Merge branch 'hkg-fca12-detect' into genesis-g80-2018-long

# Conflicts:
#	selfdrive/car/hyundai/carcontroller.py

.devcontainer/Dockerfile

@@ -1,6 +1,6 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion
 RUN pip install ipython jupyter jupyterlab
 
 RUN cd /tmp && \
@@ -8,6 +8,8 @@ RUN cd /tmp && \
     curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
     dpkg -i virtualgl.deb
 
+RUN usermod -aG video batman
+
 USER batman
 
 RUN cd $HOME && \

.devcontainer/devcontainer.json

@@ -14,11 +14,12 @@
     "force_color_prompt": "1"
   },
   "runArgs": [
+    "--volume=/dev:/dev",
     "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
     "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
     "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
+    "--volume=${localEnv:HOME}/.azure:/home/batman/.azure",
     "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
-    "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache",
     "--shm-size=1G",
     "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
     "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
@@ -29,7 +30,9 @@
       "installOhMyZsh": false,
       "upgradePackages": false,
       "username": "batman"
-    }
+    },
+    "ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
+    "ghcr.io/devcontainers/features/azure-cli:1": {}
   },
   "containerUser": "batman",
   "remoteUser": "batman",
@@ -43,5 +46,8 @@
         "lharri73.dbc"
       ]
     }
-  }
-}
+  },
+  "mounts": [
+    "type=volume,source=scons_cache,target=/tmp/scons_cache"
+  ]
+}

.github/ISSUE_TEMPLATE/pc_bug_report.yml

@@ -24,7 +24,7 @@ body:
     id: os-version
     attributes:
       label: OS Version
-      placeholder: Ubuntu 20.04
+      placeholder: Ubuntu 24.04
     validations:
       required: true
 

.github/PULL_REQUEST_TEMPLATE/car_port.md

@@ -8,7 +8,7 @@ assignees: ''
 
 **Checklist**
 
-- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:

.github/pull_request_template.md

@@ -44,7 +44,7 @@ Explain how you tested this bug fix.
 
 **Checklist**
 
-- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:

.github/workflows/auto-cache/action.yaml

@@ -19,14 +19,14 @@ runs:
   using: "composite"
   steps:
     - name: setup namespace cache
-      if: ${{ contains(runner.name, 'nsc') }} 
+      if: ${{ contains(runner.name, 'nsc') }}
       uses: namespacelabs/nscloud-cache-action@v1
       with:
         path: ${{ inputs.path }}
 
     - name: setup github cache
       if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
-      uses: 'actions/cache@v3'
+      uses: 'actions/cache@v4'
       with:
         path: ${{ inputs.path }}
         key: ${{ inputs.key }}
@@ -34,7 +34,7 @@ runs:
 
     - name: setup github cache
       if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
-      uses: 'actions/cache/restore@v3'
+      uses: 'actions/cache/restore@v4'
       with:
         path: ${{ inputs.path }}
         key: ${{ inputs.key }}
@@ -46,4 +46,4 @@ runs:
       run: |
         mkdir -p ${{ inputs.path }}
         sudo chmod -R 777 ${{ inputs.path }}
-        sudo chown -R $USER ${{ inputs.path }}
+        sudo chown -R $USER ${{ inputs.path }}

.github/workflows/auto_pr_review.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   labeler:
-    name: apply labels
+    name: review
     permissions:
       contents: read
       pull-requests: write
@@ -14,17 +14,17 @@ jobs:
     - uses: actions/checkout@v4
       with:
         submodules: false
+
+    # Label PRs
     - uses: actions/labeler@v5.0.0
       with:
         dot: true
         configuration-path: .github/labeler.yaml
 
-  pr_branch_check:
-    name: check branch
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-    - uses: Vankka/pr-target-branch-action@69ab6dd5c221de3548b3b6c4d102c1f4913d3baa
+    # Check PR target branch
+    - name: check branch
+      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
+      if: github.repository == 'commaai/openpilot'
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
@@ -34,174 +34,20 @@ jobs:
         already-exists-action: close_this
         already-exists-comment: "Your PR should be made against the `master` branch"
 
-  check-pr-template:
-    runs-on: ubuntu-latest
-    permissions:
-      contents: read
-      issues: write
-      pull-requests: write
-      actions: read
-    if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
-    steps:
-      - uses: actions/github-script@v7
-        with:
-          script: |
-            // Comment to add to the PR if no template has been used
-            const NO_TEMPLATE_MESSAGE =
-              "It looks like you didn't use one of the Pull Request templates. Please check [the contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md). \
-            Also make sure that you didn't modify any of the checkboxes or headings within the template.";
-            // body data for future requests
-            const body_data = {
-              issue_number: context.issue.number,
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-            };
-
-            // Utility function to extract all headings
-            const extractHeadings = (markdown) => {
-              const headingRegex = /^(#{1,6})\s+(.+)$/gm;
-              const boldTextRegex = /^(?:\*\*|__)(.+?)(?:\*\*|__)\s*$/gm;
-              const headings = [];
-              let headingMatch;
-              while ((headingMatch = headingRegex.exec(markdown))) {
-                headings.push(headingMatch[2].trim());
-              }
-              let boldMatch;
-              while ((boldMatch = boldTextRegex.exec(markdown))) {
-                headings.push(boldMatch[1].trim());
-              }
-              return headings;
-            };
-
-            // Utility function to extract all check box descriptions
-            const extractCheckBoxTexts = (markdown) => {
-              const checkboxRegex = /^\s*-\s*\[( |x)\]\s+(.+)$/gm;
-              const checkboxes = [];
-              let match;
-              while ((match = checkboxRegex.exec(markdown))) {
-                checkboxes.push(match[2].trim());
-              }
-              return checkboxes;
-            };
-
-            // Utility function to check if a list is a subset of another list
-            isSubset = (subset, superset) => {
-              return subset.every((item) => superset.includes(item));
-            };
-
-            // Utility function to check if a list of checkboxes is a subset of another list of checkboxes
-            isCheckboxSubset = (templateCheckBoxTexts, prTextCheckBoxTexts) => {
-              // Check if each template checkbox text is a substring of at least one PR checkbox text 
-              // (user should be allowed to add additional text)
-              return templateCheckBoxTexts.every((item) => prTextCheckBoxTexts.some((element) => element.includes(item)))
-            }
-
-            // Get filenames of all currently checked-in PR templates
-            const template_contents = await github.rest.repos.getContent({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              path: ".github/PULL_REQUEST_TEMPLATE",
-            });
-            var template_filenames = [];
-            for (const content of template_contents.data) {
-              template_filenames.push(content.path);
-            }
-            console.debug("Received template filenames: " + template_filenames);
-            // Retrieve templates
-            var templates = [];
-            for (const template_filename of template_filenames) {
-              const template_response = await github.rest.repos.getContent({
-                owner: context.repo.owner,
-                repo: context.repo.repo,
-                path: template_filename,
-              });
-              // Convert Base64 content back
-              const decoded_template = atob(template_response.data.content);
-              const headings = extractHeadings(decoded_template);
-              const checkboxes = extractCheckBoxTexts(decoded_template);
-              if (!headings.length && !checkboxes.length) {
-                console.warn(
-                  "Invalid template! Contains neither headings nor checkboxes, ignoring it: \n" +
-                    decoded_template
-                );
-              } else {
-                templates.push({ headings: headings, checkboxes: checkboxes });
-              }
-            }
-            // Retrieve the PR Body
-            const pull_request = await github.rest.issues.get({
-              ...body_data,
-            });
-            const pull_request_text = pull_request.data.body;
-            console.debug("Received Pull Request body: \n" + pull_request_text);
-
-            /* Check if the PR Body matches one of the templates
-            A template is defined by all headings and checkboxes it contains
-            We extract all Headings and Checkboxes from the PR text and check if any of the templates is a subset of that
-            */
-            const pr_headings = extractHeadings(pull_request_text);
-            const pr_checkboxes = extractCheckBoxTexts(pull_request_text);
-            console.debug("Found Headings in PR body:\n" + pr_headings);
-            console.debug("Found Checkboxes in PR body:\n" + pr_checkboxes);
-            var template_found = false;
-            // Iterate over each template to check if it applies
-            for (const template of templates) {
-              console.log(
-                "Checking for headings: [" +
-                  template.headings +
-                  "] and checkboxes: [" +
-                  template.checkboxes + "]"
-              );
-              if (
-                isCheckboxSubset(template.checkboxes, pr_checkboxes) &&
-                isSubset(template.headings, pr_headings)
-              ) {
-                console.debug("Found matching template!");
-                template_found = true;
-              }
-            }
-
-            // List comments from previous runs
-            var existing_comments = [];
-            const comments = await github.rest.issues.listComments({
-              ...body_data,
-            });
-            for (const comment of comments.data) {
-              if (comment.body === NO_TEMPLATE_MESSAGE) {
-                existing_comments.push(comment);
-              }
-            }
-
-            // Add a comment to the PR that it is not using a the template (but only if this comment does not exist already)
-            if (!template_found) {
-              var comment_already_sent = false;
-
-              // Add an 'in-bot-review' label since this PR doesn't have the template
-              github.rest.issues.addLabels({
-                ...body_data,
-                labels: ["in-bot-review"],
-              });
-
-              if (existing_comments.length < 1) {
-                github.rest.issues.createComment({
-                  ...body_data,
-                  body: NO_TEMPLATE_MESSAGE,
-                });
-              }
-            } else {
-              // If template has been found, delete any old comment about missing template
-              for (const existing_comment of existing_comments) {
-                github.rest.issues.deleteComment({
-                  ...body_data,
-                  comment_id: existing_comment.id,
-                });
-              }
-              // Remove the 'in-bot-review' label after the review is done and the PR has passed
-              github.rest.issues.removeLabel({
-                ...body_data,
-                name: "in-bot-review",
-              }).catch((error) => {
-                console.log("Label 'in-bot-review' not found, ignoring");
-              });
-            }
-
+    # Welcome comment
+    - name: comment
+      uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
+      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+      with:
+        message: |
+            <!-- _(run_id **${{ github.run_id }}**)_ -->
+            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
+            * Convert your PR to a draft unless it's ready to review
+            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
+            * Before marking as "ready for review", ensure:
+              * the goal is clearly stated in the description
+              * all the tests are passing
+              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+              * include a route or your device' dongle ID if relevant
+        comment_tag: run_id
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/badges.yaml

@@ -12,7 +12,7 @@ env:
 jobs:
   badges:
     name: create badges
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     if: github.repository == 'commaai/openpilot'
     permissions:
       contents: write

.github/workflows/compile-openpilot/action.yaml

@@ -14,7 +14,7 @@ runs:
           ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
                           scons -j$(nproc) --cache-populate"
     - name: Save scons cache
-      uses: actions/cache/save@v3
+      uses: actions/cache/save@v4
       if: github.ref == 'refs/heads/master'
       with:
         path: .ci_cache/scons_cache

.github/workflows/docs.yaml

@@ -20,7 +20,7 @@ env:
 jobs:
   docs:
     name: build docs
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     timeout-minutes: 45
     steps:
     - uses: actions/checkout@v4

.github/workflows/prebuilt.yaml

@@ -11,7 +11,7 @@ env:
 jobs:
   build_prebuilt:
     name: build prebuilt
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     if: github.repository == 'commaai/openpilot'
     env:
       PUSH_IMAGE: true
@@ -22,7 +22,7 @@ jobs:
     steps:
     - name: Wait for green check mark
       if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
+      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
         ref: master
         wait-interval: 30

.github/workflows/release.yaml

@@ -12,7 +12,7 @@ jobs:
       ImageOS: ubuntu20
     container:
       image: ghcr.io/commaai/openpilot-base:latest
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     if: github.repository == 'commaai/openpilot'
     permissions:
       checks: read
@@ -24,7 +24,7 @@ jobs:
         sudo apt-get install -y libyaml-dev
     - name: Wait for green check mark
       if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
+      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
         ref: master
         wait-interval: 30

.github/workflows/repo-maintenance.yaml

@@ -8,7 +8,7 @@ on:
 jobs:
   bump_submodules:
     name: bump_submodules
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     container:
       image: ghcr.io/commaai/openpilot-base:latest
     if: github.repository == 'commaai/openpilot'
@@ -22,8 +22,9 @@ jobs:
         git -c submodule."tinygrad".update=none submodule update --remote
         git add .
     - name: Create Pull Request
-      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
       with:
+        author: Vehicle Researcher <user@comma.ai>
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
         commit-message: bump submodules
         title: '[bot] Bump submodules'
@@ -34,7 +35,7 @@ jobs:
         labels: bot
   package_updates:
     name: package_updates
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     container:
       image: ghcr.io/commaai/openpilot-base:latest
     if: github.repository == 'commaai/openpilot'
@@ -49,8 +50,9 @@ jobs:
         git config --global --add safe.directory '*'
         pre-commit autoupdate
     - name: Create Pull Request
-      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
       with:
+        author: Vehicle Researcher <user@comma.ai>
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
         commit-message: Update Python packages and pre-commit hooks
         title: '[bot] Update Python packages and pre-commit hooks'

.github/workflows/selfdrive_tests.yaml

@@ -26,7 +26,7 @@ env:
 jobs:
   build_release:
     name: build release
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     env:
       STRIPPED_DIR: /tmp/releasepilot
     steps:
@@ -47,13 +47,13 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: |
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "python selfdrive/manager/build.py"
+        ${{ env.RUN }} "python system/manager/build.py"
     - name: Run tests
       timeout-minutes: 3
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
-                        MAX_EXAMPLES=5 $PYTEST selfdrive/car"
+                        MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
     - name: pre-commit
       timeout-minutes: 3
       run: |
@@ -62,38 +62,22 @@ jobs:
         cp pyproject.toml $STRIPPED_DIR
         cp poetry.lock $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all && chmod -R 777 /tmp/pre-commit"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
 
   build:
     strategy:
       matrix:
         arch: ${{ fromJson(
            ((github.repository == 'commaai/openpilot') &&
-              ((github.event_name != 'pull_request') || 
+              ((github.event_name != 'pull_request') ||
                (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      with:
-        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
-    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
-
-  docker_push:
-    name: docker push
-    strategy:
-      matrix:
-        arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Setup to push to repo
+    - name: Setup docker push
+      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
@@ -101,12 +85,14 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
       with:
         docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
+    - uses: ./.github/workflows/compile-openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
 
   docker_push_multiarch:
     name: docker push multiarch tag
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    needs: [docker_push]
+    needs: [build]
     steps:
     - uses: actions/checkout@v4
       with:
@@ -122,8 +108,8 @@ jobs:
   static_analysis:
     name: static analysis
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') || 
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -134,29 +120,11 @@ jobs:
       timeout-minutes: 4
       run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
 
-  valgrind:
-    name: valgrind
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run valgrind
-      timeout-minutes: 1
-      run: |
-        ${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py"
-    - name: Print logs
-      if: always()
-      run: cat selfdrive/test/valgrind_logs.txt
-
   unit_tests:
     name: unit tests
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') || 
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -177,7 +145,7 @@ jobs:
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py"
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
+      uses: codecov/codecov-action@v4
       with:
         name: ${{ github.job }}
       env:
@@ -186,8 +154,8 @@ jobs:
   process_replay:
     name: process replay
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') || 
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -197,10 +165,10 @@ jobs:
         docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Cache test routes
       id: dependency-cache
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       with:
         path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
+        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
     - name: Build openpilot
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
@@ -215,7 +183,7 @@ jobs:
       id: print-diff
       if: always()
       run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v3
+    - uses: actions/upload-artifact@v4
       if: always()
       continue-on-error: true
       with:
@@ -225,66 +193,20 @@ jobs:
       if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
         ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
-      with:
-        name: ${{ github.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
-
-  regen:
-    name: regen
-    runs-on: 'ubuntu-20.04'
-    steps: 
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Cache test routes
-      id: dependency-cache
-      uses: actions/cache@v3
-      with:
-        path: .ci_cache/comma_download_cache
-        key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }}
-    - name: Build base Docker image
-      run: eval "$BUILD"
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run regen
-      timeout-minutes: 30
-      run: |
-        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
-                           chmod -R 777 /tmp/comma_download_cache"
-
-  test_modeld:
-    name: model tests
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build base Docker image
-      run: eval "$BUILD"
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
     # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
     - name: Run model replay with ONNX
       timeout-minutes: 4
       run: |
         ${{ env.RUN }} "unset PYTHONWARNINGS && \
-                           ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
-                           coverage combine && \
-                           coverage xml"
-    - name: Run unit tests
+                        ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+                        coverage combine && coverage xml"
+    - name: Run regen
       timeout-minutes: 4
       run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && \
-                           $PYTEST selfdrive/modeld"
+        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
+                        chmod -R 777 /tmp/comma_download_cache"
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
+      uses: codecov/codecov-action@v4
       with:
         name: ${{ github.job }}
       env:
@@ -293,12 +215,12 @@ jobs:
   test_cars:
     name: cars
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') || 
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     strategy:
       fail-fast: false
       matrix:
-        job: [0, 1, 2, 3, 4]
+        job: [0, 1]
     steps:
     - uses: actions/checkout@v4
       with:
@@ -313,15 +235,15 @@ jobs:
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
-      timeout-minutes: 10
+      timeout-minutes: 20
       run: |
         ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
-        NUM_JOBS: 5
+        NUM_JOBS: 2
         JOB_ID: ${{ matrix.job }}
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
+      uses: codecov/codecov-action@v4
       with:
         name: ${{ github.job }}-${{ matrix.job }}
       env:
@@ -329,7 +251,7 @@ jobs:
 
   car_docs_diff:
     name: PR comments
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     if: github.event_name == 'pull_request'
     steps:
       - uses: actions/checkout@v4
@@ -340,7 +262,7 @@ jobs:
       - uses: ./.github/workflows/setup-with-retry
       - name: Get base car info
         run: |
-          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
+          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
           sudo chown -R $USER:$USER ${{ github.workspace }}
       - uses: actions/checkout@v4
         with:
@@ -352,19 +274,19 @@ jobs:
         run: |
           cd current
           ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info")
+          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
           output="${output//$'\n'/'%0A'}"
           echo "::set-output name=diff::$output"
       - name: Find comment
         if: ${{ env.AZURE_TOKEN != '' }}
-        uses: peter-evans/find-comment@1769778a0c5bd330272d749d12c036d65e70d39d
+        uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e
         id: fc
         with:
           issue-number: ${{ github.event.pull_request.number }}
           body-includes: This PR makes changes to
       - name: Update comment
         if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
-        uses: peter-evans/create-or-update-comment@b95e16d2859ad843a14218d1028da5b2c4cbc4b4
+        uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043
         with:
           comment-id: ${{ steps.fc.outputs.comment-id }}
           issue-number: ${{ github.event.pull_request.number }}
@@ -372,7 +294,7 @@ jobs:
           edit-mode: replace
       - name: Delete comment
         if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
-        uses: actions/github-script@v6
+        uses: actions/github-script@v7
         with:
           script: |
             github.rest.issues.deleteComment({
@@ -383,7 +305,7 @@ jobs:
 
   create_ui_report:
     name: Create UI Report
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
         with:
@@ -395,10 +317,10 @@ jobs:
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
-                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && 
+                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
                             python selfdrive/ui/tests/test_ui/run.py"
       - name: Upload Test Report
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: report
-          path: selfdrive/ui/tests/test_ui/report
+          path: selfdrive/ui/tests/test_ui/report

.github/workflows/setup-pre-commit/action.yaml

@@ -4,7 +4,7 @@ runs:
   using: "composite"
   steps:
     - uses: ./.github/workflows/auto-cache
-      with: 
+      with:
         path: .ci_cache/pre-commit
         key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
         restore-keys: |

.github/workflows/stale.yaml

@@ -5,22 +5,23 @@ on:
   workflow_dispatch:
 
 env:
-  DAYS_BEFORE_PR_CLOSE: 7
-  DAYS_BEFORE_PR_STALE: 30
+  DAYS_BEFORE_PR_CLOSE: 3
+  DAYS_BEFORE_PR_STALE: 14
 
 jobs:
   stale:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/stale@v8
+      - uses: actions/stale@v9
         with:
           exempt-milestones: true
 
           # pull request config
           stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
           close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
+          stale-pr-label: stale
           delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing,car port" # if wip or it needs testing from the community, don't mark as stale
+          exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
           days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
 

.github/workflows/tools_tests.yaml

@@ -20,26 +20,9 @@ env:
 
 
 jobs:
-  plotjuggler:
-    name: plotjuggler
-    runs-on: ubuntu-20.04
-    timeout-minutes: 45
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      timeout-minutes: 5
-      run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal"
-    - name: Test PlotJuggler
-      timeout-minutes: 2
-      run: |
-        ${{ env.RUN }} "pytest tools/plotjuggler/"
-
-  simulator:
-    name: simulator
-    runs-on: ubuntu-20.04
+  simulator_build:
+    name: simulator docker build
+    runs-on: ubuntu-latest
     if: github.repository == 'commaai/openpilot'
     timeout-minutes: 45
     steps:
@@ -56,6 +39,26 @@ jobs:
       run: |
         selfdrive/test/docker_build.sh sim
 
+  simulator_driving:
+    name: simulator driving
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - run: git lfs pull
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run bridge test
+      run: |
+        ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
+                        source selfdrive/test/setup_xvfb.sh && \
+                        source selfdrive/test/setup_vsound.sh && \
+                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
+
   devcontainer:
     name: devcontainer
     runs-on: ubuntu-latest
@@ -70,7 +73,7 @@ jobs:
     - name: Setup Dev Container CLI
       run: npm install -g @devcontainers/cli
     - name: Build dev container image
-      run: devcontainer build --workspace-folder .
+      run: ./scripts/retry.sh devcontainer build --workspace-folder .
     - name: Run dev container
       run: |
         mkdir -p /tmp/devcontainer_scons_cache/
@@ -82,21 +85,3 @@ jobs:
         devcontainer exec --workspace-folder . pip install pip-install-test
         devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
         devcontainer exec --workspace-folder . sudo touch /root/test.txt
-
-  notebooks:
-    name: notebooks
-    runs-on: ubuntu-20.04
-    if: github.repository == 'commaai/openpilot'
-    timeout-minutes: 45
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Test notebooks
-      timeout-minutes: 3
-      run: |
-        ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/"

.gitignore

@@ -52,16 +52,11 @@ selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
-selfdrive/modeld/_navmodeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
 
-one
 notebooks
-xx
-yy
 hyperthneed
-panda_jungle
 provisioning
 
 .coverage*

.pre-commit-config.yaml

@@ -5,7 +5,7 @@ repos:
     -   id: check-hooks-apply
     -   id: check-useless-excludes
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v4.6.0
     hooks:
     -   id: check-ast
         exclude: '^(third_party)/'
@@ -33,7 +33,7 @@ repos:
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.2.2
+    rev: v0.4.4
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -47,7 +47,7 @@ repos:
         args:
         - --local-partial-types
         - --explicit-package-bases
-        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
+        exclude: '^(third_party/)|(body/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
 -   repo: local
     hooks:
     -   id: cppcheck
@@ -75,7 +75,7 @@ repos:
         # relevant rules are whitelisted, see all options with: cpplint --filter=
         - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
 -   repo: https://github.com/MarcoGorelli/cython-lint
-    rev: v0.16.0
+    rev: v0.16.2
     hooks:
     -   id: cython-lint
         exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
@@ -89,7 +89,7 @@ repos:
         entry: selfdrive/ui/tests/test_translations.py
         language: script
         pass_filenames: false
-        files: 'selfdrive/ui/translations/*'
+        files: '^selfdrive/ui/translations/'
 -   repo: https://github.com/python-poetry/poetry
     rev: '1.8.0'
     hooks:
@@ -98,6 +98,6 @@ repos:
         args:
         - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.0
+    rev: 0.28.3
     hooks:
     -   id: check-github-workflows

.vscode/settings.json

@@ -12,5 +12,16 @@
     "**/.git": true,
     "**/.venv": true,
     "**/__pycache__": true
-  }
-}
+  },
+  "python.analysis.exclude": [
+    "**/.git",
+    "**/.venv",
+    "**/__pycache__",
+    // exclude directories that should be using the symlinked version
+    "common/**",
+    "selfdrive/**",
+    "system/**",
+    "third_party/**",
+    "tools/**",
+  ]
+}

Dockerfile.openpilot_base

@@ -13,14 +13,10 @@ ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN cd /tmp && \
-    tools/install_ubuntu_dependencies.sh && \
-    rm -rf /var/lib/apt/lists/* && \
-    rm -rf /tmp/* && \
-    # remove unused architectures from gcc for panda
+RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
+    rm -rf /var/lib/apt/lists/* /tmp/* && \
     cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
-    rm -rf arm/ && \
-    rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
 # Add OpenCL
 RUN apt-get update && apt-get install -y --no-install-recommends \
@@ -83,4 +79,4 @@ RUN cd /tmp && \
     rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test
 
 USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot
+RUN sudo git config --global --add safe.directory /tmp/openpilot

Jenkinsfile

@@ -40,6 +40,7 @@ if [ -f /TICI ]; then
   rm -rf /tmp/tmp*
   rm -rf ~/.commacache
   rm -rf /dev/shm/*
+  rm -rf /dev/tmp/tmp*
 
   if ! systemctl is-active --quiet systemd-resolved; then
     echo "restarting resolved"
@@ -182,7 +183,7 @@ node {
         deviceStage("onroad", "tici-needs-can", [], [
           // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
           //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
-          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["build openpilot", "cd system/manager && ./build.py"],
           ["check dirty", "release/check-dirty.sh"],
           ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
           ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
@@ -190,52 +191,53 @@ node {
       },
       'HW + Unit Tests': {
         deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
+          ["build", "cd system/manager && ./build.py"],
           ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
           ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
           ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
-          ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
-          ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
+          ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
+          ["test manager", "pytest system/manager/test/test_manager.py"],
         ])
       },
       'loopback': {
         deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
-          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["build openpilot", "cd system/manager && ./build.py"],
           ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
         ])
       },
       'camerad': {
         deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
+          ["build", "cd system/manager && ./build.py"],
           ["test camerad", "pytest system/camerad/test/test_camerad.py"],
           ["test exposure", "pytest system/camerad/test/test_exposure.py"],
         ])
         deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
+          ["build", "cd system/manager && ./build.py"],
           ["test camerad", "pytest system/camerad/test/test_camerad.py"],
           ["test exposure", "pytest system/camerad/test/test_exposure.py"],
         ])
       },
       'sensord': {
         deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
+          ["build", "cd system/manager && ./build.py"],
           ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
         ])
         deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
+          ["build", "cd system/manager && ./build.py"],
           ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
         ])
       },
       'replay': {
         deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
+          ["build", "cd system/manager && ./build.py"],
           ["model replay", "selfdrive/test/process_replay/model_replay.py"],
         ])
       },
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["build openpilot", "cd system/manager && ./build.py"],
           ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+          ["test boardd spi", "pytest selfdrive/boardd/tests/test_boardd_spi.py"],
           ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
           ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
           ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
@@ -249,4 +251,4 @@ node {
     currentBuild.result = 'FAILED'
     throw e
   }
-}
+}

RELEASES.md

@@ -1,7 +1,10 @@
-Version 0.9.7 (2024-XX-XX)
+Version 0.9.7 (2024-05-XX)
 ========================
 * New driving model
-* Support for many hybrid Ford models
+* Adjust driving personality with the follow distance button
+* Support for hybrid variants of supported Ford models
+* Added toggle to enable driver monitoring even when openpilot is not engaged
+* Fingerprinting without the OBD-II port on all cars
 
 Version 0.9.6 (2024-02-27)
 ========================
@@ -11,6 +14,9 @@ Version 0.9.6 (2024-02-27)
   * Directly outputs curvature for lateral control
 * New driver monitoring model
   * Trained on larger dataset
+* Model path UI
+  * Shows where driving model wants to be
+  * Shows what model is seeing more clearly, but more jittery
 * AGNOS 9
 * comma body streaming and controls over WebRTC
 * Improved fuzzy fingerprinting for many makes and models

SConstruct

@@ -193,6 +193,7 @@ env = Environment(
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",
     "-Wno-error=unused-but-set-variable",
+    "-Wno-vla-cxx-extension",
   ] + cflags + ccflags,
 
   CPPPATH=cpppath + [
@@ -376,25 +377,22 @@ SConscript([
 ])
 if arch != "Darwin":
   SConscript([
-    'system/camerad/SConscript',
     'system/sensord/SConscript',
     'system/logcatd/SConscript',
   ])
 
+if arch == "larch64":
+  SConscript(['system/camerad/SConscript'])
+
 # Build openpilot
 SConscript(['third_party/SConscript'])
 
-SConscript(['selfdrive/boardd/SConscript'])
-SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
-SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
-SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/navd/SConscript'])
-SConscript(['selfdrive/modeld/SConscript'])
-SConscript(['selfdrive/ui/SConscript'])
+SConscript(['selfdrive/SConscript'])
 
-if arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists() and GetOption('extras'):
+if Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
-  SConscript(['tools/cabana/SConscript'])
+  if arch != "larch64":
+    SConscript(['tools/cabana/SConscript'])
 
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:

common/api/__init__.py

@@ -7,7 +7,7 @@ from openpilot.system.version import get_version
 
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
-class Api():
+class Api:
   def __init__(self, dongle_id):
     self.dongle_id = dongle_id
     with open(Paths.persist_root()+'/comma/id_rsa') as f:

common/git.py

@@ -0,0 +1,42 @@
+import subprocess
+from openpilot.common.utils import cache
+from openpilot.common.run import run_cmd, run_cmd_default
+
+
+@cache
+def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
+  return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
+
+
+@cache
+def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
+  return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
+
+
+@cache
+def get_short_branch(cwd: str = None) -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
+
+
+@cache
+def get_branch(cwd: str = None) -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
+
+
+@cache
+def get_origin(cwd: str = None) -> str:
+  try:
+    local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
+    tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
+    return run_cmd(["git", "config", "remote." + tracking_remote + ".url"], cwd=cwd)
+  except subprocess.CalledProcessError:  # Not on a branch, fallback
+    return run_cmd_default(["git", "config", "--get", "remote.origin.url"], cwd=cwd)
+
+
+@cache
+def get_normalized_origin(cwd: str = None) -> str:
+  return get_origin(cwd) \
+    .replace("git@", "", 1) \
+    .replace(".git", "", 1) \
+    .replace("https://", "", 1) \
+    .replace(":", "/", 1)

common/gpio.py

@@ -1,5 +1,5 @@
 import os
-from functools import lru_cache
+from functools import cache
 
 def gpio_init(pin: int, output: bool) -> None:
   try:
@@ -35,7 +35,7 @@ def gpio_export(pin: int) -> None:
   except Exception:
     print(f"Failed to export gpio {pin}")
 
-@lru_cache(maxsize=None)
+@cache
 def get_irq_action(irq: int) -> list[str]:
   try:
     with open(f"/sys/kernel/irq/{irq}/actions") as f:

common/params.cc

@@ -89,6 +89,7 @@ private:
 
 std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"AlwaysOnDM", PERSISTENT},
     {"ApiCache_Device", PERSISTENT},
     {"ApiCache_NavDestinations", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
@@ -171,7 +172,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
     {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
-    {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
     {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
     {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
@@ -188,6 +188,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
     {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"RouteCount", PERSISTENT},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
     {"TermsVersion", PERSISTENT},
@@ -206,7 +207,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
-    {"VisionRadarToggle", PERSISTENT},
 };
 
 } // namespace
@@ -273,7 +273,9 @@ int Params::put(const char* key, const char* value, size_t value_size) {
   } while (false);
 
   close(tmp_fd);
-  ::unlink(tmp_path.c_str());
+  if (result != 0) {
+    ::unlink(tmp_path.c_str());
+  }
   return result;
 }
 

common/prefix.h

@@ -5,6 +5,7 @@
 
 #include "common/params.h"
 #include "common/util.h"
+#include "system/hardware/hw.h"
 
 class OpenpilotPrefix {
 public:
@@ -25,6 +26,10 @@ public:
       system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
       unlink(param_path.c_str());
     }
+    if (getenv("COMMA_CACHE") == nullptr) {
+      system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
+    }
+    system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
     system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
     unsetenv("OPENPILOT_PREFIX");
   }

common/prefix.py

@@ -4,6 +4,7 @@ import uuid
 
 
 from openpilot.common.params import Params
+from openpilot.system.hardware import PC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
@@ -45,7 +46,8 @@ class OpenpilotPrefix:
       shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
       os.remove(symlink_path)
     shutil.rmtree(self.msgq_path, ignore_errors=True)
-    shutil.rmtree(Paths.log_root(), ignore_errors=True)
+    if PC:
+      shutil.rmtree(Paths.log_root(), ignore_errors=True)
     if not os.environ.get("COMMA_CACHE", False):
       shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
     shutil.rmtree(Paths.comma_home(), ignore_errors=True)

common/run.py

@@ -0,0 +1,13 @@
+import subprocess
+
+
+def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
+  return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
+
+
+def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
+  try:
+    return run_cmd(cmd, cwd=cwd, env=env)
+  except subprocess.CalledProcessError:
+    return default
+

common/spinner.py

@@ -3,7 +3,7 @@ import subprocess
 from openpilot.common.basedir import BASEDIR
 
 
-class Spinner():
+class Spinner:
   def __init__(self):
     try:
       self.spinner_proc = subprocess.Popen(["./spinner"],

common/stat_live.py

@@ -1,6 +1,6 @@
 import numpy as np
 
-class RunningStat():
+class RunningStat:
   # tracks realtime mean and standard deviation without storing any data
   def __init__(self, priors=None, max_trackable=-1):
     self.max_trackable = max_trackable
@@ -51,7 +51,7 @@ class RunningStat():
   def params_to_save(self):
     return [self.M, self.S, self.n]
 
-class RunningStatFilter():
+class RunningStatFilter:
   def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
     self.raw_stat = RunningStat(raw_priors, -1)
     self.filtered_stat = RunningStat(filtered_priors, max_trackable)

common/tests/test_file_helpers.py

@@ -1,11 +1,10 @@
 import os
-import unittest
 from uuid import uuid4
 
 from openpilot.common.file_helpers import atomic_write_in_dir
 
 
-class TestFileHelpers(unittest.TestCase):
+class TestFileHelpers:
   def run_atomic_write_func(self, atomic_write_func):
     path = f"/tmp/tmp{uuid4()}"
     with atomic_write_func(path) as f:
@@ -13,12 +12,8 @@ class TestFileHelpers(unittest.TestCase):
       assert not os.path.exists(path)
 
     with open(path) as f:
-      self.assertEqual(f.read(), "test")
+      assert f.read() == "test"
     os.remove(path)
 
   def test_atomic_write_in_dir(self):
     self.run_atomic_write_func(atomic_write_in_dir)
-
-
-if __name__ == "__main__":
-  unittest.main()

common/tests/test_numpy_fast.py

@@ -1,10 +1,9 @@
 import numpy as np
-import unittest
 
 from openpilot.common.numpy_fast import interp
 
 
-class InterpTest(unittest.TestCase):
+class TestInterp:
   def test_correctness_controls(self):
     _A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.])
     _A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30])
@@ -20,7 +19,3 @@ class InterpTest(unittest.TestCase):
       expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
       actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
       np.testing.assert_equal(actual, expected)
-
-
-if __name__ == "__main__":
-  unittest.main()

common/tests/test_params.py

@@ -1,13 +1,13 @@
+import pytest
 import os
 import threading
 import time
 import uuid
-import unittest
 
 from openpilot.common.params import Params, ParamKeyType, UnknownKeyName
 
-class TestParams(unittest.TestCase):
-  def setUp(self):
+class TestParams:
+  def setup_method(self):
     self.params = Params()
 
   def test_params_put_and_get(self):
@@ -49,16 +49,16 @@ class TestParams(unittest.TestCase):
     assert self.params.get("CarParams", True) == b"test"
 
   def test_params_unknown_key_fails(self):
-    with self.assertRaises(UnknownKeyName):
+    with pytest.raises(UnknownKeyName):
       self.params.get("swag")
 
-    with self.assertRaises(UnknownKeyName):
+    with pytest.raises(UnknownKeyName):
       self.params.get_bool("swag")
 
-    with self.assertRaises(UnknownKeyName):
+    with pytest.raises(UnknownKeyName):
       self.params.put("swag", "abc")
 
-    with self.assertRaises(UnknownKeyName):
+    with pytest.raises(UnknownKeyName):
       self.params.put_bool("swag", True)
 
   def test_remove_not_there(self):
@@ -68,19 +68,19 @@ class TestParams(unittest.TestCase):
 
   def test_get_bool(self):
     self.params.remove("IsMetric")
-    self.assertFalse(self.params.get_bool("IsMetric"))
+    assert not self.params.get_bool("IsMetric")
 
     self.params.put_bool("IsMetric", True)
-    self.assertTrue(self.params.get_bool("IsMetric"))
+    assert self.params.get_bool("IsMetric")
 
     self.params.put_bool("IsMetric", False)
-    self.assertFalse(self.params.get_bool("IsMetric"))
+    assert not self.params.get_bool("IsMetric")
 
     self.params.put("IsMetric", "1")
-    self.assertTrue(self.params.get_bool("IsMetric"))
+    assert self.params.get_bool("IsMetric")
 
     self.params.put("IsMetric", "0")
-    self.assertFalse(self.params.get_bool("IsMetric"))
+    assert not self.params.get_bool("IsMetric")
 
   def test_put_non_blocking_with_get_block(self):
     q = Params()
@@ -107,7 +107,3 @@ class TestParams(unittest.TestCase):
     assert len(keys) > 20
     assert len(keys) == len(set(keys))
     assert b"CarParams" in keys
-
-
-if __name__ == "__main__":
-  unittest.main()

common/tests/test_simple_kalman.py

@@ -1,10 +1,8 @@
-import unittest
-
 from openpilot.common.simple_kalman import KF1D
 
 
-class TestSimpleKalman(unittest.TestCase):
-  def setUp(self):
+class TestSimpleKalman:
+  def setup_method(self):
     dt = 0.01
     x0_0 = 0.0
     x1_0 = 0.0
@@ -24,12 +22,8 @@ class TestSimpleKalman(unittest.TestCase):
 
   def test_getter_setter(self):
     self.kf.set_x([[1.0], [1.0]])
-    self.assertEqual(self.kf.x, [[1.0], [1.0]])
+    assert self.kf.x == [[1.0], [1.0]]
 
   def update_returns_state(self):
     x = self.kf.update(100)
-    self.assertEqual(x, self.kf.x)
-
-
-if __name__ == "__main__":
-  unittest.main()
+    assert x == self.kf.x

common/time.py

@@ -1,6 +1,15 @@
 import datetime
+from pathlib import Path
 
-MIN_DATE = datetime.datetime(year=2024, month=1, day=28)
+_MIN_DATE = datetime.datetime(year=2024, month=3, day=30)
+
+def min_date():
+  # on systemd systems, the default time is the systemd build time
+  systemd_path = Path("/lib/systemd/systemd")
+  if systemd_path.exists():
+    d = datetime.datetime.fromtimestamp(systemd_path.stat().st_mtime)
+    return d + datetime.timedelta(days=1)
+  return _MIN_DATE
 
 def system_time_valid():
-  return datetime.datetime.now() > MIN_DATE
+  return datetime.datetime.now() > min_date()

common/transformations/camera.py

@@ -1,55 +1,74 @@
+import itertools
 import numpy as np
+from dataclasses import dataclass
 
 import openpilot.common.transformations.orientation as orient
 
 ## -- hardcoded hardware params --
-eon_f_focal_length = 910.0
-eon_d_focal_length = 650.0
-tici_f_focal_length = 2648.0
-tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
+@dataclass(frozen=True)
+class CameraConfig:
+  width: int
+  height: int
+  focal_length: float
 
-eon_f_frame_size = (1164, 874)
-eon_d_frame_size = (816, 612)
-tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
+  @property
+  def size(self):
+    return (self.width, self.height)
 
-# aka 'K' aka camera_frame_from_view_frame
-eon_fcam_intrinsics = np.array([
-  [eon_f_focal_length,  0.0,  float(eon_f_frame_size[0])/2],
-  [0.0,  eon_f_focal_length,  float(eon_f_frame_size[1])/2],
-  [0.0,  0.0,                                          1.0]])
-eon_intrinsics = eon_fcam_intrinsics # xx
+  @property
+  def intrinsics(self):
+    # aka 'K' aka camera_frame_from_view_frame
+    return np.array([
+      [self.focal_length,  0.0, float(self.width)/2],
+      [0.0, self.focal_length, float(self.height)/2],
+      [0.0,  0.0, 1.0]
+    ])
 
-eon_dcam_intrinsics = np.array([
-  [eon_d_focal_length,  0.0,  float(eon_d_frame_size[0])/2],
-  [0.0,  eon_d_focal_length,  float(eon_d_frame_size[1])/2],
-  [0.0,  0.0,                                          1.0]])
+  @property
+  def intrinsics_inv(self):
+    # aka 'K_inv' aka view_frame_from_camera_frame
+    return np.linalg.inv(self.intrinsics)
 
-tici_fcam_intrinsics = np.array([
-  [tici_f_focal_length,  0.0,  float(tici_f_frame_size[0])/2],
-  [0.0,  tici_f_focal_length,  float(tici_f_frame_size[1])/2],
-  [0.0,  0.0,                                            1.0]])
+@dataclass(frozen=True)
+class _NoneCameraConfig(CameraConfig):
+  width: int = 0
+  height: int = 0
+  focal_length: float = 0
 
-tici_dcam_intrinsics = np.array([
-  [tici_d_focal_length,  0.0,  float(tici_d_frame_size[0])/2],
-  [0.0,  tici_d_focal_length,  float(tici_d_frame_size[1])/2],
-  [0.0,  0.0,                                            1.0]])
+@dataclass(frozen=True)
+class DeviceCameraConfig:
+  fcam: CameraConfig
+  dcam: CameraConfig
+  ecam: CameraConfig
 
-tici_ecam_intrinsics = tici_dcam_intrinsics
+  def all_cams(self):
+    for cam in ['fcam', 'dcam', 'ecam']:
+      if not isinstance(getattr(self, cam), _NoneCameraConfig):
+        yield cam, getattr(self, cam)
 
-# aka 'K_inv' aka view_frame_from_camera_frame
-eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
-eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
+_ar_ox_fisheye = CameraConfig(1928, 1208, 567.0)  # focal length probably wrong? magnification is not consistent across frame
+_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
+_ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
+_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
+_neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
 
-tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
-tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
+DEVICE_CAMERAS = {
+  # A "device camera" is defined by a device type and sensor
 
+  # sensor type was never set on eon/neo/two
+  ("neo", "unknown"): _neo_config,
+  # unknown here is AR0231, field was added with OX03C10 support
+  ("tici", "unknown"): _ar_ox_config,
 
-FULL_FRAME_SIZE = tici_f_frame_size
-FOCAL = tici_f_focal_length
-fcam_intrinsics = tici_fcam_intrinsics
-
-W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
+  # before deviceState.deviceType was set, assume tici AR config
+  ("unknown", "ar0231"): _ar_ox_config,
+  ("unknown", "ox03c10"): _ar_ox_config,
 
+  # simulator (emulates a tici)
+  ("pc", "unknown"): _ar_ox_config,
+}
+prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', _ar_ox_config), ('ox03c10', _ar_ox_config), ('os04c10', _os_config)))
+DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods})
 
 # device/mesh : x->forward, y-> right, z->down
 # view : x->right, y->down, z->forward
@@ -93,7 +112,7 @@ def roll_from_ke(m):
                     -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
 
 
-def normalize(img_pts, intrinsics=fcam_intrinsics):
+def normalize(img_pts, intrinsics):
   # normalizes image coordinates
   # accepts single pt or array of pts
   intrinsics_inv = np.linalg.inv(intrinsics)
@@ -106,7 +125,7 @@ def normalize(img_pts, intrinsics=fcam_intrinsics):
   return img_pts_normalized[:, :2].reshape(input_shape)
 
 
-def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf):
+def denormalize(img_pts, intrinsics, width=np.inf, height=np.inf):
   # denormalizes image coordinates
   # accepts single pt or array of pts
   img_pts = np.array(img_pts)
@@ -123,7 +142,7 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf
   return img_pts_denormalized[:, :2].reshape(input_shape)
 
 
-def get_calib_from_vp(vp, intrinsics=fcam_intrinsics):
+def get_calib_from_vp(vp, intrinsics):
   vp_norm = normalize(vp, intrinsics)
   yaw_calib = np.arctan(vp_norm[0])
   pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))

common/transformations/model.py

@@ -1,19 +1,11 @@
 import numpy as np
 
 from openpilot.common.transformations.orientation import rot_from_euler
-from openpilot.common.transformations.camera import (
-  FULL_FRAME_SIZE, get_view_frame_from_calib_frame, view_frame_from_device_frame,
-  eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics)
+from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame
 
 # segnet
 SEGNET_SIZE = (512, 384)
 
-def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
-  return np.array([[float(segnet_size[0]) / full_frame_size[0],  0.0],
-                   [0.0,  float(segnet_size[1]) / full_frame_size[1]]])
-segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
-
-
 # MED model
 MEDMODEL_INPUT_SIZE = (512, 256)
 MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
@@ -63,16 +55,9 @@ calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3])
 calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3])
 
 # This function is verified to give similar results to xx.uncommon.utils.transform_img
-def get_warp_matrix(device_from_calib_euler: np.ndarray, wide_camera: bool = False, bigmodel_frame: bool = False, tici: bool = True) -> np.ndarray:
-  if tici and wide_camera:
-    cam_intrinsics = tici_ecam_intrinsics
-  elif tici:
-    cam_intrinsics = tici_fcam_intrinsics
-  else:
-    cam_intrinsics = eon_fcam_intrinsics
-
+def get_warp_matrix(device_from_calib_euler: np.ndarray, intrinsics: np.ndarray, bigmodel_frame: bool = False) -> np.ndarray:
   calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel
   device_from_calib = rot_from_euler(device_from_calib_euler)
-  camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib
+  camera_from_calib = intrinsics @ view_frame_from_device_frame @ device_from_calib
   warp_matrix: np.ndarray = camera_from_calib @ calib_from_model
   return warp_matrix

common/transformations/tests/test_coordinates.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 
 import numpy as np
-import unittest
 
 import openpilot.common.transformations.coordinates as coord
 
@@ -44,7 +43,7 @@ ned_offsets_batch = np.array([[  53.88103168,   43.83445935,  -46.27488057],
                               [  78.56272609,   18.53100158,  -43.25290759]])
 
 
-class TestNED(unittest.TestCase):
+class TestNED:
   def test_small_distances(self):
     start_geodetic = np.array([33.8042184, -117.888593, 0.0])
     local_coord = coord.LocalCoord.from_geodetic(start_geodetic)
@@ -54,13 +53,13 @@ class TestNED(unittest.TestCase):
 
     west_geodetic = start_geodetic + [0, -0.0005, 0]
     west_ned = local_coord.geodetic2ned(west_geodetic)
-    self.assertLess(np.abs(west_ned[0]), 1e-3)
-    self.assertLess(west_ned[1], 0)
+    assert np.abs(west_ned[0]) < 1e-3
+    assert west_ned[1] < 0
 
     southwest_geodetic = start_geodetic + [-0.0005, -0.002, 0]
     southwest_ned = local_coord.geodetic2ned(southwest_geodetic)
-    self.assertLess(southwest_ned[0], 0)
-    self.assertLess(southwest_ned[1], 0)
+    assert southwest_ned[0] < 0
+    assert southwest_ned[1] < 0
 
   def test_ecef_geodetic(self):
     # testing single
@@ -105,5 +104,3 @@ class TestNED(unittest.TestCase):
     np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
                                                            ecef_positions_offset_batch,
                                                            rtol=1e-9, atol=1e-7)
-if __name__ == "__main__":
-  unittest.main()

common/transformations/tests/test_orientation.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 
 import numpy as np
-import unittest
 
 from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                                rot2quat, quat2rot, \
@@ -32,7 +31,7 @@ ned_eulers = np.array([[ 0.46806039, -0.4881889 ,  1.65697808],
                     [ 2.50450101,  0.36304151,  0.33136365]])
 
 
-class TestOrientation(unittest.TestCase):
+class TestOrientation:
   def test_quat_euler(self):
     for i, eul in enumerate(eulers):
       np.testing.assert_allclose(quats[i], euler2quat(eul), rtol=1e-7)
@@ -62,7 +61,3 @@ class TestOrientation(unittest.TestCase):
       np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
       #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
     # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
-
-
-if __name__ == "__main__":
-  unittest.main()

common/util.cc

@@ -246,18 +246,13 @@ std::string random_string(std::string::size_type length) {
   return s;
 }
 
-std::string dir_name(std::string const &path) {
-  size_t pos = path.find_last_of("/");
-  if (pos == std::string::npos) return "";
-  return path.substr(0, pos);
-}
-
 bool starts_with(const std::string &s1, const std::string &s2) {
   return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0;
 }
 
-bool ends_with(const std::string &s1, const std::string &s2) {
-  return strcmp(s1.c_str() + (s1.size() - s2.size()), s2.c_str()) == 0;
+bool ends_with(const std::string& s, const std::string& suffix) {
+  return s.size() >= suffix.size() &&
+         strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
 }
 
 std::string check_output(const std::string& command) {
@@ -276,20 +271,4 @@ std::string check_output(const std::string& command) {
   return result;
 }
 
-struct tm get_time() {
-  time_t rawtime;
-  time(&rawtime);
-
-  struct tm sys_time;
-  gmtime_r(&rawtime, &sys_time);
-
-  return sys_time;
-}
-
-bool time_valid(struct tm sys_time) {
-  int year = 1900 + sys_time.tm_year;
-  int month = 1 + sys_time.tm_mon;
-  return (year > 2023) || (year == 2023 && month >= 6);
-}
-
 }  // namespace util

common/util.h

@@ -8,7 +8,6 @@
 #include <atomic>
 #include <chrono>
 #include <csignal>
-#include <ctime>
 #include <map>
 #include <memory>
 #include <mutex>
@@ -45,10 +44,6 @@ int set_realtime_priority(int level);
 int set_core_affinity(std::vector<int> cores);
 int set_file_descriptor_limit(uint64_t limit);
 
-// ***** Time helpers *****
-struct tm get_time();
-bool time_valid(struct tm sys_time);
-
 // ***** math helpers *****
 
 // map x from [a1, a2] to [b1, b2]
@@ -75,9 +70,8 @@ int getenv(const char* key, int default_val);
 float getenv(const char* key, float default_val);
 
 std::string hexdump(const uint8_t* in, const size_t size);
-std::string dir_name(std::string const& path);
 bool starts_with(const std::string &s1, const std::string &s2);
-bool ends_with(const std::string &s1, const std::string &s2);
+bool ends_with(const std::string &s, const std::string &suffix);
 
 // ***** random helpers *****
 int random_int(int min, int max);
@@ -179,3 +173,10 @@ void update_max_atomic(std::atomic<T>& max, T const& value) {
   T prev = max;
   while (prev < value && !max.compare_exchange_weak(prev, value)) {}
 }
+
+typedef struct Rect {
+  int x;
+  int y;
+  int w;
+  int h;
+} Rect;

common/utils.py

@@ -0,0 +1,23 @@
+from collections.abc import Callable
+from functools import lru_cache
+from typing import TypeVar
+
+
+_RT = TypeVar("_RT")
+
+
+class Freezable:
+  _frozen: bool = False
+
+  def freeze(self):
+    if not self._frozen:
+      self._frozen = True
+
+  def __setattr__(self, *args, **kwargs):
+    if self._frozen:
+      raise Exception("cannot modify frozen object")
+    super().__setattr__(*args, **kwargs)
+
+
+def cache(user_function: Callable[..., _RT], /) -> Callable[..., _RT]:
+  return lru_cache(maxsize=None)(user_function)

conftest.py

@@ -5,7 +5,7 @@ import pytest
 import random
 
 from openpilot.common.prefix import OpenpilotPrefix
-from openpilot.selfdrive.manager import manager
+from openpilot.system.manager import manager
 from openpilot.system.hardware import TICI, HARDWARE
 
 

docs/BOUNTIES.md

@@ -9,8 +9,10 @@ Get paid to improve openpilot!
 * once you open a PR, the bounty is locked to you until you stop working on it
 * open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim
 * get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders)
+* for bounties >$100, the first PR gets a lock, which times out after a week of no progress
 
-New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
+We put up each bounty with the intention that it'll get merged, but occasionally the right resolution is to close the bounty, which only becomes clear once some effort is put in. 
+This is still valuable work, so we'll pay out $100 for getting any bounty closed with a good explanation.
 
 ## Issue bounties
 
@@ -20,6 +22,8 @@ We've tagged bounty-eligible issues across openpilot and the rest of our repos;
 * **$500** - a few days of work for an experienced openpilot developer
 * **$1k+** - a week or two of work (could be less for the right person)
 
+New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
+
 ## Car bounties
 
 The car bounties only apply to cars that have a path to ship in openpilot release, which excludes unsupportable cars (e.g. Fords with a steering lockout) or cars that require extra hardware (Honda Accord with serial steering).

docs/CARS.md

@@ -4,29 +4,24 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 288 Supported Cars
+# 287 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
 |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
-|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
-|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
-|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
-|Cadillac|Escalade ESV 2019[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2019">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
-|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
@@ -34,8 +29,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
-|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
@@ -47,31 +43,31 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
-|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023">Buy Here</a></sub></details>||
+|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023">Buy Here</a></sub></details>||
-|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
-|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
-|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
+|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
+|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
+|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
+|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
 |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
-|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
-|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
-|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
+|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
 |Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
-|Honda|CR-V Hybrid 2017-20|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-20">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
 |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
@@ -87,30 +83,30 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Cruz 2022-24[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
@@ -118,49 +114,51 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
 |Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
-|Hyundai|Staria 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
+|Hyundai|Staria 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
-|Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
+|Hyundai|Tucson Hybrid 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Tucson Plug-in Hybrid 2024[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
-|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
+|Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
+|Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
-|Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
-|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
+|Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
+|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
+|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2022-23">Buy Here</a></sub></details>||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
-|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
+|Kia|K8 Hybrid (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
+|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||
 |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
 |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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
+|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
 |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Hybrid 2021-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
-|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Hybrid 2021-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Kia|Sportage 2023-24[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
+|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
@@ -187,8 +185,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
@@ -196,26 +194,27 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
 |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
-|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Škoda|Fabia 2022-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Kamiq 2021-23[<sup>10,12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
@@ -228,20 +227,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
 |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
 |Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
 |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
 |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
 |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
 |Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -249,69 +248,68 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
 |Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
 |Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
 |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
 |Toyota|RAV4 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-24">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|T-Roc 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-22">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
-<sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
-<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>9</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>10</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>11</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>12</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
-<sup>13</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>14</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>5</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
+<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>8</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>9</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>10</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
+<sup>12</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>13</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
@@ -352,7 +350,9 @@ openpilot does not yet support these Toyota models due to a new message authenti
 * Toyota Venza 2021+
 * Toyota Sequoia 2023+
 * Toyota Tundra 2022+
+* Toyota Highlander 2024+
 * Toyota Corolla Cross 2022+ (only US model)
+* Toyota Camry 2025+
 * Lexus NX 2022+
 * Toyota bZ4x 2023+
 * Subaru Solterra 2023+

launch_chffrplus.sh

@@ -82,7 +82,7 @@ function launch {
   tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
   # start manager
-  cd selfdrive/manager
+  cd system/manager
   if [ ! -f $DIR/prebuilt ]; then
     ./build.py
   fi

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="9.7"
+  export AGNOS_VERSION="10.1"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

pyproject.toml

@@ -1,3 +1,12 @@
+[project]
+name = "openpilot"
+requires-python = ">= 3.11"
+readme = "README.md"
+license = {text = "MIT License"}
+
+[project.urls]
+Homepage = "https://comma.ai"
+
 [tool.pytest.ini_options]
 minversion = "6.0"
 addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
@@ -11,16 +20,17 @@ markers = [
 ]
 testpaths = [
   "common",
-  "selfdrive/athena",
   "selfdrive/boardd",
   "selfdrive/car",
   "selfdrive/controls",
   "selfdrive/locationd",
   "selfdrive/monitoring",
   "selfdrive/navd/tests",
-  "selfdrive/thermald",
   "selfdrive/test/longitudinal_maneuvers",
   "selfdrive/test/process_replay/test_fuzzy.py",
+  "system/updated",
+  "system/thermald",
+  "system/athena",
   "system/camerad",
   "system/hardware/tici",
   "system/loggerd",
@@ -82,11 +92,9 @@ documentation = "https://docs.comma.ai"
 python = "~3.11"
 aiohttp = "*"
 aiortc = "*"
-casadi = "==3.6.3"
 cffi = "*"
 crcmod = "*"
 Cython = "*"
-future-fstrings = "*"  # for acados
 json-rpc = "*"
 libusb1 = "*"
 numpy = "*"
@@ -109,6 +117,10 @@ spidev = { version = "*", platform = "linux" }
 sympy = "*"
 websocket_client = "*"
 
+# acados deps
+casadi = "*"
+future-fstrings = "*"
+
 # these should be removed
 markdown-it-py = "*"
 timezonefinder = "*"
@@ -122,14 +134,14 @@ breathe = "*"
 control = "*"
 coverage = "*"
 dictdiffer = "*"
-ft4222 = "*"
 flaky = "*"
 hypothesis = "~6.47"
 inputs = "*"
 Jinja2 = "*"
 lru-dict = "*"
 matplotlib = "*"
-metadrive-simulator = { version = "0.4.2.3", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+# No release for this fix https://github.com/metadriverse/metadrive/issues/632. Pinned to this commit until next release
+metadrive-simulator = {git = "https://github.com/metadriverse/metadrive.git", rev ="233a3a1698be7038ec3dd050ca10b547b4b3324c", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
@@ -151,12 +163,14 @@ pytest-subtests = "*"
 pytest-xdist = "*"
 pytest-timeout = "*"
 pytest-randomly = "*"
+pytest-asyncio = "*"
+pytest-mock = "*"
+rerun-sdk = "*"
 ruff = "*"
 sphinx = "*"
 sphinx-rtd-theme = "*"
 sphinx-sitemap = "*"
 tabulate = "*"
-tenacity = "*"
 types-requests = "*"
 types-tabulate = "*"
 tqdm = "*"
@@ -170,11 +184,30 @@ build-backend = "poetry.core.masonry.api"
 
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
-lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
-lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
+indent-width = 2
+lint.select = [
+  "E", "F", "W", "PIE", "C4", "ISC", "A", "B",
+  "NPY", # numpy
+  "UP",  # pyupgrade
+  "TRY302", "TRY400", "TRY401", # try/excepts
+  "RUF008", "RUF100",
+  "TID251"
+]
+lint.ignore = [
+  "E741",
+  "E402",
+  "C408",
+  "ISC003",
+  "B027",
+  "B024",
+  "NPY002",  # new numpy random syntax is worse
+  "UP038",   # (x, y) -> x|y for isinstance
+]
 line-length = 160
 target-version="py311"
 exclude = [
+  "body",
+  "cereal",
   "panda",
   "opendbc",
   "rednose_repo",
@@ -191,6 +224,9 @@ lint.flake8-implicit-str-concat.allow-multiline=false
 "third_party".msg = "Use openpilot.third_party"
 "tools".msg = "Use openpilot.tools"
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
+"unittest".msg = "Use pytest"
 
 [tool.coverage.run]
 concurrency = ["multiprocessing", "thread"]
+[tool.ruff.format]
+quote-style = "preserve"

release/build_devel.sh

@@ -1,5 +1,4 @@
 #!/usr/bin/bash
-
 set -ex
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
@@ -44,11 +43,12 @@ git clean -xdff
 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-cp -pR --parents $(cat release/files_*) $TARGET_DIR/
+cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
 
 # in the directory
 cd $TARGET_DIR
 rm -f panda/board/obj/panda.bin.signed
+git submodule status
 
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)

release/build_release.sh

@@ -9,13 +9,6 @@ cd $DIR
 BUILD_DIR=/data/openpilot
 SOURCE_DIR="$(git rev-parse --show-toplevel)"
 
-if [ -f /TICI ]; then
-  FILES_SRC="release/files_tici"
-else
-  echo "no release files set"
-  exit 1
-fi
-
 if [ -z "$RELEASE_BRANCH" ]; then
   echo "RELEASE_BRANCH is not set"
   exit 1
@@ -36,8 +29,7 @@ git checkout --orphan $RELEASE_BRANCH
 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-cp -pR --parents $(cat release/files_common) $BUILD_DIR/
-cp -pR --parents $(cat $FILES_SRC) $BUILD_DIR/
+cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
 
 # in the directory
 cd $BUILD_DIR
@@ -77,6 +69,10 @@ find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
 rm selfdrive/modeld/models/supercombo.onnx
 
+find third_party/ -name '*x86*' -exec rm -r {} +
+find third_party/ -name '*Darwin*' -exec rm -r {} +
+
+
 # Restore third_party
 git checkout third_party/
 
@@ -93,7 +89,7 @@ cd $SOURCE_DIR
 cp -pR -n --parents $TEST_FILES $BUILD_DIR/
 cd $BUILD_DIR
 RELEASE=1 selfdrive/test/test_onroad.py
-#selfdrive/manager/test/test_manager.py
+#system/manager/test/test_manager.py
 selfdrive/car/tests/test_car_interfaces.py
 rm -rf $TEST_FILES
 

release/check-submodules.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 while read hash submodule ref; do
-  git -C $submodule fetch --depth 1000 origin master
+  git -C $submodule fetch --depth 2000 origin master
   git -C $submodule branch -r --contains $hash | grep "origin/master"
   if [ "$?" -eq 0 ]; then
     echo "$submodule ok"

release/files_common

@@ -1,561 +0,0 @@
-.gitignore
-LICENSE
-launch_env.sh
-launch_chffrplus.sh
-launch_openpilot.sh
-
-Jenkinsfile
-SConstruct
-pyproject.toml
-
-README.md
-RELEASES.md
-docs/CARS.md
-docs/CONTRIBUTING.md
-docs/INTEGRATION.md
-docs/LIMITATIONS.md
-site_scons/site_tools/cython.py
-
-openpilot/__init__.py
-openpilot/**
-
-common/.gitignore
-common/__init__.py
-common/*.py
-common/*.pyx
-common/mock/*
-
-common/transformations/__init__.py
-common/transformations/camera.py
-common/transformations/model.py
-
-common/transformations/SConscript
-common/transformations/coordinates.py
-common/transformations/coordinates.cc
-common/transformations/coordinates.hpp
-common/transformations/orientation.py
-common/transformations/orientation.cc
-common/transformations/orientation.hpp
-common/transformations/transformations.pxd
-common/transformations/transformations.pyx
-
-common/api/__init__.py
-
-release/*
-
-tools/__init__.py
-tools/lib/*
-tools/bodyteleop/*
-tools/joystick/*
-tools/replay/*.cc
-tools/replay/*.h
-
-selfdrive/__init__.py
-selfdrive/sentry.py
-selfdrive/tombstoned.py
-selfdrive/updated.py
-selfdrive/statsd.py
-
-system/logmessaged.py
-system/micd.py
-system/version.py
-
-selfdrive/athena/__init__.py
-selfdrive/athena/athenad.py
-selfdrive/athena/manage_athenad.py
-selfdrive/athena/registration.py
-
-selfdrive/boardd/.gitignore
-selfdrive/boardd/SConscript
-selfdrive/boardd/__init__.py
-selfdrive/boardd/boardd.cc
-selfdrive/boardd/boardd.h
-selfdrive/boardd/main.cc
-selfdrive/boardd/boardd.py
-selfdrive/boardd/boardd_api_impl.pyx
-selfdrive/boardd/can_list_to_can_capnp.cc
-selfdrive/boardd/panda.cc
-selfdrive/boardd/panda.h
-selfdrive/boardd/spi.cc
-selfdrive/boardd/panda_comms.h
-selfdrive/boardd/panda_comms.cc
-selfdrive/boardd/set_time.py
-selfdrive/boardd/pandad.py
-selfdrive/boardd/tests/test_boardd_loopback.py
-
-selfdrive/car/__init__.py
-selfdrive/car/docs_definitions.py
-selfdrive/car/car_helpers.py
-selfdrive/car/fingerprints.py
-selfdrive/car/interfaces.py
-selfdrive/car/values.py
-selfdrive/car/vin.py
-selfdrive/car/disable_ecu.py
-selfdrive/car/fw_versions.py
-selfdrive/car/fw_query_definitions.py
-selfdrive/car/ecu_addrs.py
-selfdrive/car/isotp_parallel_query.py
-selfdrive/car/tests/__init__.py
-selfdrive/car/tests/test_car_interfaces.py
-selfdrive/car/torque_data/*
-
-selfdrive/car/body/*.py
-selfdrive/car/chrysler/*.py
-selfdrive/car/ford/*.py
-selfdrive/car/gm/*.py
-selfdrive/car/honda/*.py
-selfdrive/car/hyundai/*.py
-selfdrive/car/mazda/*.py
-selfdrive/car/mock/*.py
-selfdrive/car/nissan/*.py
-selfdrive/car/subaru/*.py
-selfdrive/car/tesla/*.py
-selfdrive/car/toyota/*.py
-selfdrive/car/volkswagen/*.py
-
-selfdrive/debug/can_printer.py
-selfdrive/debug/check_freq.py
-selfdrive/debug/dump.py
-selfdrive/debug/filter_log_message.py
-selfdrive/debug/format_fingerprints.py
-selfdrive/debug/get_fingerprint.py
-selfdrive/debug/uiview.py
-
-selfdrive/debug/hyundai_enable_radar_points.py
-selfdrive/debug/vw_mqb_config.py
-
-common/SConscript
-common/version.h
-
-common/*.h
-common/*.cc
-
-selfdrive/controls/__init__.py
-selfdrive/controls/controlsd.py
-selfdrive/controls/plannerd.py
-selfdrive/controls/radard.py
-selfdrive/controls/lib/__init__.py
-selfdrive/controls/lib/alertmanager.py
-selfdrive/controls/lib/alerts_offroad.json
-selfdrive/controls/lib/desire_helper.py
-selfdrive/controls/lib/drive_helpers.py
-selfdrive/controls/lib/events.py
-selfdrive/controls/lib/latcontrol_angle.py
-selfdrive/controls/lib/latcontrol_torque.py
-selfdrive/controls/lib/latcontrol_pid.py
-selfdrive/controls/lib/latcontrol.py
-selfdrive/controls/lib/longcontrol.py
-selfdrive/controls/lib/longitudinal_planner.py
-selfdrive/controls/lib/pid.py
-selfdrive/controls/lib/vehicle_model.py
-
-selfdrive/controls/lib/lateral_mpc_lib/.gitignore
-selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
-selfdrive/controls/lib/lateral_mpc_lib/*
-selfdrive/controls/lib/longitudinal_mpc_lib/*
-
-system/__init__.py
-system/*.py
-
-system/hardware/__init__.py
-system/hardware/base.h
-system/hardware/base.py
-system/hardware/hw.h
-system/hardware/hw.py
-system/hardware/tici/__init__.py
-system/hardware/tici/hardware.h
-system/hardware/tici/hardware.py
-system/hardware/tici/pins.py
-system/hardware/tici/agnos.py
-system/hardware/tici/casync.py
-system/hardware/tici/agnos.json
-system/hardware/tici/amplifier.py
-system/hardware/tici/updater
-system/hardware/tici/iwlist.py
-system/hardware/tici/esim.nmconnection
-system/hardware/pc/__init__.py
-system/hardware/pc/hardware.h
-system/hardware/pc/hardware.py
-
-system/ubloxd/.gitignore
-system/ubloxd/SConscript
-system/ubloxd/generated/*
-system/ubloxd/*.h
-system/ubloxd/*.cc
-
-selfdrive/locationd/__init__.py
-selfdrive/locationd/SConscript
-selfdrive/locationd/.gitignore
-selfdrive/locationd/locationd.h
-selfdrive/locationd/locationd.cc
-selfdrive/locationd/paramsd.py
-selfdrive/locationd/models/__init__.py
-selfdrive/locationd/models/.gitignore
-selfdrive/locationd/models/car_kf.py
-selfdrive/locationd/models/live_kf.py
-selfdrive/locationd/models/live_kf.h
-selfdrive/locationd/models/live_kf.cc
-selfdrive/locationd/models/constants.py
-
-selfdrive/locationd/torqued.py
-selfdrive/locationd/calibrationd.py
-selfdrive/locationd/helpers.py
-
-system/logcatd/.gitignore
-system/logcatd/SConscript
-system/logcatd/logcatd_systemd.cc
-
-system/proclogd/SConscript
-system/proclogd/main.cc
-system/proclogd/proclog.cc
-system/proclogd/proclog.h
-
-system/loggerd/.gitignore
-system/loggerd/SConscript
-system/loggerd/encoder/encoder.cc
-system/loggerd/encoder/encoder.h
-system/loggerd/encoder/v4l_encoder.cc
-system/loggerd/encoder/v4l_encoder.h
-system/loggerd/video_writer.cc
-system/loggerd/video_writer.h
-system/loggerd/logger.cc
-system/loggerd/logger.h
-system/loggerd/loggerd.cc
-system/loggerd/loggerd.h
-system/loggerd/encoderd.cc
-system/loggerd/bootlog.cc
-system/loggerd/encoder/ffmpeg_encoder.cc
-system/loggerd/encoder/ffmpeg_encoder.h
-
-system/loggerd/__init__.py
-system/loggerd/config.py
-system/loggerd/uploader.py
-system/loggerd/deleter.py
-system/loggerd/xattr_cache.py
-
-system/sensord/.gitignore
-system/sensord/SConscript
-system/sensord/sensors_qcom2.cc
-system/sensord/sensors/*.cc
-system/sensord/sensors/*.h
-system/sensord/pigeond.py
-
-system/webrtc/__init__.py
-system/webrtc/webrtcd.py
-system/webrtc/schema.py
-system/webrtc/device/audio.py
-system/webrtc/device/video.py
-
-selfdrive/thermald/thermald.py
-selfdrive/thermald/power_monitoring.py
-selfdrive/thermald/fan_controller.py
-
-selfdrive/test/__init__.py
-selfdrive/test/fuzzy_generation.py
-selfdrive/test/helpers.py
-selfdrive/test/setup_device_ci.sh
-selfdrive/test/test_onroad.py
-selfdrive/test/test_time_to_onroad.py
-
-selfdrive/ui/.gitignore
-selfdrive/ui/SConscript
-selfdrive/ui/*.cc
-selfdrive/ui/*.h
-selfdrive/ui/text
-selfdrive/ui/spinner
-selfdrive/ui/soundd.py
-selfdrive/ui/translations/*.ts
-selfdrive/ui/translations/languages.json
-selfdrive/ui/update_translations.py
-selfdrive/ui/tests/test_translations.py
-
-selfdrive/ui/qt/*.cc
-selfdrive/ui/qt/*.h
-selfdrive/ui/qt/network/*.cc
-selfdrive/ui/qt/network/*.h
-selfdrive/ui/qt/offroad/*.cc
-selfdrive/ui/qt/offroad/*.h
-selfdrive/ui/qt/offroad/*.qml
-selfdrive/ui/qt/widgets/*.cc
-selfdrive/ui/qt/widgets/*.h
-selfdrive/ui/qt/maps/*.cc
-selfdrive/ui/qt/maps/*.h
-selfdrive/ui/qt/setup/*.cc
-selfdrive/ui/qt/setup/*.h
-
-selfdrive/ui/installer/*.cc
-selfdrive/ui/installer/*.h
-selfdrive/ui/installer/*.cc
-
-system/camerad/SConscript
-system/camerad/main.cc
-
-system/camerad/snapshot/*
-system/camerad/cameras/camera_common.h
-system/camerad/cameras/camera_common.cc
-system/camerad/sensors/*.h
-system/camerad/sensors/*.cc
-
-selfdrive/manager/__init__.py
-selfdrive/manager/build.py
-selfdrive/manager/helpers.py
-selfdrive/manager/manager.py
-selfdrive/manager/process_config.py
-selfdrive/manager/process.py
-selfdrive/manager/test/__init__.py
-selfdrive/manager/test/test_manager.py
-
-selfdrive/modeld/.gitignore
-selfdrive/modeld/__init__.py
-selfdrive/modeld/SConscript
-selfdrive/modeld/modeld.py
-selfdrive/modeld/parse_model_outputs.py
-selfdrive/modeld/fill_model_msg.py
-selfdrive/modeld/get_model_metadata.py
-selfdrive/modeld/navmodeld.py
-selfdrive/modeld/dmonitoringmodeld.py
-selfdrive/modeld/constants.py
-selfdrive/modeld/modeld
-
-selfdrive/modeld/models/__init__.py
-selfdrive/modeld/models/*.pxd
-selfdrive/modeld/models/*.pyx
-
-selfdrive/modeld/models/commonmodel.cc
-selfdrive/modeld/models/commonmodel.h
-
-selfdrive/modeld/models/supercombo.onnx
-
-selfdrive/modeld/models/dmonitoring_model_q.dlc
-
-selfdrive/modeld/models/navmodel_q.dlc
-
-selfdrive/modeld/transforms/loadyuv.cc
-selfdrive/modeld/transforms/loadyuv.h
-selfdrive/modeld/transforms/loadyuv.cl
-selfdrive/modeld/transforms/transform.cc
-selfdrive/modeld/transforms/transform.h
-selfdrive/modeld/transforms/transform.cl
-
-selfdrive/modeld/thneed/*.py
-selfdrive/modeld/thneed/thneed.h
-selfdrive/modeld/thneed/thneed_common.cc
-selfdrive/modeld/thneed/thneed_qcom2.cc
-selfdrive/modeld/thneed/serialize.cc
-
-selfdrive/modeld/runners/__init__.py
-selfdrive/modeld/runners/*.pxd
-selfdrive/modeld/runners/*.pyx
-selfdrive/modeld/runners/*.cc
-selfdrive/modeld/runners/*.h
-selfdrive/modeld/runners/*.py
-
-selfdrive/monitoring/dmonitoringd.py
-selfdrive/monitoring/driver_monitor.py
-
-selfdrive/navd/.gitignore
-selfdrive/navd/__init__.py
-selfdrive/navd/**
-
-selfdrive/assets/.gitignore
-selfdrive/assets/assets.qrc
-selfdrive/assets/*.png
-selfdrive/assets/*.svg
-selfdrive/assets/body/*
-selfdrive/assets/fonts/*.ttf
-selfdrive/assets/icons/*
-selfdrive/assets/images/*
-selfdrive/assets/offroad/*
-selfdrive/assets/sounds/*
-selfdrive/assets/training/*
-selfdrive/assets/navigation/*
-
-third_party/.gitignore
-third_party/SConscript
-
-third_party/linux/**
-third_party/opencl/**
-
-third_party/json11/json11.cpp
-third_party/json11/json11.hpp
-
-third_party/qrcode/*.cc
-third_party/qrcode/*.hpp
-
-third_party/kaitai/*.h
-third_party/kaitai/*.cpp
-
-third_party/libyuv/include/**
-
-third_party/snpe/include/**
-third_party/snpe/dsp**
-
-third_party/acados/.gitignore
-third_party/acados/include/**
-third_party/acados/acados_template/**
-
-third_party/bootstrap/**
-third_party/qt5/larch64/bin/**
-third_party/maplibre-native-qt/**
-
-scripts/update_now.sh
-scripts/stop_updater.sh
-
-teleoprtc/**
-
-rednose_repo/site_scons/site_tools/rednose_filter.py
-rednose/.gitignore
-rednose/**
-
-body/.gitignore
-body/board/SConscript
-body/board/*.h
-body/board/*.c
-body/board/*.s
-body/board/*.ld
-body/board/inc/**
-body/board/obj/
-body/board/bldc/**
-body/board/drivers/**
-body/certs/**
-body/crypto/**
-
-cereal/.gitignore
-cereal/__init__.py
-cereal/car.capnp
-cereal/custom.capnp
-cereal/legacy.capnp
-cereal/log.capnp
-cereal/services.py
-cereal/SConscript
-cereal/include/**
-cereal/logger/logger.h
-cereal/messaging/.gitignore
-cereal/messaging/__init__.py
-cereal/messaging/bridge.cc
-cereal/messaging/event.cc
-cereal/messaging/event.h
-cereal/messaging/impl_fake.cc
-cereal/messaging/impl_fake.h
-cereal/messaging/impl_msgq.cc
-cereal/messaging/impl_msgq.h
-cereal/messaging/impl_zmq.cc
-cereal/messaging/impl_zmq.h
-cereal/messaging/messaging.cc
-cereal/messaging/messaging.h
-cereal/messaging/messaging.pxd
-cereal/messaging/messaging_pyx.pyx
-cereal/messaging/msgq.cc
-cereal/messaging/msgq.h
-cereal/messaging/socketmaster.cc
-cereal/visionipc/.gitignore
-cereal/visionipc/__init__.py
-cereal/visionipc/*.cc
-cereal/visionipc/*.h
-cereal/visionipc/*.pyx
-cereal/visionipc/*.pxd
-
-panda/.gitignore
-panda/__init__.py
-panda/SConscript
-panda/board/**
-panda/certs/**
-panda/crypto/**
-panda/examples/query_fw_versions.py
-panda/python/**
-
-opendbc/.gitignore
-opendbc/__init__.py
-opendbc/can/__init__.py
-opendbc/can/SConscript
-opendbc/can/can_define.py
-opendbc/can/common.cc
-opendbc/can/common.h
-opendbc/can/common.pxd
-opendbc/can/common_dbc.h
-opendbc/can/dbc.cc
-opendbc/can/packer.cc
-opendbc/can/packer.py
-opendbc/can/packer_pyx.pyx
-opendbc/can/parser.cc
-opendbc/can/parser.py
-opendbc/can/parser_pyx.pyx
-
-opendbc/comma_body.dbc
-
-opendbc/chrysler_ram_hd_generated.dbc
-opendbc/chrysler_ram_dt_generated.dbc
-opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
-opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
-
-opendbc/gm_global_a_powertrain_generated.dbc
-opendbc/gm_global_a_object.dbc
-opendbc/gm_global_a_chassis.dbc
-
-opendbc/FORD_CADS.dbc
-opendbc/ford_fusion_2018_adas.dbc
-opendbc/ford_lincoln_base_pt.dbc
-
-opendbc/honda_accord_2018_can_generated.dbc
-opendbc/acura_ilx_2016_can_generated.dbc
-opendbc/acura_rdx_2018_can_generated.dbc
-opendbc/acura_rdx_2020_can_generated.dbc
-opendbc/honda_civic_touring_2016_can_generated.dbc
-opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
-opendbc/honda_crv_touring_2016_can_generated.dbc
-opendbc/honda_crv_ex_2017_can_generated.dbc
-opendbc/honda_crv_ex_2017_body_generated.dbc
-opendbc/honda_crv_executive_2016_can_generated.dbc
-opendbc/honda_fit_ex_2018_can_generated.dbc
-opendbc/honda_odyssey_exl_2018_generated.dbc
-opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
-opendbc/honda_insight_ex_2019_can_generated.dbc
-opendbc/acura_ilx_2016_nidec.dbc
-opendbc/honda_civic_ex_2022_can_generated.dbc
-
-opendbc/hyundai_canfd.dbc
-opendbc/hyundai_kia_generic.dbc
-opendbc/hyundai_kia_mando_front_radar_generated.dbc
-
-opendbc/mazda_2017.dbc
-
-opendbc/nissan_x_trail_2017_generated.dbc
-opendbc/nissan_leaf_2018_generated.dbc
-
-opendbc/subaru_global_2017_generated.dbc
-opendbc/subaru_global_2020_hybrid_generated.dbc
-opendbc/subaru_outback_2015_generated.dbc
-opendbc/subaru_outback_2019_generated.dbc
-opendbc/subaru_forester_2017_generated.dbc
-
-opendbc/toyota_tnga_k_pt_generated.dbc
-opendbc/toyota_new_mc_pt_generated.dbc
-opendbc/toyota_nodsu_pt_generated.dbc
-opendbc/toyota_adas.dbc
-opendbc/toyota_tss2_adas.dbc
-
-opendbc/vw_golf_mk4.dbc
-opendbc/vw_mqb_2010.dbc
-
-opendbc/tesla_can.dbc
-opendbc/tesla_radar.dbc
-opendbc/tesla_powertrain.dbc
-
-tinygrad_repo/openpilot/compile2.py
-tinygrad_repo/extra/onnx.py
-tinygrad_repo/extra/onnx_ops.py
-tinygrad_repo/extra/thneed.py
-tinygrad_repo/extra/utils.py
-tinygrad_repo/tinygrad/codegen/kernel.py
-tinygrad_repo/tinygrad/codegen/linearizer.py
-tinygrad_repo/tinygrad/features/image.py
-tinygrad_repo/tinygrad/features/search.py
-tinygrad_repo/tinygrad/nn/*
-tinygrad_repo/tinygrad/renderer/cstyle.py
-tinygrad_repo/tinygrad/renderer/opencl.py
-tinygrad_repo/tinygrad/runtime/lib.py
-tinygrad_repo/tinygrad/runtime/ops_cpu.py
-tinygrad_repo/tinygrad/runtime/ops_disk.py
-tinygrad_repo/tinygrad/runtime/ops_gpu.py
-tinygrad_repo/tinygrad/shape/*
-tinygrad_repo/tinygrad/*.py

release/files_pc

@@ -1,4 +0,0 @@
-third_party/libyuv/x86_64/**
-third_party/snpe/x86_64/**
-third_party/snpe/x86_64-linux-clang/**
-third_party/acados/x86_64/**

release/files_tici

@@ -1,15 +0,0 @@
-third_party/libyuv/larch64/**
-third_party/snpe/larch64**
-third_party/snpe/aarch64-ubuntu-gcc7.5/*
-third_party/acados/larch64/**
-
-system/camerad/cameras/camera_qcom2.cc
-system/camerad/cameras/camera_qcom2.h
-system/camerad/cameras/camera_util.cc
-system/camerad/cameras/camera_util.h
-system/camerad/cameras/real_debayer.cl
-
-system/qcomgpsd/*
-
-selfdrive/ui/qt/spinner_larch64
-selfdrive/ui/qt/text_larch64

release/release_files.py

@@ -0,0 +1,67 @@
+#!/usr/bin/env python3
+import os
+import re
+from pathlib import Path
+
+HERE = os.path.abspath(os.path.dirname(__file__))
+ROOT = HERE + "/.."
+
+# blacklisting is for two purposes:
+# - minimizing release download size
+# - keeping the diff readable
+blacklist = [
+  "^scripts/",
+  "body/STL/",
+  "tools/cabana/",
+  "panda/examples/",
+  "opendbc/generator/",
+
+  "^tools/",
+  "^tinygrad_repo/",
+
+  "matlab.*.md",
+
+  ".git$",  # for submodules
+  ".git/",
+  ".github/",
+  ".devcontainer/",
+  "Darwin/",
+  ".vscode",
+]
+
+# gets you through the blacklist
+whitelist = [
+  "tools/lib/",
+
+  "tinygrad_repo/openpilot/compile2.py",
+  "tinygrad_repo/extra/onnx.py",
+  "tinygrad_repo/extra/onnx_ops.py",
+  "tinygrad_repo/extra/thneed.py",
+  "tinygrad_repo/extra/utils.py",
+  "tinygrad_repo/tinygrad/codegen/kernel.py",
+  "tinygrad_repo/tinygrad/codegen/linearizer.py",
+  "tinygrad_repo/tinygrad/features/image.py",
+  "tinygrad_repo/tinygrad/features/search.py",
+  "tinygrad_repo/tinygrad/nn/*",
+  "tinygrad_repo/tinygrad/renderer/cstyle.py",
+  "tinygrad_repo/tinygrad/renderer/opencl.py",
+  "tinygrad_repo/tinygrad/runtime/lib.py",
+  "tinygrad_repo/tinygrad/runtime/ops_cpu.py",
+  "tinygrad_repo/tinygrad/runtime/ops_disk.py",
+  "tinygrad_repo/tinygrad/runtime/ops_gpu.py",
+  "tinygrad_repo/tinygrad/shape/*",
+  "tinygrad_repo/tinygrad/*.py",
+]
+
+if __name__ == "__main__":
+  for f in Path(ROOT).rglob("**/*"):
+    if not (f.is_file() or f.is_symlink()):
+      continue
+
+    rf = str(f.relative_to(ROOT))
+    blacklisted = any(re.search(p, rf) for p in blacklist)
+    whitelisted = any(re.search(p, rf) for p in whitelist)
+    if blacklisted and not whitelisted:
+      continue
+
+    print(rf)

release/verify.sh

@@ -1,16 +0,0 @@
-#!/bin/bash
-
-set -e
-
-RED="\033[0;31m"
-GREEN="\033[0;32m"
-CLEAR="\033[0m"
-
-BRANCHES="devel release3"
-for b in $BRANCHES; do
-  if git diff --quiet origin/$b origin/$b-staging && [ "$(git rev-parse origin/$b)" = "$(git rev-parse origin/$b-staging)" ]; then
-    printf "%-10s $GREEN ok $CLEAR\n" "$b"
-  else
-    printf "%-10s $RED mismatch $CLEAR\n" "$b"
-  fi
-done

scripts/cell.sh

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

scripts/count_cars.py

@@ -2,10 +2,10 @@
 from collections import Counter
 from pprint import pprint
 
-from openpilot.selfdrive.car.docs import get_all_car_info
+from openpilot.selfdrive.car.docs import get_all_car_docs
 
 if __name__ == "__main__":
-  cars = get_all_car_info()
+  cars = get_all_car_docs()
   make_count = Counter(l.make for l in cars)
   print("\n", "*" * 20, len(cars), "total", "*" * 20, "\n")
   pprint(make_count)

scripts/launch_corolla.sh

@@ -2,6 +2,6 @@
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 
-export FINGERPRINT="TOYOTA COROLLA TSS2 2019"
+export FINGERPRINT="TOYOTA_COROLLA_TSS2"
 export SKIP_FW_QUERY="1"
 $DIR/../launch_openpilot.sh

scripts/stop_updater.sh

@@ -1,7 +1,7 @@
 #!/usr/bin/env sh
 
 # Stop updater
-pkill -2 -f selfdrive.updated
+pkill -2 -f system.updated.updated
 
 # Remove pending update
 rm -f /data/safe_staging/finalized/.overlay_consistent

scripts/update_now.sh

@@ -1,4 +1,4 @@
 #!/usr/bin/env sh
 
 # Send SIGHUP to updater
-pkill -1 -f selfdrive.updated
+pkill -1 -f system.updated

selfdrive/SConscript

@@ -0,0 +1,7 @@
+SConscript(['boardd/SConscript'])
+SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
+SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
+SConscript(['locationd/SConscript'])
+SConscript(['navd/SConscript'])
+SConscript(['modeld/SConscript'])
+SConscript(['ui/SConscript'])

selfdrive/athena/tests/test_registration.py

@@ -1,81 +0,0 @@
-#!/usr/bin/env python3
-import json
-import unittest
-from Crypto.PublicKey import RSA
-from pathlib import Path
-from unittest import mock
-
-from openpilot.common.params import Params
-from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
-from openpilot.selfdrive.athena.tests.helpers import MockResponse
-from openpilot.system.hardware.hw import Paths
-
-
-class TestRegistration(unittest.TestCase):
-
-  def setUp(self):
-    # clear params and setup key paths
-    self.params = Params()
-    self.params.clear_all()
-
-    persist_dir = Path(Paths.persist_root()) / "comma"
-    persist_dir.mkdir(parents=True, exist_ok=True)
-
-    self.priv_key = persist_dir / "id_rsa"
-    self.pub_key = persist_dir / "id_rsa.pub"
-
-  def _generate_keys(self):
-    self.pub_key.touch()
-    k = RSA.generate(2048)
-    with open(self.priv_key, "wb") as f:
-      f.write(k.export_key())
-    with open(self.pub_key, "wb") as f:
-      f.write(k.publickey().export_key())
-
-  def test_valid_cache(self):
-    # if all params are written, return the cached dongle id
-    self.params.put("IMEI", "imei")
-    self.params.put("HardwareSerial", "serial")
-    self._generate_keys()
-
-    with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
-      dongle = "DONGLE_ID_123"
-      self.params.put("DongleId", dongle)
-      self.assertEqual(register(), dongle)
-      self.assertFalse(m.called)
-
-  def test_no_keys(self):
-    # missing pubkey
-    with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
-      dongle = register()
-      self.assertEqual(m.call_count, 0)
-      self.assertEqual(dongle, UNREGISTERED_DONGLE_ID)
-    self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle)
-
-  def test_missing_cache(self):
-    # keys exist but no dongle id
-    self._generate_keys()
-    with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
-      dongle = "DONGLE_ID_123"
-      m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200)
-      self.assertEqual(register(), dongle)
-      self.assertEqual(m.call_count, 1)
-
-      # call again, shouldn't hit the API this time
-      self.assertEqual(register(), dongle)
-      self.assertEqual(m.call_count, 1)
-    self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle)
-
-  def test_unregistered(self):
-    # keys exist, but unregistered
-    self._generate_keys()
-    with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
-      m.return_value = MockResponse(None, 402)
-      dongle = register()
-      self.assertEqual(m.call_count, 1)
-      self.assertEqual(dongle, UNREGISTERED_DONGLE_ID)
-    self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle)
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/boardd/boardd.cc

@@ -49,12 +49,6 @@ std::atomic<bool> ignition(false);
 
 ExitHandler do_exit;
 
-static std::string get_time_str(const struct tm &time) {
-  char s[30] = {'\0'};
-  std::strftime(s, std::size(s), "%Y-%m-%d %H:%M:%S", &time);
-  return s;
-}
-
 bool check_all_connected(const std::vector<Panda *> &pandas) {
   for (const auto& panda : pandas) {
     if (!panda->connected()) {
@@ -65,36 +59,6 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
   return true;
 }
 
-enum class SyncTimeDir { TO_PANDA, FROM_PANDA };
-
-void sync_time(Panda *panda, SyncTimeDir dir) {
-  if (!panda->has_rtc) return;
-
-  setenv("TZ", "UTC", 1);
-  struct tm sys_time = util::get_time();
-  struct tm rtc_time = panda->get_rtc();
-
-  if (dir == SyncTimeDir::TO_PANDA) {
-    if (util::time_valid(sys_time)) {
-      // Write time to RTC if it looks reasonable
-      double seconds = difftime(mktime(&rtc_time), mktime(&sys_time));
-      if (std::abs(seconds) > 1.1) {
-        panda->set_rtc(sys_time);
-        LOGW("Updating panda RTC. dt = %.2f System: %s RTC: %s",
-              seconds, get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
-      }
-    }
-  } else if (dir == SyncTimeDir::FROM_PANDA) {
-    LOGW("System time: %s, RTC time: %s", get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
-
-    if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) {
-      const struct timeval tv = {mktime(&rtc_time), 0};
-      settimeofday(&tv, 0);
-      LOGE("System time wrong, setting from RTC.");
-    }
-  }
-}
-
 bool safety_setter_thread(std::vector<Panda *> pandas) {
   LOGD("Starting safety setter thread");
 
@@ -180,7 +144,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
 Panda *connect(std::string serial="", uint32_t index=0) {
   std::unique_ptr<Panda> panda;
   try {
-    panda = std::make_unique<Panda>(serial, (index * PANDA_BUS_CNT));
+    panda = std::make_unique<Panda>(serial, (index * PANDA_BUS_OFFSET));
   } catch (std::exception &e) {
     return nullptr;
   }
@@ -195,7 +159,6 @@ Panda *connect(std::string serial="", uint32_t index=0) {
     throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
   }
 
-  sync_time(panda.get(), SyncTimeDir::FROM_PANDA);
   return panda.release();
 }
 
@@ -353,7 +316,6 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     ps.setControlsAllowed(health.controls_allowed_pkt);
     ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
     ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
-    ps.setGmlanSendErrs(health.gmlan_send_errs_pkt);
     ps.setPandaType(panda->hw_type);
     ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));
     ps.setSafetyParam(health.safety_param_pkt);
@@ -581,11 +543,6 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
       panda->set_ir_pwr(ir_pwr);
       prev_ir_pwr = ir_pwr;
     }
-
-    // Write to rtc once per minute when no ignition present
-    if (!ignition && (sm.frame % 120 == 1)) {
-      sync_time(panda, SyncTimeDir::TO_PANDA);
-    }
   }
 }
 

selfdrive/boardd/boardd_api_impl.pyx

@@ -15,16 +15,17 @@ cdef extern from "can_list_to_can_capnp.cc":
   void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
 
 def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
+  cdef can_frame *f
   cdef vector[can_frame] can_list
-  can_list.reserve(len(can_msgs))
 
-  cdef can_frame f
+  can_list.reserve(len(can_msgs))
   for can_msg in can_msgs:
+    f = &(can_list.emplace_back())
     f.address = can_msg[0]
     f.busTime = can_msg[1]
     f.dat = can_msg[2]
     f.src = can_msg[3]
-    can_list.push_back(f)
+
   cdef string out
   can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid)
   return out

selfdrive/boardd/panda.cc

@@ -25,10 +25,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
   }
 
   hw_type = get_hw_type();
-  has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
-            (hw_type == cereal::PandaState::PandaType::DOS) ||
-            (hw_type == cereal::PandaState::PandaType::TRES);
-
   can_reset_communications();
 
   return;
@@ -77,41 +73,6 @@ cereal::PandaState::PandaType Panda::get_hw_type() {
   return (cereal::PandaState::PandaType)(hw_query[0]);
 }
 
-void Panda::set_rtc(struct tm sys_time) {
-  // tm struct has year defined as years since 1900
-  handle->control_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0);
-  handle->control_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0);
-  handle->control_write(0xa3, (uint16_t)sys_time.tm_mday, 0);
-  // handle->control_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0);
-  handle->control_write(0xa5, (uint16_t)sys_time.tm_hour, 0);
-  handle->control_write(0xa6, (uint16_t)sys_time.tm_min, 0);
-  handle->control_write(0xa7, (uint16_t)sys_time.tm_sec, 0);
-}
-
-struct tm Panda::get_rtc() {
-  struct __attribute__((packed)) timestamp_t {
-    uint16_t year; // Starts at 0
-    uint8_t month;
-    uint8_t day;
-    uint8_t weekday;
-    uint8_t hour;
-    uint8_t minute;
-    uint8_t second;
-  } rtc_time = {0};
-
-  handle->control_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time));
-
-  struct tm new_time = { 0 };
-  new_time.tm_year = rtc_time.year - 1900; // tm struct has year defined as years since 1900
-  new_time.tm_mon  = rtc_time.month - 1;
-  new_time.tm_mday = rtc_time.day;
-  new_time.tm_hour = rtc_time.hour;
-  new_time.tm_min  = rtc_time.minute;
-  new_time.tm_sec  = rtc_time.second;
-
-  return new_time;
-}
-
 void Panda::set_fan_speed(uint16_t fan_speed) {
   handle->control_write(0xb1, fan_speed, 0);
 }
@@ -211,7 +172,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
   for (auto cmsg : can_data_list) {
     // check if the message is intended for this panda
     uint8_t bus = cmsg.getSrc();
-    if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_CNT)) {
+    if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_OFFSET)) {
       continue;
     }
     auto can_data = cmsg.getDat();
@@ -284,6 +245,13 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
       break;
     }
 
+    if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
+      // TODO: also reset CAN comms?
+      LOGE("Panda CAN checksum failed");
+      size = 0;
+      return false;
+    }
+
     can_frame &canData = out_vec.emplace_back();
     canData.busTime = 0;
     canData.address = header.addr;
@@ -295,12 +263,6 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
       canData.src += CAN_RETURNED_BUS_OFFSET;
     }
 
-    if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
-      LOGE("Panda CAN checksum failed");
-      size = 0;
-      return false;
-    }
-
     canData.dat.assign((char *)&data[pos + sizeof(can_header)], data_len);
 
     pos += sizeof(can_header) + data_len;

selfdrive/boardd/panda.h

@@ -23,6 +23,8 @@
 #define CAN_REJECTED_BUS_OFFSET   0xC0U
 #define CAN_RETURNED_BUS_OFFSET 0x80U
 
+#define PANDA_BUS_OFFSET 4
+
 struct __attribute__((packed)) can_header {
   uint8_t reserved : 1;
   uint8_t bus : 3;
@@ -50,7 +52,6 @@ public:
   Panda(std::string serial="", uint32_t bus_offset=0);
 
   cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
-  bool has_rtc = false;
   const uint32_t bus_offset;
 
   bool connected();
@@ -64,8 +65,6 @@ public:
   cereal::PandaState::PandaType get_hw_type();
   void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
   void set_alternative_experience(uint16_t alternative_experience);
-  void set_rtc(struct tm sys_time);
-  struct tm get_rtc();
   void set_fan_speed(uint16_t fan_speed);
   uint16_t get_fan_speed();
   void set_ir_pwr(uint16_t ir_pwr);

selfdrive/boardd/panda_comms.h

@@ -78,5 +78,6 @@ private:
   int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout);
   int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
   int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
+  int lltransfer(spi_ioc_transfer &t);
 };
 #endif

selfdrive/boardd/pandad.py

@@ -5,12 +5,10 @@ import usb1
 import time
 import subprocess
 from typing import NoReturn
-from functools import cmp_to_key
 
 from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.selfdrive.boardd.set_time import set_time
 from openpilot.system.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
 
@@ -63,24 +61,6 @@ def flash_panda(panda_serial: str) -> Panda:
   return panda
 
 
-def panda_sort_cmp(a: Panda, b: Panda):
-  a_type = a.get_type()
-  b_type = b.get_type()
-
-  # make sure the internal one is always first
-  if a.is_internal() and not b.is_internal():
-    return -1
-  if not a.is_internal() and b.is_internal():
-    return 1
-
-  # sort by hardware type
-  if a_type != b_type:
-    return a_type < b_type
-
-  # last resort: sort by serial number
-  return a.get_usb_serial() < b.get_usb_serial()
-
-
 def main() -> NoReturn:
   count = 0
   first_run = True
@@ -137,7 +117,10 @@ def main() -> NoReturn:
       no_internal_panda_count = 0
 
       # sort pandas to have deterministic order
-      pandas.sort(key=cmp_to_key(panda_sort_cmp))
+      # * the internal one is always first
+      # * then sort by hardware type
+      # * as a last resort, sort by serial number
+      pandas.sort(key=lambda x: (not x.is_internal(), x.get_type(), x.get_usb_serial()))
       panda_serials = [p.get_usb_serial() for p in pandas]
 
       # log panda fw versions
@@ -154,16 +137,9 @@ def main() -> NoReturn:
           cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial())
 
         if first_run:
-          if panda.is_internal():
-            # update time from RTC
-            set_time(cloudlog)
-
           # reset panda to ensure we're in a good state
           cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
-          if panda.is_internal():
-            HARDWARE.reset_internal_panda()
-          else:
-            panda.reset(reconnect=False)
+          panda.reset(reconnect=True)
 
       for p in pandas:
         p.close()

selfdrive/boardd/set_time.py

@@ -1,38 +0,0 @@
-#!/usr/bin/env python3
-import os
-import datetime
-from panda import Panda
-
-from openpilot.common.time import MIN_DATE
-
-def set_time(logger):
-  sys_time = datetime.datetime.today()
-  if sys_time > MIN_DATE:
-    logger.info("System time valid")
-    return
-
-  try:
-    ps = Panda.list()
-    if len(ps) == 0:
-      logger.error("Failed to set time, no pandas found")
-      return
-
-    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.exception("Failed to fetch time from panda")
-
-if __name__ == "__main__":
-  import logging
-  logging.basicConfig(level=logging.DEBUG)
-
-  set_time(logging)

selfdrive/boardd/spi.cc

@@ -268,7 +268,7 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
   tx_buf[0] = tx;
 
   while (true) {
-    int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
+    int ret = lltransfer(transfer);
     if (ret < 0) {
       LOGE("SPI: failed to send ACK request");
       return ret;
@@ -291,6 +291,40 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
   return 0;
 }
 
+int PandaSpiHandle::lltransfer(spi_ioc_transfer &t) {
+  static const double err_prob = std::stod(util::getenv("SPI_ERR_PROB", "-1"));
+
+  if (err_prob > 0) {
+    if ((static_cast<double>(rand()) / RAND_MAX) < err_prob) {
+      printf("transfer len error\n");
+      t.len = rand() % SPI_BUF_SIZE;
+    }
+    if ((static_cast<double>(rand()) / RAND_MAX) < err_prob && t.tx_buf != (uint64_t)NULL) {
+      printf("corrupting TX\n");
+      for (int i = 0; i < t.len; i++) {
+        if ((static_cast<double>(rand()) / RAND_MAX) > 0.9) {
+          ((uint8_t*)t.tx_buf)[i] = (uint8_t)(rand() % 256);
+        }
+      }
+    }
+  }
+
+  int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &t);
+
+  if (err_prob > 0) {
+    if ((static_cast<double>(rand()) / RAND_MAX) < err_prob && t.rx_buf != (uint64_t)NULL) {
+      printf("corrupting RX\n");
+      for (int i = 0; i < t.len; i++) {
+        if ((static_cast<double>(rand()) / RAND_MAX) > 0.9) {
+          ((uint8_t*)t.rx_buf)[i] = (uint8_t)(rand() % 256);
+        }
+      }
+    }
+  }
+
+  return ret;
+}
+
 int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) {
   int ret;
   uint16_t rx_data_len;
@@ -316,16 +350,16 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   memcpy(tx_buf, &header, sizeof(header));
   add_checksum(tx_buf, sizeof(header));
   transfer.len = sizeof(header) + 1;
-  ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
+  ret = lltransfer(transfer);
   if (ret < 0) {
     LOGE("SPI: failed to send header");
-    goto transfer_fail;
+    return ret;
   }
 
   // Wait for (N)ACK
   ret = wait_for_ack(SPI_HACK, 0x11, timeout, 1);
   if (ret < 0) {
-    goto transfer_fail;
+    return ret;
   }
 
   // Send data
@@ -334,35 +368,35 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   }
   add_checksum(tx_buf, tx_len);
   transfer.len = tx_len + 1;
-  ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
+  ret = lltransfer(transfer);
   if (ret < 0) {
     LOGE("SPI: failed to send data");
-    goto transfer_fail;
+    return ret;
   }
 
   // Wait for (N)ACK
   ret = wait_for_ack(SPI_DACK, 0x13, timeout, 3);
   if (ret < 0) {
-    goto transfer_fail;
+    return ret;
   }
 
   // Read data
   rx_data_len = *(uint16_t *)(rx_buf+1);
   if (rx_data_len >= SPI_BUF_SIZE) {
     LOGE("SPI: RX data len larger than buf size %d", rx_data_len);
-    goto transfer_fail;
+    return -1;
   }
 
   transfer.len = rx_data_len + 1;
   transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1);
-  ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
+  ret = lltransfer(transfer);
   if (ret < 0) {
     LOGE("SPI: failed to read rx data");
-    goto transfer_fail;
+    return ret;
   }
   if (!check_checksum(rx_buf, rx_data_len + 4)) {
     LOGE("SPI: bad checksum");
-    goto transfer_fail;
+    return -1;
   }
 
   if (rx_data != NULL) {
@@ -370,8 +404,5 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   }
 
   return rx_data_len;
-
-transfer_fail:
-  return ret;
 }
 #endif

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -3,7 +3,7 @@ import os
 import copy
 import random
 import time
-import unittest
+import pytest
 from collections import defaultdict
 from pprint import pprint
 
@@ -17,42 +17,61 @@ from openpilot.system.hardware import TICI
 from openpilot.selfdrive.test.helpers import phone_only, with_processes
 
 
-class TestBoardd(unittest.TestCase):
+def setup_boardd(num_pandas):
+  params = Params()
+  params.put_bool("IsOnroad", False)
 
+  with Timeout(90, "boardd didn't start"):
+    sm = messaging.SubMaster(['pandaStates'])
+    while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
+        any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
+      sm.update(1000)
+
+  found_pandas = len(sm['pandaStates'])
+  assert num_pandas == found_pandas, "connected pandas ({found_pandas}) doesn't match expected panda count ({num_pandas}). \
+                                      connect another panda for multipanda tests."
+
+  # boardd safety setting relies on these params
+  cp = car.CarParams.new_message()
+
+  safety_config = car.CarParams.SafetyConfig.new_message()
+  safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
+  cp.safetyConfigs = [safety_config]*num_pandas
+
+  params.put_bool("IsOnroad", True)
+  params.put_bool("FirmwareQueryDone", True)
+  params.put_bool("ControlsReady", True)
+  params.put("CarParams", cp.to_bytes())
+
+
+def send_random_can_messages(sendcan, count, num_pandas=1):
+  sent_msgs = defaultdict(set)
+  for _ in range(count):
+    to_send = []
+    for __ in range(random.randrange(20)):
+      bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
+      addr = random.randrange(1, 1<<29)
+      dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
+      if (addr, dat) in sent_msgs[bus]:
+        continue
+      sent_msgs[bus].add((addr, dat))
+      to_send.append(make_can_msg(addr, dat, bus))
+    sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
+  return sent_msgs
+
+
+@pytest.mark.tici
+class TestBoarddLoopback:
   @classmethod
-  def setUpClass(cls):
+  def setup_class(cls):
     os.environ['STARTED'] = '1'
     os.environ['BOARDD_LOOPBACK'] = '1'
 
   @phone_only
   @with_processes(['pandad'])
   def test_loopback(self):
-    params = Params()
-    params.put_bool("IsOnroad", False)
-
-    with Timeout(90, "boardd didn't start"):
-      sm = messaging.SubMaster(['pandaStates'])
-      while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
-          any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
-        sm.update(1000)
-
-    num_pandas = len(sm['pandaStates'])
-    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 safety setting relies on these params
-    cp = car.CarParams.new_message()
-
-    safety_config = car.CarParams.SafetyConfig.new_message()
-    safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
-    cp.safetyConfigs = [safety_config]*num_pandas
-
-    params.put_bool("IsOnroad", True)
-    params.put_bool("FirmwareQueryDone", True)
-    params.put_bool("ControlsReady", True)
-    params.put("CarParams", cp.to_bytes())
-
+    num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
+    setup_boardd(num_pandas)
     sendcan = messaging.pub_sock('sendcan')
     can = messaging.sub_sock('can', conflate=False, timeout=100)
     sm = messaging.SubMaster(['pandaStates'])
@@ -62,16 +81,7 @@ class TestBoardd(unittest.TestCase):
     for i in range(n):
       print(f"boardd loopback {i}/{n}")
 
-      sent_msgs = defaultdict(set)
-      for _ in range(random.randrange(20, 100)):
-        to_send = []
-        for __ in range(random.randrange(20)):
-          bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
-          addr = random.randrange(1, 1<<29)
-          dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
-          sent_msgs[bus].add((addr, dat))
-          to_send.append(make_can_msg(addr, dat, bus))
-        sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
+      sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100), num_pandas)
 
       sent_loopback = copy.deepcopy(sent_msgs)
       sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()})
@@ -96,7 +106,3 @@ class TestBoardd(unittest.TestCase):
       pprint(sm['pandaStates'])  # may drop messages due to RX buffer overflow
       for bus in sent_loopback.keys():
         assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages"
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/boardd/tests/test_boardd_spi.py

@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+import os
+import time
+import numpy as np
+import pytest
+
+import cereal.messaging as messaging
+from cereal.services import SERVICE_LIST
+from openpilot.system.hardware import HARDWARE
+from openpilot.selfdrive.test.helpers import phone_only, with_processes
+from openpilot.selfdrive.boardd.tests.test_boardd_loopback import setup_boardd
+
+
+@pytest.mark.tici
+class TestBoarddSpi:
+  @classmethod
+  def setup_class(cls):
+    if HARDWARE.get_device_type() == 'tici':
+      pytest.skip("only for spi pandas")
+    os.environ['STARTED'] = '1'
+    os.environ['BOARDD_LOOPBACK'] = '1'
+    os.environ['SPI_ERR_PROB'] = '0.001'
+
+  @phone_only
+  @with_processes(['pandad'])
+  def test_spi_corruption(self, subtests):
+    setup_boardd(1)
+
+    socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')}
+    time.sleep(2)
+    for s in socks.values():
+      messaging.drain_sock_raw(s)
+
+    st = time.monotonic()
+    ts = {s: list() for s in socks.keys()}
+    for _ in range(20):
+      for service, sock in socks.items():
+        for m in messaging.drain_sock(sock):
+          ts[service].append(m.logMonoTime)
+
+          # sanity check for corruption
+          assert m.valid
+          if service == "can":
+            assert len(m.can) == 0
+          elif service == "pandaStates":
+            assert len(m.pandaStates) == 1
+            ps = m.pandaStates[0]
+            assert ps.uptime < 100
+            assert ps.pandaType == "tres"
+            assert ps.ignitionLine
+            assert not ps.ignitionCan
+            assert ps.voltage < 14000
+          elif service == "peripheralState":
+            ps = m.peripheralState
+            assert ps.pandaType == "tres"
+            assert 4000 < ps.voltage < 14000
+            assert 100 < ps.current < 1000
+            assert ps.fanSpeedRpm < 8000
+
+      time.sleep(0.5)
+    et = time.monotonic() - st
+
+    print("\n======== timing report ========")
+    for service, times in ts.items():
+      dts = np.diff(times)/1e6
+      print(service.ljust(17), f"{np.mean(dts):7.2f} {np.min(dts):7.2f} {np.max(dts):7.2f}")
+      with subtests.test(msg="timing check", service=service):
+        edt = 1e3 / SERVICE_LIST[service].frequency
+        assert edt*0.9 < np.mean(dts) < edt*1.1
+        assert np.max(dts) < edt*3
+        assert np.min(dts) < edt
+        assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8)

selfdrive/boardd/tests/test_boardd_usbprotocol.cc

@@ -40,7 +40,7 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
     uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1);
     const std::string &dat = test_data[dlc_to_len[id]];
     can.setAddress(i);
-    can.setSrc(util::random_int(0, 3) + bus_offset);
+    can.setSrc(util::random_int(0, 2) + bus_offset);
     can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size()));
     total_pakets_size += sizeof(can_header) + dat.size();
   }

selfdrive/boardd/tests/test_pandad.py

@@ -2,13 +2,12 @@
 import os
 import pytest
 import time
-import unittest
 
 import cereal.messaging as messaging
 from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init
 from panda import Panda, PandaDFU, PandaProtocolMismatch
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.tici.pins import GPIO
 
@@ -16,30 +15,35 @@ HERE = os.path.dirname(os.path.realpath(__file__))
 
 
 @pytest.mark.tici
-class TestPandad(unittest.TestCase):
+class TestPandad:
 
-  def setUp(self):
+  def setup_method(self):
     # ensure panda is up
     if len(Panda.list()) == 0:
       self._run_test(60)
 
-  def tearDown(self):
+    self.spi = HARDWARE.get_device_type() != 'tici'
+
+  def teardown_method(self):
     managed_processes['pandad'].stop()
 
-  def _run_test(self, timeout=30):
+  def _run_test(self, timeout=30) -> float:
+    st = time.monotonic()
+    sm = messaging.SubMaster(['pandaStates'])
+
     managed_processes['pandad'].start()
-
-    sm = messaging.SubMaster(['peripheralState'])
-    for _ in range(timeout*10):
+    while (time.monotonic() - st) < timeout:
       sm.update(100)
-      if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
+      if len(sm['pandaStates']) and sm['pandaStates'][0].pandaType != log.PandaState.PandaType.unknown:
         break
-
+    dt = time.monotonic() - st
     managed_processes['pandad'].stop()
 
-    if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
+    if len(sm['pandaStates']) == 0 or sm['pandaStates'][0].pandaType == log.PandaState.PandaType.unknown:
       raise Exception("boardd failed to start")
 
+    return dt
+
   def _go_to_dfu(self):
     HARDWARE.recover_internal_panda()
     assert Panda.wait_for_dfu(None, 10)
@@ -60,7 +64,7 @@ class TestPandad(unittest.TestCase):
 
     assert Panda.wait_for_panda(None, 10)
     if expect_mismatch:
-      with self.assertRaises(PandaProtocolMismatch):
+      with pytest.raises(PandaProtocolMismatch):
         Panda()
     else:
       with Panda() as p:
@@ -88,15 +92,25 @@ class TestPandad(unittest.TestCase):
     assert any(Panda(s).is_internal() for s in Panda.list())
 
   def test_best_case_startup_time(self):
-    # run once so we're setup
+    # run once so we're up to date
     self._run_test(60)
 
-    # should be fast this time
-    self._run_test(8)
+    ts = []
+    for _ in range(10):
+      # should be nearly instant this time
+      dt = self._run_test(5)
+      ts.append(dt)
+
+    # 5s for USB (due to enumeration)
+    # - 0.2s pandad -> boardd
+    # - plus some buffer
+    assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0)
+    print("startup times", ts, sum(ts) / len(ts))
+
 
   def test_protocol_version_check(self):
-    if HARDWARE.get_device_type() == 'tici':
-      raise unittest.SkipTest("SPI test")
+    if not self.spi:
+      pytest.skip("SPI test")
     # flash old fw
     fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
     self._flash_bootstub_and_test(fn, expect_mismatch=True)
@@ -113,7 +127,3 @@ class TestPandad(unittest.TestCase):
     self._assert_no_panda()
 
     self._run_test(60)
-
-
-if __name__ == "__main__":
-  unittest.main()

selfdrive/car/CARS_template.md

@@ -12,12 +12,12 @@
 
 A supported vehicle is one that just works when you install a comma device. 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
+# {{all_car_docs | length}} Supported Cars
 
 |{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
 |---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
-{% for car_info in all_car_info %}
-|{% for column in Column %}{{car_info.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
+{% for car_docs in all_car_docs %}
+|{% for column in Column %}{{car_docs.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
 
 {% endfor %}
 
@@ -65,7 +65,9 @@ openpilot does not yet support these Toyota models due to a new message authenti
 * Toyota Venza 2021+
 * Toyota Sequoia 2023+
 * Toyota Tundra 2022+
+* Toyota Highlander 2024+
 * Toyota Corolla Cross 2022+ (only US model)
+* Toyota Camry 2025+
 * Lexus NX 2022+
 * Toyota bZ4x 2023+
 * Subaru Solterra 2023+

selfdrive/car/__init__.py

@@ -1,13 +1,15 @@
 # functions common among cars
 from collections import namedtuple
-from dataclasses import dataclass, field, replace
-from enum import ReprEnum
+from dataclasses import dataclass
+from enum import IntFlag, ReprEnum, EnumType
+from dataclasses import replace
 
 import capnp
 
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.selfdrive.car.docs_definitions import CarInfo
+from openpilot.common.utils import Freezable
+from openpilot.selfdrive.car.docs_definitions import CarDocs
 
 
 # kg of standard extra cargo to count for drive, gas, etc...
@@ -163,41 +165,6 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra
   return above_limit_frames, request
 
 
-def crc8_pedal(data):
-  crc = 0xFF    # standard init value
-  poly = 0xD5   # standard crc8: x8+x7+x6+x4+x2+1
-  size = len(data)
-  for i in range(size - 1, -1, -1):
-    crc ^= data[i]
-    for _ in range(8):
-      if ((crc & 0x80) != 0):
-        crc = ((crc << 1) ^ poly) & 0xFF
-      else:
-        crc <<= 1
-  return crc
-
-
-def create_gas_interceptor_command(packer, gas_amount, idx):
-  # Common gas pedal msg generator
-  enable = gas_amount > 0.001
-
-  values = {
-    "ENABLE": enable,
-    "COUNTER_PEDAL": idx & 0xF,
-  }
-
-  if enable:
-    values["GAS_COMMAND"] = gas_amount * 255.
-    values["GAS_COMMAND2"] = gas_amount * 255.
-
-  dat = packer.make_can_msg("GAS_COMMAND", 0, values)[2]
-
-  checksum = crc8_pedal(dat[:-1])
-  values["CHECKSUM_PEDAL"] = checksum
-
-  return packer.make_can_msg("GAS_COMMAND", 0, values)
-
-
 def make_can_msg(addr, dat, bus):
   return [addr, 0, dat, bus]
 
@@ -243,26 +210,30 @@ class CanSignalRateCalculator:
     return self.rate
 
 
-CarInfos = CarInfo | list[CarInfo]
-
-
 @dataclass(frozen=True, kw_only=True)
 class CarSpecs:
-  mass: float
-  wheelbase: float
+  mass: float  # kg, curb weight
+  wheelbase: float  # meters
   steerRatio: float
-  centerToFrontRatio: float = field(default=0.5)
-  minSteerSpeed: float = field(default=0.)
-  minEnableSpeed: float = field(default=-1.)
+  centerToFrontRatio: float = 0.5
+  minSteerSpeed: float = 0.0  # m/s
+  minEnableSpeed: float = -1.0  # m/s
+  tireStiffnessFactor: float = 1.0
+
+  def override(self, **kwargs):
+    return replace(self, **kwargs)
 
 
-@dataclass(frozen=True, order=True)
-class PlatformConfig:
-  platform_str: str
-  car_info: CarInfos
+@dataclass(order=True)
+class PlatformConfig(Freezable):
+  car_docs: list[CarDocs]
+  specs: CarSpecs
+
   dbc_dict: DbcDict
 
-  specs: CarSpecs | None = None
+  flags: int = 0
+
+  platform_str: str | None = None
 
   def __hash__(self) -> int:
     return hash(self.platform_str)
@@ -270,8 +241,23 @@ class PlatformConfig:
   def override(self, **kwargs):
     return replace(self, **kwargs)
 
+  def init(self):
+    pass
 
-class Platforms(str, ReprEnum):
+  def __post_init__(self):
+    self.init()
+
+
+class PlatformsType(EnumType):
+  def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **kwds):
+    for key in classdict._member_names.keys():
+      cfg: PlatformConfig = classdict[key]
+      cfg.platform_str = key
+      cfg.freeze()
+    return super().__new__(metacls, cls, bases, classdict, boundary=boundary, _simple=_simple, **kwds)
+
+
+class Platforms(str, ReprEnum, metaclass=PlatformsType):
   config: PlatformConfig
 
   def __new__(cls, platform_config: PlatformConfig):
@@ -280,10 +266,13 @@ class Platforms(str, ReprEnum):
     member._value_ = platform_config.platform_str
     return member
 
+  def __repr__(self):
+    return f"<{self.__class__.__name__}.{self.name}>"
+
   @classmethod
   def create_dbc_map(cls) -> dict[str, DbcDict]:
     return {p: p.config.dbc_dict for p in cls}
 
   @classmethod
-  def create_carinfo_map(cls) -> dict[str, CarInfos]:
-    return {p: p.config.car_info for p in cls}
+  def with_flags(cls, flags: IntFlag) -> set['Platforms']:
+    return {p for p in cls if p.config.flags & flags}

selfdrive/car/body/carcontroller.py

@@ -4,6 +4,7 @@ from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car.body import bodycan
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
+from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.controls.lib.pid import PIDController
 
 
@@ -14,7 +15,7 @@ MAX_POS_INTEGRATOR = 0.2   # meters
 MAX_TURN_INTEGRATOR = 0.1  # meters
 
 
-class CarController:
+class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.frame = 0
     self.packer = CANPacker(dbc_name)
@@ -74,7 +75,7 @@ class CarController:
     can_sends = []
     can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
 
-    new_actuators = CC.actuators.copy()
+    new_actuators = CC.actuators.as_builder()
     new_actuators.accel = torque_l
     new_actuators.steer = torque_r
     new_actuators.steerOutputCan = torque_r

selfdrive/car/body/fingerprints.py

@@ -8,13 +8,13 @@ Ecu = car.CarParams.Ecu
 
 
 FINGERPRINTS = {
-  CAR.BODY: [{
+  CAR.COMMA_BODY: [{
     513: 8, 516: 8, 514: 3, 515: 4
   }],
 }
 
 FW_VERSIONS = {
-  CAR.BODY: {
+  CAR.COMMA_BODY: {
     (Ecu.engine, 0x720, None): [
       b'0.0.01',
       b'0.3.00a',

selfdrive/car/body/interface.py

@@ -14,14 +14,10 @@ class CarInterface(CarInterfaceBase):
 
     ret.minSteerSpeed = -math.inf
     ret.maxLateralAccel = math.inf  # TODO: set to a reasonable value
-    ret.steerRatio = 0.5
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.
 
-    ret.mass = 9
-    ret.wheelbase = 0.406
     ret.wheelSpeedFactor = SPEED_FROM_RPM
-    ret.centerToFront = ret.wheelbase * 0.44
 
     ret.radarUnavailable = True
     ret.openpilotLongitudinalControl = True
@@ -41,6 +37,3 @@ class CarInterface(CarInterfaceBase):
     self.frame += 1
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/body/values.py

@@ -1,6 +1,6 @@
 from cereal import car
-from openpilot.selfdrive.car import PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarInfo
+from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarDocs
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -20,9 +20,9 @@ class CarControllerParams:
 
 
 class CAR(Platforms):
-  BODY = PlatformConfig(
-    "COMMA BODY",
-    CarInfo("comma body", package="All"),
+  COMMA_BODY = PlatformConfig(
+    [CarDocs("comma body", package="All")],
+    CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
     dbc_dict('comma_body', None),
   )
 
@@ -37,5 +37,4 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
 )
 
-CAR_INFO = CAR.create_carinfo_map()
 DBC = CAR.create_dbc_map()

selfdrive/car/car_helpers.py

@@ -4,16 +4,15 @@ from collections.abc import Callable
 
 from cereal import car
 from openpilot.common.params import Params
-from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.car.values import PLATFORMS
-from openpilot.system.version import is_comma_remote, is_tested_branch
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
 from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
+from openpilot.selfdrive.car.mock.values import CAR as MOCK
 from openpilot.common.swaglog import cloudlog
 import cereal.messaging as messaging
 from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.system.version import get_build_metadata
 
 FRAME_FINGERPRINT = 100  # 1s
 
@@ -21,7 +20,8 @@ EventName = car.CarEvent.EventName
 
 
 def get_startup_event(car_recognized, controller_available, fw_seen):
-  if is_comma_remote() and is_tested_branch():
+  build_metadata = get_build_metadata()
+  if build_metadata.openpilot.comma_remote and build_metadata.tested_channel:
     event = EventName.startup
   else:
     event = EventName.startupMaster
@@ -48,17 +48,8 @@ def load_interfaces(brand_names):
   for brand_name in brand_names:
     path = f'openpilot.selfdrive.car.{brand_name}'
     CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
-
-    if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'):
-      CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
-    else:
-      CarState = None
-
-    if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carcontroller.py'):
-      CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
-    else:
-      CarController = None
-
+    CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
+    CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
     for model_name in brand_names[brand_name]:
       ret[model_name] = (CarInterface, CarController, CarState)
   return ret
@@ -148,10 +139,10 @@ def fingerprint(logcan, sendcan, num_pandas):
       # VIN query only reliably works through OBDII
       vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1))
       ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
-      car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
+      car_fw = get_fw_versions_ordered(logcan, sendcan, vin, ecu_rx_addrs, num_pandas=num_pandas)
       cached = False
 
-    exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
+    exact_fw_match, fw_candidates = match_fw_to_car(car_fw, vin)
   else:
     vin_rx_addr, vin_rx_bus, vin = -1, -1, VIN_UNKNOWN
     exact_fw_match, fw_candidates, car_fw = True, set(), []
@@ -191,9 +182,12 @@ def fingerprint(logcan, sendcan, num_pandas):
                  fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
                  fingerprints=repr(finger), fw_query_time=fw_query_time, error=True)
 
-  car_platform = PLATFORMS.get(car_fingerprint, car_fingerprint)
+  return car_fingerprint, finger, vin, car_fw, source, exact_match
 
-  return car_platform, finger, vin, car_fw, source, exact_match
+
+def get_car_interface(CP):
+  CarInterface, CarController, CarState = interfaces[CP.carFingerprint]
+  return CarInterface(CP, CarController, CarState)
 
 
 def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
@@ -201,25 +195,25 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
 
   if candidate is None:
     cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True)
-    candidate = "mock"
+    candidate = "MOCK"
 
-  CarInterface, CarController, CarState = interfaces[candidate]
+  CarInterface, _, _ = interfaces[candidate]
   CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
   CP.carVin = vin
   CP.carFw = car_fw
   CP.fingerprintSource = source
   CP.fuzzyFingerprint = not exact_match
 
-  return CarInterface(CP, CarController, CarState), CP
+  return get_car_interface(CP), CP
 
-def write_car_param(fingerprint="mock"):
+def write_car_param(platform=MOCK.MOCK):
   params = Params()
-  CarInterface, _, _ = interfaces[fingerprint]
-  CP = CarInterface.get_non_essential_params(fingerprint)
+  CarInterface, _, _ = interfaces[platform]
+  CP = CarInterface.get_non_essential_params(platform)
   params.put("CarParams", CP.to_bytes())
 
 def get_demo_car_params():
-  fingerprint="mock"
-  CarInterface, _, _ = interfaces[fingerprint]
-  CP = CarInterface.get_non_essential_params(fingerprint)
+  platform = MOCK.MOCK
+  CarInterface, _, _ = interfaces[platform]
+  CP = CarInterface.get_non_essential_params(platform)
   return CP

selfdrive/car/card.py

@@ -0,0 +1,195 @@
+#!/usr/bin/env python3
+import os
+import time
+
+import cereal.messaging as messaging
+
+from cereal import car
+
+from panda import ALTERNATIVE_EXPERIENCE
+
+from openpilot.common.params import Params
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
+
+from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.controls.lib.events import Events
+
+REPLAY = "REPLAY" in os.environ
+
+EventName = car.CarEvent.EventName
+
+
+class Car:
+  CI: CarInterfaceBase
+
+  def __init__(self, CI=None):
+    self.can_sock = messaging.sub_sock('can', timeout=20)
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
+
+    self.can_rcv_timeout_counter = 0  # consecutive timeout count
+    self.can_rcv_cum_timeout_counter = 0  # cumulative timeout count
+
+    self.CC_prev = car.CarControl.new_message()
+    self.CS_prev = car.CarState.new_message()
+    self.initialized_prev = False
+
+    self.last_actuators_output = car.CarControl.Actuators.new_message()
+
+    self.params = Params()
+
+    if CI is None:
+      # wait for one pandaState and one CAN packet
+      print("Waiting for CAN messages...")
+      get_one_can(self.can_sock)
+
+      num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
+      experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
+      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas)
+    else:
+      self.CI, self.CP = CI, CI.CP
+
+    # set alternative experiences from parameters
+    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    self.CP.alternativeExperience = 0
+    if not self.disengage_on_accelerator:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
+
+    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
+
+    controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
+
+    self.CP.passive = not controller_available or self.CP.dashcamOnly
+    if self.CP.passive:
+      safety_config = car.CarParams.SafetyConfig.new_message()
+      safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
+      self.CP.safetyConfigs = [safety_config]
+
+    # Write previous route's CarParams
+    prev_cp = self.params.get("CarParamsPersistent")
+    if prev_cp is not None:
+      self.params.put("CarParamsPrevRoute", prev_cp)
+
+    # Write CarParams for controls and radard
+    cp_bytes = self.CP.to_bytes()
+    self.params.put("CarParams", cp_bytes)
+    self.params.put_nonblocking("CarParamsCache", cp_bytes)
+    self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
+
+    self.events = Events()
+
+    # card is driven by can recv, expected at 100Hz
+    self.rk = Ratekeeper(100, print_delay_threshold=None)
+
+  def state_update(self) -> car.CarState:
+    """carState update loop, driven by can"""
+
+    # Update carState from CAN
+    can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
+    CS = self.CI.update(self.CC_prev, can_strs)
+
+    self.sm.update(0)
+
+    can_rcv_valid = len(can_strs) > 0
+
+    # Check for CAN timeout
+    if not can_rcv_valid:
+      self.can_rcv_timeout_counter += 1
+      self.can_rcv_cum_timeout_counter += 1
+    else:
+      self.can_rcv_timeout_counter = 0
+
+    self.can_rcv_timeout = self.can_rcv_timeout_counter >= 5
+
+    if can_rcv_valid and REPLAY:
+      self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
+
+    return CS
+
+  def update_events(self, CS: car.CarState) -> car.CarState:
+    self.events.clear()
+
+    self.events.add_from_msg(CS.events)
+
+    # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
+    if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
+      (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
+      (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
+      self.events.add(EventName.pedalPressed)
+
+    CS.events = self.events.to_msg()
+
+  def state_publish(self, CS: car.CarState):
+    """carState and carParams publish loop"""
+
+    # carParams - logged every 50 seconds (> 1 per segment)
+    if self.sm.frame % int(50. / DT_CTRL) == 0:
+      cp_send = messaging.new_message('carParams')
+      cp_send.valid = True
+      cp_send.carParams = self.CP
+      self.pm.send('carParams', cp_send)
+
+    # publish new carOutput
+    co_send = messaging.new_message('carOutput')
+    co_send.valid = self.sm.all_checks(['carControl'])
+    co_send.carOutput.actuatorsOutput = self.last_actuators_output
+    self.pm.send('carOutput', co_send)
+
+    # kick off controlsd step while we actuate the latest carControl packet
+    cs_send = messaging.new_message('carState')
+    cs_send.valid = CS.canValid
+    cs_send.carState = CS
+    cs_send.carState.canRcvTimeout = self.can_rcv_timeout
+    cs_send.carState.canErrorCounter = self.can_rcv_cum_timeout_counter
+    cs_send.carState.cumLagMs = -self.rk.remaining * 1000.
+    self.pm.send('carState', cs_send)
+
+  def controls_update(self, CS: car.CarState, CC: car.CarControl):
+    """control update loop, driven by carControl"""
+
+    if not self.initialized_prev:
+      # Initialize CarInterface, once controls are ready
+      # TODO: this can make us miss at least a few cycles when doing an ECU knockout
+      self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
+      # signal boardd to switch to car safety mode
+      self.params.put_bool_nonblocking("ControlsReady", True)
+
+    if self.sm.all_alive(['carControl']):
+      # send car controls over can
+      now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
+      self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
+      self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
+
+      self.CC_prev = CC
+
+  def step(self):
+    CS = self.state_update()
+
+    self.update_events(CS)
+
+    self.state_publish(CS)
+
+    initialized = (not any(e.name == EventName.controlsInitializing for e in self.sm['onroadEvents']) and
+                   self.sm.seen['onroadEvents'])
+    if not self.CP.passive and initialized:
+      self.controls_update(CS, self.sm['carControl'])
+
+    self.initialized_prev = initialized
+    self.CS_prev = CS.as_reader()
+
+  def card_thread(self):
+    while True:
+      self.step()
+      self.rk.monitor_time()
+
+
+def main():
+  config_realtime_process(4, Priority.CTRL_HIGH)
+  car = Car()
+  car.card_thread()
+
+
+if __name__ == "__main__":
+  main()

selfdrive/car/chrysler/carcontroller.py

@@ -3,9 +3,10 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
+from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 
-class CarController:
+class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.apply_steer_last = 0
@@ -77,7 +78,7 @@ class CarController:
 
     self.frame += 1
 
-    new_actuators = CC.actuators.copy()
+    new_actuators = CC.actuators.as_builder()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
     new_actuators.steerOutputCan = self.apply_steer_last
 

selfdrive/car/chrysler/carstate.py

@@ -21,10 +21,16 @@ class CarState(CarStateBase):
     else:
       self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
 
+    self.prev_distance_button = 0
+    self.distance_button = 0
+
   def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
 
+    self.prev_distance_button = self.distance_button
+    self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
+
     # lock info
     ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
                         cp.vl["BCM_1"]["DOOR_OPEN_FR"],

selfdrive/car/chrysler/fingerprints.py

@@ -4,7 +4,7 @@ from openpilot.selfdrive.car.chrysler.values import CAR
 Ecu = car.CarParams.Ecu
 
 FW_VERSIONS = {
-  CAR.PACIFICA_2017_HYBRID: {
+  CAR.CHRYSLER_PACIFICA_2017_HYBRID: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68239262AH',
       b'68239262AI',
@@ -33,11 +33,12 @@ FW_VERSIONS = {
       b'05190226AK',
     ],
   },
-  CAR.PACIFICA_2018: {
+  CAR.CHRYSLER_PACIFICA_2018: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68227902AF',
       b'68227902AG',
       b'68227902AH',
+      b'68227905AG',
       b'68360252AC',
     ],
     (Ecu.srs, 0x744, None): [
@@ -67,10 +68,12 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'68267018AO ',
       b'68267020AJ ',
+      b'68303534AG ',
       b'68303534AJ ',
       b'68340762AD ',
       b'68340764AD ',
       b'68352652AE ',
+      b'68352654AE ',
       b'68366851AH ',
       b'68366853AE ',
       b'68372861AF ',
@@ -79,6 +82,7 @@ FW_VERSIONS = {
       b'68277370AJ',
       b'68277370AM',
       b'68277372AD',
+      b'68277372AE',
       b'68277372AN',
       b'68277374AA',
       b'68277374AB',
@@ -88,19 +92,22 @@ FW_VERSIONS = {
       b'68380571AB',
     ],
   },
-  CAR.PACIFICA_2020: {
+  CAR.CHRYSLER_PACIFICA_2020: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68405327AC',
       b'68436233AB',
       b'68436233AC',
+      b'68436234AB',
       b'68436250AE',
       b'68529067AA',
       b'68594993AB',
+      b'68594994AB',
     ],
     (Ecu.srs, 0x744, None): [
       b'68405565AB',
       b'68405565AC',
       b'68444299AC',
+      b'68480707AC',
       b'68480708AC',
       b'68526663AB',
     ],
@@ -119,15 +126,18 @@ FW_VERSIONS = {
       b'68540436AC',
       b'68540436AD',
       b'68598670AB',
+      b'68598670AC',
     ],
     (Ecu.eps, 0x75a, None): [
       b'68416742AA',
       b'68460393AA',
       b'68460393AB',
       b'68494461AB',
+      b'68494461AC',
       b'68524936AA',
       b'68524936AB',
       b'68525338AB',
+      b'68594337AB',
       b'68594340AB',
     ],
     (Ecu.engine, 0x7e0, None): [
@@ -135,30 +145,41 @@ FW_VERSIONS = {
       b'68413871AE ',
       b'68413871AH ',
       b'68413871AI ',
+      b'68413873AH ',
       b'68413873AI ',
       b'68443120AE ',
       b'68443123AC ',
       b'68443125AC ',
+      b'68496647AI ',
+      b'68496647AJ ',
+      b'68496650AH ',
+      b'68496650AI ',
+      b'68496652AH ',
       b'68526752AD ',
       b'68526752AE ',
       b'68526754AE ',
       b'68536264AE ',
+      b'68700304AB ',
       b'68700306AB ',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'68414271AC',
       b'68414271AD',
       b'68414275AC',
+      b'68414275AD',
       b'68443154AB',
       b'68443155AC',
       b'68443158AB',
       b'68501050AD',
+      b'68501051AD',
+      b'68501055AD',
       b'68527221AB',
       b'68527223AB',
       b'68586231AD',
+      b'68586233AD',
     ],
   },
-  CAR.PACIFICA_2018_HYBRID: {
+  CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68358439AE',
       b'68358439AG',
@@ -185,7 +206,7 @@ FW_VERSIONS = {
       b'05190226AM',
     ],
   },
-  CAR.PACIFICA_2019_HYBRID: {
+  CAR.CHRYSLER_PACIFICA_2019_HYBRID: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68405292AC',
       b'68434956AC',
@@ -250,27 +271,34 @@ FW_VERSIONS = {
   },
   CAR.JEEP_GRAND_CHEROKEE: {
     (Ecu.combinationMeter, 0x742, None): [
+      b'68243549AG',
       b'68302211AC',
       b'68302212AD',
+      b'68302223AC',
       b'68302246AC',
       b'68331511AC',
       b'68331574AC',
       b'68331687AC',
+      b'68331690AC',
       b'68340272AD',
     ],
     (Ecu.srs, 0x744, None): [
+      b'68309533AA',
       b'68316742AB',
       b'68355363AB',
     ],
     (Ecu.abs, 0x747, None): [
+      b'68252642AG',
       b'68306178AD',
       b'68336276AB',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672627AB',
+      b'68251506AF',
       b'68332015AB',
     ],
     (Ecu.eps, 0x75a, None): [
+      b'68276201AG',
       b'68321644AB',
       b'68321644AC',
       b'68321646AC',
@@ -278,6 +306,7 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'05035920AE ',
+      b'68252272AG ',
       b'68284455AI ',
       b'68284456AI ',
       b'68284477AF ',
@@ -288,6 +317,7 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'05035517AH',
+      b'68253222AF',
       b'68311218AC',
       b'68311223AF',
       b'68311223AG',
@@ -304,6 +334,7 @@ FW_VERSIONS = {
       b'68402708AB',
       b'68402971AD',
       b'68454144AD',
+      b'68454145AB',
       b'68454152AB',
       b'68454156AB',
       b'68516650AB',
@@ -359,7 +390,7 @@ FW_VERSIONS = {
       b'68503664AC',
     ],
   },
-  CAR.RAM_1500: {
+  CAR.RAM_1500_5TH_GEN: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68294051AG',
       b'68294051AI',
@@ -376,10 +407,12 @@ FW_VERSIONS = {
       b'68434859AC',
       b'68434860AC',
       b'68453483AC',
+      b'68453483AD',
       b'68453487AD',
       b'68453491AC',
       b'68453499AD',
       b'68453503AC',
+      b'68453503AD',
       b'68453505AC',
       b'68453505AD',
       b'68453511AC',
@@ -401,9 +434,14 @@ FW_VERSIONS = {
       b'68527383AD',
       b'68527387AE',
       b'68527403AC',
+      b'68527403AD',
       b'68546047AF',
       b'68631938AA',
+      b'68631939AA',
+      b'68631940AA',
+      b'68631940AB',
       b'68631942AA',
+      b'68631943AB',
     ],
     (Ecu.srs, 0x744, None): [
       b'68428609AB',
@@ -415,8 +453,10 @@ FW_VERSIONS = {
       b'68615034AA',
     ],
     (Ecu.abs, 0x747, None): [
+      b'68292406AG',
       b'68292406AH',
       b'68432418AB',
+      b'68432418AC',
       b'68432418AD',
       b'68436004AD',
       b'68436004AE',
@@ -455,6 +495,7 @@ FW_VERSIONS = {
       b'68440789AC',
       b'68466110AA',
       b'68466110AB',
+      b'68466113AA',
       b'68469901AA',
       b'68469907AA',
       b'68522583AA',
@@ -466,6 +507,7 @@ FW_VERSIONS = {
       b'68552790AA',
       b'68552791AB',
       b'68552794AA',
+      b'68552794AD',
       b'68585106AB',
       b'68585107AB',
       b'68585108AB',
@@ -474,9 +516,12 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'05035699AG ',
+      b'05035841AC ',
+      b'05035841AD ',
       b'05036026AB ',
       b'05036065AE ',
       b'05036066AE ',
+      b'05036193AA ',
       b'05149368AA ',
       b'05149591AD ',
       b'05149591AE ',
@@ -493,6 +538,8 @@ FW_VERSIONS = {
       b'68378701AI ',
       b'68378702AI ',
       b'68378710AL ',
+      b'68378742AI ',
+      b'68378742AK ',
       b'68378748AL ',
       b'68378758AM ',
       b'68448163AJ',
@@ -506,27 +553,33 @@ FW_VERSIONS = {
       b'68455145AE ',
       b'68455146AC ',
       b'68467915AC ',
+      b'68467916AC ',
       b'68467936AC ',
       b'68500630AD',
       b'68500630AE',
       b'68502719AC ',
       b'68502722AC ',
+      b'68502733AC ',
       b'68502734AF ',
       b'68502740AF ',
       b'68502741AF ',
       b'68502742AC ',
+      b'68502742AF ',
       b'68539650AD',
       b'68539650AF',
       b'68539651AD',
       b'68586101AA ',
       b'68586105AB ',
+      b'68629919AC ',
       b'68629922AC ',
+      b'68629925AC ',
       b'68629926AC ',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'05035706AD',
       b'05035842AB',
       b'05036069AA',
+      b'05036181AA',
       b'05149536AC',
       b'05149537AC',
       b'05149543AC',
@@ -536,6 +589,8 @@ FW_VERSIONS = {
       b'68360081AM',
       b'68360085AJ',
       b'68360085AL',
+      b'68360086AH',
+      b'68360086AK',
       b'68384328AD',
       b'68384332AD',
       b'68445531AC',
@@ -553,10 +608,12 @@ FW_VERSIONS = {
       b'68520870AC',
       b'68540431AB',
       b'68540433AB',
+      b'68551676AA',
+      b'68629935AB',
       b'68629936AC',
     ],
   },
-  CAR.RAM_HD: {
+  CAR.RAM_HD_5TH_GEN: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68361606AH',
       b'68437735AC',

selfdrive/car/chrysler/interface.py

@@ -1,10 +1,12 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
+ButtonType = car.CarState.ButtonEvent.Type
+
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
@@ -27,13 +29,14 @@ class CarInterface(CarInterfaceBase):
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     if candidate not in RAM_CARS:
       # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
-      new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
+      new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
       new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
       if new_eps_platform or new_eps_firmware:
         ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
 
     # Chrysler
-    if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.DODGE_DURANGO):
+    if candidate in (CAR.CHRYSLER_PACIFICA_2017_HYBRID, CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, \
+                     CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
@@ -49,14 +52,14 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kf = 0.00006
 
     # Ram
-    elif candidate == CAR.RAM_1500:
+    elif candidate == CAR.RAM_1500_5TH_GEN:
       ret.steerActuatorDelay = 0.2
       ret.wheelbase = 3.88
       # Older EPS FW allow steer to zero
       if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
         ret.minSteerSpeed = 0.
 
-    elif candidate == CAR.RAM_HD:
+    elif candidate == CAR.RAM_HD_5TH_GEN:
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
 
@@ -76,6 +79,8 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
+    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     # events
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
 
@@ -90,6 +95,3 @@ class CarInterface(CarInterfaceBase):
     ret.events = events.to_msg()
 
     return ret
-
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/chrysler/values.py

@@ -4,24 +4,25 @@ from dataclasses import dataclass, field
 from cereal import car
 from panda.python import uds
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
-from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
+from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
 
 
 class ChryslerFlags(IntFlag):
+  # Detected flags
   HIGHER_MIN_STEERING_SPEED = 1
 
 @dataclass
-class ChryslerCarInfo(CarInfo):
+class ChryslerCarDocs(CarDocs):
   package: str = "Adaptive Cruise Control (ACC)"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
 
 
-@dataclass(frozen=True)
+@dataclass
 class ChryslerPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', None))
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'))
 
 
 @dataclass(frozen=True)
@@ -31,70 +32,60 @@ class ChryslerCarSpecs(CarSpecs):
 
 class CAR(Platforms):
   # Chrysler
-  PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA HYBRID 2017",
-    ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
-    specs=ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
+  CHRYSLER_PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017")],
+    ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
   )
-  PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA HYBRID 2018",
-    ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
-    specs=PACIFICA_2017_HYBRID.specs,
+  CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")],
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
-  PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA HYBRID 2019",
-    ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
-    specs=PACIFICA_2017_HYBRID.specs,
+  CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")],
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
-  PACIFICA_2018 = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA 2018",
-    ChryslerCarInfo("Chrysler Pacifica 2017-18"),
-    specs=PACIFICA_2017_HYBRID.specs,
+  CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Chrysler Pacifica 2017-18")],
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
-  PACIFICA_2020 = ChryslerPlatformConfig(
-    "CHRYSLER PACIFICA 2020",
+  CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
     [
-      ChryslerCarInfo("Chrysler Pacifica 2019-20"),
-      ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
+      ChryslerCarDocs("Chrysler Pacifica 2019-20"),
+      ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
     ],
-    specs=PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
 
   # Dodge
   DODGE_DURANGO = ChryslerPlatformConfig(
-    "DODGE DURANGO 2021",
-    ChryslerCarInfo("Dodge Durango 2020-21"),
-    specs=PACIFICA_2017_HYBRID.specs,
+    [ChryslerCarDocs("Dodge Durango 2020-21")],
+    CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
 
   # Jeep
   JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig(  # includes 2017 Trailhawk
-    "JEEP GRAND CHEROKEE V6 2018",
-    ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
-    specs=ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
+    [ChryslerCarDocs("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk")],
+    ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
   )
 
   JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig(  # includes 2020 Trailhawk
-    "JEEP GRAND CHEROKEE 2019",
-    ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
-    specs=JEEP_GRAND_CHEROKEE.specs,
+    [ChryslerCarDocs("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4")],
+    JEEP_GRAND_CHEROKEE.specs,
   )
 
   # Ram
-  RAM_1500 = ChryslerPlatformConfig(
-    "RAM 1500 5TH GEN",
-    ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
+  RAM_1500_5TH_GEN = ChryslerPlatformConfig(
+    [ChryslerCarDocs("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram]))],
+    ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
     dbc_dict('chrysler_ram_dt_generated', None),
-    specs=ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
   )
-  RAM_HD = ChryslerPlatformConfig(
-    "RAM HD 5TH GEN",
+  RAM_HD_5TH_GEN = ChryslerPlatformConfig(
     [
-      ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
-      ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
+      ChryslerCarDocs("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
+      ChryslerCarDocs("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
     ],
+    ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
     dbc_dict('chrysler_ram_hd_generated', None),
-    specs=ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
   )
 
 
@@ -118,8 +109,8 @@ class CarControllerParams:
 
 STEER_THRESHOLD = 120
 
-RAM_DT = {CAR.RAM_1500, }
-RAM_HD = {CAR.RAM_HD, }
+RAM_DT = {CAR.RAM_1500_5TH_GEN, }
+RAM_HD = {CAR.RAM_HD_5TH_GEN, }
 RAM_CARS = RAM_DT | RAM_HD
 
 
@@ -162,5 +153,4 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
 )
 
-CAR_INFO = CAR.create_carinfo_map()
 DBC = CAR.create_dbc_map()

selfdrive/car/docs.py

@@ -9,8 +9,9 @@ from natsort import natsorted
 from cereal import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType
+from openpilot.selfdrive.car.docs_definitions import CarDocs, Column, CommonFootnote, PartType
 from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
+from openpilot.selfdrive.car.values import PLATFORMS
 
 
 def get_all_footnotes() -> dict[Enum, int]:
@@ -24,45 +25,43 @@ CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
 CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
 
 
-def get_all_car_info() -> list[CarInfo]:
-  all_car_info: list[CarInfo] = []
+def get_all_car_docs() -> list[CarDocs]:
+  all_car_docs: list[CarDocs] = []
   footnotes = get_all_footnotes()
-  for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
+  for model, platform in PLATFORMS.items():
+    car_docs = platform.config.car_docs
     # If available, uses experimental longitudinal limits for the docs
-    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(),
+    CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(),
                                          car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True)
 
-    if CP.dashcamOnly or car_info is None:
+    if CP.dashcamOnly or not len(car_docs):
       continue
 
     # A platform can include multiple car models
-    if not isinstance(car_info, list):
-      car_info = (car_info,)
-
-    for _car_info in car_info:
-      if not hasattr(_car_info, "row"):
-        _car_info.init_make(CP)
-        _car_info.init(CP, footnotes)
-      all_car_info.append(_car_info)
+    for _car_docs in car_docs:
+      if not hasattr(_car_docs, "row"):
+        _car_docs.init_make(CP)
+        _car_docs.init(CP, footnotes)
+      all_car_docs.append(_car_docs)
 
   # Sort cars by make and model + year
-  sorted_cars: list[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower())
+  sorted_cars: list[CarDocs] = natsorted(all_car_docs, key=lambda car: car.name.lower())
   return sorted_cars
 
 
-def group_by_make(all_car_info: list[CarInfo]) -> dict[str, list[CarInfo]]:
-  sorted_car_info = defaultdict(list)
-  for car_info in all_car_info:
-    sorted_car_info[car_info.make].append(car_info)
-  return dict(sorted_car_info)
+def group_by_make(all_car_docs: list[CarDocs]) -> dict[str, list[CarDocs]]:
+  sorted_car_docs = defaultdict(list)
+  for car_docs in all_car_docs:
+    sorted_car_docs[car_docs.make].append(car_docs)
+  return dict(sorted_car_docs)
 
 
-def generate_cars_md(all_car_info: list[CarInfo], template_fn: str) -> str:
+def generate_cars_md(all_car_docs: list[CarDocs], template_fn: str) -> str:
   with open(template_fn) as f:
     template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
 
   footnotes = [fn.value.text for fn in get_all_footnotes()]
-  cars_md: str = template.render(all_car_info=all_car_info, PartType=PartType,
+  cars_md: str = template.render(all_car_docs=all_car_docs, PartType=PartType,
                                  group_by_make=group_by_make, footnotes=footnotes,
                                  Column=Column)
   return cars_md
@@ -77,5 +76,5 @@ if __name__ == "__main__":
   args = parser.parse_args()
 
   with open(args.out, 'w') as f:
-    f.write(generate_cars_md(get_all_car_info(), args.template))
+    f.write(generate_cars_md(get_all_car_docs(), args.template))
   print(f"Generated and written to {args.out}")

selfdrive/car/docs_definitions.py

@@ -118,7 +118,8 @@ class CarHarness(EnumBase):
   nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
   mazda = BaseCarHarness("Mazda connector")
   ford_q3 = BaseCarHarness("Ford Q3 connector")
-  ford_q4 = BaseCarHarness("Ford Q4 connector")
+  ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft, Cable.long_obdc_cable,
+                                                       Cable.usbc_coupler])
 
 
 class Device(EnumBase):
@@ -219,7 +220,7 @@ def split_name(name: str) -> tuple[str, str, str]:
 
 
 @dataclass
-class CarInfo:
+class CarDocs:
   # make + model + model years
   name: str
 
@@ -265,7 +266,7 @@ class CarInfo:
     # min steer & enable speed columns
     # TODO: set all the min steer speeds in carParams and remove this
     if self.min_steer_speed is not None:
-      assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarInfo and CarParams"
+      assert CP.minSteerSpeed < 0.5, f"{CP.carFingerprint}: Minimum steer speed set in both CarDocs and CarParams"
     else:
       self.min_steer_speed = CP.minSteerSpeed
 
@@ -274,7 +275,7 @@ class CarInfo:
       self.min_enable_speed = CP.minEnableSpeed
 
     if self.auto_resume is None:
-      self.auto_resume = CP.autoResumeSng
+      self.auto_resume = CP.autoResumeSng and self.min_enable_speed <= 0
 
     # hardware column
     hardware_col = "None"
@@ -316,7 +317,7 @@ class CarInfo:
     return self
 
   def init_make(self, CP: car.CarParams):
-    """CarInfo subclasses can add make-specific logic for harness selection, footnotes, etc."""
+    """CarDocs subclasses can add make-specific logic for harness selection, footnotes, etc."""
 
   def get_detail_sentence(self, CP):
     if not CP.notCar:
@@ -339,13 +340,13 @@ class CarInfo:
 
       # experimental mode
       exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>"
-      if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable:
+      if CP.openpilotLongitudinalControl and not CP.experimentalLongitudinalAvailable:
         sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}."
 
       return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
 
     else:
-      if CP.carFingerprint == "COMMA BODY":
+      if CP.carFingerprint == "COMMA_BODY":
         return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com'>Learn more.</a>"
       else:
         raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")

selfdrive/car/fingerprints.py

@@ -1,4 +1,17 @@
 from openpilot.selfdrive.car.interfaces import get_interface_attr
+from openpilot.selfdrive.car.body.values import CAR as BODY
+from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
+from openpilot.selfdrive.car.ford.values import CAR as FORD
+from openpilot.selfdrive.car.gm.values import CAR as GM
+from openpilot.selfdrive.car.honda.values import CAR as HONDA
+from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
+from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
+from openpilot.selfdrive.car.mock.values import CAR as MOCK
+from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
+from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
+from openpilot.selfdrive.car.tesla.values import CAR as TESLA
+from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.car.volkswagen.values import CAR as VW
 
 FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
 _FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)
@@ -44,3 +57,291 @@ def all_known_cars():
 def all_legacy_fingerprint_cars():
   """Returns a list of all known car strings, FPv1 only."""
   return list(_FINGERPRINTS.keys())
+
+
+# A dict that maps old platform strings to their latest representations
+MIGRATION = {
+  "ACURA ILX 2016 ACURAWATCH PLUS": HONDA.ACURA_ILX,
+  "ACURA RDX 2018 ACURAWATCH PLUS": HONDA.ACURA_RDX,
+  "ACURA RDX 2020 TECH": HONDA.ACURA_RDX_3G,
+  "AUDI A3": VW.AUDI_A3_MK3,
+  "HONDA ACCORD 2018 HYBRID TOURING": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD 1.5T 2018": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD 2018 LX 1.5T": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD 2018 SPORT 2T": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD 2T 2018": HONDA.HONDA_ACCORD,
+  "HONDA ACCORD HYBRID 2018": HONDA.HONDA_ACCORD,
+  "HONDA CIVIC 2016 TOURING": HONDA.HONDA_CIVIC,
+  "HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019": HONDA.HONDA_CIVIC_BOSCH,
+  "HONDA CIVIC SEDAN 1.6 DIESEL": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
+  "HONDA CR-V 2016 EXECUTIVE": HONDA.HONDA_CRV_EU,
+  "HONDA CR-V 2016 TOURING": HONDA.HONDA_CRV,
+  "HONDA CR-V 2017 EX": HONDA.HONDA_CRV_5G,
+  "HONDA CR-V 2019 HYBRID": HONDA.HONDA_CRV_HYBRID,
+  "HONDA FIT 2018 EX": HONDA.HONDA_FIT,
+  "HONDA HRV 2019 TOURING": HONDA.HONDA_HRV,
+  "HONDA INSIGHT 2019 TOURING": HONDA.HONDA_INSIGHT,
+  "HONDA ODYSSEY 2018 EX-L": HONDA.HONDA_ODYSSEY,
+  "HONDA ODYSSEY 2019 EXCLUSIVE CHN": HONDA.HONDA_ODYSSEY_CHN,
+  "HONDA PILOT 2017 TOURING": HONDA.HONDA_PILOT,
+  "HONDA PILOT 2019 ELITE": HONDA.HONDA_PILOT,
+  "HONDA PILOT 2019": HONDA.HONDA_PILOT,
+  "HONDA PASSPORT 2021": HONDA.HONDA_PILOT,
+  "HONDA RIDGELINE 2017 BLACK EDITION": HONDA.HONDA_RIDGELINE,
+  "HYUNDAI ELANTRA LIMITED ULTIMATE 2017": HYUNDAI.HYUNDAI_ELANTRA,
+  "HYUNDAI SANTA FE LIMITED 2019": HYUNDAI.HYUNDAI_SANTA_FE,
+  "HYUNDAI TUCSON DIESEL 2019": HYUNDAI.HYUNDAI_TUCSON,
+  "KIA OPTIMA 2016": HYUNDAI.KIA_OPTIMA_G4,
+  "KIA OPTIMA 2019": HYUNDAI.KIA_OPTIMA_G4_FL,
+  "KIA OPTIMA SX 2019 & 2016": HYUNDAI.KIA_OPTIMA_G4_FL,
+  "LEXUS CT 200H 2018": TOYOTA.LEXUS_CTH,
+  "LEXUS ES 300H 2018": TOYOTA.LEXUS_ES,
+  "LEXUS ES 300H 2019": TOYOTA.LEXUS_ES_TSS2,
+  "LEXUS IS300 2018": TOYOTA.LEXUS_IS,
+  "LEXUS NX300 2018": TOYOTA.LEXUS_NX,
+  "LEXUS NX300H 2018": TOYOTA.LEXUS_NX,
+  "LEXUS RX 350 2016": TOYOTA.LEXUS_RX,
+  "LEXUS RX350 2020": TOYOTA.LEXUS_RX_TSS2,
+  "LEXUS RX450 HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
+  "TOYOTA SIENNA XLE 2018": TOYOTA.TOYOTA_SIENNA,
+  "TOYOTA C-HR HYBRID 2018": TOYOTA.TOYOTA_CHR,
+  "TOYOTA COROLLA HYBRID TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
+  "TOYOTA RAV4 HYBRID 2019": TOYOTA.TOYOTA_RAV4_TSS2,
+  "LEXUS ES HYBRID 2019": TOYOTA.LEXUS_ES_TSS2,
+  "LEXUS NX HYBRID 2018": TOYOTA.LEXUS_NX,
+  "LEXUS NX HYBRID 2020": TOYOTA.LEXUS_NX_TSS2,
+  "LEXUS RX HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
+  "TOYOTA ALPHARD HYBRID 2021": TOYOTA.TOYOTA_ALPHARD_TSS2,
+  "TOYOTA AVALON HYBRID 2019": TOYOTA.TOYOTA_AVALON_2019,
+  "TOYOTA AVALON HYBRID 2022": TOYOTA.TOYOTA_AVALON_TSS2,
+  "TOYOTA CAMRY HYBRID 2018": TOYOTA.TOYOTA_CAMRY,
+  "TOYOTA CAMRY HYBRID 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
+  "TOYOTA C-HR HYBRID 2022": TOYOTA.TOYOTA_CHR_TSS2,
+  "TOYOTA HIGHLANDER HYBRID 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
+  "TOYOTA RAV4 HYBRID 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
+  "TOYOTA RAV4 HYBRID 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
+  "TOYOTA HIGHLANDER HYBRID 2018": TOYOTA.TOYOTA_HIGHLANDER,
+  "LEXUS ES HYBRID 2018": TOYOTA.LEXUS_ES,
+  "LEXUS RX HYBRID 2017": TOYOTA.LEXUS_RX,
+  "HYUNDAI TUCSON HYBRID 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
+  "KIA SPORTAGE HYBRID 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
+  "KIA SORENTO PLUG-IN HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
+  "CADILLAC ESCALADE ESV PLATINUM 2019": GM.CADILLAC_ESCALADE_ESV_2019,
+
+  # Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/
+  "COMMA BODY": BODY.COMMA_BODY,
+  "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID,
+  "CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
+  "CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID,
+  "CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,
+  "CHRYSLER PACIFICA 2020": CHRYSLER.CHRYSLER_PACIFICA_2020,
+  "DODGE DURANGO 2021": CHRYSLER.DODGE_DURANGO,
+  "JEEP GRAND CHEROKEE V6 2018": CHRYSLER.JEEP_GRAND_CHEROKEE,
+  "JEEP GRAND CHEROKEE 2019": CHRYSLER.JEEP_GRAND_CHEROKEE_2019,
+  "RAM 1500 5TH GEN": CHRYSLER.RAM_1500_5TH_GEN,
+  "RAM HD 5TH GEN": CHRYSLER.RAM_HD_5TH_GEN,
+  "FORD BRONCO SPORT 1ST GEN": FORD.FORD_BRONCO_SPORT_MK1,
+  "FORD ESCAPE 4TH GEN": FORD.FORD_ESCAPE_MK4,
+  "FORD EXPLORER 6TH GEN": FORD.FORD_EXPLORER_MK6,
+  "FORD F-150 14TH GEN": FORD.FORD_F_150_MK14,
+  "FORD F-150 LIGHTNING 1ST GEN": FORD.FORD_F_150_LIGHTNING_MK1,
+  "FORD FOCUS 4TH GEN": FORD.FORD_FOCUS_MK4,
+  "FORD MAVERICK 1ST GEN": FORD.FORD_MAVERICK_MK1,
+  "FORD MUSTANG MACH-E 1ST GEN": FORD.FORD_MUSTANG_MACH_E_MK1,
+  "HOLDEN ASTRA RS-V BK 2017": GM.HOLDEN_ASTRA,
+  "CHEVROLET VOLT PREMIER 2017": GM.CHEVROLET_VOLT,
+  "CADILLAC ATS Premium Performance 2018": GM.CADILLAC_ATS,
+  "CHEVROLET MALIBU PREMIER 2017": GM.CHEVROLET_MALIBU,
+  "GMC ACADIA DENALI 2018": GM.GMC_ACADIA,
+  "BUICK LACROSSE 2017": GM.BUICK_LACROSSE,
+  "BUICK REGAL ESSENCE 2018": GM.BUICK_REGAL,
+  "CADILLAC ESCALADE 2017": GM.CADILLAC_ESCALADE,
+  "CADILLAC ESCALADE ESV 2016": GM.CADILLAC_ESCALADE_ESV,
+  "CADILLAC ESCALADE ESV 2019": GM.CADILLAC_ESCALADE_ESV_2019,
+  "CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_EUV,
+  "CHEVROLET SILVERADO 1500 2020": GM.CHEVROLET_SILVERADO,
+  "CHEVROLET EQUINOX 2019": GM.CHEVROLET_EQUINOX,
+  "CHEVROLET TRAILBLAZER 2021": GM.CHEVROLET_TRAILBLAZER,
+  "HONDA ACCORD 2018": HONDA.HONDA_ACCORD,
+  "HONDA CIVIC (BOSCH) 2019": HONDA.HONDA_CIVIC_BOSCH,
+  "HONDA CIVIC SEDAN 1.6 DIESEL 2019": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
+  "HONDA CIVIC 2022": HONDA.HONDA_CIVIC_2022,
+  "HONDA CR-V 2017": HONDA.HONDA_CRV_5G,
+  "HONDA CR-V HYBRID 2019": HONDA.HONDA_CRV_HYBRID,
+  "HONDA HR-V 2023": HONDA.HONDA_HRV_3G,
+  "ACURA RDX 2020": HONDA.ACURA_RDX_3G,
+  "HONDA INSIGHT 2019": HONDA.HONDA_INSIGHT,
+  "HONDA E 2020": HONDA.HONDA_E,
+  "ACURA ILX 2016": HONDA.ACURA_ILX,
+  "HONDA CR-V 2016": HONDA.HONDA_CRV,
+  "HONDA CR-V EU 2016": HONDA.HONDA_CRV_EU,
+  "HONDA FIT 2018": HONDA.HONDA_FIT,
+  "HONDA FREED 2020": HONDA.HONDA_FREED,
+  "HONDA HRV 2019": HONDA.HONDA_HRV,
+  "HONDA ODYSSEY 2018": HONDA.HONDA_ODYSSEY,
+  "HONDA ODYSSEY CHN 2019": HONDA.HONDA_ODYSSEY_CHN,
+  "ACURA RDX 2018": HONDA.ACURA_RDX,
+  "HONDA PILOT 2017": HONDA.HONDA_PILOT,
+  "HONDA RIDGELINE 2017": HONDA.HONDA_RIDGELINE,
+  "HONDA CIVIC 2016": HONDA.HONDA_CIVIC,
+  "HYUNDAI AZERA 6TH GEN": HYUNDAI.HYUNDAI_AZERA_6TH_GEN,
+  "HYUNDAI AZERA HYBRID 6TH GEN": HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN,
+  "HYUNDAI ELANTRA 2017": HYUNDAI.HYUNDAI_ELANTRA,
+  "HYUNDAI I30 N LINE 2019 & GT 2018 DCT": HYUNDAI.HYUNDAI_ELANTRA_GT_I30,
+  "HYUNDAI ELANTRA 2021": HYUNDAI.HYUNDAI_ELANTRA_2021,
+  "HYUNDAI ELANTRA HYBRID 2021": HYUNDAI.HYUNDAI_ELANTRA_HEV_2021,
+  "HYUNDAI GENESIS 2015-2016": HYUNDAI.HYUNDAI_GENESIS,
+  "HYUNDAI IONIQ HYBRID 2017-2019": HYUNDAI.HYUNDAI_IONIQ,
+  "HYUNDAI IONIQ HYBRID 2020-2022": HYUNDAI.HYUNDAI_IONIQ_HEV_2022,
+  "HYUNDAI IONIQ ELECTRIC LIMITED 2019": HYUNDAI.HYUNDAI_IONIQ_EV_LTD,
+  "HYUNDAI IONIQ ELECTRIC 2020": HYUNDAI.HYUNDAI_IONIQ_EV_2020,
+  "HYUNDAI IONIQ PLUG-IN HYBRID 2019": HYUNDAI.HYUNDAI_IONIQ_PHEV_2019,
+  "HYUNDAI IONIQ PHEV 2020": HYUNDAI.HYUNDAI_IONIQ_PHEV,
+  "HYUNDAI KONA 2020": HYUNDAI.HYUNDAI_KONA,
+  "HYUNDAI KONA ELECTRIC 2019": HYUNDAI.HYUNDAI_KONA_EV,
+  "HYUNDAI KONA ELECTRIC 2022": HYUNDAI.HYUNDAI_KONA_EV_2022,
+  "HYUNDAI KONA ELECTRIC 2ND GEN": HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN,
+  "HYUNDAI KONA HYBRID 2020": HYUNDAI.HYUNDAI_KONA_HEV,
+  "HYUNDAI SANTA FE 2019": HYUNDAI.HYUNDAI_SANTA_FE,
+  "HYUNDAI SANTA FE 2022": HYUNDAI.HYUNDAI_SANTA_FE_2022,
+  "HYUNDAI SANTA FE HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022,
+  "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022,
+  "HYUNDAI SONATA 2020": HYUNDAI.HYUNDAI_SONATA,
+  "HYUNDAI SONATA 2019": HYUNDAI.HYUNDAI_SONATA_LF,
+  "HYUNDAI STARIA 4TH GEN": HYUNDAI.HYUNDAI_STARIA_4TH_GEN,
+  "HYUNDAI TUCSON 2019": HYUNDAI.HYUNDAI_TUCSON,
+  "HYUNDAI PALISADE 2020": HYUNDAI.HYUNDAI_PALISADE,
+  "HYUNDAI VELOSTER 2019": HYUNDAI.HYUNDAI_VELOSTER,
+  "HYUNDAI SONATA HYBRID 2021": HYUNDAI.HYUNDAI_SONATA_HYBRID,
+  "HYUNDAI IONIQ 5 2022": HYUNDAI.HYUNDAI_IONIQ_5,
+  "HYUNDAI IONIQ 6 2023": HYUNDAI.HYUNDAI_IONIQ_6,
+  "HYUNDAI TUCSON 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
+  "HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN,
+  "HYUNDAI CUSTIN 1ST GEN": HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN,
+  "KIA FORTE E 2018 & GT 2021": HYUNDAI.KIA_FORTE,
+  "KIA K5 2021": HYUNDAI.KIA_K5_2021,
+  "KIA K5 HYBRID 2020": HYUNDAI.KIA_K5_HEV_2020,
+  "KIA K8 HYBRID 1ST GEN": HYUNDAI.KIA_K8_HEV_1ST_GEN,
+  "KIA NIRO EV 2020": HYUNDAI.KIA_NIRO_EV,
+  "KIA NIRO EV 2ND GEN": HYUNDAI.KIA_NIRO_EV_2ND_GEN,
+  "KIA NIRO HYBRID 2019": HYUNDAI.KIA_NIRO_PHEV,
+  "KIA NIRO PLUG-IN HYBRID 2022": HYUNDAI.KIA_NIRO_PHEV_2022,
+  "KIA NIRO HYBRID 2021": HYUNDAI.KIA_NIRO_HEV_2021,
+  "KIA NIRO HYBRID 2ND GEN": HYUNDAI.KIA_NIRO_HEV_2ND_GEN,
+  "KIA OPTIMA 4TH GEN": HYUNDAI.KIA_OPTIMA_G4,
+  "KIA OPTIMA 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_G4_FL,
+  "KIA OPTIMA HYBRID 2017 & SPORTS 2019": HYUNDAI.KIA_OPTIMA_H,
+  "KIA OPTIMA HYBRID 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_H_G4_FL,
+  "KIA SELTOS 2021": HYUNDAI.KIA_SELTOS,
+  "KIA SPORTAGE 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
+  "KIA SORENTO GT LINE 2018": HYUNDAI.KIA_SORENTO,
+  "KIA SORENTO 4TH GEN": HYUNDAI.KIA_SORENTO_4TH_GEN,
+  "KIA SORENTO HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
+  "KIA STINGER GT2 2018": HYUNDAI.KIA_STINGER,
+  "KIA STINGER 2022": HYUNDAI.KIA_STINGER_2022,
+  "KIA CEED INTRO ED 2019": HYUNDAI.KIA_CEED,
+  "KIA EV6 2022": HYUNDAI.KIA_EV6,
+  "KIA CARNIVAL 4TH GEN": HYUNDAI.KIA_CARNIVAL_4TH_GEN,
+  "GENESIS GV60 ELECTRIC 1ST GEN": HYUNDAI.GENESIS_GV60_EV_1ST_GEN,
+  "GENESIS G70 2018": HYUNDAI.GENESIS_G70,
+  "GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,
+  "GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN,
+  "GENESIS G80 2017": HYUNDAI.GENESIS_G80,
+  "GENESIS G90 2017": HYUNDAI.GENESIS_G90,
+  "GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,
+  "MAZDA CX-5": MAZDA.MAZDA_CX5,
+  "MAZDA CX-9": MAZDA.MAZDA_CX9,
+  "MAZDA 3": MAZDA.MAZDA_3,
+  "MAZDA 6": MAZDA.MAZDA_6,
+  "MAZDA CX-9 2021": MAZDA.MAZDA_CX9_2021,
+  "MAZDA CX-5 2022": MAZDA.MAZDA_CX5_2022,
+  "NISSAN X-TRAIL 2017": NISSAN.NISSAN_XTRAIL,
+  "NISSAN LEAF 2018": NISSAN.NISSAN_LEAF,
+  "NISSAN LEAF 2018 Instrument Cluster": NISSAN.NISSAN_LEAF_IC,
+  "NISSAN ROGUE 2019": NISSAN.NISSAN_ROGUE,
+  "NISSAN ALTIMA 2020": NISSAN.NISSAN_ALTIMA,
+  "SUBARU ASCENT LIMITED 2019": SUBARU.SUBARU_ASCENT,
+  "SUBARU OUTBACK 6TH GEN": SUBARU.SUBARU_OUTBACK,
+  "SUBARU LEGACY 7TH GEN": SUBARU.SUBARU_LEGACY,
+  "SUBARU IMPREZA LIMITED 2019": SUBARU.SUBARU_IMPREZA,
+  "SUBARU IMPREZA SPORT 2020": SUBARU.SUBARU_IMPREZA_2020,
+  "SUBARU CROSSTREK HYBRID 2020": SUBARU.SUBARU_CROSSTREK_HYBRID,
+  "SUBARU FORESTER 2019": SUBARU.SUBARU_FORESTER,
+  "SUBARU FORESTER HYBRID 2020": SUBARU.SUBARU_FORESTER_HYBRID,
+  "SUBARU FORESTER 2017 - 2018": SUBARU.SUBARU_FORESTER_PREGLOBAL,
+  "SUBARU LEGACY 2015 - 2018": SUBARU.SUBARU_LEGACY_PREGLOBAL,
+  "SUBARU OUTBACK 2015 - 2017": SUBARU.SUBARU_OUTBACK_PREGLOBAL,
+  "SUBARU OUTBACK 2018 - 2019": SUBARU.SUBARU_OUTBACK_PREGLOBAL_2018,
+  "SUBARU FORESTER 2022": SUBARU.SUBARU_FORESTER_2022,
+  "SUBARU OUTBACK 7TH GEN": SUBARU.SUBARU_OUTBACK_2023,
+  "SUBARU ASCENT 2023": SUBARU.SUBARU_ASCENT_2023,
+  'TESLA AP1 MODEL S': TESLA.TESLA_AP1_MODELS,
+  'TESLA AP2 MODEL S': TESLA.TESLA_AP2_MODELS,
+  'TESLA MODEL S RAVEN': TESLA.TESLA_MODELS_RAVEN,
+  "TOYOTA ALPHARD 2020": TOYOTA.TOYOTA_ALPHARD_TSS2,
+  "TOYOTA AVALON 2016": TOYOTA.TOYOTA_AVALON,
+  "TOYOTA AVALON 2019": TOYOTA.TOYOTA_AVALON_2019,
+  "TOYOTA AVALON 2022": TOYOTA.TOYOTA_AVALON_TSS2,
+  "TOYOTA CAMRY 2018": TOYOTA.TOYOTA_CAMRY,
+  "TOYOTA CAMRY 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
+  "TOYOTA C-HR 2018": TOYOTA.TOYOTA_CHR,
+  "TOYOTA C-HR 2021": TOYOTA.TOYOTA_CHR_TSS2,
+  "TOYOTA COROLLA 2017": TOYOTA.TOYOTA_COROLLA,
+  "TOYOTA COROLLA TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
+  "TOYOTA HIGHLANDER 2017": TOYOTA.TOYOTA_HIGHLANDER,
+  "TOYOTA HIGHLANDER 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
+  "TOYOTA PRIUS 2017": TOYOTA.TOYOTA_PRIUS,
+  "TOYOTA PRIUS v 2017": TOYOTA.TOYOTA_PRIUS_V,
+  "TOYOTA PRIUS TSS2 2021": TOYOTA.TOYOTA_PRIUS_TSS2,
+  "TOYOTA RAV4 2017": TOYOTA.TOYOTA_RAV4,
+  "TOYOTA RAV4 HYBRID 2017": TOYOTA.TOYOTA_RAV4H,
+  "TOYOTA RAV4 2019": TOYOTA.TOYOTA_RAV4_TSS2,
+  "TOYOTA RAV4 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
+  "TOYOTA RAV4 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
+  "TOYOTA MIRAI 2021": TOYOTA.TOYOTA_MIRAI,
+  "TOYOTA SIENNA 2018": TOYOTA.TOYOTA_SIENNA,
+  "LEXUS CT HYBRID 2018": TOYOTA.LEXUS_CTH,
+  "LEXUS ES 2018": TOYOTA.LEXUS_ES,
+  "LEXUS ES 2019": TOYOTA.LEXUS_ES_TSS2,
+  "LEXUS IS 2018": TOYOTA.LEXUS_IS,
+  "LEXUS IS 2023": TOYOTA.LEXUS_IS_TSS2,
+  "LEXUS NX 2018": TOYOTA.LEXUS_NX,
+  "LEXUS NX 2020": TOYOTA.LEXUS_NX_TSS2,
+  "LEXUS LC 2024": TOYOTA.LEXUS_LC_TSS2,
+  "LEXUS RC 2020": TOYOTA.LEXUS_RC,
+  "LEXUS RX 2016": TOYOTA.LEXUS_RX,
+  "LEXUS RX 2020": TOYOTA.LEXUS_RX_TSS2,
+  "LEXUS GS F 2016": TOYOTA.LEXUS_GS_F,
+  "VOLKSWAGEN ARTEON 1ST GEN": VW.VOLKSWAGEN_ARTEON_MK1,
+  "VOLKSWAGEN ATLAS 1ST GEN": VW.VOLKSWAGEN_ATLAS_MK1,
+  "VOLKSWAGEN CADDY 3RD GEN": VW.VOLKSWAGEN_CADDY_MK3,
+  "VOLKSWAGEN CRAFTER 2ND GEN": VW.VOLKSWAGEN_CRAFTER_MK2,
+  "VOLKSWAGEN GOLF 7TH GEN": VW.VOLKSWAGEN_GOLF_MK7,
+  "VOLKSWAGEN JETTA 7TH GEN": VW.VOLKSWAGEN_JETTA_MK7,
+  "VOLKSWAGEN PASSAT 8TH GEN": VW.VOLKSWAGEN_PASSAT_MK8,
+  "VOLKSWAGEN PASSAT NMS": VW.VOLKSWAGEN_PASSAT_NMS,
+  "VOLKSWAGEN POLO 6TH GEN": VW.VOLKSWAGEN_POLO_MK6,
+  "VOLKSWAGEN SHARAN 2ND GEN": VW.VOLKSWAGEN_SHARAN_MK2,
+  "VOLKSWAGEN TAOS 1ST GEN": VW.VOLKSWAGEN_TAOS_MK1,
+  "VOLKSWAGEN T-CROSS 1ST GEN": VW.VOLKSWAGEN_TCROSS_MK1,
+  "VOLKSWAGEN TIGUAN 2ND GEN": VW.VOLKSWAGEN_TIGUAN_MK2,
+  "VOLKSWAGEN TOURAN 2ND GEN": VW.VOLKSWAGEN_TOURAN_MK2,
+  "VOLKSWAGEN TRANSPORTER T6.1": VW.VOLKSWAGEN_TRANSPORTER_T61,
+  "VOLKSWAGEN T-ROC 1ST GEN": VW.VOLKSWAGEN_TROC_MK1,
+  "AUDI A3 3RD GEN": VW.AUDI_A3_MK3,
+  "AUDI Q2 1ST GEN": VW.AUDI_Q2_MK1,
+  "AUDI Q3 2ND GEN": VW.AUDI_Q3_MK2,
+  "SEAT ATECA 1ST GEN": VW.SEAT_ATECA_MK1,
+  "SEAT LEON 3RD GEN": VW.SEAT_ATECA_MK1,
+  "SEAT_LEON_MK3": VW.SEAT_ATECA_MK1,
+  "SKODA FABIA 4TH GEN": VW.SKODA_FABIA_MK4,
+  "SKODA KAMIQ 1ST GEN": VW.SKODA_KAMIQ_MK1,
+  "SKODA KAROQ 1ST GEN": VW.SKODA_KAROQ_MK1,
+  "SKODA KODIAQ 1ST GEN": VW.SKODA_KODIAQ_MK1,
+  "SKODA OCTAVIA 3RD GEN": VW.SKODA_OCTAVIA_MK3,
+  "SKODA SCALA 1ST GEN": VW.SKODA_KAMIQ_MK1,
+  "SKODA_SCALA_MK1": VW.SKODA_KAMIQ_MK1,
+  "SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3,
+
+  "mock": MOCK.MOCK,
+}