[MICI] sunnylink: rebase the pairing dialog on the new mici QR widget

[MICI] settings: fix the DeviceLayoutMici import for the device package split
params: default ExperimentalMode on and drop the unused ExperimentalModeConfirmed key
2026-10-15 03:53:44 +08:00 · 2026-10-08 10:05:01 -07:00 · 2026-10-08 10:05:01 -07:00 · 2026-10-08 09:57:37 -07:00 · 2026-10-08 09:57:37 -07:00 · 2026-10-08 01:41:46 -07:00
392 changed files with 19015 additions and 11734 deletions
@@ -1,8 +1,10 @@
-* text=auto
+* text=auto eol=lf

 # to move existing files into LFS:
 # git add --renormalize .
 *.onnx filter=lfs diff=lfs merge=lfs -text
+openpilot/selfdrive/modeld/models/big_*_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text
+openpilot/sunnypilot/modeld_v2/models/*.pkl filter=lfs diff=lfs merge=lfs -text
 *.svg filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
 *.gif filter=lfs diff=lfs merge=lfs -text
@@ -1,43 +0,0 @@
-exclude-labels:
-  - 'no-changelog'
-categories:
-  - title: '🚀 Features'
-    labels:
-      - 'feature'
-      - 'enhancement'
-  - title: '🐛 Bug Fixes'
-    collapse-after: 5
-    labels:
-      - 'fix'
-      - 'bugfix'
-      - 'bug'
-  - title: '🧰 Maintenance'
-    collapse-after: 5
-    label: 'chore'
-change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
-change-title-escapes: '\<*_&'
-replacers:
-  - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
-    replace: 'sunnypilot'
-  - search: '/\b[Ss][Pp]\b/g'
-    replace: 'SP'
-version-resolver:
-  major:
-    labels:
-      - 'major'
-  minor:
-    labels:
-      - 'minor'
-  patch:
-    labels:
-      - 'patch'
-  default: patch
-name-template: 'v$RESOLVED_VERSION 🚀'
-tag-template: 'v$RESOLVED_VERSION'
-version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
-tag-prefix: "v0." # The day OP becomes v1, we need to bump this
-prerelease-identifier: "staging"
-template: |
-  ## Changes
-
-  $CHANGES
@@ -20,6 +20,11 @@ on:
        required: false
        type: string
        default: 'sunnypilot/sunnypilot_models_v1'
+      docs_repo:
+        description: 'GitHub repo holding the driving_models JSON on its gh-pages branch'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot-models'

 jobs:
  setup:
@@ -34,9 +39,9 @@ jobs:
      - name: Checkout sunnypilot repo
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot
          path: sunnypilot
          submodules: recursive
+          fetch-depth: 1

      - name: Get tinygrad_repo ref
        id: get-tinygrad-ref
@@ -47,13 +52,14 @@ jobs:
          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
          echo "tinygrad_ref is $ref"

-      - name: Checkout docs repo (sunnypilot-models, gh-pages)
+      - name: Checkout docs repo (gh-pages)
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot-models
+          repository: ${{ inputs.docs_repo }}
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+          fetch-depth: 1

      - name: Get next JSON version to use (from GitHub docs repo)
        id: get-json
@@ -118,6 +124,7 @@ jobs:
      json_version: ${{ needs.setup.outputs.json_version }}
      target_hardware: ${{ github.event.inputs.target_hardware }}
      hf_repo: ${{ github.event.inputs.hf_repo }}
+      docs_repo: ${{ inputs.docs_repo }}
      set_min_version: ${{ github.event.inputs.set_min_version }}
      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
    secrets: inherit
@@ -162,6 +169,7 @@ jobs:
      target_hardware: ${{ github.event.inputs.target_hardware }}
      artifact_suffix: -retry
      hf_repo: ${{ github.event.inputs.hf_repo }}
+      docs_repo: ${{ inputs.docs_repo }}
      set_min_version: ${{ github.event.inputs.set_min_version }}
      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
    secrets: inherit
@@ -46,7 +46,6 @@ jobs:

          if [ "${{ inputs.target }}" = "big" ]; then
            NAME=$(python3 -c "from openpilot.sunnypilot.models.model_name import DEFAULT_BIG_MODEL; print(DEFAULT_BIG_MODEL)")
-            ONNX_PATH="openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx"
            HF_DEFAULTS_PATH="models/defaults/big"
          elif [ "${{ inputs.target }}" = "dm" ]; then
            ONNX_PATH="openpilot/selfdrive/modeld/models/dmonitoring_model.onnx"
@@ -57,8 +56,9 @@ jobs:
            ONNX_PATH="openpilot/selfdrive/modeld/models/driving_supercombo.onnx"
            HF_DEFAULTS_PATH="models/defaults/small"
          fi
+          ONNX_REF=""
+          [ -n "$ONNX_PATH" ] && ONNX_REF=$(git log -1 --format='%H' -- "$ONNX_PATH")

-          ONNX_REF=$(git log -1 --format='%H' -- "$ONNX_PATH")
          TINYGRAD_REF=$(python3 openpilot/sunnypilot/models/tinygrad_ref.py)
          if [ -z "$TINYGRAD_REF" ]; then
            echo "::error::Failed to resolve tinygrad ref"
@@ -78,6 +78,8 @@ jobs:
    if: ${{ inputs.target == 'small' }}
    runs-on: [self-hosted, tici]
    env:
+      MODELS_DIR: openpilot/selfdrive/modeld/models
+      COMPILER: tinygrad_repo/examples/openpilot
      SMALL_ONNX: openpilot/selfdrive/modeld/models/driving_supercombo.onnx
      SMALL_PKL: openpilot/selfdrive/modeld/models/driving_tinygrad.pkl
    steps:
@@ -85,9 +87,10 @@ jobs:
        with:
          submodules: recursive

-      - name: Pull ONNX via LFS
+      - name: Pull small ONNX via LFS
        run: git lfs pull -I "${{ env.SMALL_ONNX }}"

+
      - name: Set environment variables
        run: |
          source /etc/profile
@@ -103,24 +106,15 @@ jobs:
          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable

-      - name: Compile small model with stock compiler
+      - name: Compile small model from ONNX
        run: |
          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
-
-          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
-          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-          FRAME_SKIP=$(python3 -c "from openpilot.selfdrive.modeld.constants import ModelConstants as MC; print(MC.MODEL_RUN_FREQ // MC.MODEL_CONTEXT_FREQ)")
-
          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-
-          env ${TG_FLAGS} python3 \
-            ${{ github.workspace }}/openpilot/selfdrive/modeld/compile_modeld.py \
-            --onnx ${{ github.workspace }}/${{ env.SMALL_ONNX }} \
-            --model-size $MODEL_SIZE \
-            --camera-resolutions $CAMERA_RES \
-            --frame-skip $FRAME_SKIP \
-            --output ${{ github.workspace }}/${{ env.SMALL_PKL }}
+          env ${TG_FLAGS} python3 ${{ github.workspace }}/${{ env.COMPILER }}/compile_onnx.py \
+            ${{ github.workspace }}/${{ env.SMALL_ONNX }} \
+            ${{ github.workspace }}/${{ env.SMALL_PKL }} \
+            --device-input "*" --out-of-band --benchmark-runs 1

      - name: Chunk small pkl
        run: |
@@ -150,11 +144,14 @@ jobs:
          cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
          cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"

+          ONNX_SHA256=$(git cat-file blob "$(git ls-files -s "${{ github.workspace }}/${{ env.SMALL_ONNX }}" | awk '{print $2}')" | grep '^oid sha256:' | cut -d: -f2)
+
          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
            --model-dir "$MODELS_DIR" \
            --output-dir "$OUTPUT_DIR" \
            --custom-name "$MODEL_NAME" \
-            --upstream-branch "${{ needs.resolve.outputs.onnx_ref }}"
+            --upstream-branch "${{ needs.resolve.outputs.onnx_ref }}" \
+            --onnx-sha256 "$ONNX_SHA256"

          echo "model-${MODEL_NAME}-${{ github.run_number }}" > "$OUTPUT_DIR/artifact_name.txt"

@@ -181,15 +178,17 @@ jobs:
    if: ${{ inputs.target == 'big' }}
    runs-on: [self-hosted, chestnut]
    env:
-      BIG_ONNX: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+      MODELS_DIR: openpilot/selfdrive/modeld/models
+      COMPILER: tinygrad_repo/examples/openpilot
      BIG_PKL: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: recursive
+          lfs: true

-      - name: Pull big ONNX via LFS
-        run: git lfs pull -I "${{ env.BIG_ONNX }}"
+      - name: Pull big PKL via LFS
+        run: git lfs pull -I "${{ env.BIG_PKL }}"

      - name: Set environment variables
        run: |
@@ -222,25 +221,6 @@ jobs:
              raise RuntimeError('Chestnut PCIe link not ready after 10 attempts')
          "

-      - name: Compile big model with stock compiler
-        run: |
-          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
-          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
-
-          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
-          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-          FRAME_SKIP=$(python3 -c "from openpilot.selfdrive.modeld.constants import ModelConstants as MC; print(MC.MODEL_RUN_FREQ // MC.MODEL_CONTEXT_FREQ)")
-
-          TG_FLAGS="DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2"
-
-          env ${TG_FLAGS} python3 \
-            ${{ github.workspace }}/openpilot/selfdrive/modeld/compile_modeld.py \
-            --onnx ${{ github.workspace }}/${{ env.BIG_ONNX }} \
-            --model-size $MODEL_SIZE \
-            --camera-resolutions $CAMERA_RES \
-            --frame-skip $FRAME_SKIP \
-            --output ${{ github.workspace }}/${{ env.BIG_PKL }}
-
      - name: Chunk big pkl
        run: |
          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
@@ -269,11 +249,14 @@ jobs:
          cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
          cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"

+          PKL_LFS_SHA256=$(sha256sum "$MODELS_DIR/${PKL_BASE}" | cut -d' ' -f1)
+
          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
            --model-dir "$MODELS_DIR" \
            --output-dir "$OUTPUT_DIR" \
            --custom-name "$MODEL_NAME" \
-            --upstream-branch "${{ needs.resolve.outputs.onnx_ref }}"
+            --upstream-branch "${{ needs.resolve.outputs.onnx_ref }}" \
+            --onnx-sha256 "$PKL_LFS_SHA256"

          echo "model-${MODEL_NAME}-${{ github.run_number }}" > "$OUTPUT_DIR/artifact_name.txt"

@@ -311,7 +294,8 @@ jobs:
    steps:
      - uses: actions/checkout@v4

-      - name: Pull ONNX via LFS
+      - name: Pull LFS for resolved ONNX files
+        if: ${{ needs.resolve.outputs.onnx_path != '' }}
        run: git lfs pull -I "${{ needs.resolve.outputs.onnx_path }}"

      - name: Install huggingface_hub
@@ -351,8 +335,6 @@ jobs:
            --hf-defaults-path "${{ needs.resolve.outputs.hf_defaults_path }}" \
            --artifact-name "$ARTIFACT_NAME" \
            --model-dir output \
-            --onnx-path "${{ needs.resolve.outputs.onnx_path }}" \
-            --onnx-ref "${{ needs.resolve.outputs.onnx_ref }}" \
            --model-name "${{ needs.resolve.outputs.model_name }}" \
            --tinygrad-ref "${{ needs.resolve.outputs.tinygrad_ref }}" \
            --run-number "${{ github.run_number }}"
@@ -400,6 +382,7 @@ jobs:
                  'short_name': 'DMMODEL',
                  'display_name': '${{ needs.resolve.outputs.model_name }}',
                  'ref': '${{ needs.resolve.outputs.onnx_ref }}',
+                  'tinygrad_ref': '${{ needs.resolve.outputs.tinygrad_ref }}',
                  'runner': 'tinygrad',
                  'build_time': datetime.now(UTC).strftime('%Y-%m-%dT%H:%M:%SZ'),
                  'models': [{
@@ -490,15 +473,27 @@ jobs:
          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"

          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-          MODEL_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld"
+          COMPILER="${{ github.workspace }}/tinygrad_repo/examples/openpilot"
+          MODELS_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld/models"
          DM_SIZE=$(python3 -c "from openpilot.common.transformations.model import DM_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")

          for res in $(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')"); do
-            WARP_PKL="${MODEL_DIR}/models/dm_warp_${res}_tinygrad.pkl"
-            taskset -c 7 env ${TG_FLAGS} python3 ${MODEL_DIR}/compile_dm_warp.py \
-              --camera-resolution ${res} \
+            CAM_W=$(echo $res | cut -d x -f1)
+            CAM_H=$(echo $res | cut -d x -f2)
+            STRIDE_INFO=$(python3 -c "
+          import sys
+          from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+          s,y,u,sz = get_nv12_info(int(sys.argv[1]), int(sys.argv[2]))
+          print(f'{s},{y},{u},{sz}')
+          " $CAM_W $CAM_H)
+            WARP_PKL="${MODELS_DIR}/dm_warp_${res}_tinygrad.pkl"
+            taskset -c 7 env ${TG_FLAGS} python3 "${COMPILER}/compile_warp.py" \
+              --frame ${CAM_W},${CAM_H},${STRIDE_INFO} \
              --warp-to ${DM_SIZE} \
-              --output ${WARP_PKL}
+              --layout luma \
+              --border-fill 16 \
+              --transform-device NPY \
+              --output "${WARP_PKL}"
          done

      - name: Prepare DM output
@@ -39,6 +39,11 @@ on:
        required: false
        type: string
        default: 'sunnypilot/sunnypilot_models_v1'
+      docs_repo:
+        description: 'GitHub repo holding the driving_models JSON on its gh-pages branch'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot-models'
      set_min_version:
        description: 'Minimum selector version'
        required: false
@@ -107,6 +112,11 @@ on:
        required: false
        type: string
        default: 'sunnypilot/sunnypilot_models_v1'
+      docs_repo:
+        description: 'GitHub repo holding the driving_models JSON on its gh-pages branch'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot-models'
 env:
  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
  JSON_FILE: docs/docs/driving_models_${{ inputs.target_hardware == 'chestnut' && 'chestnut_v' || 'v' }}${{ inputs.json_version }}.json
@@ -124,9 +134,6 @@ jobs:

  publish_model:
    if: ${{ !cancelled() && needs.build_model.result == 'success' }}
-    concurrency:
-      group: hf-push-${{ inputs.recompiled_dir }}
-      cancel-in-progress: false
    needs: build_model
    runs-on: ubuntu-latest
    permissions:
@@ -136,7 +143,7 @@ jobs:
      - name: Checkout docs repo
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot-models
+          repository: ${{ inputs.docs_repo }}
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
@@ -195,13 +202,12 @@ jobs:
            "models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/" \
            --repo-type=dataset

-      - name: Pull gh-pages
+      - name: Update and push JSON to docs repo
        run: |
          cd docs
-          git pull origin gh-pages
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"

-      - name: Run json_parser.py to update JSON
-        run: |
          FOLDER="${{ inputs.model_folder }}"
          if [ "$FOLDER" = "Other" ]; then
            FOLDER="${{ inputs.custom_model_folder }}"
@@ -214,18 +220,27 @@ jobs:
          [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
          [ -n "${{ inputs.tinygrad_ref }}" ] && ARGS="$ARGS --tinygrad-ref \"${{ inputs.tinygrad_ref }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "local_models/$RECOMPILED_DIR" \
-            --sort-by-date \
-            $ARGS

-      - name: Push updated JSON to GitHub docs repo
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages
+          for attempt in $(seq 1 10); do
+            git fetch origin gh-pages
+            git reset --hard origin/gh-pages
+
+            eval python3 json_parser.py \
+              --json-path "docs/$(basename $JSON_FILE)" \
+              --recompiled-dir "../local_models/$RECOMPILED_DIR" \
+              --sort-by-date \
+              $ARGS
+
+            git add docs/"$(basename $JSON_FILE)"
+            git commit -m "Update $(basename $JSON_FILE) after recompiling model" || { echo "No changes to commit"; exit 0; }
+
+            if git push origin gh-pages; then
+              echo "Push succeeded on attempt $attempt"
+              exit 0
+            fi
+
+            echo "Push failed (attempt $attempt/10), retrying after backoff..."
+            sleep $((RANDOM % 10 + 3))
+          done
+          echo "All 10 push attempts failed"
+          exit 1
@@ -0,0 +1,73 @@
+name: Compile warp for sunnypilot modeld
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 0 * * 0'
+
+jobs:
+  compile_warps:
+    runs-on: [self-hosted, chestnut]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set environment variables
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync --frozen
+          printenv >> $GITHUB_ENV
+
+      - name: Disable powersave
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
+
+      - name: Compile Warp Kernels
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
+          mkdir -p openpilot/sunnypilot/modeld_v2/models/
+          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
+          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
+          echo "Model size: $MODEL_SIZE"
+          echo "Camera resolutions: $CAMERA_RES"
+
+          for res in $CAMERA_RES; do
+            FRAME_PARAM=$(python3 -c "from openpilot.system.camerad.cameras.nv12_info import get_nv12_info; w, h = map(int, '${res}'.split('x')); stride, y_h, uv_h, _ = get_nv12_info(w, h); print(f'{w},{h},{stride},{y_h},{uv_h},{stride * (y_h + uv_h)}')")
+
+            WARP_PKL="openpilot/sunnypilot/modeld_v2/models/driving_warp_${res}_tinygrad.pkl"
+            echo "Compiling $WARP_PKL on QCOM"
+            taskset -c 7 env DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1 python3 tinygrad_repo/examples/openpilot/compile_warp.py \
+              --frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --layout yuv420 --frames 2 --output "${WARP_PKL}"
+
+            BIG_WARP_PKL="openpilot/sunnypilot/modeld_v2/models/big_driving_warp_${res}_tinygrad.pkl"
+            echo "Compiling $BIG_WARP_PKL on AMD"
+            taskset -c 7 env DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32 python3 tinygrad_repo/examples/openpilot/compile_warp.py \
+              --frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --layout yuv420 --frames 2 --output "${BIG_WARP_PKL}"
+          done
+
+      - name: Re-enable powersave
+        if: always()
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
+
+      - name: Create Pull Request
+        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+        with:
+          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
+          token: ${{ secrets.GITHUB_TOKEN }}
+          commit-message: "[bot] Update warp pkl for modeld_v2"
+          title: "[bot] Update modeld_v2 Warp"
+          branch: "auto/compile-warp-kernels"
+          base: "master"
+          delete-branch: true
+          labels: bot
+          add-paths: |
+            openpilot/sunnypilot/modeld_v2/models/*.pkl
@@ -18,24 +18,25 @@ concurrency:
 env:
  GIT_CONFIG_COUNT: 1
  GIT_CONFIG_KEY_0: lfs.fetchexclude
-  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl

 jobs:
  docs:
    name: build docs
-    runs-on: ubuntu-24.04
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16"]')
+      || fromJSON('["ubuntu-24.04"]') }}
    steps:
    - uses: commaai/timeout@v1
-
    - uses: actions/checkout@v7
-      with:
-        submodules: true
+    - run: ./tools/op.sh setup

    # Build
    - name: Build docs
-      run: |
-        git lfs pull
-        python docs/serve.py --build
+      run: ./tools/op.sh docs --build

    # Push to docs.comma.ai
    - uses: actions/checkout@v7
@@ -11,6 +11,10 @@ inputs:
  dest_dir:
    description: Destination directory for downloaded chunks
    required: true
+  tinygrad_ref:
+    description: 'Tinygrad ref to match bundle against'
+    required: false
+    default: ''

 runs:
  using: composite
@@ -21,6 +25,7 @@ runs:
        HF_REPO: ${{ inputs.hf_repo }}
        MODELS_JSON: ${{ inputs.models }}
        DEST_DIR: ${{ inputs.dest_dir }}
+        TINYGRAD_REF: ${{ inputs.tinygrad_ref }}
      run: |
        set -eo pipefail
        DOWNLOAD_LIST=$(mktemp)
@@ -30,7 +35,21 @@ runs:
          local JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_PATH}/default_models.json"
          local DEFAULTS BUNDLE ARTIFACT BASE_URL NUM_CHUNKS
          DEFAULTS=$(curl -fsSL "$JSON_URL")
-          BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" '.bundles[] | select(.onnx_sha256 == $hash)')
+          if [ -n "$TINYGRAD_REF" ]; then
+            BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" --arg tg "$TINYGRAD_REF" '
+              . as $root | [.bundles[] | select(.onnx_sha256 == $hash and (.tinygrad_ref == $tg or (.tinygrad_ref == null and $root.tinygrad_ref == $tg)))] | .[0] // empty
+            ')
+          else
+            BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" '
+              [.bundles[] | select(.onnx_sha256 == $hash)] | .[0] // empty
+            ')
+          fi
+
+          if [ -z "$BUNDLE" ] || [ "$BUNDLE" = "null" ]; then
+            echo "::error::No model bundle found matching ONNX hash $ONNX_HASH (tinygrad ref: $TINYGRAD_REF) in $HF_PATH"
+            return 1
+          fi
+
          ARTIFACT=$(echo "$BUNDLE" | jq -r '.models[0].artifact')
          BASE_URL=$(echo "$ARTIFACT" | jq -r '.download_uri.url' | sed 's|/[^/]*$||')
          NUM_CHUNKS=$(echo "$ARTIFACT" | jq -r '.chunks | length')
@@ -1,8 +1,8 @@
 name: Sync comma's LFS

 env:
-  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
-  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
+  LFS_URL: 'https://huggingface.co/sunnypilot/sunnypilot-lfs.git/info/lfs'
+  LFS_PUSH_URL: 'https://huggingface.co/sunnypilot/sunnypilot-lfs.git/info/lfs'

 on:
  schedule:
@@ -40,14 +40,12 @@ jobs:
          git config --global user.name 'GitHub Action'
          git config --global user.email 'action@github.com'

-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab public keys
+      - name: Setup hf
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
        run: |
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+          git config --global credential.helper store
+          echo "https://user:${HF_TOKEN}@huggingface.co" > ~/.git-credentials

      - name: Ensure branch
        run: |
@@ -1,28 +0,0 @@
-name: Release Drafter
-
-on:
-  push:
-    branches:
-      - master
-    tags:
-      - 'v*'
-  pull_request_target:
-    types: [opened, reopened, synchronize]
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  update_release_draft:
-    permissions:
-      contents: write
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - uses: release-drafter/release-drafter@v6
-        with:
-          config-name: release-drafter.yml
-          prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -7,7 +7,7 @@ on:
 env:
  GIT_CONFIG_COUNT: 1
  GIT_CONFIG_KEY_0: lfs.fetchexclude
-  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl

 jobs:
  build___nightly:
@@ -34,3 +34,7 @@ jobs:
    - run: ./tools/op.sh setup
    - name: Push __nightly
      run: BRANCH=__nightly tools/release/build_stripped.sh
+    - name: Push chestnut nightly
+      run: |
+        git lfs pull --exclude=''
+        INCLUDE_BIG_MODEL=1 BRANCH=__nightly-chestnut tools/release/build_stripped.sh
@@ -11,7 +11,7 @@ env:
  PYTHONPATH: ${{ github.workspace }}
  GIT_CONFIG_COUNT: 1
  GIT_CONFIG_KEY_0: lfs.fetchexclude
-  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl

 jobs:
  package_updates:
@@ -100,24 +100,72 @@ jobs:
          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
          cat $GITHUB_OUTPUT
-      - run: |
+
+      - name: Fetch Models
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+        run: |
          cd ${{ github.workspace }}/openpilot/openpilot
          if [ "${{ inputs.target_hardware }}" != "chestnut" ]; then
-            git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/dmonitoring_*.onnx"
-            rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx
+            ONNX_COUNT=$(find selfdrive/modeld/models -maxdepth 1 -type f -name "*.onnx" ! -name "big_*.onnx" ! -name "dmonitoring_*.onnx" 2>/dev/null | wc -l)
          else
-            git lfs pull -I "**/selfdrive/modeld/models/big_*.onnx" -X ""
-            find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete
+            ONNX_COUNT=$(find selfdrive/modeld/models -maxdepth 1 -type f -name "big_*.onnx" 2>/dev/null | wc -l)
          fi
-          if grep -lIF "version https://git-lfs.github.com/spec/v1" selfdrive/modeld/models/*.onnx; then
-            echo "::error::the ONNX files above are still LFS pointers, not real models"
+          if [ "$ONNX_COUNT" -eq 0 ]; then
+            echo "Detected NEW stock architecture (no ONNX files tracked). Fetching from HF and skipping LFS pull."
+            COMMIT_MSG=$(git log -1 --pretty=%B)
+            HF_HASH=$(echo "$COMMIT_MSG" | grep -oE '[a-f0-9]{8}' | head -n 1)
+
+            if [ -n "$HF_HASH" ]; then
+              echo "Downloading ONNX for hash $HF_HASH from HuggingFace."
+              pip install huggingface_hub
+              rm -f selfdrive/modeld/models/*.onnx
+              python3 - <<EOF
+          import sys, os, shutil
+          from huggingface_hub import HfApi, hf_hub_download
+          short_hash = "$HF_HASH"
+          target_dir = "selfdrive/modeld/models"
+          repo = "commaai/openpilot_driving_models"
+          api = HfApi()
+          files = list(api.list_repo_tree(repo, repo_type="model", recursive=True))
+          matching_folder = next((f.path.split("/")[0] for f in files if f.path.startswith(short_hash)), None)
+          if not matching_folder:
+            print(f"Could not find HF folder for hash {short_hash}")
+            sys.exit(1)
+          os.makedirs(target_dir, exist_ok=True)
+          for f in files:
+            if f.path.startswith(matching_folder) and f.path.endswith(".onnx"):
+              p = hf_hub_download(repo_id=repo, repo_type="model", filename=f.path)
+              shutil.copy2(p, os.path.join(target_dir, os.path.basename(f.path)))
+          EOF
+              rm -f selfdrive/modeld/models/*.pkl
+              touch selfdrive/modeld/models/new_arch.txt
+            else
+              echo "Could not parse HuggingFace hash from commit message."
+              exit 1
+            fi
+          else
+            if [ "${{ inputs.target_hardware }}" != "chestnut" ]; then
+              git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/dmonitoring_*.onnx,**/selfdrive/modeld/models/big_*.pkl,**/selfdrive/modeld/models/dmonitoring_*.pkl"
+              rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx selfdrive/modeld/models/big_*.pkl selfdrive/modeld/models/dmonitoring_*.pkl
+            else
+              git lfs pull -I "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/big_*.pkl" -X ""
+              find selfdrive/modeld/models -type f \( -name "*.onnx" -o -name "*.pkl" \) ! -name "big_*.onnx" ! -name "big_*.pkl" -delete
+            fi
+          fi
+
+          if grep -lIF "version https://git-lfs.github.com/spec/v1" selfdrive/modeld/models/*.onnx selfdrive/modeld/models/*.pkl 2>/dev/null; then
+            echo "::error::the ONNX or PKL files above are still LFS pointers, not real models"
            exit 1
          fi
      - name: 'Upload Artifact'
        uses: actions/upload-artifact@v4
        with:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
+          path: |
+            ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
+            ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.pkl
+            ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/new_arch.txt
          if-no-files-found: error

  build_model:
@@ -132,7 +180,6 @@ jobs:
          fetch-depth: 1
          submodules: recursive

-
      - name: Set environment variables
        id: set-env
        run: |
@@ -144,9 +191,6 @@ jobs:
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
          uv sync --frozen
          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi

      - name: Setup build environment
        run: |
@@ -158,10 +202,6 @@ jobs:
          echo "VERSION: ${{ steps.set-env.outputs.version }}"
          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
          rm -rf ${{ env.MODELS_DIR }}/*.onnx*
@@ -188,7 +228,7 @@ jobs:
          if [ "${{ inputs.target_hardware }}" == "chestnut" ]; then
            echo "CHESTNUT build"
            export CHESTNUT=1
-            TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_OCCUPANCY_OPT=1"
+            TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32"
            OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
          else
            echo "QCOM build"
@@ -196,64 +236,77 @@ jobs:
            OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
          fi

-          # Generate metadata for all ONNX files
-          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            echo "Generating metadata: $onnx_file"
-            env ${TG_FLAGS_QCOM} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
-          done
+          NATIVE_PKL=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "*.pkl" -print -quit)

-          # Detect model type and build compile args
-          VISION_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_vision.onnx" "${{ env.MODELS_DIR }}/big_driving_vision.onnx"; do
-            [ -f "$f" ] && VISION_ONNX="$f" && break
-          done
+          if [ -f "${{ env.MODELS_DIR }}/new_arch.txt" ]; then
+            echo "Detected new arch"
+            DOWNLOADED_ONNX=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "*driving*.onnx" -print -quit)
+            if [ -n "$DOWNLOADED_ONNX" ]; then
+              echo "Compiling ONNX: $DOWNLOADED_ONNX"
+              env ${TG_FLAGS} taskset -c 7 python3 openpilot/sunnypilot/modeld_v2/compile_modeld_v2.py \
+                "$DOWNLOADED_ONNX" "$OUTPUT_PKL" --device-input "*" --out-of-band --benchmark-runs 1

-          POLICY_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_policy.onnx"; do
-            [ -f "$f" ] && POLICY_ONNX="$f" && break
-          done
-
-          OFF_POLICY_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_off_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_off_policy.onnx"; do
-            [ -f "$f" ] && OFF_POLICY_ONNX="$f" && break
-          done
-
-          ON_POLICY_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_on_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_on_policy.onnx"; do
-            [ -f "$f" ] && ON_POLICY_ONNX="$f" && break
-          done
-
-          SUPERCOMBO_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx" "${{ env.MODELS_DIR }}/big_supercombo.onnx" "${{ env.MODELS_DIR }}/big_driving_supercombo.onnx"; do
-            [ -f "$f" ] && SUPERCOMBO_ONNX="$f" && break
-          done
-
-          MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
-          if [ -f "$VISION_ONNX" ]; then
-            ONNX_ARGS="--vision-onnx $VISION_ONNX"
-            if [ -f "$ON_POLICY_ONNX" ] && [ -f "$OFF_POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_multi_policy
-              ONNX_ARGS="$ONNX_ARGS --off-policy-onnx $OFF_POLICY_ONNX --on-policy-onnx $ON_POLICY_ONNX"
-            elif [ -f "$OFF_POLICY_ONNX" ] && [ -f "$POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_multi_policy
-              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX --off-policy-onnx $OFF_POLICY_ONNX"
-            elif [ -f "$POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_policy
-              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX"
+              echo "Chunking pkl"
+              python3 -c "from openpilot.common.file_chunker import chunk_file, get_chunk_targets; import os; p='$OUTPUT_PKL'; chunk_file(p, get_chunk_targets(p, os.path.getsize(p)))"
+            else
+              echo "Failed to find downloaded ONNX."
+              exit 1
            fi
-          elif [ -f "$SUPERCOMBO_ONNX" ]; then
-            MODEL_TYPE=supercombo
-            ONNX_ARGS="--supercombo-onnx $SUPERCOMBO_ONNX"
-          fi
+          else
+            echo "Detected onnx architecture. Routing to native compile_modeld.py."
+            # Detect model type and build compile args
+            VISION_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/driving_vision.onnx" "${{ env.MODELS_DIR }}/big_driving_vision.onnx"; do
+              [ -f "$f" ] && VISION_ONNX="$f" && break
+            done

-          if [ -n "$MODEL_TYPE" ]; then
-            echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
-            env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
-              --model-type $MODEL_TYPE \
-              --model-size $MODEL_SIZE \
-              --camera-resolutions $CAMERA_RES \
-              $ONNX_ARGS \
-              --output "$OUTPUT_PKL"
+            POLICY_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/driving_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_policy.onnx"; do
+              [ -f "$f" ] && POLICY_ONNX="$f" && break
+            done
+
+            OFF_POLICY_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/driving_off_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_off_policy.onnx"; do
+              [ -f "$f" ] && OFF_POLICY_ONNX="$f" && break
+            done
+
+            ON_POLICY_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/driving_on_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_on_policy.onnx"; do
+              [ -f "$f" ] && ON_POLICY_ONNX="$f" && break
+            done
+
+            SUPERCOMBO_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx" "${{ env.MODELS_DIR }}/big_supercombo.onnx" "${{ env.MODELS_DIR }}/big_driving_supercombo.onnx"; do
+              [ -f "$f" ] && SUPERCOMBO_ONNX="$f" && break
+            done
+
+            MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
+            if [ -f "$VISION_ONNX" ]; then
+              ONNX_ARGS="--vision-onnx $VISION_ONNX"
+              if [ -f "$ON_POLICY_ONNX" ] && [ -f "$OFF_POLICY_ONNX" ]; then
+                MODEL_TYPE=vision_multi_policy
+                ONNX_ARGS="$ONNX_ARGS --off-policy-onnx $OFF_POLICY_ONNX --on-policy-onnx $ON_POLICY_ONNX"
+              elif [ -f "$OFF_POLICY_ONNX" ] && [ -f "$POLICY_ONNX" ]; then
+                MODEL_TYPE=vision_multi_policy
+                ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX --off-policy-onnx $OFF_POLICY_ONNX"
+              elif [ -f "$POLICY_ONNX" ]; then
+                MODEL_TYPE=vision_policy
+                ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX"
+              fi
+            elif [ -f "$SUPERCOMBO_ONNX" ]; then
+              MODEL_TYPE=supercombo
+              ONNX_ARGS="--supercombo-onnx $SUPERCOMBO_ONNX"
+            fi
+
+            if [ -n "$MODEL_TYPE" ]; then
+              echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
+              env ${TG_FLAGS} taskset -c 7 python3 "$COMPILE_MODELD" \
+                --model-type $MODEL_TYPE \
+                --model-size $MODEL_SIZE \
+                --camera-resolutions $CAMERA_RES \
+                $ONNX_ARGS \
+                --output "$OUTPUT_PKL"
+            fi
          fi

      - name: Prepare Output
@@ -170,6 +170,9 @@ jobs:
          scons -j1 cache_dir="$SCONS_CACHE" --minimal \
            openpilot/selfdrive/locationd openpilot/sunnypilot/selfdrive/locationd
          echo "Building rest of sunnypilot"
+          sudo rm -rf /tmp/* || true
+          mkdir -p "$BUILD_DIR/tmp"
+          export TMPDIR="$BUILD_DIR/tmp"
          SKIP_TINYGRAD_COMPILE=1 /usr/bin/time -v scons -j$(nproc) cache_dir="$SCONS_CACHE" --minimal
          touch ${BUILD_DIR}/prebuilt
          if [[ "${{ runner.debug }}" == "1" ]]; then
@@ -221,37 +224,40 @@ jobs:
      cancel-in-progress: false
    outputs:
      onnx_sha256: ${{ steps.resolve.outputs.onnx_sha256 }}
+      tinygrad_ref: ${{ steps.resolve.outputs.tinygrad_ref }}
    env:
      GH_REPO: ${{ github.repository }}
      HF_REPO: sunnypilot/sunnypilot_models_v1
      HF_DEFAULTS_PATH: models/defaults/big
    steps:
-      - name: Resolve ONNX hash and tinygrad ref via API
+      - name: Resolve tinygrad ref via API
        id: resolve
        run: |
          REF="${{ github.head_ref || github.ref_name }}"

-          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx?ref=${REF}" --jq '.sha')
+          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl?ref=${REF}" --jq '.sha')
+          [ -n "$BLOB_SHA" ] || { echo "::error::Failed to resolve big_driving_tinygrad.pkl blob SHA"; exit 1; }
          ONNX_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
-          echo "ONNX hash: $ONNX_HASH"
-          [ -n "$ONNX_HASH" ] || { echo "::error::Failed to extract ONNX hash"; exit 1; }
-          echo "onnx_sha256=$ONNX_HASH" >> $GITHUB_OUTPUT
+          echo "big PKL hash: $ONNX_HASH"
+          [ -n "$ONNX_HASH" ] || { echo "::error::Failed to extract big PKL hash"; exit 1; }
+          echo "onnx_sha256=$ONNX_HASH" >> "$GITHUB_OUTPUT"

          TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
          echo "tinygrad ref: $TINYGRAD_REF"
+          echo "tinygrad_ref=$TINYGRAD_REF" >> "$GITHUB_OUTPUT"

          JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"

          check_defaults() {
            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
-            TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
-            [ "$TINYGRAD_MATCH" = "true" ] || return 1
-            BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
+            BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" --arg ref "$TINYGRAD_REF" '
+              . as $root | [.bundles[] | select(.onnx_sha256 == $hash and (.tinygrad_ref == $ref or (.tinygrad_ref == null and $root.tinygrad_ref == $ref)))] | .[0] // empty
+            ' 2>/dev/null)
            [ -n "$BUNDLE" ] && [ "$BUNDLE" != "null" ]
          }

          if check_defaults; then
-            echo "HF defaults match repo ONNX hash and tinygrad ref"
+            echo "HF defaults match repo tinygrad ref"
            exit 0
          fi

@@ -304,12 +310,13 @@ jobs:
      cancel-in-progress: false
    outputs:
      driving_onnx_sha256: ${{ steps.resolve.outputs.driving_onnx_sha256 }}
+      tinygrad_ref: ${{ steps.resolve.outputs.tinygrad_ref }}
    env:
      GH_REPO: ${{ github.repository }}
      HF_REPO: sunnypilot/sunnypilot_models_v1
      HF_DEFAULTS_PATH: models/defaults/small
    steps:
-      - name: Resolve ONNX hash and tinygrad ref via API
+      - name: Resolve tinygrad ref via API
        id: resolve
        run: |
          REF="${{ github.head_ref || github.ref_name }}"
@@ -318,23 +325,24 @@ jobs:
          DRIVING_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
          echo "Driving ONNX hash: $DRIVING_HASH"
          [ -n "$DRIVING_HASH" ] || { echo "::error::Failed to extract driving ONNX hash"; exit 1; }
-          echo "driving_onnx_sha256=$DRIVING_HASH" >> $GITHUB_OUTPUT
+          echo "driving_onnx_sha256=$DRIVING_HASH" >> "$GITHUB_OUTPUT"

          TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
          echo "tinygrad ref: $TINYGRAD_REF"
+          echo "tinygrad_ref=$TINYGRAD_REF" >> "$GITHUB_OUTPUT"

          JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"

          check_defaults() {
            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
-            TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
-            [ "$TINYGRAD_MATCH" = "true" ] || return 1
-            DRIVING=$(echo "$DEFAULTS" | jq --arg hash "$DRIVING_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
-            [ -n "$DRIVING" ] && [ "$DRIVING" != "null" ] || return 1
+            DRIVING=$(echo "$DEFAULTS" | jq --arg hash "$DRIVING_HASH" --arg ref "$TINYGRAD_REF" '
+              . as $root | [.bundles[] | select(.onnx_sha256 == $hash and (.tinygrad_ref == $ref or (.tinygrad_ref == null and $root.tinygrad_ref == $ref)))] | .[0] // empty
+            ' 2>/dev/null)
+            [ -n "$DRIVING" ] && [ "$DRIVING" != "null" ]
          }

          if check_defaults; then
-            echo "HF defaults match repo ONNX hash and tinygrad ref"
+            echo "HF defaults match repo tinygrad ref"
            exit 0
          fi

@@ -387,12 +395,13 @@ jobs:
      cancel-in-progress: false
    outputs:
      dm_onnx_sha256: ${{ steps.resolve.outputs.dm_onnx_sha256 }}
+      tinygrad_ref: ${{ steps.resolve.outputs.tinygrad_ref }}
    env:
      GH_REPO: ${{ github.repository }}
      HF_REPO: sunnypilot/sunnypilot_models_v1
      HF_DEFAULTS_PATH: models/defaults/dm
    steps:
-      - name: Resolve ONNX hash and tinygrad ref via API
+      - name: Resolve tinygrad ref via API
        id: resolve
        run: |
          REF="${{ github.head_ref || github.ref_name }}"
@@ -401,23 +410,24 @@ jobs:
          DM_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
          echo "DM ONNX hash: $DM_HASH"
          [ -n "$DM_HASH" ] || { echo "::error::Failed to extract DM ONNX hash"; exit 1; }
-          echo "dm_onnx_sha256=$DM_HASH" >> $GITHUB_OUTPUT
+          echo "dm_onnx_sha256=$DM_HASH" >> "$GITHUB_OUTPUT"

          TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
          echo "tinygrad ref: $TINYGRAD_REF"
+          echo "tinygrad_ref=$TINYGRAD_REF" >> "$GITHUB_OUTPUT"

          JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"

          check_defaults() {
            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
-            TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
-            [ "$TINYGRAD_MATCH" = "true" ] || return 1
-            DM=$(echo "$DEFAULTS" | jq --arg hash "$DM_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
-            [ -n "$DM" ] && [ "$DM" != "null" ] || return 1
+            DM=$(echo "$DEFAULTS" | jq --arg hash "$DM_HASH" --arg ref "$TINYGRAD_REF" '
+              . as $root | [.bundles[] | select(.onnx_sha256 == $hash and (.tinygrad_ref == $ref or (.tinygrad_ref == null and $root.tinygrad_ref == $ref)))] | .[0] // empty
+            ' 2>/dev/null)
+            [ -n "$DM" ] && [ "$DM" != "null" ]
          }

          if check_defaults; then
-            echo "HF defaults match DM ONNX hash and tinygrad ref"
+            echo "HF defaults match DM tinygrad ref"
            exit 0
          fi

@@ -498,6 +508,7 @@ jobs:
        with:
          hf_repo: sunnypilot/sunnypilot_models_v1
          dest_dir: ${{ env.OUTPUT_DIR }}/openpilot/selfdrive/modeld/models
+          tinygrad_ref: ${{ needs.prepare_dm_model.outputs.tinygrad_ref }}
          models: |
            [
              {"hf_path": "models/defaults/small", "onnx_hash": "${{ needs.prepare_small_model.outputs.driving_onnx_sha256 }}", "canonical": "driving_tinygrad.pkl"},
@@ -567,6 +578,7 @@ jobs:
        with:
          hf_repo: sunnypilot/sunnypilot_models_v1
          dest_dir: ${{ env.OUTPUT_DIR }}/openpilot/selfdrive/modeld/models
+          tinygrad_ref: ${{ needs.prepare_dm_model.outputs.tinygrad_ref }}
          models: |
            [
              {"hf_path": "models/defaults/small", "onnx_hash": "${{ needs.prepare_small_model.outputs.driving_onnx_sha256 }}", "canonical": "driving_tinygrad.pkl"},
@@ -1,78 +0,0 @@
-name: Debug Discourse Posting
-
-on:
-  push:
-
-jobs:
-  test-discourse-post:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Post test message to Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
-          topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
-          message: |
-            ## 🧪 Test Post from GitHub Actions
-            
-            **This is a test post to verify Discourse integration**
-            
-            - **Workflow**: ${{ github.workflow }}
-            - **Run Number**: #${{ github.run_number }}
-            - **Branch**: `${{ github.ref_name }}`
-            - **Commit**: ${{ github.sha }}
-            - **Actor**: @${{ github.actor }}
-            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
-            
-            ---
-            
-            ### Fake Build Info (for testing)
-            - **Version**: 0.9.8-test
-            - **Build**: #42
-            - **Branch**: release-test
-            
-            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
-            
-            *This is an automated test message. Drive safe! 🚗💨*
-      
-      
-      - name: Create topic on Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
-          #topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
-          category-id: 4
-          title: "This is a test of a new topic instead of a reply"
-          message: |
-            ## 🧪 Test Post from GitHub Actions
-            
-            **This is a test post to verify Discourse integration**
-            
-            - **Workflow**: ${{ github.workflow }}
-            - **Run Number**: #${{ github.run_number }}
-            - **Branch**: `${{ github.ref_name }}`
-            - **Commit**: ${{ github.sha }}
-            - **Actor**: @${{ github.actor }}
-            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
-            
-            ---
-            
-            ### Fake Build Info (for testing)
-            - **Version**: 0.9.8-test
-            - **Build**: #42
-            - **Branch**: release-test
-            
-            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
-            
-            *This is an automated test message. Drive safe! 🚗💨*
-      - name: Display results
-        if: always()
-        run: |
-          echo "::notice::Discourse post test completed"
-          echo "Check your Discourse topic to verify the post appeared correctly"
@@ -0,0 +1,85 @@
+name: Test Models Compatibility With Tinygrad Changes
+on:
+  pull_request:
+    paths:
+      - 'tinygrad_repo'
+  workflow_dispatch:
+
+jobs:
+  generate-matrix:
+    runs-on: ubuntu-latest
+    outputs:
+      models: ${{ steps.set-matrix.outputs.models }}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Fetch and Parse json
+        id: set-matrix
+        run: |
+          python3 -c '
+          import json, urllib.request, os, re
+
+          with open("openpilot/sunnypilot/models/fetcher.py", "r") as f:
+            urls = re.findall(r"MODEL_URL(?:_CHESTNUT)?\s*=\s*[\"'"'"']([^\"'"'"']+)[\"'"'"']", f.read())
+
+          artifacts = []
+          for url in urls:
+            data = json.loads(urllib.request.urlopen(url).read())
+            for bundle in data.get("bundles", []):
+              for model in bundle.get("models", []):
+                if "artifact" in model:
+                  artifacts.append(model["artifact"])
+
+          with open(os.environ["GITHUB_OUTPUT"], "a") as f:
+            f.write(f"models={json.dumps(artifacts)}\n")
+          '
+
+  test-model:
+    name: Test ${{ matrix.artifact.file_name }}
+    needs: generate-matrix
+    runs-on: ubuntu-latest
+    container: ghcr.io/commaai/openpilot-base:latest
+    strategy:
+      fail-fast: false
+      matrix:
+        artifact: ${{ fromJson(needs.generate-matrix.outputs.models) }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+
+      - name: Download Model Chunks in Parallel
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+        run: |
+          mkdir -p /tmp/model_chunks
+          echo '${{ toJson(matrix.artifact.chunks) }}' > chunks.json
+
+          BASE_URL="${{ matrix.artifact.download_uri.url }}"
+          export BASE_DIR=$(dirname "$BASE_URL")
+
+          python3 -c '
+          import json, os
+          with open("chunks.json") as f:
+            chunks = json.load(f)
+          manifest_path = f"/tmp/model_chunks/${{ matrix.artifact.file_name }}.chunkmanifest"
+          with open(manifest_path, "w") as f:
+            f.write(str(len(chunks)))
+          base_dir = os.environ["BASE_DIR"]
+          hf_token = os.environ.get("HF_TOKEN", "")
+          with open("/tmp/curl_config.txt", "w") as f:
+            for c in chunks:
+              fn = c["file_name"]
+              f.write(f"url = \"{base_dir}/{fn}\"\noutput = \"/tmp/model_chunks/{fn}\"\n")
+              if hf_token:
+                f.write(f"header = \"Authorization: Bearer {hf_token}\"\n")
+          '
+          curl -Z --parallel-immediate --parallel-max 12 --retry 3 --retry-all-errors -s -S -f -L -K /tmp/curl_config.txt
+
+      - name: Run Model Compatibility Test
+        env:
+          MODEL_BASE_NAME: ${{ matrix.artifact.file_name }}
+          MODEL_CHUNK_DIR: "/tmp/model_chunks"
+        run: |
+          export PYTHONPATH="$GITHUB_WORKSPACE/tinygrad_repo:$GITHUB_WORKSPACE:$PYTHONPATH"
+          python3 -m pip uninstall -y tinygrad || uv pip uninstall -y tinygrad --system || true
+          python3 -m pytest openpilot/sunnypilot/modeld_v2/tests/test_models.py
@@ -22,7 +22,7 @@ env:
  PYTHONPATH: ${{ github.workspace }}
  GIT_CONFIG_COUNT: 1
  GIT_CONFIG_KEY_0: lfs.fetchexclude
-  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl

 jobs:
  build_release:
@@ -50,6 +50,8 @@ st[0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z]
 *.stats
 *.pkl
 *.pkl*
+!openpilot/selfdrive/modeld/models/big_*_tinygrad.pkl
+!openpilot/sunnypilot/modeld_v2/models/*.pkl
 config.json
 compile_commands.json
 compare_runtime*.html
@@ -19,3 +19,4 @@
 [submodule "sunnypilot/neural_network_data"]
 	path = openpilot/sunnypilot/neural_network_data
  url = https://github.com/sunnypilot/neural-network-data.git
+
@@ -1,4 +1,5 @@
 [lfs]
-	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
+	url = https://huggingface.co/sunnypilot/sunnypilot-lfs.git/info/lfs
+	pushurl = https://huggingface.co/sunnypilot/sunnypilot-lfs.git/info/lfs
+
 	locksverify = false
@@ -12,16 +12,17 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
    def ssh_cmd = """
-ssh -o ControlMaster=auto -o ControlPath=/tmp/ssh_control_%C -o ControlPersist=yes -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
+ssh -o ControlMaster=no -o ControlPath=none -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=12 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec setpriv --pdeathsig HUP /usr/bin/bash <<'END'

 set -e

 export TERM=xterm-256color

-shopt -s huponexit # kill all child processes when the shell exits
+trap 'kill 0' HUP # stop this process group on SSH disconnect

 export CI=1
 export PYTHONWARNINGS=error
+export PYTHONFAULTHANDLER=1
 export COMMA_CACHE=/data/tmp/comma_download_cache
 #export LOGPRINT=debug # this has gotten too spammy...
 export TEST_DIR=${env.TEST_DIR}
@@ -69,7 +70,8 @@ export LD_LIBRARY_PATH="\$(python -c 'import ffmpeg; print(ffmpeg.LIB_DIR)'):/us
 ln -snf ${env.TEST_DIR} /data/pythonpath

 cd ${env.TEST_DIR} || true
-time ${cmd}
+time ( ${cmd} ) &
+wait \$!
 END"""

    sh script: ssh_cmd, label: step_label
@@ -159,6 +161,14 @@ def step(String name, String cmd, Map args = [:]) {
  return [name, cmd, args]
 }

+def chestnutStage(String name = "chestnut") {
+  deviceStage(name, "mici-chestnut-ci", ["UNSAFE=1", "CHESTNUT=1"], [
+    step("build", "./openpilot/selfdrive/test/chestnut.sh"),
+    step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py --chestnut"),
+    step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py TestChestnutOnroad", [timeout: 120]),
+  ])
+}
+
 node {
  env.CI = "1"
  env.PYTHONWARNINGS = "error"
@@ -169,7 +179,37 @@ node {
  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
  env.GIT_COMMIT = checkout(scm).GIT_COMMIT

-  def excludeBranches = ['__nightly', 'devel', 'devel-staging',
+  if (env.JOB_BASE_NAME == 'chestnut-stresstest') {
+    sh 'git fetch --no-tags origin nightly-chestnut'
+    env.GIT_COMMIT = sh(script: 'git show FETCH_HEAD:git_src_commit', returnStdout: true).trim()
+    if (!(env.GIT_COMMIT ==~ /[0-9a-f]{40}/)) {
+      error("invalid nightly-chestnut source commit")
+    }
+    def results = []
+    try {
+      timeout(time: 12, unit: 'HOURS') {
+        for (int run = 1; run <= 100; run++) {
+          results << "run ${run}: INCOMPLETE"
+          try {
+            chestnutStage("chestnut ${run}/100")
+            results[run - 1] = "run ${run}: PASS"
+          } catch (hudson.AbortException e) {
+            results[run - 1] = "run ${run}: FAIL"
+            echo e.toString()
+          }
+        }
+      }
+    } finally {
+      writeFile file: 'chestnut_stress_report.txt', text: "commit: ${env.GIT_COMMIT}\ncompleted: ${results.count { !it.endsWith('INCOMPLETE') }}/100\n" + results.join('\n') + '\n'
+      archiveArtifacts artifacts: 'chestnut_stress_report.txt'
+    }
+    if (results.any { !it.endsWith('PASS') }) {
+      error("chestnut stress test failed")
+    }
+    return
+  }
+
+  def excludeBranches = ['__nightly', '__nightly-chestnut', 'devel', 'devel-staging',
                         'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')

@@ -201,6 +241,21 @@ node {
      )
    }

+    if (env.BRANCH_NAME == '__nightly-chestnut') {
+      parallel (
+        'nightly-chestnut': {
+          deviceStage("build nightly-chestnut", "mici-chestnut-ci", ["CHESTNUT=1"], [
+            step("build nightly-chestnut", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 RELEASE_BRANCH=nightly-chestnut $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
+          ])
+        },
+        'nightly-chestnut-dev': {
+          deviceStage("build nightly-chestnut-dev", "mici-chestnut-ci", ["CHESTNUT=1"], [
+            step("build nightly-chestnut-dev", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-chestnut-dev $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
+          ])
+        },
+      )
+    }
+
    if (!env.BRANCH_NAME.matches(excludeRegex)) {
    parallel (
      'onroad tests': {
@@ -252,6 +307,9 @@ node {
          step("test amp", "./openpilot/common/hardware/comma/tests/test_amplifier.py"),
        ])
      },
+      'chestnut': {
+        chestnutStage()
+      },

    )
    }
@@ -20,7 +20,7 @@ SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2)

 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
-release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
+release = not os.path.exists(File('#.gitmodules').abspath) # file absent on release branch, see release_files.py
 AddOption('--minimal',
          action='store_false',
          dest='extras',
@@ -87,7 +87,6 @@ acados_include_dirs = [
 # vendored in commaai/dependencies.
 allowed_system_libs = {
  "EGL", "GLESv2", "GL",
-  "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
  "dl", "drm", "gbm", "m", "pthread",
 }

@@ -121,6 +120,7 @@ def _libflags(target, source, env, for_signature):
 env = Environment(
  ENV={
    "PATH": os.environ['PATH'],
+    "TMPDIR": os.environ.get('TMPDIR', '/tmp'),
    "PYTHONPATH": os.pathsep.join(submodule_python_paths),
    "ACADOS_SOURCE_DIR": acados.DIR,
    "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
@@ -316,8 +316,6 @@ def count_scons_nodes(nodes):
    if node in seen:
      continue
    seen.add(node)
-    if hasattr(node, 'has_builder') and node.has_builder():
-      build_product_nodes.add(node)
    executor = node.get_executor()
    if executor is not None:
      stack += executor.get_all_prerequisites() + executor.get_all_children()
@@ -326,7 +324,6 @@ def count_scons_nodes(nodes):

 progress_interval = 5
 progress_count = 0
-build_product_nodes = set()
 progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))

 def progress_function(node):
@@ -342,11 +339,3 @@ def progress_function(node):

 Progress(progress_function, interval=progress_interval)
 AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
-
-def check_build_product_size(target, source, env):
-  limit = 50 * 1024 * 1024  # GitHub max size
-  for t in target:
-    if hasattr(t, 'isfile') and t.isfile() and (size := os.path.getsize(t.abspath)) > limit:
-      raise SCons.Errors.UserError(f"{t} is {size / (1024 * 1024):.1f} MiB, exceeding the {limit / (1024 * 1024):.1f} MiB limit")
-if not GetOption('extras'):
-  AddPostAction(list(build_product_nodes), Action(check_build_product_size, None))
@@ -4,10 +4,11 @@

 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.

-# 345 Supported Cars
+# 351 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|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
+|Acura|ADX 2025-26|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ADX 2025-26">Buy Here</a></sub></details>|||
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
 |Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
@@ -16,12 +17,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Acura|RDX 2019-21|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Acura|TLX 2021-22|All|openpilot available[<sup>1,5</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 A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet 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" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -33,8 +34,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">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|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
-|CUPRA[<sup>12</sup>](#footnotes)|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
+|CUPRA[<sup>13</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -86,7 +87,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic 2022-26|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback 2022-26|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
@@ -99,7 +100,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
 |Honda|HR-V 2019-22|Honda Sensing|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
-|Honda|HR-V 2023-25|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
+|Honda|HR-V 2023-27|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-27">Buy Here</a></sub></details>|||
 |Honda|Insight 2019-22|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
 |Honda|Inspire 2018|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
 |Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
@@ -111,7 +112,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
 |Honda|Pilot 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
-|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
+|Honda|Pilot 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2026">Buy Here</a></sub></details>|||
+|Honda|Prelude 2026|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Prelude 2026">Buy Here</a></sub></details>|||
+|Honda|Ridgeline 2017-26|Honda Sensing|openpilot|26 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-26">Buy Here</a></sub></details>|||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
 |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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2020">Buy Here</a></sub></details>|||
@@ -163,6 +166,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 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 K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
+|Kia|Ceed Plug-in Hybrid 2021|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 B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (with HDA II) 2022-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (without HDA II) 2022-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
@@ -197,6 +201,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Sorento Plug-in 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 A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Kia|Sportage 2023-24|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 N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
 |Kia|Sportage Hybrid 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 N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
+|Kia|Sportage Plug-in Hybrid 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 N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Plug-in 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
@@ -225,51 +230,52 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Mazda|CX-5 2022-25|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda 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" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
-|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Leaf IC 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>6</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|MAN[<sup>13</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>13</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Mazda[<sup>6</sup>](#footnotes)|CX-5 2022-25|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
+|Mazda[<sup>6</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda 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" /></a>||
+|Nissan[<sup>7</sup>](#footnotes)|Altima 2019-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
+|Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>7</sup>](#footnotes)|Leaf IC 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>7</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>7</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
-|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">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 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">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 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 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>|||
-|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 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</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 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</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 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Rivian|R1S 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1S 2025|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 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
+|Rivian|R1T 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1T 2025|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 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
+|SEAT[<sup>13</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT[<sup>13</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">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>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">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>8</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 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">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 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 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>|||
+|Subaru|Outback 2020-22|All[<sup>8</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 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>14,16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
+|Škoda[<sup>13</sup>](#footnotes)|Karoq 2019-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>13</sup>](#footnotes)|Kodiaq 2017-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>13</sup>](#footnotes)|Octavia 2015-19[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda[<sup>13</sup>](#footnotes)|Octavia RS 2016[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda[<sup>13</sup>](#footnotes)|Octavia Scout 2017-19[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
+|Škoda[<sup>13</sup>](#footnotes)|Superb 2015-22[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW2.5) 2019[<sup>10</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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW2.5) 2019">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</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 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-24[<sup>10</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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-24">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2023-25[<sup>10</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 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2023-25">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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -282,8 +288,8 @@ 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>12</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>12</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
@@ -315,44 +321,44 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 Hybrid 2023-25|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
+|Volkswagen[<sup>13</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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 `nightly-dev`. <br />
@@ -360,18 +366,19 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
 <sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
-<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</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>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>11</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>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
-<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>16</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>17</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>6</sup>Mazda vehicles <b>require</b> comma power installation. <br />
+<sup>7</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>8</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>9</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>10</sup>Model year 2019 can have HW2.5 or HW3, and model years 2023 and 2024 can have HW3 or HW4, depending on build date and factory. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>11</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>12</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>13</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
+<sup>14</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>15</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>16</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>17</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>18</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/).
@@ -5,10 +5,10 @@ The site is updated on pushes to master by this [workflow](../.github/workflows/

 **1. Build the site**
 ``` bash
-python docs/serve.py --build
+op docs --build
 ```

 **2. Run the site locally** (rebuilds on change)
 ``` bash
-python docs/serve.py
+op docs
 ```
@@ -18,21 +18,21 @@ function agnos_init {
  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0

  # Check if AGNOS update is required
-  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
+  if [ "$(< /VERSION)" != "$AGNOS_VERSION" ]; then
    AGNOS_PY="$DIR/openpilot/common/hardware/comma/agnos.py"
    MANIFEST="$DIR/openpilot/system/hardware/comma/agnos.json"
-    if $AGNOS_PY --verify $MANIFEST; then
+    if "$AGNOS_PY" --verify "$MANIFEST"; then
      sudo reboot
    fi
    while true; do
-      $DIR/openpilot/common/hardware/comma/updater $AGNOS_PY $MANIFEST
+      "$DIR/openpilot/common/hardware/comma/updater" "$AGNOS_PY" "$MANIFEST"
    done
  fi
 }

 function launch {
  # Remove orphaned git lock if it exists on boot
-  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
+  [ -f "$DIR/.git/index.lock" ] && rm -f "$DIR/.git/index.lock"

  # Check to see if there's a valid overlay-based update available. Conditions
  # are as follows:
@@ -44,7 +44,7 @@ function launch {
  #    that completed successfully and synced to disk.

  if [ -f "${DIR}/.overlay_init" ]; then
-    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
+    find "${DIR}/.git" -newer "${DIR}/.overlay_init" | grep -q '.' 2> /dev/null
    if [ $? -eq 0 ]; then
      echo "${DIR} has been modified, skipping overlay update installation"
    else
@@ -53,9 +53,9 @@ function launch {
          echo "Valid overlay update found, installing"
          LAUNCHER_LOCATION="${BASH_SOURCE[0]}"

-          mv $DIR /data/safe_staging/old_openpilot
-          mv "${STAGING_ROOT}/finalized" $DIR
-          cd $DIR
+          mv "$DIR" /data/safe_staging/old_openpilot
+          mv "${STAGING_ROOT}/finalized" "$DIR"
+          cd "$DIR"

          echo "Restarting launch script ${LAUNCHER_LOCATION}"
          unset AGNOS_VERSION
@@ -69,7 +69,7 @@ function launch {
  fi

  # handle pythonpath
-  ln -sfn $(pwd) /data/pythonpath
+  ln -sfn "$(pwd)" /data/pythonpath
  export PYTHONPATH="$PWD"

  # submodule package symlinks for PYTHONPATH imports on device.
@@ -90,7 +90,7 @@ function launch {

  # start manager
  cd openpilot/system/manager
-  if [ ! -f $DIR/prebuilt ]; then
+  if [ ! -f "$DIR/prebuilt" ]; then
    ./build.py
  fi
  ./manager.py
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.7"
+  export AGNOS_VERSION="19.9"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -128,6 +128,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
    personalityChanged @91;
    aeb @92;
    userBookmark @95;
+    userBookmarkNotPaired @104;
    excessiveActuation @96;
    bigModelLoading @100;
    bigModelFailed @102;
@@ -166,12 +167,7 @@ struct InitData {
  gitSrcCommit @23 :Text;
  gitSrcCommitDate @24 :Text;

-  androidProperties @16 :Map(Text, Text);
-
-  pandaInfo @8 :PandaInfo;
-
  dirty @9 :Bool;
-  passive @12 :Bool;
  params @17 :Map(Text, Data);

  commands @19 :Map(Text, Data);
@@ -189,6 +185,17 @@ struct InitData {
    mici @7;  # comma four
  }

+  deprecated :group {
+    gctx @1 :Text;
+    androidBuildInfo @5 :Deprecated.AndroidBuildInfo;
+    androidSensors @6 :List(Deprecated.AndroidSensor);
+    chffrAndroidExtra @7 :ChffrAndroidExtra;
+    pandaInfo @8 :PandaInfo;
+    passive @12 :Bool;
+    iosBuildInfo @14 :Deprecated.IosBuildInfo;
+    androidProperties @16 :Map(Text, Text);
+  }
+
  struct PandaInfo {
    hasPanda @0 :Bool;
    dongleId @1 :Text;
@@ -199,14 +206,6 @@ struct InitData {
  struct ChffrAndroidExtra {
    allCameraCharacteristics @0 :Map(Text, Text);
  }
-
-  deprecated :group {
-    gctx @1 :Text;
-    androidBuildInfo @5 :Deprecated.AndroidBuildInfo;
-    androidSensors @6 :List(Deprecated.AndroidSensor);
-    chffrAndroidExtra @7 :ChffrAndroidExtra;
-    iosBuildInfo @14 :Deprecated.IosBuildInfo;
-  }
 }

 struct FrameData {
@@ -572,6 +571,9 @@ struct PandaState @0xa7649e2575e4591e {
  controlsAllowedLateral @38 :Bool;
  controlsAllowedLongitudinal @39 :Bool;

+  nmiReset @40 :Bool;
+  hardfaultReset @41 :Bool;
+
  enum FaultStatus {
    none @0;
    faultTemp @1;
@@ -694,6 +696,7 @@ struct PeripheralState {

 struct UsbState {
  devices @0 :List(Device);
+  connected @1 :Bool;

  struct Device {
    busnum @0 :UInt8;
@@ -1237,6 +1240,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  shouldStop @37: Bool;
  allowThrottle @38: Bool;
  allowBrake @39: Bool;
+  accelBoost @40 :Float32;


  solverExecutionTime @35 :Float32;
@@ -2234,6 +2238,7 @@ struct DriverMonitoringState {
      pose @0: Bool;
      eye @1: Bool;
      phone @2: Bool;
+      sleep @3: Bool;
    }

    struct Pose {
@@ -2594,6 +2599,7 @@ struct Event {
    clocks @35 :Clocks;
    deviceState @6 :DeviceState;
    chestnutState @152 :ChestnutState;
+    chestnutGpuState @153 :ChestnutState;
    logMessage @18 :Text;
    errorLogMessage @85 :Text;

@@ -25,7 +25,8 @@ _services: dict[str, tuple] = {
  "accelerometer": (True, 104., 104),
  "temperatureSensor": (True, 2., 200),
  "deviceState": (True, 2., 1),
-  "chestnutState": (True, 10., 10),
+  "chestnutState": (True, 10., 1),
+  "chestnutGpuState": (False, 10.),
  "touch": (True, 20., 1),
  "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
  "controlsState": (True, 100., 10, QueueSize.MEDIUM),
@@ -21,6 +21,13 @@ class Profile:
  def is_comma(self) -> bool:
    return self.provider == 'Webbing' and self.iccid.startswith('8985235')

+  @property
+  def display_name(self) -> str:
+    if self.is_comma:
+      return "comma prime"
+    name = self.nickname or self.provider or "<unnamed>"
+    return f"{name} (...{self.iccid[-4:]})"
+

 class LPABase(ABC):
  @abstractmethod
@@ -613,7 +613,7 @@ def parse_lpa_activation_code(activation_code: str) -> tuple[str, str]:
  if not activation_code.startswith("LPA:"):
    raise ValueError("Invalid activation code format")
  parts = activation_code[4:].split("$")
-  if len(parts) != 3:
+  if len(parts) != 3 or not all(parts):
    raise ValueError("Invalid activation code format")
  return parts[1], parts[2]

@@ -1,82 +0,0 @@
-#!/usr/bin/env python3
-import io
-import sys
-import math
-import os
-from pathlib import Path
-
-CHUNK_SIZE = 45 * 1024 * 1024  # 45MB, under GitHub's 50MB limit
-
-def get_chunk_name(name, idx, num_chunks):
-  return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
-
-def get_manifest_path(name):
-  return f"{name}.chunkmanifest"
-
-def _chunk_paths(path, num_chunks):
-  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
-
-def get_chunk_targets(path, file_size):
-  num_chunks = math.ceil(file_size / CHUNK_SIZE)
-  return _chunk_paths(path, num_chunks)
-
-def chunk_file(path, targets):
-  manifest_path, *chunk_paths = targets
-  actual_num_chunks = max(1, math.ceil(os.path.getsize(path) / CHUNK_SIZE))
-  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
-  with open(path, 'rb') as f:
-    for chunk_path in chunk_paths:
-      with open(chunk_path, 'wb') as out:
-        out.write(f.read(CHUNK_SIZE))
-  Path(manifest_path).write_text(str(len(chunk_paths)))
-  os.remove(path)
-
-def get_existing_chunks(path):
-  if os.path.isfile(path):
-    return [path]
-  if os.path.isfile(manifest := get_manifest_path(path)):
-    num_chunks = int(Path(manifest).read_text().strip())
-    return _chunk_paths(path, num_chunks)
-  raise FileNotFoundError(path)
-
-class ChunkStream(io.RawIOBase):
-  def __init__(self, paths):
-    self._paths = iter(paths)
-    self._f = None
-
-  def readable(self):
-    return True
-
-  def readinto(self, b):
-    n = 0
-    view = memoryview(b)
-    while n < len(b):
-      if self._f is None:
-        p = next(self._paths, None)
-        if p is None:
-          break
-        self._f = open(p, 'rb')
-      count = self._f.readinto(view[n:])
-      if not count:
-        self._f.close()
-        self._f = None
-        continue
-      n += count
-    return n
-
-def open_file_chunked(path):
-  manifest_path = get_manifest_path(path)
-  if os.path.isfile(manifest_path):
-    num_chunks = int(Path(manifest_path).read_text().strip())
-    paths = [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
-  elif os.path.isfile(path):
-    paths = [path]
-  else:
-    raise FileNotFoundError(path)
-  return io.BufferedReader(ChunkStream(paths))
-
-
-if __name__ == "__main__":
-  path = sys.argv[1]
-  chunk_paths = get_chunk_targets(path, os.path.getsize(path))
-  chunk_file(path, chunk_paths)
@@ -145,6 +145,9 @@ class HardwareBase(ABC):
  def get_modem_temperatures(self):
    return []

+  def get_modem_state(self) -> dict:
+    return {}
+
  def initialize_hardware(self):
    pass

@@ -56,28 +56,28 @@
  },
  {
    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d.img.xz",
-    "hash": "6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d",
-    "hash_raw": "6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d",
-    "size": 46897152,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-b9c9b9261fca0cef9e6d9b198fa4b563767e6342afc7a61ab137b2b519260615.img.xz",
+    "hash": "b9c9b9261fca0cef9e6d9b198fa4b563767e6342afc7a61ab137b2b519260615",
+    "hash_raw": "b9c9b9261fca0cef9e6d9b198fa4b563767e6342afc7a61ab137b2b519260615",
+    "size": 46962688,
    "sparse": false,
    "full_check": true,
    "has_ab": true,
-    "ondevice_hash": "d12e1e5b9455b62a1464558716493b33e470d7a7e88da1c4105a3b21d0961808"
+    "ondevice_hash": "3ef4769bb1cc73bfc31f96f073b46af42dcc0bad4ab2dde32d11929745d0cd28"
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f.img.xz",
-    "hash": "74ffc9c551e1f29cda897ace8a69080fe644f8039977c6885f2b48362e39b744",
-    "hash_raw": "3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-80d9373348ddff2a5d1f534fab3420383939c96f3eba60baab6b15339fc602c7.img.xz",
+    "hash": "9aebca09b9d142718e71efbfe44b723010eec6e70067c043c63186067291739d",
+    "hash_raw": "80d9373348ddff2a5d1f534fab3420383939c96f3eba60baab6b15339fc602c7",
    "size": 4718592000,
    "sparse": true,
    "full_check": false,
    "has_ab": true,
-    "ondevice_hash": "6a992680183685eea9db99d915219a37935f45989330d9b619e880450257f448",
+    "ondevice_hash": "270b76c5c5568828e3883390b83ea445425a104dd42119d68f06093ce6b6fcef",
    "alt": {
-      "hash": "3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f.img",
+      "hash": "80d9373348ddff2a5d1f534fab3420383939c96f3eba60baab6b15339fc602c7",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-80d9373348ddff2a5d1f534fab3420383939c96f3eba60baab6b15339fc602c7.img",
      "size": 4718592000
    }
  }
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3a94ab8395f20d20a9d5a2a2bacca0694f072df8421cf13adca6250d28065bdc
-size 24709205
+oid sha256:f92c0a9b41613e063b6a1cd086729f5555d9df6482249e171ed1e276272cad7d
+size 24709520
@@ -36,6 +36,10 @@ def read_int(path: Path, base: int = 10) -> int:
    return 0


+def cable_connected() -> bool:
+  return read_int(TYPEC_CC_ORIENTATION_PATH) != 0
+
+
 def usb_devices() -> list[Path]:
  try:
    devices = (d for d in USB_DEVICES_PATH.glob("*") if (d / "idVendor").exists())
@@ -91,3 +95,4 @@ def set_usb_state(device_state, devices: list[dict]) -> None:
      chestnut_present = True

  device_state.chestnutPresent = chestnut_present
+  device_state.usbState.connected = cable_connected()
@@ -28,6 +28,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ControlsReady", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
    {"CurrentBootlog", {PERSISTENT, STRING}},
    {"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"DisableDriverCameraIR", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
    {"DisableLogging", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
    {"DisablePowerDown", {PERSISTENT | BACKUP, BOOL}},
    {"DisableUpdates", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -39,8 +40,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
    {"DriverLockoutCount", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, INT, "0"}},
    {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY | BACKUP, BOOL}},
-    {"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
-    {"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, BOOL}},
+    {"ExperimentalMode", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
    {"ForcePowerDown", {PERSISTENT, BOOL}},
    {"GitBranch", {PERSISTENT, STRING}},
@@ -92,16 +92,17 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
    {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_ChestnutBranch", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_ChestnutModelError", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_ChestnutNotDetected", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_ChestnutOverheated", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_ChestnutPcieUnavailable", {CLEAR_ON_MANAGER_START, JSON}},
-    {"Offroad_ChestnutUncompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_ChestnutUpdateFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_ChestnutUsbSlow", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
    {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_Pairing", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
@@ -110,6 +111,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
    {"OpenpilotEnabledToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"PairingEmail", {PERSISTENT, STRING}},
+    {"PairingProvider", {PERSISTENT, STRING}},
    {"PrimeType", {PERSISTENT, INT}},
    {"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
    {"RecordFront", {PERSISTENT | BACKUP, BOOL}},
@@ -138,7 +141,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
    {"ChestnutActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
    {"ChestnutLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
-    {"ChestnutModelError", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
    {"Version", {PERSISTENT, STRING}},

    // --- sunnypilot params --- //
@@ -1,16 +1,47 @@
-"""Small QR encoder for the UI's byte-mode, error-correction-level-L codes."""
+"""QR code encoding, decoding, and UI textures."""
+
+import functools
+import itertools

 import numpy as np
 import pyray as rl


-# Indexes are QR versions. These are the only two Reed-Solomon parameters needed
-# for error-correction level L.
-_ECC_LEN = (0, 7, 10, 15, 20, 26, 18, 20, 24, 30, 18, 20, 24, 26, 30, 22, 24, 28, 30, 28, 28)
-_NUM_BLOCKS = (0, 1, 1, 1, 1, 1, 2, 2, 2, 2, 4, 4, 4, 4, 4, 6, 6, 6, 6, 7, 8)
+# (ec codewords per block, block count) for levels L, M, Q, H, versions 1-40
+_EC = [
+  ((7, 1), (10, 1), (13, 1), (17, 1)), ((10, 1), (16, 1), (22, 1), (28, 1)), ((15, 1), (26, 1), (18, 2), (22, 2)),
+  ((20, 1), (18, 2), (26, 2), (16, 4)), ((26, 1), (24, 2), (18, 4), (22, 4)), ((18, 2), (16, 4), (24, 4), (28, 4)),
+  ((20, 2), (18, 4), (18, 6), (26, 5)), ((24, 2), (22, 4), (22, 6), (26, 6)), ((30, 2), (22, 5), (20, 8), (24, 8)),
+  ((18, 4), (26, 5), (24, 8), (28, 8)), ((20, 4), (30, 5), (28, 8), (24, 11)), ((24, 4), (22, 8), (26, 10), (28, 11)),
+  ((26, 4), (22, 9), (24, 12), (22, 16)), ((30, 4), (24, 9), (20, 16), (24, 16)), ((22, 6), (24, 10), (30, 12), (24, 18)),
+  ((24, 6), (28, 10), (24, 17), (30, 16)), ((28, 6), (28, 11), (28, 16), (28, 19)), ((30, 6), (26, 13), (28, 18), (28, 21)),
+  ((28, 7), (26, 14), (26, 21), (26, 25)), ((28, 8), (26, 16), (30, 20), (28, 25)), ((28, 8), (26, 17), (28, 23), (30, 25)),
+  ((28, 9), (28, 17), (30, 23), (24, 34)), ((30, 9), (28, 18), (30, 25), (30, 30)), ((30, 10), (28, 20), (30, 27), (30, 32)),
+  ((26, 12), (28, 21), (30, 29), (30, 35)), ((28, 12), (28, 23), (28, 34), (30, 37)), ((30, 12), (28, 25), (30, 34), (30, 40)),
+  ((30, 13), (28, 26), (30, 35), (30, 42)), ((30, 14), (28, 28), (30, 38), (30, 45)), ((30, 15), (28, 29), (30, 40), (30, 48)),
+  ((30, 16), (28, 31), (30, 43), (30, 51)), ((30, 17), (28, 33), (30, 45), (30, 54)), ((30, 18), (28, 35), (30, 48), (30, 57)),
+  ((30, 19), (28, 37), (30, 51), (30, 60)), ((30, 19), (28, 38), (30, 53), (30, 63)), ((30, 20), (28, 40), (30, 56), (30, 66)),
+  ((30, 21), (28, 43), (30, 59), (30, 70)), ((30, 22), (28, 45), (30, 62), (30, 74)), ((30, 24), (28, 47), (30, 65), (30, 77)),
+  ((30, 25), (28, 49), (30, 68), (30, 81)),
+]

-# 15 format-info bits for level L (01) with mask 0: ((0x08 << 10) | bch_remainder) ^ 0x5412
-_FORMAT_BITS = 0b111011111000100
+# GF(256) with the QR polynomial x^8 + x^4 + x^3 + x^2 + 1: powers of alpha and their logs
+_EXP = [1]
+for _ in range(254):
+  _EXP.append(_EXP[-1] << 1 ^ (0x11D if _EXP[-1] & 0x80 else 0))
+_LOG = {v: i for i, v in enumerate(_EXP)}
+
+
+def _bch_format(data: int) -> int:
+  v = data << 10
+  for shift in range(14, 9, -1):
+    if v >> shift & 1:
+      v ^= 0x537 << (shift - 10)
+  return (data << 10 | v) ^ 0x5412
+
+
+# 15-bit format info indexed by (level bits << 3 | mask). Level bits: L=01, M=00, Q=11, H=10.
+_FORMATS = [_bch_format(d) for d in range(32)]


 def _raw_modules(version: int) -> int:
@@ -21,8 +52,24 @@ def _raw_modules(version: int) -> int:
  return result - (36 if version >= 7 else 0)


+def _block_lengths(version: int, level: int) -> list[int]:
+  """Data codewords per Reed-Solomon block. The last blocks may be one longer."""
+  ec, nblocks = _EC[version - 1][level]
+  total = _raw_modules(version) // 8 - ec * nblocks
+  return [total // nblocks + (i >= nblocks - total % nblocks) for i in range(nblocks)]
+
+
+def _interleaved(version: int, level: int) -> list[tuple[int, int]]:
+  """(block, index within block) of each transmitted codeword: data column-major, then ECC column-major."""
+  ec, nblocks = _EC[version - 1][level]
+  lens = _block_lengths(version, level)
+  data = [(b, i) for i in range(max(lens)) for b in range(nblocks) if i < lens[b]]
+  ecc = [(b, lens[b] + i) for i in range(ec) for b in range(nblocks)]
+  return data + ecc
+
+
 def _capacity(version: int) -> int:
-  return _raw_modules(version) // 8 - _ECC_LEN[version] * _NUM_BLOCKS[version]
+  return sum(_block_lengths(version, 0))


 def _append_bits(bits: list[int], value: int, length: int) -> None:
@@ -49,37 +96,18 @@ def _data_codewords(data: bytes, version: int) -> bytes:
 def _codewords(data: bytes, version: int) -> bytes:
  """Split data codewords into Reed-Solomon blocks and interleave data + ECC."""
  data = _data_codewords(data, version)
-  num_blocks = _NUM_BLOCKS[version]
-  ecc_len = _ECC_LEN[version]
-  raw_codewords = _raw_modules(version) // 8
-  short_len = raw_codewords // num_blocks
-  num_short = num_blocks - raw_codewords % num_blocks
-  divisor = _divisor(ecc_len)
-  blocks: list[tuple[bytes, bytes]] = []
+  divisor = _divisor(_EC[version - 1][0][0])
+  blocks = []
  offset = 0
-  for i in range(num_blocks):
-    length = short_len - ecc_len + (0 if i < num_short else 1)
+  for length in _block_lengths(version, 0):
    block = data[offset:offset + length]
-    blocks.append((block, _remainder(block, divisor)))
+    blocks.append(block + _remainder(block, divisor))
    offset += length
-  result = bytearray()
-  for i in range(short_len - ecc_len + 1):
-    for block, _ in blocks:
-      result.extend(block[i:i + 1])
-  for i in range(ecc_len):
-    for _, ecc in blocks:
-      result.append(ecc[i])
-  return bytes(result)
+  return bytes(blocks[b][i] for b, i in _interleaved(version, 0))


 def _multiply(x: int, y: int) -> int:
-  result = 0
-  for _ in range(8):
-    result = (result << 1) ^ (0x11D if result & 0x80 else 0)
-    if y & 0x80:
-      result ^= x
-    y <<= 1
-  return result
+  return _EXP[(_LOG[x] + _LOG[y]) % 255] if x and y else 0


 def _divisor(degree: int) -> bytes:
@@ -108,7 +136,7 @@ def _alignment_positions(version: int) -> list[int]:
  if version == 1:
    return []
  count = version // 7 + 2
-  step = ((version * 4 + count * 2 + 1) // (count * 2 - 2)) * 2
+  step = (version * 8 + count * 3 + 5) // (count * 4 - 4) * 2
  return [6] + [version * 4 + 10 - step * i for i in range(count - 1)][::-1]


@@ -171,7 +199,7 @@ class _Qr:

  def _format(self) -> None:
    for i in range(15):
-      bit = ((_FORMAT_BITS >> i) & 1) != 0
+      bit = ((_FORMATS[1 << 3 | 0] >> i) & 1) != 0  # level L, mask 0
      y_pos = i if i < 6 else i + 1 if i < 8 else self.size - 15 + i
      self._set_function(8, y_pos, bit)
      x_pos = self.size - 1 - i if i < 8 else 15 - i if i < 9 else 14 - i
@@ -216,3 +244,496 @@ def make_texture(data: str, inverted: bool = False) -> rl.Texture:
  rl_image.mipmaps = 1
  rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
  return rl.load_texture_from_image(rl_image)
+
+
+# ---- Symbol structure for decoding ----
+
+
+class QRError(Exception):
+  pass
+
+
+_LEVELS = (1, 0, 3, 2)  # format info level bits -> column in _EC
+
+_MASKS = [
+  lambda i, j: (i + j) % 2 == 0,
+  lambda i, j: i % 2 == 0,
+  lambda i, j: j % 3 == 0,
+  lambda i, j: (i + j) % 3 == 0,
+  lambda i, j: (i // 2 + j // 3) % 2 == 0,
+  lambda i, j: (i * j) % 2 + (i * j) % 3 == 0,
+  lambda i, j: ((i * j) % 2 + (i * j) % 3) % 2 == 0,
+  lambda i, j: ((i + j) % 2 + (i * j) % 3) % 2 == 0,
+]
+
+_ALIGNMENT = np.ones((5, 5), dtype=bool)
+_ALIGNMENT[1:4, 1:4] = False
+_ALIGNMENT[2, 2] = True
+
+
+def _gf_inv(a: int) -> int:
+  return _EXP[-_LOG[a] % 255]
+
+
+@functools.lru_cache
+def _data_coords(version: int) -> tuple[np.ndarray, np.ndarray]:
+  """(rows, cols) of the data and error correction modules in placement order: two-column zigzag from the right."""
+  dim = version * 4 + 17
+  func = np.zeros((dim, dim), dtype=bool)  # finder, timing, alignment, format, and version modules
+  func[:9, :9] = func[:9, dim - 8:] = func[dim - 8:, :9] = True
+  func[6, :] = func[:, 6] = True
+  positions = _alignment_positions(version)
+  for r, c in itertools.product(positions, positions):
+    if (r, c) not in ((6, 6), (6, dim - 7), (dim - 7, 6)):
+      func[r - 2:r + 3, c - 2:c + 3] = True
+  if version >= 7:
+    func[:6, dim - 11:dim - 8] = func[dim - 11:dim - 8, :6] = True
+  ys = np.arange(dim)
+  rows, cols = [], []
+  # the vertical timing column is skipped, so the pairs left of it start at odd columns
+  for i, right in enumerate(col if col > 6 else col - 1 for col in range(dim - 1, 0, -2)):
+    r = np.repeat(ys[::-1] if i % 2 == 0 else ys, 2)
+    c = np.tile((right, right - 1), dim)
+    keep = ~func[r, c]
+    rows.append(r[keep])
+    cols.append(c[keep])
+  return np.concatenate(rows), np.concatenate(cols)
+
+
+# ---- Matrix decoding ----
+
+
+def _poly_eval(p: list[int], x: int) -> int:
+  # p is highest degree first
+  y = 0
+  for c in p:
+    y = _multiply(y, x) ^ c
+  return y
+
+
+_EXP_TABLE = np.array(_EXP)
+_LOG_TABLE = np.array([_LOG.get(v, 0) for v in range(256)])
+
+
+def _syndromes(msg: list[int], nsym: int) -> list[int]:
+  """syn[i] = msg(alpha^i), msg highest degree first."""
+  m = np.array(msg)
+  exponents = np.arange(nsym)[:, None] * (len(msg) - 1 - np.arange(len(msg)))
+  return np.bitwise_xor.reduce(_EXP_TABLE[(_LOG_TABLE[m] + exponents) % 255] * (m != 0), axis=1).tolist()
+
+
+def _rs_correct(msg: list[int], nsym: int) -> list[int]:
+  """Corrects up to nsym // 2 errors in a Reed-Solomon codeword, in place."""
+  n = len(msg)
+  syn = _syndromes(msg, nsym)
+  if not any(syn):
+    return msg
+
+  # Berlekamp-Massey, sigma is lowest degree first
+  sigma, prev, L, m, b = [1], [1], 0, 1, 1
+  for r in range(nsym):
+    d = syn[r]
+    for i in range(1, L + 1):
+      d ^= _multiply(sigma[i], syn[r - i])
+    if d == 0:
+      m += 1
+      continue
+    coef = _multiply(d, _gf_inv(b))
+    shifted = [0] * m + prev
+    saved = sigma[:]
+    sigma = sigma + [0] * max(0, len(shifted) - len(sigma))
+    for i, c in enumerate(shifted):
+      sigma[i] ^= _multiply(coef, c)
+    if 2 * L <= r:
+      L, prev, b, m = r + 1 - L, saved, d, 1
+    else:
+      m += 1
+  sigma = sigma[:L + 1]
+  if 2 * L > nsym:
+    raise QRError("too many errors")
+
+  # Chien search: codeword position p has locator alpha^(n-1-p)
+  positions = [p for p in range(n) if _poly_eval(sigma[::-1], _EXP[(p - n + 1) % 255]) == 0]
+  if len(positions) != L:
+    raise QRError("error locator mismatch")
+
+  # solve syn[i] = sum_k e_k * X_k^i for the magnitudes e_k
+  xlog = [(n - 1 - p) % 255 for p in positions]
+  A = [[_EXP[(xlog[k] * i) % 255] for k in range(L)] + [syn[i]] for i in range(L)]
+  for col in range(L):
+    piv = next((r for r in range(col, L) if A[r][col]), None)
+    if piv is None:
+      raise QRError("singular")
+    A[col], A[piv] = A[piv], A[col]
+    inv = _gf_inv(A[col][col])
+    A[col] = [_multiply(inv, v) for v in A[col]]
+    for r in range(L):
+      if r != col and A[r][col]:
+        f = A[r][col]
+        A[r] = [a ^ _multiply(f, c) for a, c in zip(A[r], A[col], strict=True)]
+  for k, p in enumerate(positions):
+    msg[p] ^= A[k][L]
+
+  if any(_syndromes(msg, nsym)):
+    raise QRError("uncorrectable")
+  return msg
+
+
+def _read_format(m: np.ndarray) -> int:
+  """Returns the closest format info (level bits << 3 | mask) from either copy."""
+  dim = m.shape[0]
+  copies = ([(8, i) for i in range(6)] + [(8, 7), (8, 8), (7, 8)] + [(5 - i, 8) for i in range(6)],
+            [(dim - 1 - i, 8) for i in range(7)] + [(8, dim - 8 + i) for i in range(8)])  # (row, col), msb first
+  candidates = []
+  for coords in copies:
+    bits = int("".join(str(int(m[r, c])) for r, c in coords), 2)
+    candidates += [((bits ^ f).bit_count(), i) for i, f in enumerate(_FORMATS)]
+  distance, fmt = min(candidates)
+  if distance > 3:
+    raise QRError("bad format info")
+  return fmt
+
+
+_ALNUM = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ $%*+-./:"
+
+_ECI_ENCODINGS = {
+  0: "cp437", 2: "cp437", 1: "iso8859-1", 3: "iso8859-1",
+  **{i + 2: f"iso8859-{i}" for i in range(2, 17) if i != 12},
+  20: "shift_jis", 21: "cp1250", 22: "cp1251", 23: "cp1252", 24: "cp1256",
+  25: "utf-16-be", 26: "utf-8", 27: "ascii", 170: "ascii", 28: "big5", 29: "gb18030", 30: "euc_kr",
+}
+
+
+class _Bits:
+  def __init__(self, data: list[int]):
+    self._value = int.from_bytes(bytes(data), "big")
+    self.remaining = len(data) * 8
+
+  def read(self, n: int) -> int:
+    if n > self.remaining:
+      raise QRError("bitstream underflow")
+    self.remaining -= n
+    return self._value >> self.remaining & (1 << n) - 1
+
+  def read_below(self, n: int, limit: int) -> int:
+    v = self.read(n)
+    if v >= limit:
+      raise QRError("value out of range")
+    return v
+
+
+def _parse_data(data: list[int], version: int) -> str:
+  bits = _Bits(data)
+  out: list[str] = []
+  encoding = None
+  band = 0 if version <= 9 else 1 if version <= 26 else 2
+  while bits.remaining >= 4:
+    mode = bits.read(4)
+    if mode == 0:
+      break
+    if mode == 7:  # ECI character set assignment
+      first = bits.read(8)
+      extra = 0 if first < 0x80 else 8 if first < 0xC0 else 16 if first < 0xE0 else -1  # 1, 2, or 3 byte assignment
+      if extra < 0:
+        raise QRError("bad ECI assignment")
+      assignment = (first & 0x7F >> extra // 8) << extra | bits.read(extra)
+      encoding = _ECI_ENCODINGS.get(assignment)
+      if encoding is None:
+        raise QRError(f"unsupported ECI assignment {assignment}")
+    elif mode == 1:
+      n = bits.read((10, 12, 14)[band])
+      while n > 0:
+        k = min(n, 3)  # 3 digits in 10 bits, the last 2 or 1 in 7 or 4
+        out.append(f"{bits.read_below((4, 7, 10)[k - 1], 10 ** k):0{k}d}")
+        n -= k
+    elif mode == 2:
+      n = bits.read((9, 11, 13)[band])
+      while n > 0:
+        k = min(n, 2)  # 2 characters in 11 bits, a last one in 6
+        v = bits.read_below((6, 11)[k - 1], 45 ** k)
+        out.append(_ALNUM[v // 45] * (k - 1) + _ALNUM[v % 45])
+        n -= k
+    elif mode == 4:
+      n = bits.read((8, 16, 16)[band])
+      segment = bytes(bits.read(8) for _ in range(n))
+      try:
+        out.append(segment.decode(encoding or "utf-8"))
+      except UnicodeDecodeError as e:
+        if encoding is not None:
+          raise QRError("invalid ECI byte segment") from e
+        out.append(segment.decode("latin-1"))
+    elif mode == 8:
+      n = bits.read((8, 10, 12)[band])
+      for _ in range(n):
+        v = bits.read(13)
+        c = (v // 0xC0) << 8 | v % 0xC0
+        c += 0x8140 if c < 0x1F00 else 0xC140
+        try:
+          out.append(c.to_bytes(2, "big").decode("shift_jis"))
+        except UnicodeDecodeError as e:
+          raise QRError("invalid Kanji character") from e
+    else:
+      raise QRError(f"unsupported mode {mode}")
+  return "".join(out)
+
+
+def decode_matrix(m: np.ndarray) -> str:
+  """Decodes a square boolean module matrix (True = dark) without a quiet zone."""
+  dim = m.shape[0]
+  if m.shape != (dim, dim) or dim % 4 != 1 or not 21 <= dim <= 177:
+    raise QRError("bad matrix size")
+  version = (dim - 17) // 4
+
+  fmt = _read_format(m)
+  level = _LEVELS[fmt >> 3]
+  rows, cols = _data_coords(version)
+  bits = m[rows, cols] ^ _MASKS[fmt & 7](rows, cols)
+  codewords = np.packbits(bits[:len(bits) // 8 * 8]).tolist()
+
+  ec, _ = _EC[version - 1][level]
+  lens = _block_lengths(version, level)
+  blocks = [[0] * (n + ec) for n in lens]
+  for (b, i), codeword in zip(_interleaved(version, level), codewords, strict=True):
+    blocks[b][i] = codeword
+
+  data: list[int] = []
+  for block, n in zip(blocks, lens, strict=True):
+    data += _rs_correct(block, ec)[:n]
+  return _parse_data(data, version)
+
+
+# ---- Image decoding ----
+
+
+def _box_sums(a: np.ndarray, radii: tuple[int, ...]) -> list[np.ndarray]:
+  """Sums over (2r + 1)^2 neighborhoods of the last two axes, edge padded, from one integral image."""
+  P = max(radii)
+  lead = [(0, 0)] * (a.ndim - 2)
+  cs = np.pad(np.cumsum(np.cumsum(np.pad(a, lead + [(P, P), (P, P)], mode="edge"), -2), -1), lead + [(1, 0), (1, 0)])
+  H, W = a.shape[-2:]
+  out = []
+  for r in radii:
+    lo, hi = P - r, P + r + 1
+    out.append(cs[..., hi:hi + H, hi:hi + W] - cs[..., lo:lo + H, hi:hi + W] - cs[..., hi:hi + H, lo:lo + W] + cs[..., lo:lo + H, lo:lo + W])
+  return out
+
+
+def _binarize(gray: np.ndarray) -> np.ndarray:
+  """Adaptive threshold: each pixel against the mean of the surrounding tiles that have contrast."""
+  h, w = gray.shape
+  if h < 21 or w < 21:
+    raise QRError("image too small")
+  B = max(8, min(h, w) // 128 * 2)
+  H, W = -(-h // B), -(-w // B)
+  padded = np.pad(gray, ((0, H * B - h), (0, W * B - w)), mode="edge")
+  # block statistics from a subsample are plenty
+  sub = np.ascontiguousarray(padded[::2, ::2].reshape(H, B // 2, W, B // 2).transpose(0, 2, 1, 3)).reshape(H, W, -1)
+  blocks = sub.sum(axis=2, dtype=np.uint32) / sub.shape[2]
+  known = sub.max(axis=2) - sub.min(axis=2) >= 32
+  # Flat tiles cannot estimate their own threshold: use the tiles with contrast nearby, then
+  # further out, then the global midrange. A flat tile is then all dark or all light.
+  est = np.full((H, W), (blocks.min() + blocks.max()) / 2)
+  filled = np.zeros((H, W), dtype=bool)
+  for total, count in _box_sums(np.stack((known * blocks, known.astype(float))), (2, 6)):
+    fill = ~filled & (count > 0)
+    est[fill] = total[fill] / count[fill]
+    filled |= fill
+  thr = np.where(known, np.minimum(est, 254) + 1, np.where(blocks <= est, 255, 0)).astype(np.uint8)
+  return (padded.reshape(H, B, W, B) < thr[:, None, :, None]).reshape(H * B, W * B)[:h, :w]
+
+
+class _Runs:
+  """Run-length table of a padded, flattened binary image with a per-pixel run index."""
+
+  def __init__(self, padded: np.ndarray):
+    self.flat = padded.ravel()
+    self.lines, self.stride = padded.shape
+    change = self.flat[1:] != self.flat[:-1]
+    self.starts = np.concatenate(([0], np.flatnonzero(change) + 1))
+    self.lengths = np.diff(np.append(self.starts, self.flat.size)).astype(np.int32)
+
+  def run_at(self, line: np.ndarray, pos: np.ndarray) -> np.ndarray:
+    """Index of the run containing the pixel at `pos` along `line`."""
+    return np.searchsorted(self.starts, line * self.stride + pos + 1, side="right") - 1
+
+  @staticmethod
+  def _match(lengths: list[np.ndarray], ratios: tuple[int, ...]) -> tuple[np.ndarray, np.ndarray]:
+    """Checks windows of runs against the ratios, given the length of each run. Returns (ok, module size)."""
+    S = sum(ratios)
+    total = sum(lengths[1:], start=lengths[0])
+    ok = total >= 2 * S  # modules need to be at least 2 px
+    for L, r in zip(lengths, ratios, strict=True):
+      ok &= np.abs(2 * S * L - 2 * r * total) <= r * total  # integer form of |L - r * total / S| <= r * total / (2 * S)
+    return ok, total / S
+
+  def scan(self, ratios: tuple[int, ...]) -> np.ndarray:
+    """Returns the indices of all dark runs starting a window of runs matching the ratios."""
+    n = len(ratios)
+    N = len(self.lengths) - n + 1
+    if N <= 0:
+      return np.zeros(0, dtype=int)
+    ok, _ = self._match([self.lengths[k:N + k] for k in range(n)], ratios)
+    ok &= self.flat[self.starts[:N]]
+    first = np.flatnonzero(ok)
+    return first[self.starts[first] // self.stride == self.starts[first + n - 1] // self.stride]
+
+  def check(self, first: np.ndarray, ratios: tuple[int, ...]) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
+    """Checks the run windows starting at run index `first`. Returns (ok, center position along the line, module size)."""
+    n, half = len(ratios), len(ratios) // 2
+    ok = (first >= 0) & (first + n <= len(self.starts))
+    idx = np.clip(first[:, None] + np.arange(n), 0, len(self.starts) - 1)
+    matched, module = self._match([self.lengths[idx[:, k]] for k in range(n)], ratios)
+    ok &= matched & self.flat[self.starts[idx[:, 0]]]
+    ok &= self.starts[idx[:, 0]] // self.stride == self.starts[idx[:, -1]] // self.stride
+    center = self.starts[idx[:, half]] % self.stride - 1 + self.lengths[idx[:, half]] / 2
+    return ok, center, module
+
+
+def _find_patterns(binary: np.ndarray, ratios: tuple[int, ...]) -> list[tuple[float, float, float]]:
+  """Finds dark/light run patterns with the given module ratios. Returns (x, y, module size)."""
+  half = len(ratios) // 2
+  step = 2  # the center rows of a 2 px finder pattern still get scanned twice
+  rows_t = _Runs(np.pad(binary[::step], ((0, 0), (1, 1))))
+  first = rows_t.scan(ratios)
+  if len(first) == 0:
+    return []
+  _, cx, hmod = rows_t.check(first, ratios)
+  row = rows_t.starts[first] // rows_t.stride * step
+
+  xi = cx.astype(int)
+  xs, col = np.unique(xi, return_inverse=True)
+  cols_t = _Runs(np.pad(binary[:, xs].T, ((0, 0), (1, 1))))
+  ok, cy, vmod = cols_t.check(cols_t.run_at(col, row) - half, ratios)
+  ok &= (0.5 <= vmod / hmod) & (vmod / hmod <= 2)
+  line = np.clip(np.rint(cy / step), 0, rows_t.lines - 1).astype(int)
+  ok2, cx2, hmod2 = rows_t.check(rows_t.run_at(line, xi) - half, ratios)
+  ok &= ok2 & (0.5 <= hmod2 / vmod) & (hmod2 / vmod <= 2)
+
+  found: list[list[float]] = []  # [x, y, module, count]
+  for x, y, module in zip(cx2[ok], cy[ok], (hmod2[ok] + vmod[ok]) / 2, strict=True):
+    for f in found:
+      if abs(f[0] - x) <= f[2] and abs(f[1] - y) <= f[2] and 0.5 <= f[2] / module <= 2:
+        c = f[3]
+        f[0], f[1], f[2], f[3] = (f[0] * c + x) / (c + 1), (f[1] * c + y) / (c + 1), (f[2] * c + module) / (c + 1), c + 1
+        break
+    else:
+      found.append([x, y, module, 1])
+  found.sort(key=lambda f: -f[3])
+  return [(f[0], f[1], f[2]) for f in found if f[3] >= 2]
+
+
+def _pick_finders(patterns: list[tuple[float, float, float]]) -> tuple[np.ndarray, np.ndarray, np.ndarray, float]:
+  """Returns (top-left, top-right, bottom-left) centers and the module size of the most square-looking triple."""
+  best = None
+  for a, b, c in itertools.combinations(patterns[:10], 3):
+    mods = sorted((a[2], b[2], c[2]))
+    if mods[2] / mods[0] > 1.5:
+      continue
+    pts = [np.array(p[:2]) for p in (a, b, c)]
+    d = [np.linalg.norm(pts[(i + 1) % 3] - pts[(i + 2) % 3]) for i in range(3)]
+    tl = int(np.argmax(d))  # opposite the hypotenuse
+    p1, p2 = pts[(tl + 1) % 3], pts[(tl + 2) % 3]
+    v1, v2 = p1 - pts[tl], p2 - pts[tl]
+    n1, n2 = np.linalg.norm(v1), np.linalg.norm(v2)
+    if n1 == 0 or n2 == 0:
+      continue
+    cos = abs(np.dot(v1, v2)) / (n1 * n2)
+    if cos > 0.35 or not 0.6 <= n1 / n2 <= 1.6:
+      continue
+    score = cos + abs(np.log(n1 / n2)) + np.log(mods[2] / mods[0])
+    if best is not None and score >= best[0]:
+      continue
+    if v1[0] * v2[1] - v1[1] * v2[0] < 0:
+      p1, p2 = p2, p1
+    best = (score, pts[tl], p1, p2, float(sum(mods) / 3))
+  if best is None:
+    raise QRError("no finder patterns")
+  return best[1:]
+
+
+def _perspective(src: np.ndarray, dst: np.ndarray) -> np.ndarray:
+  """Homography mapping the four src points onto the four dst points."""
+  A = [row for (x, y), (u, v) in zip(src, dst, strict=True)
+       for row in ([x, y, 1, 0, 0, 0, -u * x, -u * y], [0, 0, 0, x, y, 1, -v * x, -v * y])]
+  try:
+    h = np.linalg.solve(np.array(A, dtype=float), np.asarray(dst, dtype=float).ravel())
+  except np.linalg.LinAlgError as e:
+    raise QRError("degenerate geometry") from e
+  return np.append(h, 1).reshape(3, 3)
+
+
+def _transform(H: np.ndarray, pts: np.ndarray) -> np.ndarray:
+  p = np.column_stack((pts, np.ones(len(pts)))) @ H.T
+  return p[:, :2] / p[:, 2:3]
+
+
+def _match_alignment(binary: np.ndarray, est: np.ndarray, offs: np.ndarray, r: int, module: float) -> np.ndarray | None:
+  h, w = binary.shape
+  dy = np.arange(max(0, int(est[1]) - r), min(h, int(est[1]) + r)) - est[1]
+  dx = np.arange(max(0, int(est[0]) - r), min(w, int(est[0]) + r)) - est[0]
+  if len(dy) == 0 or len(dx) == 0:
+    return None
+  y = np.rint(est[1] + dy[:, None, None] + offs[None, None, :, 1]).astype(int)
+  x = np.rint(est[0] + dx[None, :, None] + offs[None, None, :, 0]).astype(int)
+  valid = ((y >= 0) & (y < h) & (x >= 0) & (x < w)).all(axis=2)
+  samples = binary[np.clip(y, 0, h - 1), np.clip(x, 0, w - 1)]
+  score = np.where(valid, (samples == _ALIGNMENT.ravel()).sum(axis=2), 0)
+  if score.max() < 23:
+    return None
+  hits = np.argwhere(score == score.max())
+  centers = np.column_stack((est[0] + dx[hits[:, 1]], est[1] + dy[hits[:, 0]]))
+  closest = centers[np.argmin(np.linalg.norm(centers - est, axis=1))]
+  return centers[np.linalg.norm(centers - closest, axis=1) <= module / 2].mean(axis=0)
+
+
+def _locate_alignment(binary: np.ndarray, H: np.ndarray, center: float, module: float) -> np.ndarray | None:
+  """Template matches the 5x5 alignment pattern around its position estimated from H."""
+  grid = np.mgrid[-2:3, -2:3].reshape(2, -1).T[:, ::-1] + center  # (25, 2) module coords (x, y)
+  pts = _transform(H, grid)
+  # the affine estimate can be off in both position and local scale under perspective
+  for radius in (2, 4, 8, 16):
+    for scale in (1.0, 0.8, 1.25, 0.65, 1.5):
+      found = _match_alignment(binary, pts[12], (pts - pts[12]) * scale, int(module * radius), module)
+      if found is not None:
+        return found
+  return None
+
+
+def _sample(binary: np.ndarray, tl: np.ndarray, tr: np.ndarray, bl: np.ndarray, module: float, dim: int, use_alignment: bool) -> np.ndarray:
+  src = np.array([(3.5, 3.5), (dim - 3.5, 3.5), (3.5, dim - 3.5), (dim - 3.5, dim - 3.5)])
+  dst = np.array([tl, tr, bl, tr + bl - tl])
+  H = _perspective(src, dst)
+  if use_alignment and dim > 21:
+    align = _locate_alignment(binary, H, dim - 6.5, module)
+    if align is not None:
+      src[3], dst[3] = (dim - 6.5, dim - 6.5), align
+      H = _perspective(src, dst)
+
+  rows, cols = np.mgrid[0:dim, 0:dim]
+  pts = _transform(H, np.column_stack((cols.ravel() + 0.5, rows.ravel() + 0.5)))
+  xy = np.rint(pts).astype(int)
+  h, w = binary.shape
+  if (xy < 0).any() or (xy[:, 0] >= w).any() or (xy[:, 1] >= h).any():
+    raise QRError("code extends outside image")
+  return binary[xy[:, 1], xy[:, 0]].reshape(dim, dim)
+
+
+def decode(gray: np.ndarray) -> str | None:
+  """Decodes the QR code in a 2D uint8 grayscale image. Modules need to be at least 2 px.
+  Returns None if nothing could be decoded."""
+  try:
+    binary = _binarize(gray)
+    tl, tr, bl, module = _pick_finders(_find_patterns(binary, (1, 1, 3, 1, 1)))
+  except QRError:
+    return None
+
+  d = (np.linalg.norm(tr - tl) + np.linalg.norm(bl - tl)) / 2
+  dim = int(round((d / module + 7 - 17) / 4)) * 4 + 17
+  dims = [cand for cand in (dim, dim - 4, dim + 4) if 21 <= cand <= 177]
+  for cand, use_alignment, transpose in itertools.product(dims, (True, False), (False, True)):
+    try:
+      m = _sample(binary, tl, tr, bl, module, cand, use_alignment)
+      return decode_matrix(m.T if transpose else m)
+    except QRError:
+      pass
+  return None
@@ -0,0 +1,178 @@
+import hashlib
+import math
+from pathlib import Path
+
+import numpy as np
+
+from openpilot.common import qrcode as qr
+from openpilot.common.test import OpenpilotTestCase
+
+LPA = "LPA:1$rsp.truphone.com$QRF-BETTERROAMING-PMRDGIR2EARDEIT5"
+
+
+# Matrices generated with python-qrcode 8.2, covering all versions and EC levels.
+# Packed fixtures keep the decoder tests independent of our encoder.
+FIXTURES = {}
+for path in Path(__file__).with_name("fixtures").glob("qrcode_*.npz"):
+  with np.load(path) as fixtures:
+    FIXTURES.update({key: fixtures[key] for key in fixtures.files})
+
+
+def fixture(key: str) -> np.ndarray:
+  bits = np.unpackbits(FIXTURES[key])
+  size = math.isqrt(len(bits))
+  return bits[:size * size].reshape(size, size).astype(bool)
+
+
+def render(matrix: np.ndarray, box: int = 6, border: int = 4) -> np.ndarray:
+  img = np.repeat(np.repeat(np.pad(matrix, border), box, axis=0), box, axis=1)
+  return np.where(img, 0, 255).astype(np.uint8)
+
+
+def make(data: str, version: int | None = None, level: int = 0, box: int = 6, border: int = 4):
+  matrix = fixture(hashlib.sha256(f"{version}:{level}:{data}".encode()).hexdigest())
+  return matrix, render(matrix, box, border)
+
+
+def warp(img: np.ndarray, H: np.ndarray) -> np.ndarray:
+  """Bilinear resampling through the output -> input homography H, white outside the image."""
+  h, w = img.shape
+  rows, cols = np.mgrid[0:h, 0:w]
+  pts = qr._transform(H, np.column_stack((cols.ravel() + 0.5, rows.ravel() + 0.5))) - 0.5
+  x0, y0 = np.floor(pts[:, 0]).astype(int), np.floor(pts[:, 1]).astype(int)
+  fx, fy = pts[:, 0] - x0, pts[:, 1] - y0
+  padded = np.pad(img.astype(float), 1, constant_values=255)
+
+  def at(y, x):
+    return padded[np.clip(y + 1, 0, h + 1), np.clip(x + 1, 0, w + 1)]
+
+  out = at(y0, x0) * (1 - fx) * (1 - fy) + at(y0, x0 + 1) * fx * (1 - fy) + at(y0 + 1, x0) * (1 - fx) * fy + at(y0 + 1, x0 + 1) * fx * fy
+  return np.clip(out, 0, 255).astype(np.uint8).reshape(h, w)
+
+
+def rotate(img: np.ndarray, angle: float) -> np.ndarray:
+  h, w = img.shape
+  t = np.radians(angle)
+  R = np.array([[np.cos(t), -np.sin(t)], [np.sin(t), np.cos(t)]])
+  center = np.array([w / 2, h / 2])
+  corners = np.array([(0, 0), (w, 0), (w, h), (0, h)], dtype=float)
+  return warp(img, qr._perspective((corners - center) @ R.T + center, corners))
+
+
+class TestQRCode(OpenpilotTestCase):
+  def test_alignment_positions(self):
+    assert qr._alignment_positions(7) == [6, 22, 38]
+    assert qr._alignment_positions(32) == [6, 34, 60, 86, 112, 138]
+    assert qr._alignment_positions(40) == [6, 30, 58, 86, 114, 142, 170]
+
+  def test_all_versions(self):
+    for version in range(1, 41):
+      for level in range(4):
+        with self.subTest(version=version, level=level):
+          data = "".join(chr(ord("a") + i % 26) for i in range(version))
+          matrix, img = make(data, version, level, box=3)
+          assert qr.decode_matrix(matrix) == data
+          assert qr.decode(img) == data
+
+  def test_modes(self):
+    for data in ["0123456789012345", "HELLO WORLD $1.50", LPA, "こんにちは", "ünïcødé", "mixed 123 ABC xyz"]:
+      with self.subTest(data=data):
+        matrix, img = make(data)
+        assert qr.decode_matrix(matrix) == data
+        assert qr.decode(img) == data
+
+  def test_error_correction(self):
+    matrix, _ = make(LPA, level=2)
+    rng = np.random.default_rng(0)
+    flipped = matrix.copy()
+    for r, c in rng.integers(9, matrix.shape[0] - 9, size=(40, 2)):
+      flipped[r, c] ^= True
+    assert qr.decode_matrix(flipped) == LPA
+
+  def test_large_modules(self):
+    for data in ["0123456789012345", "HELLO WORLD $1.50", LPA, "mixed 123 ABC xyz"]:
+      for box in [16, 20, 24, 32]:
+        for dark, light in [(0, 255), (60, 200), (140, 250)]:
+          with self.subTest(data=data, box=box, dark=dark):
+            _, img = make(data, box=box)
+            img = np.where(img == 0, dark, light).astype(np.uint8)
+            assert qr.decode(img) == data
+
+  def test_image_edges(self):
+    # a code touching the image edge must not lose the rows and columns left over from tiling
+    matrix, _ = make(LPA)
+    for size in (200, 203):
+      with self.subTest(size=size):
+        img = np.full((size, size), 255, dtype=np.uint8)
+        code = render(matrix, box=5, border=0)
+        img[size - code.shape[0]:, size - code.shape[1]:] = code
+        assert qr.decode(img) == LPA
+
+  def test_eci(self):
+    # qrcode_eci.npz: packed Segno 1.6.6 matrices, generated with mode='byte',
+    # eci=True, micro=False and the named encoding. Mixed also includes numeric,
+    # alphanumeric, and Kanji segments after changing the byte encoding twice.
+    cases = {
+      "iso8859-5": "Привет", "utf-16-be": "héllo", "utf-8": "こんにちは",
+      "shift_jis": "日本語", "cp1251": "Привет", "iso8859-1": "héllo",
+      "mixed": "hélloПривет日本語123ABC漢字",
+    }
+    for encoding, expected in cases.items():
+      with self.subTest(encoding=encoding):
+        matrix = fixture(encoding)
+        assert qr.decode_matrix(matrix) == expected
+        assert qr.decode(render(matrix)) == expected
+
+  def test_parse_data(self):
+    def parse(stream: str) -> str:
+      stream += '0' * (-len(stream) % 8)
+      return qr._parse_data([int(stream[i:i + 8], 2) for i in range(0, len(stream), 8)], 1)
+
+    def eci(assignment: str, payload: bytes = b'A') -> str:
+      return parse('0111' + assignment + '0100' + f'{len(payload):08b}' + ''.join(f'{b:08b}' for b in payload) + '0000')
+
+    # ASCII assignment 170 uses the two-byte ECI representation.
+    assert eci('1000000010101010') == 'A'
+    for assignment in ['00001110', '1000001111100111', '110000010000000000000000', '11100000']:
+      with self.subTest(assignment=assignment), self.assertRaises(qr.QRError):
+        eci(assignment)
+    with self.assertRaises(qr.QRError):
+      eci('00011010', b'\xff')  # Invalid UTF-8 must not fall back to Latin-1.
+
+    # out-of-range numeric, alphanumeric, and Kanji values are format errors, not crashes
+    for stream in ['0001' + '0000000011' + '1111111111', '0001' + '0000000010' + '1111111',
+                   '0010' + '000000010' + '11111111111', '0010' + '000000001' + '111111',
+                   '1000' + '00000001' + '0000000111111']:
+      with self.subTest(stream=stream), self.assertRaises(qr.QRError):
+        parse(stream)
+
+  def test_rotation(self):
+    for angle in [0, 90, 180, 270, 25, 110]:
+      with self.subTest(angle=angle):
+        _, img = make(LPA, box=8, border=12)
+        assert qr.decode(rotate(img, angle)) == LPA
+
+  def test_mirrored(self):
+    _, img = make(LPA)
+    assert qr.decode(img[:, ::-1]) == LPA
+
+  def test_perspective_and_noise(self):
+    _, img = make(LPA, box=10, border=8)
+    h, w = img.shape
+    corners = np.array([(40, 60), (w - 20, 30), (w - 60, h - 40), (30, h - 90)])
+    arr = warp(img, qr._perspective(corners, np.array([(0, 0), (w, 0), (w, h), (0, h)]))).astype(float)
+    rng = np.random.default_rng(1)
+    arr = arr * 0.6 + 60 + rng.normal(0, 12, arr.shape)  # low contrast + noise
+    # uneven lighting
+    arr += np.linspace(-40, 40, w)[None, :]
+    assert qr.decode(np.clip(arr, 0, 255).astype(np.uint8)) == LPA
+
+  def test_no_code(self):
+    rng = np.random.default_rng(2)
+    assert qr.decode(rng.integers(0, 256, size=(240, 320), dtype=np.uint8)) is None
+    assert qr.decode(np.full((240, 320), 200, dtype=np.uint8)) is None
+
+  def test_encoder_roundtrip(self):
+    for version in range(1, 21):
+      with self.subTest(version=version):
+        assert qr.decode_matrix(np.array(qr._Qr(version, b"hello").modules)) == "hello"
@@ -13,8 +13,8 @@ from openpilot.common.git import get_commit, get_origin, get_branch, get_short_b
 RELEASE_SP_BRANCHES = ['release-c3', 'release', 'release-tizi', 'release-tici', 'release-tizi-staging', 'release-tici-staging']
 TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
 MASTER_SP_BRANCHES = ['master']
-RELEASE_BRANCHES = ['release-tizi-staging', 'release-mici-staging', 'release-tizi', 'release-mici', 'nightly']
-TESTED_BRANCHES = RELEASE_BRANCHES + ['devel-staging', 'nightly-dev'] + RELEASE_SP_BRANCHES + TESTED_SP_BRANCHES
+RELEASE_BRANCHES = ['release-tizi-staging', 'release-mici-staging', 'release-tizi', 'release-mici', 'nightly', 'nightly-chestnut']
+TESTED_BRANCHES = RELEASE_BRANCHES + ['devel-staging', 'nightly-dev', 'nightly-chestnut-dev'] + RELEASE_SP_BRANCHES + TESTED_SP_BRANCHES

 CHESTNUT_BRANCHES = {
  "staging": "staging-chestnut",
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0936a3d890a3ad68ffe021e4905b9b9e59ffc2ae19ee9c703daa3e7c92e7c78
+size 1793
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 33215
@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10348
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@@ -0,0 +1,3 @@
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+size 13868
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-oid sha256:fd91685bf656e828648acf035a4737acb2c4709e8514cf0aa0a10fa470a9bb60
-size 11580
+oid sha256:92431d37a844206570d73d48f39dd8d934539a89668fe8d5f4cccae38f7b301b
+size 11530
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+size 19724
@@ -0,0 +1,3 @@
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+size 823
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+size 111083
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+size 1107
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+size 920
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13744
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+version https://git-lfs.github.com/spec/v1
+oid sha256:25db08a9038b5faa3b200ef5625cb216d7f4b31ea3d49fb0395f9b726bfaf8e6
+size 13135
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:547f466cc59d29647f3bf131d8444d7f22b63b186bcea55ceb8109c68ca74fe8
+size 2345
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55050096cd98e7f4ea3e843d927c18815e458dfbd5e7d100b503db92075d061b
+size 2373
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+version https://git-lfs.github.com/spec/v1
+oid sha256:f9c439ed89bc0357e86c005d5dbb6f1ad2b8d72cdc0890e3201d842d8c3928f1
+size 2443
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1728
@@ -23,8 +23,8 @@ done

 # sudo apt install inkscape

-for svg in $(find $DIR -type f | grep svg$); do
-  bunx svgo $svg --multipass --pretty --indent 2
+for svg in $(find "$DIR" -type f | grep svg$); do
+  bunx svgo "$svg" --multipass --pretty --indent 2

  # convert to PNG
  png="${svg%.svg}.png"
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c4699e3a456a0df2bbfac7ab1eb8972fc8bd970296133fd322e214c61884407
+size 52374
@@ -186,9 +186,6 @@ class Car:
    # card is driven by can recv, expected at 100Hz
    self.rk = Ratekeeper(100, print_delay_threshold=None)

-    # log fingerprint in sentry
-    sunnypilot_interfaces.log_fingerprint(self.CP)
-
  def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDataT | None]:
    """carState update loop, driven by can"""

@@ -0,0 +1,39 @@
+import numpy as np
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_MDL
+
+ACCEL_BOOST_MAX = 0.2
+ACCEL_BOOST_RATE = 0.025
+ACCEL_BOOST_PER_OVERRIDE = 0.05
+ACCEL_BOOST_MIN_SPEED = 10 * CV.MPH_TO_MS
+
+
+class AccelBoost:
+  def __init__(self):
+    self.total_boost = 0.0
+    self.boost_this_override = 0.0
+    self.boost_eligible = False
+
+  def update(self, sm, output_a_target_e2e, output_a_target_mpc, a_cruise):
+    enabled = sm['selfdriveState'].enabled
+    gas_pressed = sm['carState'].gasPressed
+    v_ego = sm['carState'].vEgo
+    speed_scale = np.interp(v_ego, [ACCEL_BOOST_MIN_SPEED, 2 * ACCEL_BOOST_MIN_SPEED], [0.0, 1.0])
+    boost_scale = speed_scale * np.interp(output_a_target_e2e, [-1.0, -0.5, 5.0], [0.0, 1.0, 1.0], right=0.0)
+    model_limited = (sm['selfdriveState'].experimentalMode and
+                     output_a_target_e2e + self.total_boost * boost_scale < min(output_a_target_mpc, a_cruise) - 0.1)
+
+    if not enabled or not gas_pressed:
+      self.boost_this_override = 0.0
+      # Latch eligibility before the override changes the lead plan.
+      self.boost_eligible = enabled and model_limited
+
+    if not enabled:
+      self.total_boost = 0.0
+    elif gas_pressed and self.boost_eligible:
+      increase = min(ACCEL_BOOST_RATE * DT_MDL * speed_scale,
+                     ACCEL_BOOST_PER_OVERRIDE - self.boost_this_override, ACCEL_BOOST_MAX - self.total_boost)
+      self.total_boost += increase
+      self.boost_this_override += increase
+
+    return output_a_target_e2e + self.total_boost * boost_scale
@@ -1,11 +1,13 @@
 import math
+import numpy as np
+from collections import deque

 from openpilot.cereal import log
 from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.drive_helpers import MAX_CURVATURE

-CURVATURE_SATURATION_THRESHOLD = 1e-3  # 1/m
+LAT_ACCEL_SATURATION_THRESHOLD = 0.5  # m/s^2


 class LatControlCurvature(LatControl):
@@ -20,6 +22,8 @@ class LatControlCurvature(LatControl):
    else:
      self.pid = None
      self.kf = 1.
+    self.desired_curvature_buffer_len = int(1. / self.dt)
+    self.desired_curvature_buffer = deque([0.] * self.desired_curvature_buffer_len, maxlen=self.desired_curvature_buffer_len)

  def reset(self):
    super().reset()
@@ -30,6 +34,9 @@ class LatControlCurvature(LatControl):
    curvature_log = log.ControlsState.LateralCurvatureState.new_message()
    actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
    error = desired_curvature - actual_curvature
+    self.desired_curvature_buffer.append(desired_curvature)
+    delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.desired_curvature_buffer_len))
+    expected_curvature = self.desired_curvature_buffer[-delay_frames]

    if not active:
      output_curvature = 0.0
@@ -53,6 +60,6 @@ class LatControlCurvature(LatControl):
    curvature_log.actualCurvature = float(actual_curvature)
    curvature_log.desiredCurvature = float(desired_curvature)
    curvature_log.output = float(output_curvature)
-    curvature_log.saturated = bool(self._check_saturation(abs(error) > CURVATURE_SATURATION_THRESHOLD, CS,
+    curvature_log.saturated = bool(self._check_saturation(abs(expected_curvature - actual_curvature) * CS.vEgo ** 2 > LAT_ACCEL_SATURATION_THRESHOLD, CS,
                                                          False, curvature_limited))
    return 0.0, float(output_curvature), curvature_log
@@ -8,6 +8,7 @@ from openpilot.common.constants import CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.controls.lib.accel_boost import AccelBoost
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, LongitudinalPlanSource
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
@@ -63,6 +64,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    self.fcw = False
    self.dt = dt
    self.allow_throttle = True
+    self.accel_boost = AccelBoost()

    self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
    self.a_cruise = init_a
@@ -145,6 +147,8 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
                                     accel_coast, self.allow_throttle)
    cruise_should_stop = should_stop(v_ego, self.a_cruise)

+    output_a_target_e2e = self.accel_boost.update(sm, output_a_target_e2e, output_a_target_mpc, self.a_cruise)
+
    candidates = [(output_a_target_mpc, self.mpc.source, output_should_stop_mpc),
                  (self.a_cruise, LongitudinalPlanSource.cruise, cruise_should_stop)]
    if is_e2e:
@@ -175,6 +179,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    longitudinalPlan.fcw = self.fcw

    longitudinalPlan.aTarget = float(self.output_a_target)
+    longitudinalPlan.accelBoost = float(self.accel_boost.total_boost)
    longitudinalPlan.shouldStop = bool(self.output_should_stop)
    longitudinalPlan.allowBrake = True
    longitudinalPlan.allowThrottle = bool(self.allow_throttle)
@@ -8,12 +8,14 @@ from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
 from opendbc.car.gm.values import CAR as GM
+from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
+from openpilot.selfdrive.controls.lib.latcontrol_curvature import LatControlCurvature
 from openpilot.selfdrive.locationd.helpers import Pose
 from openpilot.common.mock.generators import generate_deviceMotion
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
@@ -22,7 +24,8 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac
 class TestLatControl(OpenpilotTestCase):

  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
-                         (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
+                         (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque),
+                         (VOLKSWAGEN.VOLKSWAGEN_ID4_MK2, LatControlCurvature)])
  def test_saturation(self, car_name, controller):
    CarInterface = interfaces[car_name]
    CP = CarInterface.get_non_essential_params(car_name)
@@ -278,12 +278,12 @@ def main():
  estimator = LocationEstimator(DEBUG)

  filter_initialized = False
-  critcal_services = ["accelerometer", "gyroscope", "cameraOdometry"]
+  critical_services = ["accelerometer", "gyroscope", "cameraOdometry"]
  observation_input_invalid = defaultdict(int)

-  input_invalid_limit = {s: round(INPUT_INVALID_LIMIT * (SERVICE_LIST[s].frequency / 20.)) for s in critcal_services}
-  input_invalid_threshold = {s: input_invalid_limit[s] - 0.5 for s in critcal_services}
-  input_invalid_decay = {s: calculate_invalid_input_decay(input_invalid_limit[s], INPUT_INVALID_RECOVERY, SERVICE_LIST[s].frequency) for s in critcal_services}
+  input_invalid_limit = {s: round(INPUT_INVALID_LIMIT * (SERVICE_LIST[s].frequency / 20.)) for s in critical_services}
+  input_invalid_threshold = {s: input_invalid_limit[s] - 0.5 for s in critical_services}
+  input_invalid_decay = {s: calculate_invalid_input_decay(input_invalid_limit[s], INPUT_INVALID_RECOVERY, SERVICE_LIST[s].frequency) for s in critical_services}

  initial_pose_data = params.get("LocationFilterInitialState")
  if initial_pose_data is not None:
@@ -313,7 +313,7 @@ def main():
        if valid:
          t = log_mono_time * 1e-9
          res = estimator.handle_log(t, which, msg)
-          if which not in critcal_services:
+          if which not in critical_services:
            continue

          if res == HandleLogResult.TIMING_INVALID:
@@ -328,7 +328,7 @@ def main():
      filter_initialized = sm.all_checks() and sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)

    if sm.updated["cameraOdometry"]:
-      critical_service_inputs_valid = all(observation_input_invalid[s] < input_invalid_threshold[s] for s in critcal_services)
+      critical_service_inputs_valid = all(observation_input_invalid[s] < input_invalid_threshold[s] for s in critical_services)
      inputs_valid = sm.all_valid() and critical_service_inputs_valid
      sensors_valid = sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)

@@ -40,7 +40,7 @@ class PoseKalman(KalmanFilter):
  initial_P = np.diag([0.01**2, 0.01**2, 0.01**2,
                       10**2, 10**2, 10**2,
                       1**2, 1**2, 1**2,
-                       1**2, 1**2, 1**2,
+                       0.1**2, 0.1**2, 0.1**2,
                       100**2, 100**2, 100**2,
                       0.01**2, 0.01**2, 0.01**2])

@@ -1,142 +1,71 @@
+import ctypes.util
 import glob
-import json
 import os
-import time
 from SCons.Script import Action, Value
-from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_existing_chunks
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
-from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, chestnut_present, modeld_pkl_path
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info


 Import('env', 'arch')
-chunker_file = File("#openpilot/common/file_chunker.py")
+
+# TODO: add GCC support to tinygrad?
+# tinygrad's CPU:LLVM backend requires libLLVM, skip the build on PC if it's not available
+if arch not in ('comma_arm64', 'Darwin') and ctypes.util.find_library('LLVM') is None:
+  print("\033[93mmodeld: LLVM not found, skipping tinygrad model compilation. Install LLVM to compile models.\033[0m")
+  Return()
+
 lenv = env.Clone()
+lenv.PrependENVPath('PYTHONPATH', Dir('#tinygrad_repo').abspath)

 tinygrad_root = env.Dir("#").abspath
 tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root)
                  if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))]

-def estimate_pickle_max_size(onnx_size):
-  # QCOM programs for models with spatial recurrent features can approach 2x
-  # the ONNX size. Overestimating only adds an empty trailing chunk.
-  return 2.0 * onnx_size + 10 * 1024 * 1024
+camera_configs = [(c.width, c.height) for c in (_ar_ox_fisheye, _os_fisheye)]

 if arch == 'comma_arm64':
-  from openpilot.common.hardware import HARDWARE
-  camera = _os_fisheye if HARDWARE.get_device_type() == "mici" else _ar_ox_fisheye
-  camera_configs = [(camera.width, camera.height)]
-  tg_backend = 'QCOM'
-  tg_flags = f'DEV={tg_backend} IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
+  tg_flags = 'DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
 else:
-  camera_configs = [(c.width, c.height) for c in (_ar_ox_fisheye, _os_fisheye)]
-  tg_backend = 'CPU'
-  tg_flags = f'DEV=CPU' if arch == 'Darwin' else 'DEV=CPU:LLVM'
-
-tg_devices = { # which device to put jit inputs to at runtime
-  'openpilot.selfdrive.modeld.dmonitoringmodeld': {
-    'default': {'DEV': tg_backend}
-  },
-}
-
-CHESTNUT = chestnut_present()
-if CHESTNUT:
-  chestnut_tg_flags = 'DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_OCCUPANCY_OPT=1'
-  # the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
-  chestnut_lock = File("models/.chestnut.lock").abspath
-
-def write_tg_devices(target, source, env):
-  with open(str(target[0]), "w") as f:
-    json.dump(tg_devices, f)
-    f.write("\n")
-
-tg_devices_node = lenv.Command(
-  str(TG_INPUT_DEVICES_PATH),
-  [Value(tg_devices)],
-  write_tg_devices,
-)
+  # JIT=2 disables graph batching, which produces incorrect outputs after buffers change.
+  tg_flags = 'DEV=METAL JIT=2' if arch == 'Darwin' else 'DEV=CPU:LLVM'

 # tinygrad calls brew which needs a $HOME in the env
 mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''

-modeld_dir = Dir("#openpilot/selfdrive/modeld").abspath
-compile_modeld_script = [
-  File(f"{modeld_dir}/compile_modeld.py"),
-  File(f"{modeld_dir}/get_model_metadata.py"),
-  File("#openpilot/system/camerad/cameras/nv12_info.py"),
-  File("#openpilot/common/hardware/hw.py"),
-]
-model_w, model_h = MEDMODEL_INPUT_SIZE
-frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+warp_deps = [File("#openpilot/system/camerad/cameras/nv12_info.py")]
+compiler = Dir('#tinygrad_repo/examples/openpilot').abspath
+# build on all cores
+taskset = 'taskset -c 0-7 ' if arch == 'comma_arm64' else ''

-if not os.getenv('SKIP_TINYGRAD_COMPILE'):
-  for chestnut in [False, True] if CHESTNUT else [False]:
-    target_pkl_path = File(modeld_pkl_path(chestnut)).abspath
-    file_prefix, cmd_flags = ('big_', chestnut_tg_flags) if chestnut else ('', tg_flags)
-    driving_onnx_deps = get_existing_chunks(File(f"models/{file_prefix}driving_supercombo.onnx").abspath)
-    camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in camera_configs)
-    # CPU 7 is isolated with isolcpus on AGNOS, so explicitly pin the compiler to it.
-    taskset = 'taskset -c 7 ' if arch == 'comma_arm64' else ''
-    cmd = (f'{cmd_flags} {mac_brew_string} {taskset}python3 {modeld_dir}/compile_modeld.py '
-          f'--model-size {model_w}x{model_h} '
-          f'--camera-resolutions {camera_res_args} '
-          f'--onnx {File(f"models/{file_prefix}driving_supercombo.onnx").abspath} '
-          f'--output {target_pkl_path} --frame-skip {frame_skip}')
-    onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
-    chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
-    def do_compile(target, source, env, command=cmd, pkl=target_pkl_path, chunks=chunk_targets):
-      from openpilot.system.hardware.chestnut.flash import link_up
-      # chestnut can enumerate before its PCIe link is up due to varying 12V power behavior across cars
-      for _ in range(10):
-        if link_up():
-          break
-        time.sleep(1)
-      else:
-        print("Chestnut not ready, skipping big model build")
-        return
-      if ret := env.Execute(command):
-        return ret
-      chunk_file(pkl, chunks)
-    def do_chunk(target, source, env, pkl=target_pkl_path, chunks=chunk_targets):
-      chunk_file(pkl, chunks)
-    actions = Action(do_compile, "  [CHESTNUT] $TARGET") if chestnut else [cmd, Action(do_chunk, "  [CHUNK] $TARGET")]
-    node = lenv.Command(
-      chunk_targets,
-      tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(camera_res_args), Value(chunk_targets), chunker_file],
-      actions,
-    )
-    if chestnut:
-      lenv.SideEffect(chestnut_lock, node)
-
-# get model metadata
-fn = File(f"models/dmonitoring_model").abspath
-script_files = [File(Dir("#openpilot/selfdrive/modeld").File("get_model_metadata.py").abspath)]
-cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#openpilot/selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [tg_devices_node], cmd)
-
-dm_w, dm_h = DM_INPUT_SIZE
-compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
-for cam_w, cam_h in camera_configs:
-  dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
-  cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_dm_warp.py '
-         f'--camera-resolution {cam_w}x{cam_h} --warp-to {dm_w}x{dm_h} '
-         f'--output {dm_pkl_path}')
-  lenv.Command(dm_pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [tg_devices_node], cmd)
-
-def tg_compile(flags, model_name):
-  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
-  fn = File(f"models/{model_name}").abspath
-  pkl = fn + "_tinygrad.pkl"
-  onnx_path = fn + ".onnx"
-  chunk_targets = get_chunk_targets(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
-  def do_chunk(target, source, env):
-    chunk_file(pkl, chunk_targets)
-  return lenv.Command(
-    chunk_targets,
-    [onnx_path] + tinygrad_files + [Value(chunk_targets), chunker_file, tg_devices_node],
-    [f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
-     Action(do_chunk, "  [CHUNK] $TARGET")],
+def compile_model(onnx_path, pkl_path):
+  onnx_path, target_pkl_path = File(onnx_path).abspath, File(pkl_path).abspath
+  cmd = (f'{tg_flags} {mac_brew_string} {taskset}python3 "{compiler}/compile_onnx.py" '
+         f'"{onnx_path}" "{target_pkl_path}" --out-of-band --benchmark-runs 1')
+  lenv.Command(
+    target_pkl_path,
+    tinygrad_files + [onnx_path, Value(cmd)],
+    Action(cmd, "  [ONNX] $TARGET"),
  )

-tg_compile(tg_flags, 'dmonitoring_model')
+compile_model('models/dmonitoring_model.onnx', 'models/dmonitoring_model_tinygrad.pkl')
+compile_model('models/driving_supercombo.onnx', 'models/driving_tinygrad.pkl')
+
+model_w, model_h = MEDMODEL_INPUT_SIZE
+for cam_w, cam_h in camera_configs:
+  warp_pkl_path = File(f"models/driving_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
+  stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
+  cmd = (f'{tg_flags} {mac_brew_string} {taskset}python3 "{compiler}/compile_warp.py" '
+         f'--frame {cam_w},{cam_h},{stride},{y_height},{uv_height},{stride * (y_height + uv_height)} '
+         f'--warp-to {model_w}x{model_h} --layout yuv420 --frames 2 '
+         f'--output {warp_pkl_path}')
+  lenv.Command(warp_pkl_path, tinygrad_files + warp_deps + [Value(cmd)], cmd)
+
+dm_w, dm_h = DM_INPUT_SIZE
+for cam_w, cam_h in camera_configs:
+  dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
+  stride, y_height, uv_height, frame_size = get_nv12_info(cam_w, cam_h)
+  cmd = (f'{tg_flags} {mac_brew_string} python3 "{compiler}/compile_warp.py" '
+         f'--frame {cam_w},{cam_h},{stride},{y_height},{uv_height},{frame_size} --warp-to {dm_w}x{dm_h} '
+         f'--layout luma --border-fill 16 --transform-device NPY --output {dm_pkl_path}')
+  lenv.Command(dm_pkl_path, tinygrad_files + warp_deps + [Value(cmd)], cmd)
@@ -1,56 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import pickle
-import time
-
-from tinygrad.tensor import Tensor
-from tinygrad.device import Device
-from tinygrad.engine.jit import TinyJit
-
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, warp_perspective_tinygrad, _parse_size
-
-
-def make_warp_dm(nv12: NV12Frame, dm_w, dm_h):
-  cam_w, cam_h, stride, _, _, _ = nv12
-  stride_pad = stride - cam_w
-
-  def warp_dm(input_frame, M_inv):
-    M_inv = M_inv.to(Device.DEFAULT).realize()
-    return warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv,
-                                     (dm_w, dm_h), (cam_h, cam_w), stride_pad, border_fill_val=16).reshape(-1, dm_h * dm_w) # Y
-  return warp_dm
-
-
-def compile_dm_warp(nv12: NV12Frame, dm_w, dm_h, pkl_path):
-  print(f"Compiling DM warp for {nv12.width}x{nv12.height} -> {dm_w}x{dm_h}...")
-
-  warp_dm_jit = TinyJit(make_warp_dm(nv12, dm_w, dm_h), prune=True)
-
-  for i in range(10):
-    frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
-    M_inv = Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')
-    Device.default.synchronize()
-    st = time.perf_counter()
-    warp_dm_jit(frame, M_inv).realize()
-    mt = time.perf_counter()
-    Device.default.synchronize()
-    et = time.perf_counter()
-    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
-  with open(pkl_path, "wb") as f:
-    pickle.dump(warp_dm_jit, f)
-  print(f"  Saved to {pkl_path}")
-
-
-if __name__ == "__main__":
-  p = argparse.ArgumentParser()
-  p.add_argument('--camera-resolution', type=_parse_size, required=True, help='camera resolution WxH')
-  p.add_argument('--warp-to', type=_parse_size, required=True, help='DM input WxH')
-  p.add_argument('--output', required=True)
-  args = p.parse_args()
-
-  cam_w, cam_h = args.camera_resolution
-  nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-  dm_w, dm_h = args.warp_to
-  compile_dm_warp(nv12, dm_w, dm_h, args.output)
@@ -1,332 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import atexit
-import math
-import os
-import tempfile
-import time
-import shutil
-from functools import partial
-from collections import namedtuple
-
-import numpy as np
-
-from openpilot.selfdrive.modeld.helpers import dump_oob, load_oob
-
-def _patch_tinygrad_fetch_fw():
-  import hashlib
-  import pathlib
-  import zstandard
-  from tinygrad import helpers
-  _orig = helpers.fetch_fw
-  def fetch_fw(path, name, sha256):
-    p = pathlib.Path(f"/lib/firmware/{path}/{name}.zst")
-    if p.is_file():
-      blob = zstandard.ZstdDecompressor().stream_reader(p.read_bytes()).read()
-      if hashlib.sha256(blob).hexdigest() == sha256:
-        return blob
-    return _orig(path, name, sha256)
-  helpers.fetch_fw = fetch_fw
-_patch_tinygrad_fetch_fw()
-
-
-from tinygrad.tensor import Tensor
-from tinygrad.helpers import Context
-from tinygrad.device import Device
-from tinygrad.engine.jit import TinyJit
-
-
-NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
-MODELD_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
-
-
-def nv12_copy_size(stride: int, y_height: int, uv_height: int) -> int:
-  # Retain the padded Y and UV plane storage, but skip the trailing kernel/guard allocation.
-  return stride * (y_height + uv_height)
-
-
-def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
-  w_dst, h_dst = dst_shape
-  h_src, w_src = src_shape
-
-  x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
-  y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
-
-  # inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
-  src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
-  src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
-  src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
-
-  src_x = src_x / src_w
-  src_y = src_y / src_w
-
-  x_round = Tensor.round(src_x)
-  y_round = Tensor.round(src_y)
-  x_nn_clipped = x_round.clip(0, w_src - 1).cast('int')
-  y_nn_clipped = y_round.clip(0, h_src - 1).cast('int')
-  idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
-  sampled = src_flat[idx]
-
-  if border_fill_val is None:
-    return sampled
-
-  in_bounds = ((x_round >= 0) & (x_round <= w_src - 1) &
-               (y_round >= 0) & (y_round <= h_src - 1)).cast(sampled.dtype)
-  return sampled * in_bounds + Tensor(border_fill_val, dtype=sampled.dtype) * (1 - in_bounds)
-
-
-def frames_to_tensor(frames):
-  H = (frames.shape[0] * 2) // 3
-  W = frames.shape[1]
-  in_img1 = Tensor.cat(frames[0:H:2, 0::2],
-                       frames[1:H:2, 0::2],
-                       frames[0:H:2, 1::2],
-                       frames[1:H:2, 1::2],
-                       frames[H:H+H//4].reshape((H//2, W//2)),
-                       frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
-  return in_img1
-
-
-def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
-  cam_w, cam_h, stride, y_height, uv_height, _ = nv12
-  uv_offset = stride * y_height
-  stride_pad = stride - cam_w
-
-  def frame_prepare_tinygrad(input_frame, M_inv):
-    # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
-    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]], device=Device.DEFAULT)
-    # deinterleave NV12 UV plane (UVUV... -> separate U, V)
-    uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
-    with Context(SPLIT_REDUCEOP=0):
-      y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
-                                    M_inv, (model_w, model_h),
-                                    (cam_h, cam_w), stride_pad).realize()
-      u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
-                                    M_inv_uv, (model_w//2, model_h//2),
-                                    (cam_h//2, cam_w//2), 0).realize()
-      v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
-                                    M_inv_uv, (model_w//2, model_h//2),
-                                    (cam_h//2, cam_w//2), 0).realize()
-    yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
-    tensor = frames_to_tensor(yuv)
-    return tensor
-  return frame_prepare_tinygrad
-
-
-def get_policy_npy_shapes(input_shapes):
-  dp = input_shapes['desire_pulse']  # (1, 25, 8)
-  tc = input_shapes['traffic_convention']  # (1, 2)
-  at = input_shapes['action_t']  # (1, 2)
-  fb = input_shapes['features_buffer']  # (1, T-1, ...) e.g. (1, 24, 32, 512) with spatial features
-  feat_dim = math.prod(fb[2:])
-  # TODO prev_feat shouldn't exist and be handled inside the JIT, but corrupt on QCOM for now
-  shapes = {'desire': (dp[2],), 'traffic_convention': tuple(tc), 'action_t': tuple(at), 'prev_feat': (fb[0], feat_dim)}
-  return shapes, [math.prod(s) for s in shapes.values()]
-
-
-def make_input_queues(input_shapes, frame_skip, device, frame_copy_size):
-  img = input_shapes['img']  # (1, 12, 128, 256)
-  fb = input_shapes['features_buffer']  # (1, T-1, ...), past features only; the model appends the current frame's feature
-  feat_dim = math.prod(fb[2:])
-  dp = input_shapes['desire_pulse']  # (1, 25, 8)
-  n_frames = img[1] // 6
-  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
-
-  policy_shapes, _ = get_policy_npy_shapes(input_shapes)
-  shapes = {'tfm': (3, 3), 'big_tfm': (3, 3)} | policy_shapes
-  sizes = [math.prod(s) for s in shapes.values()]
-  packed_npy_size = sum(sizes) * np.dtype(np.float32).itemsize
-  packed_input = np.zeros(packed_npy_size + 2 * frame_copy_size, dtype=np.uint8)
-  packed_npy_inputs = packed_input[:packed_npy_size].view(np.float32)
-  frames = packed_input[packed_npy_size:]
-  frame_views = {'img': frames[:frame_copy_size], 'big_img': frames[frame_copy_size:]}
-  # views into the packed inputs, to be refilled at runtime
-  npy = {k: v.reshape(s) for (k, s), v in zip(shapes.items(), np.split(packed_npy_inputs, np.cumsum(sizes[:-1])), strict=True)}
-  input_queues = {
-    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'feat_q': Tensor(np.zeros((frame_skip * fb[1], fb[0], feat_dim), dtype=np.float32), device=device).contiguous().realize(),
-    'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
-    'packed_npy_inputs': Tensor(packed_input, device='NPY').realize(),
-  }
-  return input_queues, npy, frame_views
-
-
-def shift_and_sample(buf, new_val, sample_fn):
-  buf.assign(buf[1:].cat(new_val, dim=0).contiguous())
-  return sample_fn(buf)
-
-
-def sample_skip(buf, frame_skip):
-  return buf[::frame_skip].contiguous().flatten(0, 1).unsqueeze(0)
-
-
-def sample_desire(buf, frame_skip):
-  return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
-
-
-def make_warp(nv12, model_w, model_h):
-  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
-
-  def warp(tfm, big_tfm, frame, big_frame):
-    tfm = tfm.to(Device.DEFAULT)
-    big_tfm = big_tfm.to(Device.DEFAULT)
-    frame = frame.to(Device.DEFAULT)
-    big_frame = big_frame.to(Device.DEFAULT)
-    Tensor.realize(tfm, big_tfm, frame, big_frame)
-
-    warped_frame = frame_prepare(frame, tfm).unsqueeze(0)
-    warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0)
-    return Tensor.cat(warped_frame, warped_big_frame)
-
-  return warp
-
-
-def make_run_policy(model_runner, model_metadata, frame_skip):
-  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
-  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
-  npy_shapes, npy_sizes = get_policy_npy_shapes(model_metadata['input_shapes'])
-  model_input_dtypes = {name: spec.dtype for name, spec in model_runner.graph_inputs.items()}
-
-  def run_policy(warped, img_q, big_img_q, feat_q, desire_q, packed_npy_inputs):
-    packed_npy_inputs = packed_npy_inputs.to(Device.DEFAULT)
-    Tensor.realize(packed_npy_inputs, warped)
-
-    img = shift_and_sample(img_q, warped[0:1], sample_skip_fn)
-    big_img = shift_and_sample(big_img_q, warped[1:2], sample_skip_fn)
-
-    desire, traffic_convention, action_t, prev_feat = (t.reshape(s) for t, s in zip(packed_npy_inputs.split(npy_sizes), npy_shapes.values(), strict=True))
-    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
-    feat_buf = shift_and_sample(feat_q, prev_feat.reshape(1, 1, -1), sample_skip_fn)
-
-    inputs = {
-      'img': img,
-      'big_img': big_img,
-      'features_buffer': feat_buf.reshape(model_metadata['input_shapes']['features_buffer']),
-      'desire_pulse': desire_buf,
-      'traffic_convention': traffic_convention,
-      'action_t': action_t,
-    }
-    inputs = {name: value.cast(model_input_dtypes[name]) for name, value in inputs.items()}
-    out = next(iter(model_runner(inputs).values())).cast('float32')
-    return out,
-  return run_policy
-
-
-def make_run_model(warp, run_policy, model_metadata, frame_copy_size):
-  _, policy_sizes = get_policy_npy_shapes(model_metadata['input_shapes'])
-  packed_npy_size = (18 + sum(policy_sizes)) * np.dtype(np.float32).itemsize
-
-  def run_model(img_q, big_img_q, feat_q, desire_q, packed_npy_inputs):
-    packed_input = packed_npy_inputs.to(Device.DEFAULT)
-    Tensor.realize(packed_input)
-    packed_npy_inputs = packed_input[:packed_npy_size].bitcast('float32')
-    frame = packed_input[packed_npy_size:packed_npy_size + frame_copy_size]
-    big_frame = packed_input[packed_npy_size + frame_copy_size:]
-    tfm, big_tfm, policy_inputs = packed_npy_inputs.split([9, 9, sum(policy_sizes)])
-    warped = warp(tfm.reshape(3, 3), big_tfm.reshape(3, 3), frame, big_frame)
-    return run_policy(warped, img_q, big_img_q, feat_q, desire_q, policy_inputs)
-  return run_model
-
-
-def compile_jit(jit, input_keys, make_queues, benchmark_runs):
-  if benchmark_runs < 1:
-    raise ValueError("benchmark_runs must be at least 1")
-
-  SEED = 42
-  def random_inputs_run(fn, seed, n_runs, test_val=None, test_buffers=None, expect_match=True):
-    input_queues, npy, frame_views = make_queues(Device.DEFAULT)
-    rng = np.random.default_rng(seed)
-
-    for i in range(n_runs):
-      for v in npy.values():
-        v[:] = rng.standard_normal(v.shape).astype(v.dtype)
-      for v in frame_views.values():
-        v[:] = rng.integers(0, 256, size=v.shape, dtype=np.uint8)
-      Device.default.synchronize()
-      st = time.perf_counter()
-      outs = fn(**{k: input_queues[k] for k in input_keys})
-      mt = time.perf_counter()
-      Device.default.synchronize()
-      et = time.perf_counter()
-      print(f"  [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
-      if i == 0:
-        val = [np.copy(v.numpy()) for v in outs]
-        buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
-
-    if test_val is not None:
-      match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
-      assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
-    if test_buffers is not None:
-      match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
-      assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
-    return val, buffers
-
-  print('capture + replay')
-  test_val, test_buffers = random_inputs_run(jit, SEED, 3)
-  print(f'pickle round trip ({benchmark_runs} runs per seed)')
-  with tempfile.TemporaryFile(dir=".") as f:
-    dump_oob(jit, f)
-    f.seek(0)
-    loaded_jit = load_oob(f)
-  random_inputs_run(loaded_jit, SEED, benchmark_runs, test_val, test_buffers, expect_match=True)
-  random_inputs_run(loaded_jit, SEED+1, benchmark_runs, test_val, test_buffers, expect_match=False)
-  # Keep the original so per-resolution JITs share model weight buffers in the final pickle.
-  return jit
-
-
-def _parse_size(s):
-  w, h = s.lower().split('x')
-  return int(w), int(h)
-
-
-def read_file_chunked_to_disk(path):
-  from openpilot.common.file_chunker import open_file_chunked
-  tmp_path = f'{path}.unchunked'
-  with open(tmp_path, 'wb') as f, open_file_chunked(path) as src:
-    shutil.copyfileobj(src, f)
-  atexit.register(lambda: os.path.exists(tmp_path) and os.remove(tmp_path))
-  return tmp_path
-
-
-if __name__ == "__main__":
-  from tinygrad.nn.onnx import OnnxRunner
-  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
-  p = argparse.ArgumentParser()
-  p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
-  p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
-                 help='camera resolutions WxH (one or more)')
-  p.add_argument('--onnx', required=True)
-  p.add_argument('--output', required=True)
-  p.add_argument('--frame-skip', type=int, required=True)
-  p.add_argument('--benchmark-runs', type=int, default=1,
-                 help='timed loaded-JIT runs for each correctness seed')
-  args = p.parse_args()
-
-  model_path = read_file_chunked_to_disk(args.onnx)
-  model_w, model_h = args.model_size
-
-  model_runner = OnnxRunner(model_path)
-  out = {
-    'metadata': make_metadata_dict(model_path),
-    'input_devices': {'model': Device.DEFAULT},
-    'run_model': {},
-  }
-
-  run_policy = make_run_policy(model_runner, out['metadata'], args.frame_skip)
-
-  for cam_w, cam_h in args.camera_resolutions:
-    nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-    frame_copy_size = nv12_copy_size(nv12.stride, nv12.y_height, nv12.uv_height)
-    make_model_queues = partial(make_input_queues, out['metadata']['input_shapes'], args.frame_skip,
-                                frame_copy_size=frame_copy_size)
-    warp = make_warp(nv12, model_w, model_h)
-    run_model_jit = TinyJit(make_run_model(warp, run_policy, out['metadata'], frame_copy_size), prune=True)
-    out['run_model'][(cam_w,cam_h)] = compile_jit(run_model_jit, MODELD_INPUTS, make_model_queues,
-                                                  args.benchmark_runs)
-
-  with open(args.output, "wb") as f:
-    dump_oob(out, f)
-  print(f"Saved JITs to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, get_tg_input_devices
+import base64
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, load_oob
 from tinygrad.tensor import Tensor
 import time
 import pickle
@@ -15,13 +16,10 @@ from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.common.file_chunker import open_file_chunked
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp

-PROCESS_NAME = "openpilot.selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 MODEL_PKL_PATH = MODELS_DIR / 'dmonitoring_model_tinygrad.pkl'
-METADATA_PATH = MODELS_DIR / 'dmonitoring_model_metadata.pkl'


 class ModelState:
@@ -29,11 +27,10 @@ class ModelState:
  output: np.ndarray

  def __init__(self, cam_w: int, cam_h: int):
-    self.DEV = get_tg_input_devices(PROCESS_NAME, chestnut=False)['DEV']
-    with open(METADATA_PATH, 'rb') as f:
-      model_metadata = pickle.load(f)
-      self.input_shapes = model_metadata['input_shapes']
-      self.output_slices = model_metadata['output_slices']
+    jits = load_oob(MODEL_PKL_PATH)
+    self.DEV = jits['input_specs']['input_img'][2]
+    self.input_shapes = jits['metadata']['input_shapes']
+    self.output_slices = pickle.loads(base64.b64decode(jits['metadata']['metadata']['output_slices']))

    self.numpy_inputs = {
      'calib': np.zeros(self.input_shapes['calib'], dtype=np.float32),
@@ -42,16 +39,19 @@ class ModelState:
    self.warp_inputs_np = {'transform': np.zeros((3,3), dtype=np.float32)}
    self.warp_inputs = {k: Tensor(v, device='NPY') for k,v in self.warp_inputs_np.items()}
    self.frame_buf_params = get_nv12_info(cam_w, cam_h)
-    self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
+    self.tensor_inputs = {k: Tensor(v, device=self.DEV).realize() for k,v in self.numpy_inputs.items()}
+    self.calib_host = Tensor(self.numpy_inputs['calib'], device='NPY')._buffer()
    self._blob_cache : dict[int, Tensor] = {}
-    self.model_run = pickle.load(open_file_chunked(str(MODEL_PKL_PATH)))
+    self.model_run = jits['run']
+    self.outputs = {name: Tensor(np.zeros(shape, dtype=dtype), device=device).realize() for name, (shape, dtype, device) in jits['output_specs'].items()}
    with open(MODELS_DIR / f'dm_warp_{cam_w}x{cam_h}_tinygrad.pkl', "rb") as f:
-      self.image_warp = pickle.load(f)
+      self.image_warp = pickle.load(f)['run']

  def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
    self.numpy_inputs['calib'][0,:] = calib

    t1 = time.perf_counter()
+    self.tensor_inputs['calib']._buffer().copy_from(self.calib_host)

    ptr = np.frombuffer(buf.data, dtype=np.uint8).ctypes.data
    # There is a ringbuffer of imgs, just cache tensors pointing to all of them
@@ -59,9 +59,10 @@ class ModelState:
      self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8', device=self.DEV)

    self.warp_inputs_np['transform'][:] = transform[:]
-    self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform'])
+    self.tensor_inputs['input_img'] = self.image_warp(input_frame=self._blob_cache[ptr], M_inv=self.warp_inputs['transform'])

-    output = self.model_run(**self.tensor_inputs).numpy().flatten()
+    self.model_run(output_buffers=self.outputs, **self.tensor_inputs)
+    output = self.outputs['outputs'].numpy().astype(np.float32).reshape(-1)

    t2 = time.perf_counter()
    return output, t2 - t1
@@ -1,55 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import pathlib
-import codecs
-import pickle
-from typing import Any
-
-from tinygrad.nn.onnx import OnnxPBParser
-
-
-class MetadataOnnxPBParser(OnnxPBParser):
-  def _parse_ModelProto(self) -> dict:
-    obj: dict[str, Any] = {"graph": {"input": [], "output": []}, "metadata_props": []}
-    for fid, wire_type in self._parse_message(self.reader.len):
-      match fid:
-        case 7:
-          obj["graph"] = self._parse_GraphProto()
-        case 14:
-          obj["metadata_props"].append(self._parse_StringStringEntryProto())
-        case _:
-          self.reader.skip_field(wire_type)
-    return obj
-
-
-def get_name_and_shape(value_info: dict[str, Any]) -> tuple[str, tuple[int, ...]]:
-  shape = tuple(int(dim) if isinstance(dim, int) else 0 for dim in value_info["parsed_type"].shape)
-  name = value_info["name"]
-  return name, shape
-
-
-def get_metadata_value_by_name(model: dict[str, Any], name: str) -> str | Any:
-  for prop in model["metadata_props"]:
-    if prop["key"] == name:
-      return prop["value"]
-  return None
-
-
-def make_metadata_dict(model_path):
-  model = MetadataOnnxPBParser(model_path).parse()
-  output_slices = get_metadata_value_by_name(model, 'output_slices')
-  assert output_slices is not None, 'output_slices not found in metadata'
-  return {
-    'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
-    'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
-    'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
-    'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
-  }
-
-
-if __name__ == "__main__":
-  model_path = pathlib.Path(sys.argv[1])
-  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
-  with open(metadata_path, 'wb') as f:
-    pickle.dump(make_metadata_dict(model_path), f)
-  print(f'saved metadata to {metadata_path}')
@@ -1,51 +1,23 @@
-import io
-import json
-import pickle
-import shutil
-import struct
-import tempfile
+import sys
+import time
 from pathlib import Path

-from openpilot.common.file_chunker import get_manifest_path
+from openpilot.common.hardware import AGNOS
 from openpilot.common.hardware.usb import CHESTNUT_USB_PRODUCT, USB_DEVICES_PATH, is_chestnut_usb_id

 MODELS_DIR = Path(__file__).resolve().parent / 'models'
-TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
-CHESTNUT_POWERED_VOLTAGE = 5000
-CHESTNUT_PCIE_READY = 0x78


-def get_tg_input_devices(process_name: str, chestnut: bool):
-  with open(TG_INPUT_DEVICES_PATH) as f:
-    return json.load(f)[process_name]['default' if not chestnut else 'chestnut']
-
 def modeld_pkl_path(chestnut: bool):
  prefix = 'big_' if chestnut else ''
  return MODELS_DIR / f'{prefix}driving_tinygrad.pkl'

-def dump_oob(obj, f):
-  with tempfile.TemporaryFile(dir=".") as tmp:
-    def buffer_callback(pb: pickle.PickleBuffer):
-      m = pb.raw()
-      tmp.write(struct.pack('<q', m.nbytes))
-      tmp.write(m)
-      pb.release() # keep peak ram at ~1 buffer
-    stream = io.BytesIO()
-    pickle.Pickler(stream, protocol=5, buffer_callback=buffer_callback).dump(obj)
-    opcodes = stream.getvalue()
-    f.write(struct.pack('<q', len(opcodes)))
-    f.write(opcodes)
-    tmp.seek(0)
-    shutil.copyfileobj(tmp, f)
-
-def load_oob(f):
-  opcodes = f.read(struct.unpack('<q', f.read(8))[0])
-  def buffers():
-    while (h := f.read(8)):
-      pb = pickle.PickleBuffer(bytearray(struct.unpack('<q', h)[0]))
-      f.readinto(pb)
-      yield pb
-  return pickle.load(io.BytesIO(opcodes), buffers=buffers())
+def load_oob(path, chestnut=False):
+  from tinygrad import Context
+  device = 'USB+AMD:LLVM' if chestnut else 'QCOM' if AGNOS else 'METAL' if sys.platform == 'darwin' else 'CPU:LLVM'
+  with Context(DEV=device):
+    from tinygrad_repo.examples.openpilot.helpers import load_pickle
+    return load_pickle(path, out_of_band=True)

 def chestnut_present() -> bool:
  for d in USB_DEVICES_PATH.glob("*"):
@@ -58,9 +30,15 @@ def chestnut_present() -> bool:
      pass
  return False

+def wait_for_chestnut(timeout: float = 10.) -> None:
+  # the cable is detected before chestnut enumerates
+  st = time.monotonic()
+  while not chestnut_present():
+    if time.monotonic() - st > timeout:
+      raise TimeoutError("chestnut did not enumerate")
+    time.sleep(0.1)
+
 def chestnut_compiled() -> bool:
-  return Path(get_manifest_path(modeld_pkl_path(chestnut=True))).is_file()
-
-
-def chestnut_ready(state) -> bool:
-  return state.supplyVoltage >= CHESTNUT_POWERED_VOLTAGE and not state.supplyFault and state.pcieLtssm == CHESTNUT_PCIE_READY
+  path = modeld_pkl_path(chestnut=True)
+  return path.is_file() and all(
+    (MODELS_DIR / f'big_driving_warp_{size}_tinygrad.pkl').is_file() for size in ('1344x760', '1928x1208'))
@@ -1,12 +1,20 @@
 #!/usr/bin/env python3
 from collections.abc import Callable
+import base64
 import ctypes
+import gc
 from functools import cached_property
 import os
 os.environ['GMMU'] = '0' # for chestnut fast loading, noop for qcom
-from tinygrad.device import Device
-import usb1
-import struct
+os.environ.setdefault('AM_POWER_LIMIT', '100')
+from tinygrad.device import Buffer, Device
+from tinygrad.dtype import DType, dtypes
+from tinygrad.engine.realize import lower_and_compile
+from tinygrad.tensor import Tensor
+from tinygrad.helpers import round_up
+from tinygrad.uop.ops import UOp
+import math
+import pickle
 import threading
 import time
 import numpy as np
@@ -20,6 +28,7 @@ from msgq.visionipc import VisionIpcClient, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
+from openpilot.common.hardware.usb import cable_connected
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
@@ -28,13 +37,9 @@ from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, should_stop, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
-from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, nv12_copy_size, MODELD_INPUTS
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_driving_model_data, fill_pose_msg, PublishState
-from openpilot.common.file_chunker import open_file_chunked
-from openpilot.common.hardware.usb import CHESTNUT_USB_IDS
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.modeld.helpers import chestnut_present, chestnut_compiled, chestnut_ready, modeld_pkl_path, load_oob
-
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, chestnut_present, chestnut_compiled, modeld_pkl_path, load_oob, wait_for_chestnut
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
@@ -75,45 +80,20 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
                                shouldStop=bool(stop))


-class ChestnutState:
-  # only modeld can access chestnut
+def drop_chestnut() -> None:
+  if "AMD" in Device._opened_devices:
+    for d in Device._opened_devices:
+      Device[d].pending.pop(Device["AMD"], None)
+
+
+class ChestnutGpuState:
+  # GPU metrics require modeld's GPU context
  def __init__(self, pm: PubMaster, big: bool):
    self.pm = pm
    self.big = big
    self.valid = True
    self.sends = 0
    self.metrics = {}
-    self._asm_usb = None
-
-  def _close_asm_usb(self) -> None:
-    if self._asm_usb is not None:
-      self._asm_usb.close()
-      self._asm_usb = None
-
-  def _open_asm_usb(self):
-    context = usb1.USBContext()
-    for vendor_id, product_id in CHESTNUT_USB_IDS:
-      if (handle := context.openByVendorIDAndProductID(vendor_id, product_id, skip_on_error=True)) is not None:
-        return handle
-    context.close()
-
-  def _read_ina(self) -> tuple[int, int, bool]:
-    if "AMD" in Device._opened_devices and self._asm_usb is None:
-      try:
-        raw = Device["AMD"].iface.pci_dev.usb.usb.control_read(0xC0, 5)
-        return struct.unpack('<Hh?', bytes(raw))
-      except Exception:
-        pass
-    if self._asm_usb is None:
-      self._asm_usb = self._open_asm_usb()
-    if self._asm_usb is None:
-      raise usb1.USBErrorNoDevice
-    try:
-      raw = self._asm_usb.controlRead(0xC0, 0xC0, 0, 0, 5, timeout=100)
-    except usb1.USBError:
-      self._close_asm_usb()
-      raise
-    return struct.unpack('<Hh?', bytes(raw))

  @cached_property
  def power_limit(self) -> int:
@@ -121,8 +101,8 @@ class ChestnutState:
    return smu._send_msg(smu.smu_mod.PPSMC_MSG_GetPptLimit, 0, read_back_arg=True, timeout=100)

  def send(self) -> None:
-    msg = messaging.new_message('chestnutState')
-    state = msg.chestnutState
+    msg = messaging.new_message('chestnutGpuState')
+    state = msg.chestnutGpuState
    self.sends += 1
    if self.big and "AMD" in Device._opened_devices and self.sends % 100 == 1:
      try:
@@ -148,21 +128,8 @@ class ChestnutState:
      for k, v in self.metrics.items():
        setattr(state, k, v)

-    asm_valid = False
-    try:
-      # ASM runs on USB-C power, these still read without a gpu
-      state.supplyVoltage, state.supplyCurrent, state.supplyFault = self._read_ina()
-      asm_valid = True
-    except Exception:
-      pass
-    if "AMD" in Device._opened_devices:
-      try:
-        state.pcieLtssm = Device["AMD"].iface.pci_dev.usb.read(0xB450, 1)[0]
-      except Exception:
-        pass
-
-    msg.valid = asm_valid and (not self.big or self.valid)
-    self.pm.send('chestnutState', msg)
+    msg.valid = not self.big or (self.valid and bool(self.metrics))
+    self.pm.send('chestnutGpuState', msg)


 class FrameMeta:
@@ -175,37 +142,67 @@ class FrameMeta:
      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof


+def input_view(buffer: Buffer, shape: tuple[int, ...], dtype: DType, offset: int) -> Tensor:
+  view = buffer.view(math.prod(shape), dtype, offset).ensure_allocated()
+  return Tensor(UOp.from_buffer(view)).reshape(shape)
+
+
 class ModelState(ModelStateBase):
  prev_desire: np.ndarray  # for tracking the rising edge of the pulse

  def __init__(self, cam_w: int, cam_h: int, chestnut: bool):
    ModelStateBase.__init__(self)
-    jits = load_oob(open_file_chunked(modeld_pkl_path(chestnut)))
-    input_devices = jits['input_devices']
-    self.model_device = input_devices['model']
-    metadata = jits['metadata']
-    self.input_shapes = metadata['input_shapes']
-    self.vision_input_names = [k for k in self.input_shapes if 'img' in k]
-    self.output_slices = metadata['output_slices']
+    jits = load_oob(modeld_pkl_path(chestnut), chestnut)
+    self.model_device = jits['input_specs']['new_img'][2]
+    self.input_shapes = {name: (shape, np.dtype(dtype)) for name, (shape, dtype, _) in jits['input_specs'].items()}
+    self.state_pairs = {name: f'next_{name}' for name in self.input_shapes if f'next_{name}' in jits['metadata']['output_shapes']}
+    self.vision_input_names = ('img', 'big_img')
+    self.output_slices = pickle.loads(base64.b64decode(jits['metadata']['metadata']['output_slices']))

    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
    self.chestnut = chestnut

-    self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
-    self.frame_copy_size = nv12_copy_size(*get_nv12_info(cam_w, cam_h)[:3])
-    self.input_queues, self.npy, self.frame_views = make_input_queues(
-      self.input_shapes, self.frame_skip, device=self.model_device, frame_copy_size=self.frame_copy_size)
+    stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
+    self.frame_copy_size = stride * (y_height + uv_height)
+    self.pack_inputs()
+    with open(MODELS_DIR / f'{"big_" if chestnut else ""}driving_warp_{cam_w}x{cam_h}_tinygrad.pkl', 'rb') as f:
+      self.run_warp = pickle.load(f)['run']
+    self.run_warp.captured._linear = lower_and_compile(self.run_warp.captured._linear)
+    self.run_model = jits['run']
+    self.run_model.captured._linear = lower_and_compile(self.run_model.captured._linear)
+    self.outputs = {name: Tensor(np.zeros(shape, dtype=dtype), device=device).realize() for name, (shape, dtype, device) in jits['output_specs'].items()}
+    for name, next_name in self.state_pairs.items():
+      state = self.input_queues[name]
+      self.outputs[next_name] = input_view(state._buffer(), state.shape, state.dtype, 0)
    self.parser = Parser()
-    self.run_model = jits['run_model'][(cam_w,cam_h)]
+
+  def pack_inputs(self) -> None:
+    # Pack host inputs into one upload to reduce USB transfer overhead for the eGPU.
+    self.input_queues = {name: Tensor(np.zeros(shape, dtype=dtype), device=self.model_device).realize()
+                         for name, (shape, dtype) in self.input_shapes.items() if name in self.state_pairs}
+    shapes = {'tfm': (2, 3, 3)} | {name: shape for name, (shape, _) in self.input_shapes.items()
+                                   if name not in self.state_pairs and name != 'new_img'}
+    npy_size = sum(round_up(math.prod(shape) * 4, 128) for shape in shapes.values())
+    self.packed_input = np.zeros(npy_size + 2 * self.frame_copy_size, dtype=np.uint8)
+    self.input_host = Tensor(self.packed_input, device='NPY')._buffer()
+    self.input_device = Tensor(self.packed_input, device=self.model_device)._buffer()
+    self.npy = {}
+    offset = 0
+    for name, shape in shapes.items():
+      self.npy[name] = np.ndarray(shape, dtype=np.float32, buffer=self.packed_input, offset=offset)
+      self.input_queues[name] = input_view(self.input_device, shape, dtypes.float32, offset)
+      offset += round_up(self.npy[name].nbytes, 128)
+    self.frames = self.packed_input[npy_size:].reshape(2, self.frame_copy_size)
+    self.warp_inputs = {'input_frame': input_view(self.input_device, self.frames.shape, dtypes.uint8, npy_size), 'M_inv': self.input_queues.pop('tfm')}

  def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
-    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
-    return parsed_model_outputs
+    return {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}

  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
          inputs: dict[str, np.ndarray], after_enqueue: Callable[[], None] | None = None) -> dict[str, np.ndarray]:
-    for key, buf in bufs.items():
-      np.copyto(self.frame_views[key], np.frombuffer(buf.data, dtype=np.uint8, count=self.frame_copy_size))
+    for i, key in enumerate(self.vision_input_names):
+      np.copyto(self.frames[i], np.frombuffer(bufs[key].data, dtype=np.uint8, count=self.frame_copy_size))
+      self.npy['tfm'][i] = transforms[key]

    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
    inputs['desire_pulse'][0] = 0
@@ -213,17 +210,16 @@ class ModelState(ModelStateBase):
    self.prev_desire[:] = inputs['desire_pulse']
    self.npy['traffic_convention'][:] = inputs['traffic_convention']
    self.npy['action_t'][:] = inputs['action_t']
-    self.npy['tfm'][:,:] = transforms['img'][:,:]
-    self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]

-    outs, = self.run_model(**{k: self.input_queues[k] for k in MODELD_INPUTS})
+    self.input_device.copy_from(self.input_host)
+    self.input_queues['new_img'] = self.run_warp(**self.warp_inputs)
+    self.run_model(output_buffers=self.outputs, **self.input_queues)
    if after_enqueue is not None:
      after_enqueue()
-    model_output = outs.numpy()[0]
+    model_output = self.outputs['outputs'].numpy()[0]
    if self.chestnut and not np.all(np.isfinite(model_output)):
      raise RuntimeError("model output not finite")
    outputs_dict = self.parser.parse_outputs(self.slice_outputs(model_output, self.output_slices))
-    self.npy['prev_feat'][:] = model_output[self.output_slices['hidden_state']]

    if SEND_RAW_PRED:
      outputs_dict['raw_pred'] = model_output.copy()
@@ -234,35 +230,24 @@ class ModelState(ModelStateBase):
    eye = np.eye(3, dtype=np.float32)
    dims = {'desire_pulse': ModelConstants.DESIRE_LEN, 'traffic_convention': 2, 'action_t': 2}
    self.run(dummy_frames, dict.fromkeys(self.vision_input_names, eye), {k: np.zeros(v, dtype=np.float32) for k, v in dims.items()})
-    self.input_queues, self.npy, self.frame_views = make_input_queues(
-      self.input_shapes, self.frame_skip, device=self.model_device, frame_copy_size=self.frame_copy_size)
+    self.packed_input[:] = 0
+    for key in self.state_pairs:
+      self.input_queues[key].assign(0).realize()
    self.prev_desire[:] = 0


 def main(demo=False):
  cloudlog.warning("modeld init")

-  chestnut_available = chestnut_present() and chestnut_compiled()
-  CHESTNUT = False
-  if chestnut_available:
-    poller = messaging.Poller()
-    sock = messaging.sub_sock("chestnutState", poller=poller, conflate=True)
-    deadline = time.monotonic() + 4. / SERVICE_LIST['deviceState'].frequency
-    while not CHESTNUT and (remaining := deadline - time.monotonic()) > 0.:
-      if not poller.poll(round(remaining * 1000)):
-        break
-      msg = messaging.recv_one_or_none(sock)
-      CHESTNUT = msg is not None and msg.valid and chestnut_ready(msg.chestnutState)
+  CHESTNUT = chestnut_compiled() and (chestnut_present() or cable_connected())
  if CHESTNUT:
-    os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
+    from tinygrad.runtime.ops_amd import AMDDevice
+    AMDDevice.wait_timeout_ms = 3000
  params = Params()
  params.put_bool("ChestnutLoading", CHESTNUT)
-  if chestnut_available and not CHESTNUT:
-    params.put_bool("ChestnutActive", False)
-  else:
-    params.remove("ChestnutActive")
+  params.remove("ChestnutActive")

-  config_realtime_process(7, 54)
+  gc.disable()

  # visionipc clients
  while True:
@@ -295,6 +280,7 @@ def main(demo=False):
    def load_big():
      nonlocal big_model
      try:
+        wait_for_chestnut()
        m = ModelState(vipc_client_main.width, vipc_client_main.height, True)
        m.warmup()
        big_model = m
@@ -304,27 +290,27 @@ def main(demo=False):
    loader.start()
    loader.join(BIG_MODEL_TIMEOUT)
    model = big_model
-    if model is None:
-      params.put_bool("ChestnutModelError", True)
    params.put_bool("ChestnutActive", model is not None)
-    if model is not None:
-      params.remove("ChestnutModelError")
+    if model is None:
+      drop_chestnut()

  small_model = ModelState(vipc_client_main.width, vipc_client_main.height, False) if model is None or CHESTNUT else None
  if model is None:
    model = small_model
-  params.put_bool("ChestnutLoading", False)
  assert model is not None
+  params.put_bool("ChestnutLoading", False)
  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")

+  config_realtime_process(7, 54)
+
  # messaging
-  pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutState"] if CHESTNUT else [])
+  pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutGpuState"] if CHESTNUT else [])
  pm = PubMaster(pub_socks)
  sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"])

  publish_state = PublishState()
  params = Params()
-  chestnut_state = ChestnutState(pm, model.chestnut) if CHESTNUT else None
+  chestnut_state = ChestnutGpuState(pm, model.chestnut) if CHESTNUT else None

  # setup filter to track dropped frames
  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_RUN_FREQ)
@@ -435,14 +421,14 @@ def main(demo=False):
    mt1 = time.perf_counter()
    try:
      send_chestnut = (chestnut_state is not None and
-                       run_count % round(ModelConstants.MODEL_RUN_FREQ / SERVICE_LIST['chestnutState'].frequency) == 0)
+                       run_count % round(ModelConstants.MODEL_RUN_FREQ / SERVICE_LIST['chestnutGpuState'].frequency) == 0)
      model_output = model.run(bufs, transforms, inputs, chestnut_state.send if send_chestnut else None)
    except Exception:
-      if not params.get_bool("ChestnutActive"):
+      if not model.chestnut:
        raise
      # fallback to small model
      cloudlog.exception("big model failed, fall back to small")
-      params.put_bool("ChestnutModelError", True)
+      drop_chestnut()
      params.put_bool("ChestnutActive", False)
      assert small_model is not None
      model = small_model
@@ -457,6 +443,7 @@ def main(demo=False):
      modelv2_send = messaging.new_message('modelV2')
      drivingdata_send = messaging.new_message('drivingModelData')
      posenet_send = messaging.new_message('cameraOdometry')
+      mdv2sp_send = messaging.new_message('modelDataV2SP')

      action = get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
      prev_action = action
@@ -469,11 +456,11 @@ def main(demo=False):
      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      mdv2sp_send = messaging.new_message('modelDataV2SP')
      left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      mdv2sp_send.valid = modelv2_send.valid
      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction

      fill_driving_model_data(drivingdata_send, modelv2_send)
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1791d5940b2c048d0639813426dd2cf1d6f2a6727ed51e17c8bcea8bbe754123
-size 765950064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc75858d5e007b725b6264e194da4321d7874a212dc631b8f40a215dfd172cd2
+size 799992286
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e80410f65706472e72150cfdcb0087595782e8aa366149286672511a6224ef54
+size 864120
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54dff4bc4a64a8615823bb4906429a9db30f4b9fca9b8a56e9c84100227608bb
+size 863864
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dd299afabe7a3e0d04cbe2bd97fdb0c93bba8ad6d3cc3663a0e0ededaf243ac2
-size 7497335
+oid sha256:dee5a294e8afaacc9295ac5d100e00733ecac278e79264b96331e40a3ede1b04
+size 7844499
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:659727c4d4839adc4992a254409a54259a8756a743f2d567bf5fdc6579f8009b
-size 60881999
+oid sha256:65a08adc31d5c456219687d99b7bf5e44d61dae2d49ea67850e76105c7248cce
+size 60918562
@@ -51,6 +51,7 @@ class DRIVER_MONITOR_SETTINGS:
    self._SG_THRESHOLD = 0.9
    self._BLINK_THRESHOLD = 0.865
    self._PHONE_THRESH = 0.5
+    self._SLEEP_THRESH = 0.75
    self._POSE_PITCH_THRESHOLD = 0.3133
    self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
    self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
@@ -138,6 +139,7 @@ class DriverMonitoring:
    self.pose = DriverPose(settings=self.settings)
    self.blink = DriverBlink()
    self.phone_prob = 0.
+    self.sleep_prob = 0.

    self.alert_level = AlertLevel.none
    self.always_on = always_on
@@ -240,6 +242,7 @@ class DriverMonitoring:
    self.distracted_types['pose'] = bool((pitch_error > pitch_threshold) or (yaw_error > yaw_threshold))
    self.distracted_types['eye'] = bool((self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD)
    self.distracted_types['phone'] = bool(self.phone_prob > self.settings._PHONE_THRESH)
+    self.distracted_types['sleep'] = bool(self.sleep_prob > self.settings._SLEEP_THRESH)

  def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, lowspeed, demo_mode=False, steering_angle_deg=0.):
    rhd_pred = driver_state.wheelOnRightProb
@@ -277,6 +280,7 @@ class DriverMonitoring:
    self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
    self.phone_prob = driver_data.phoneProb
+    self.sleep_prob = driver_data.sleepProb

    self._get_distracted_types()
    self.driver_distracted = any(self.distracted_types.values()) and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
@@ -406,6 +410,7 @@ class DriverMonitoring:
    dm.visionPolicyState.distractedTypes.pose = self.distracted_types['pose']
    dm.visionPolicyState.distractedTypes.eye = self.distracted_types['eye']
    dm.visionPolicyState.distractedTypes.phone = self.distracted_types['phone']
+    dm.visionPolicyState.distractedTypes.sleep = self.distracted_types['sleep']
    dm.visionPolicyState.faceDetected = self.face_detected
    dm.visionPolicyState.pose.pitch = self.pose.pitch
    dm.visionPolicyState.pose.yaw = self.pose.yaw
@@ -28,6 +28,7 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
  ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
  # TODO: test both separately when e2e is used
  ds.leftDriverData.phoneProb = 0.
+  ds.leftDriverData.sleepProb = 0.
  return ds


@@ -1,3 +1 @@
-from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp, can_capnp_to_list
-assert can_list_to_can_capnp
-assert can_capnp_to_list
+from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp as can_list_to_can_capnp, can_capnp_to_list as can_capnp_to_list
@@ -139,6 +139,8 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
  ps.setInterruptLoad(health.interrupt_load_pkt / 255.0f);
  ps.setFanPower(health.fan_power);
  ps.setSafetyRxChecksInvalid((health.flags_pkt & HEALTH_FLAG_SAFETY_RX_CHECKS_INVALID) != 0U);
+  ps.setNmiReset((health.flags_pkt & HEALTH_FLAG_NMI_RESET) != 0U);
+  ps.setHardfaultReset((health.flags_pkt & HEALTH_FLAG_HARDFAULT_RESET) != 0U);
  ps.setSpiErrorCount(health.spi_error_count_pkt);
  ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
  ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
@@ -342,8 +344,8 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control,
      }
    }

-    // Disable IR on input timeout
-    if (nanos_since_boot() - last_cabin_camera_t > 1e9) {
+    // Disable IR on input timeout or when requested offroad.
+    if (nanos_since_boot() - last_cabin_camera_t > 1e9 || (!is_onroad && params.getBool("DisableDriverCameraIR"))) {
      ir_pwr = 0;
    }

@@ -29,12 +29,6 @@ enum SpiError {

 const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds
 const std::string SPI_DEVICE = "/dev/spidev0.0";
-// TODO: fix SPI turnaround synchronization at the protocol level.
-static uint64_t spi_last_bus_activity_ns = 0;  // protected by hw_lock
-
-static void wait_for_spi_turnaround(uint64_t start_ns) {
-  while ((nanos_since_boot() - start_ns) < 400000) {}
-}

 class LockEx {
 public:
@@ -325,8 +319,6 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
  assert(tx_len < SPI_BUF_SIZE);
  assert(max_rx_len < SPI_BUF_SIZE);

-  wait_for_spi_turnaround(spi_last_bus_activity_ns);
-
  xfer_count++;
  header = {
    .sync = SPI_SYNC,
@@ -355,7 +347,6 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
  if (ret < 0) {
    goto fail;
  }
-  wait_for_spi_turnaround(nanos_since_boot());

  // Send data
  if (tx_data != NULL) {
@@ -398,7 +389,6 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
    memcpy(rx_data, rx_buf + 3, rx_data_len);
  }

-  spi_last_bus_activity_ns = nanos_since_boot();
  return rx_data_len;

 fail:
@@ -413,7 +403,6 @@ fail:
    }
  }

-  spi_last_bus_activity_ns = nanos_since_boot();
  if (ret >= 0) ret = -1;
  return ret;
 }
@@ -21,6 +21,10 @@
    "text": "Chestnut detected! Switch to the %1 branch to use chestnut-class models.",
    "severity": -1
  },
+  "Offroad_ChestnutModelError": {
+    "text": "Chestnut model error. Restart the car to retry.",
+    "severity": 0
+  },
  "Offroad_ChestnutNotDetected": {
    "text": "Chestnut not detected. Check USB and 12V connections.",
    "severity": 0
@@ -33,10 +37,6 @@
    "text": "%1",
    "severity": 0
  },
-  "Offroad_ChestnutUncompiled": {
-    "text": "Chestnut model not compiled. Keep ignition on and reboot the comma.",
-    "severity": 0
-  },
  "Offroad_ChestnutUpdateFailed": {
    "text": "Chestnut update failed. Check the USB cable.",
    "severity": 0
@@ -74,5 +74,10 @@
    "text": "<b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three.",
    "severity": 1,
    "_comment": "Set extra field to the current branch name."
+  },
+  "Offroad_Pairing": {
+    "text": "Finish setup. Pair your device with comma connect to view recent drives and bookmarked routes.",
+    "severity": -2,
+    "icon": "icons_mici/settings/device/green_settings.png"
  }
 }
@@ -833,6 +833,10 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  EventName.userBookmark: {
    ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5),
  },
+
+  EventName.userBookmarkNotPaired: {
+    ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", "pair to connect\nto view", duration=1.5),
+  },
 }


@@ -236,7 +236,9 @@ class SelfdriveD(CruiseHelper):

    # Check for user bookmark press
    if self.sm.updated['userBookmark']:
-      self.events.add(EventName.userBookmark)
+      prime_type = self.params.get("PrimeType")
+      paired = prime_type is not None and int(prime_type) >= 0
+      self.events.add(EventName.userBookmark if paired else EventName.userBookmarkNotPaired)

    # Don't add any more events while in dashcam mode
    if self.CP.passive:
@@ -453,11 +455,12 @@ class SelfdriveD(CruiseHelper):
      self.logged_comm_issue = None

    if not self.CP.notCar and not big_model_settling:  # localization has nothing to work with during the load
-      if not self.sm['deviceMotion'].posenetOK:
+      # the defaults of a message that was never received are not a localizer failure
+      if self.sm.seen['deviceMotion'] and not self.sm['deviceMotion'].posenetOK:
        self.events.add(EventName.posenetInvalid)
-      if not self.sm['deviceMotion'].inputsOK:
+      if self.sm.seen['deviceMotion'] and not self.sm['deviceMotion'].inputsOK:
        self.events.add(EventName.locationdTemporaryError)
-      if (not self.sm['vehicleParameters'].valid and cal_status == log.ExtrinsicsCalibration.Status.calibrated and
+      if (self.sm.seen['vehicleParameters'] and not self.sm['vehicleParameters'].valid and cal_status == log.ExtrinsicsCalibration.Status.calibrated and
          not TESTING_CLOSET and (not SIMULATION or REPLAY)):
        self.events.add(EventName.paramsdTemporaryError)

@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+set -e
+
+sudo python3 openpilot/system/hardware/chestnut/flash.py
+
+SCONSFLAGS="-j4" ./openpilot/system/manager/build.py
@@ -20,11 +20,13 @@ from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.logreader import LogReader, save_log
 from openpilot.tools.lib.github_utils import GithubUtils

-TEST_ROUTE = "8494c69d3c710e81|000001d4--2648a9a404"
-SEGMENT = 4
+TEST_ROUTE = "98395b7c5b27882e|0000002b--2686b5a2d0"
+SEGMENT = 1
 START_FRAME = 0
 END_FRAME = 60

+CHESTNUT = "--chestnut" in sys.argv
+
 SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))

 DATA_TOKEN = os.getenv("CI_ARTIFACTS_TOKEN","")
@@ -39,7 +41,7 @@ EXEC_TIMINGS = [
 ]

 def get_log_fn(test_route, ref="master"):
-  return f"{test_route}_model_tici_{ref}.zst"
+  return f"{test_route}_model_{'chestnut' if CHESTNUT else 'tici'}_{ref}.zst"

 def plot(proposed, master, title, tmp):
  proposed = list(proposed)
@@ -78,6 +80,7 @@ def generate_report(proposed, master, tmp, commit):
                     (lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
                     (lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
                     (lambda x: get_idx_if_non_empty(x.leftDriverData.phoneProb), "leftDriverData.phoneProb"),
+                     (lambda x: get_idx_if_non_empty(x.leftDriverData.sleepProb), "leftDriverData.sleepProb"),
                     (lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
                    ], "driverStateV2")

@@ -170,6 +173,8 @@ def model_replay(lr, frs):

  msgs = modeld_msgs + dmonitoringmodeld_msgs
  chestnut = any(m.modelV2.big for m in modeld_msgs if m.which() == "modelV2")
+  if CHESTNUT:
+    assert chestnut and all(m.modelV2.big for m in modeld_msgs if m.which() == "modelV2"), "Chestnut replay must run the big model without fallback"

  header = ['model', 'max instant', 'max instant allowed', 'average', 'max average allowed', 'test result']
  rows = []
@@ -285,7 +290,8 @@ if __name__ == "__main__":
      diff_short, diff_long, failed = format_diff(results, log_paths, 'master')

      if "CI" in os.environ:
-        comment_replay_report(log_msgs, cmp_log, log_msgs)
+        if not CHESTNUT:
+          comment_replay_report(log_msgs, cmp_log, log_msgs)
        failed = False
        print(diff_long)
      print('-------------\n'*5)
@@ -17,7 +17,7 @@ from openpilot.common.hardware.hw import Paths
 import openpilot.cereal.messaging as messaging
 from opendbc.car.structs import car
 from openpilot.cereal.services import SERVICE_LIST
-from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
+from msgq.visionipc import VisionIpcClient, VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
 from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import get_car, interfaces
 from openpilot.common.params import Params
@@ -210,6 +210,7 @@ class ProcessContainer:
        stride, y_height, _, yuv_size = get_nv12_info(frame_size[0], frame_size[1])
        vipc_server.create_buffers_with_sizes(meta.stream, 2, frame_size[0], frame_size[1], yuv_size, stride, stride * y_height)
    vipc_server.start_listener()
+    VisionIpcClient.available_streams("camerad", block=True)

    self.vipc_server = vipc_server
    self.cfg.vision_pubs = [meta.camera_state for meta in streams_metas if meta.camera_state in self.cfg.vision_pubs]
@@ -36,7 +36,7 @@ source_segments = [
  ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"),       # MAZDA.MAZDA_CX9_2021
  ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.FORD_BRONCO_SPORT_MK1
  ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),      # RIVIAN.RIVIAN_R1_GEN1
-  ("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"),       # TESLA.TESLA_MODEL_Y
+  ("TESLA", "aebd8f1d4ea16066|000002d8--5850d3ea5c--2"),       # TESLA.TESLA_MODEL_Y

  # Enable when port is tested and dashcamOnly is no longer set
  #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"),  # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS
@@ -60,7 +60,7 @@ segments = [
  ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
  ("FORD", "regen755D8CB1E1F|2025-04-08--23-13-43--0"),
  ("RIVIAN", "regen5FCAC896BBE|2025-04-08--23-13-35--0"),
-  ("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"),
+  ("TESLA", "aebd8f1d4ea16066|000002d8--5850d3ea5c--2"),
 ]

 # dashcamOnly makes don't need to be tested until a full port is done
@@ -74,11 +74,19 @@ EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}

 def run_test_process(data):
  segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data
-  ref_log_msgs = list(LogReader(ref_log_path))
+  ref_error = None
+  try:
+    ref_log_msgs = list(LogReader(ref_log_path))
+  except Exception:
+    # New routes have no ref yet, still replay and publish new refs.
+    ref_log_msgs = []
+    ref_error = f"Failed to load reference {ref_log_path}:\n{traceback.format_exc()}"
  lr = LogReader.from_bytes(lr_dat)
  res, log_msgs = test_process(cfg, lr, segment, ref_log_msgs, cur_log_fn, args.ignore_fields, args.ignore_msgs)
  # save logs so we can update refs
  save_log(cur_log_fn, log_msgs)
+  if ref_error is not None:
+    return (segment, cfg.proc_name, ref_error, ref_error)
  try:
    diff_data = diff_process(cfg, ref_log_msgs, log_msgs)
  except Exception:
--- a/Show More
+++ b/Show More