-    values["LKAS_Dash_State"] = 2 # Green enabled indicator
-  else:
-    values["LKAS_Dash_State"] = 0 # LKAS Not enabled
+  values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines
+  values["LKAS_Dash_State"] = 2 if enabled else 0 # Green enabled indicator
 
   values["LKAS_Left_Line_Visible"] = int(left_line)
   values["LKAS_Right_Line_Visible"] = int(right_line)
@@ -71,11 +68,26 @@ def create_es_dashstatus(packer, dashstatus_msg):
   values = copy.copy(dashstatus_msg)
 
   # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
-  if values["LKAS_State_Msg"] in [2, 3]:
+  if values["LKAS_State_Msg"] in (2, 3):
     values["LKAS_State_Msg"] = 0
 
   return packer.make_can_msg("ES_DashStatus", 0, values)
 
+def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert):
+  # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
+  if infotainmentstatus_msg["LKAS_State_Infotainment"] in (3, 4):
+    infotainmentstatus_msg["LKAS_State_Infotainment"] = 0
+
+  # Show Keep hands on wheel alert for openpilot steerRequired alert
+  if visual_alert == VisualAlert.steerRequired:
+    infotainmentstatus_msg["LKAS_State_Infotainment"] = 3
+
+  # Show Obstacle Detected for fcw
+  if visual_alert == VisualAlert.fcw:
+    infotainmentstatus_msg["LKAS_State_Infotainment"] = 2
+
+  return packer.make_can_msg("INFOTAINMENT_STATUS", 0, infotainmentstatus_msg)
+
 # *** Subaru Pre-global ***
 
 def subaru_preglobal_checksum(packer, values, addr):

selfdrive/car/subaru/values.py

@@ -1,5 +1,5 @@
 from dataclasses import dataclass
-from enum import Enum
+from enum import Enum, IntFlag
 from typing import Dict, List, Union
 
 from cereal import car
@@ -30,6 +30,10 @@ class CarControllerParams:
       self.STEER_MAX = 2047
 
 
+class SubaruFlags(IntFlag):
+  SEND_INFOTAINMENT = 1
+
+
 class CAR:
   # Global platform
   ASCENT = "SUBARU ASCENT LIMITED 2019"
@@ -185,6 +189,7 @@ FW_VERSIONS = {
       b'\x00\x00d\xdc\x00\x00\x00\x00',
       b'\x00\x00dd\x00\x00\x00\x00',
       b'\x00\x00c\xf4\x1f@ \x07',
+      b'\x00\x00e\x1c\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xaa\x61\x66\x73\x07',
@@ -205,6 +210,8 @@ FW_VERSIONS = {
       b'\xc5!dr\x07',
       b'\xaa!aw\x07',
       b'\xaa!av\x07',
+      b'\xaa\x01bt\x07',
+      b'\xc5!ap\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe3\xe5\x46\x31\x00',
@@ -220,6 +227,7 @@ FW_VERSIONS = {
       b'\xe4\xf5\002\000\000',
       b'\xe3\xd0\x081\x00',
       b'\xe3\xf5\x06\x00\x00',
+      b'\xe3\xd5\x161\x00',
     ],
   },
   CAR.IMPREZA_2020: {
@@ -274,6 +282,7 @@ FW_VERSIONS = {
       b'\xa3  \x14\x01',
       b'\xf1\x00\xbb\r\x05',
       b'\xa3 \x18&\x00',
+      b'\xa3 \x19&\x00',
     ],
     (Ecu.eps, 0x746, None): [
       b'\x8d\xc0\x04\x00',
@@ -286,6 +295,8 @@ FW_VERSIONS = {
       b'\xf1\x00\xac\x02\x00',
       b'\x00\x00e!\x00\x00\x00\x00',
       b'\x00\x00e\x97\x00\x00\x00\x00',
+      b'\x00\x00e^\x1f@ !',
+      b'\x00\x00e^\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xb6"`A\x07',
@@ -303,6 +314,7 @@ FW_VERSIONS = {
       b'\x1a\xf6B`\x00',
       b'\x1a\xf6b0\x00',
       b'\x1a\xe6B1\x00',
+      b'\x1a\xe6F1\x00',
     ],
   },
   CAR.FORESTER_PREGLOBAL: {
@@ -470,6 +482,7 @@ FW_VERSIONS = {
       b'\xa1 "\t\x01',
       b'\xa1  \x08\x02',
       b'\xa1 \x06\x02',
+      b'\xa1  \x07\x02',
       b'\xa1  \x08\x00',
       b'\xa1 "\t\x00',
     ],
@@ -481,6 +494,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x787, None): [
       b'\x00\x00eJ\x00\x1f@ \x19\x00',
       b'\000\000e\x80\000\037@ \031\000',
+      b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00',
       b'\x00\x00e\x9a\x00\x1f@ 1\x00',
       b'\x00\x00eJ\x00\x00\x00\x00\x00\x00',
     ],
@@ -490,6 +504,7 @@ FW_VERSIONS = {
       b'\xde"`0\a',
       b'\xf1\x82\xbc,\xa0q\a',
       b'\xf1\x82\xe3,\xa0@\x07',
+      b'\xe2"`0\x07',
       b'\xe2"`p\x07',
       b'\xf1\x82\xe2,\xa0@\x07',
       b'\xbc"`q\x07',
@@ -501,6 +516,7 @@ FW_VERSIONS = {
       b'\xa5\xfe\xf6@\x00',
       b'\xa7\x8e\xf40\x00',
       b'\xf1\x82\xa7\xf6D@\x00',
+      b'\xa7\xf6D@\x00',
       b'\xa7\xfe\xf4@\x00',
     ],
   },