branch: migrate TIZI to release-tizi

Revert "Revert "H7: detect board type with second ID pin group" (#727)"

This reverts commit f95c4896ef.

.gitignore

@@ -43,7 +43,6 @@ persist
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
-cereal/messaging/bridge
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
@@ -85,22 +84,3 @@ build/
 
 poetry.toml
 Pipfile
-
-### VisualStudioCode ###
-.vscode/*
-!.vscode/settings.json
-!.vscode/tasks.json
-!.vscode/launch.json
-!.vscode/extensions.json
-!.vscode/*.code-snippets
-
-# Local History for Visual Studio Code
-.history/
-
-# Built Visual Studio Code Extensions
-*.vsix
-
-### VisualStudioCode Patch ###
-# Ignore all local history of files
-.history
-.ionide

CHANGELOGS.md

@@ -1,56 +1,3 @@
-sunnypilot - 0.9.8.0 (2024-xx-xx)
-========================
-* Always on driver monitoring toggle
-************************
-* UPDATED: Synced with commaai's openpilot
-  * master commit 4ef757c (July 06, 2024)
-* NEW❗: Default Driving Model: Notre Dame (July 01, 2024)
-* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282!
-  * Select from three distinct acceleration personalities: Eco, Normal, and Sport
-  * Acceleration personalities are integrated directly into the model's acceleration matrix and can be activated in real-time!
-* NEW❗: Longitudinal: Dynamic Personality thanks to rav4kumar!
-  * Dynamically adjusts following distance and reaction based on your "Driving Personality" setting
-  * Personalities adapt in real-time to your speed and the distance to the lead car
-  * Provides a more responsive and tailored driving experience compared to predefined settings
-* UPDATED: Driving Personality: Updated mode names
-  * Aggressive, Moderate, Standard, Relaxed
-* NEW❗: Toyota - Enhanced Blind Spot Monitor (BSM) thanks to arne182, rav4kumar, and eFiniLan!
-  * Enables Blind Spot Monitor (BSM) signals parsing in sunnypilot using the factory Blind Spot Monitor (BSM)
-  * sunnypilot will use debugging CAN messages to receive unfiltered BSM signals, allowing detection of more objects
-  * Supported platforms
-    * RAV4 TSS1, equipped with factory Blind Spot Monitoring (BSM)
-    * Lexus LSS1, equipped with factory Blind Spot Monitoring (BSM)
-    * Toyota TSS1/1.5, equipped with factory Blind Spot Monitoring (BSM)
-    * Prius TSS2, equipped with factory Blind Spot Monitoring (BSM)
-  * NOTE: Only enable this feature if your Toyota/Lexus vehicle has factory Blind Spot Monitor equipped, and mentioned in the supported platforms list
-* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning
-  * Re-tuned and tested by the community (July 1, 2024)
-* UPDATED: Driving Model Selector v5
-  * NEW❗: Driving Model additions
-    * Notre Dame (July 01, 2024) - NDv3
-* UPDATED: Toyota: Continued support for Smart DSU (SDSU) and Radar CAN Filter
-  * In response to the official deprecation of support for Smart DSU (SDSU) and Radar CAN Filter in the upstream ([commaai/openpilot#32777](https://github.com/commaai/openpilot/pull/32777)), sunnypilot will continue maintaining software support for Smart DSU (SDSU) and Radar CAN Filter
-* UPDATED: Continued support for Mapbox navigation
-  * In response to the official temporary deprecation of support for Mapbox navigation in the upstream ([commaai/openpilot#32773](https://github.com/commaai/openpilot/pull/32773)), sunnypilot will continue maintaining software support for Mapbox navigation
-* NEW❗: Toyota - Automatic Brake Hold (AHB) thanks to AlexandreSato!
-  * When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold
-  * NOTE: Only for Toyota/Lexus vehicles with TSS2/LSS2
-* NEW❗: Toyota - Automatic Door Locking and Unlocking thanks to AlexandreSato, cydia2020, and dragonpilot-community!
-  * Auto Lock by Speed: All doors are automatically locked when vehicle speed is approximately 6 mph (10 km/h) or higher
-  * Auto Unlock by Shift to P: All doors are automatically unlocked when shifting the shift lever to P
-* FIXED: Driving Personality:
-  * Maniac mode now correctly enforced when selected
-* UI Updates
-  * Display Metrics Below Chevron
-    * NEW❗: Time to Lead Car
-      * Displays the time to reach the position previously occupied by the lead car
-    * NEW❗: Display Distance, Speed, and Time to Lead Car simultaneously
-* Ford F-150 2022-23 support
-* Ford F-150 Lightning 2021-23 support
-* Ford Mustang Mach-E 2021-23 support
-* Hyundai Kona Electric Non-SCC 2019 support thanks to NikitaNekrasov!
-* Kia Ceed Plug-in Hybrid Non-SCC 2022 support thanks to TerminatorNL!
-
 sunnypilot - 0.9.7.1 (2024-06-13)
 ========================
 * New driving model
@@ -86,8 +33,6 @@ sunnypilot - 0.9.7.1 (2024-06-13)
   * Force sunnypilot in the offroad state even when the car is on
   * When Forced Offroad mode is on, allows changing offroad-only settings even when the car is turned on
   * To engage/disengage Force Offroad, go to Settings -> Device panel
-* NEW❗: Ford CAN-FD longitudinal
-  * NEW❗: Parse speed limit sign recognition from camera for certain supported platforms
 * UPDATED: Auto Lane Change Timer -> Auto Lane Change by Blinker
   * NEW❗: New "Off" option to disable lane change by blinker
 * UPDATED: Pause Lateral Below Speed with Blinker
@@ -95,8 +40,6 @@ sunnypilot - 0.9.7.1 (2024-06-13)
     * Pause lateral actuation with blinker when traveling below the desired speed selected. Default is 20 MPH or 32 km/h.
 * UPDATED: Hyundai CAN Longitudinal
   * Auto-enable radar tracks on platforms with applicable Mando radar
-* UPDATED: Hyundai CAN-FD Radar-based SCC
-  * Longitudinal support for CAN-FD Radar-based SCC cars
 * UPDATED: Hyundai CAN-FD Camera-based SCC
   * NEW❗: Parse lead info for camera-based SCC platforms with longitudinal support
     * Improve lead tracking when using openpilot longitudinal
@@ -118,7 +61,6 @@ sunnypilot - 0.9.7.1 (2024-06-13)
   * Reset self-service access tokens for Mapbox, Amap, and Google Maps
 * UPDATED: Upstream native support for Gap Adjust Cruise
 * UPDATED: Neural Network Lateral Control (NNLC)
-  * FIXED: Hotfix for "lazy" steering performance in tighter curves thanks to twilsonco!
   * Due to upstream changes with platform simplifications, most platforms will match and fallback to combined platform model
   * This will be updated when the new mapping of platforms are restructured (thanks @twilsonco 😉)
 * UI Updates

LICENSE

@@ -0,0 +1,7 @@
+Copyright (c) 2018, Comma.ai, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

RELEASES.md

@@ -1,19 +1,17 @@
 Version 0.9.8 (2024-XX-XX)
 ========================
-* Added toggle to enable driver monitoring even when openpilot is not engaged
+* Always on driver monitoring toggle
 
-Version 0.9.7 (2024-06-13)
+Version 0.9.7 (2024-06-11)
 ========================
 * New driving model
   * Inputs the past curvature for smoother and more accurate lateral control
   * Simplified neural network architecture in the model's last layers
   * Minor fixes to desire augmentation and weight decay
-* New driver monitoring model
-  * Improved end-to-end bit for phone detection
 * Adjust driving personality with the follow distance button
+* Added toggle to enable driver monitoring even when openpilot is not engaged
 * Support for hybrid variants of supported Ford models
 * Fingerprinting without the OBD-II port on all cars
-* Improved fuzzy fingerprinting for Ford and Volkswagen
 
 Version 0.9.6 (2024-02-27)
 ========================

SConstruct

@@ -0,0 +1,405 @@
+import os
+import subprocess
+import sys
+import sysconfig
+import platform
+import numpy as np
+
+import SCons.Errors
+
+SCons.Warnings.warningAsException(True)
+
+# pending upstream fix - https://github.com/SCons/scons/issues/4461
+#SetOption('warn', 'all')
+
+TICI = os.path.isfile('/TICI')
+AGNOS = TICI
+
+Decider('MD5-timestamp')
+
+SetOption('num_jobs', int(os.cpu_count()/2))
+
+AddOption('--kaitai',
+          action='store_true',
+          help='Regenerate kaitai struct parsers')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+AddOption('--ubsan',
+          action='store_true',
+          help='turn on UBSan')
+
+AddOption('--coverage',
+          action='store_true',
+          help='build with test coverage options')
+
+AddOption('--clazy',
+          action='store_true',
+          help='build with clazy')
+
+AddOption('--compile_db',
+          action='store_true',
+          help='build clang compilation database')
+
+AddOption('--ccflags',
+          action='store',
+          type='string',
+          default='',
+          help='pass arbitrary flags over the command line')
+
+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
+AddOption('--external-sconscript',
+          action='store',
+          metavar='FILE',
+          dest='external_sconscript',
+          help='add an external SConscript to the build')
+
+AddOption('--pc-thneed',
+          action='store_true',
+          dest='pc_thneed',
+          help='use thneed on pc')
+
+AddOption('--minimal',
+          action='store_false',
+          dest='extras',
+          default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
+          help='the minimum build to run openpilot. no tests, tools, etc.')
+
+## Architecture name breakdown (arch)
+## - larch64: linux tici aarch64
+## - aarch64: linux pc aarch64
+## - x86_64:  linux pc x64
+## - Darwin:  mac x64 or arm64
+real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
+  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+elif arch == "aarch64" and AGNOS:
+  arch = "larch64"
+assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
+
+lenv = {
+  "PATH": os.environ['PATH'],
+  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
+  "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
+
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
+  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
+  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
+}
+
+rpath = lenv["LD_LIBRARY_PATH"].copy()
+
+if arch == "larch64":
+  cpppath = [
+    "#third_party/opencl/include",
+  ]
+
+  libpath = [
+    "/usr/local/lib",
+    "/usr/lib",
+    "/system/vendor/lib64",
+    f"#third_party/acados/{arch}/lib",
+  ]
+
+  libpath += [
+    "#third_party/snpe/larch64",
+    "#third_party/libyuv/larch64/lib",
+    "/usr/lib/aarch64-linux-gnu"
+  ]
+  cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+  rpath += ["/usr/local/lib"]
+else:
+  cflags = []
+  cxxflags = []
+  cpppath = []
+  rpath += []
+
+  # MacOS
+  if arch == "Darwin":
+    libpath = [
+      f"#third_party/libyuv/{arch}/lib",
+      f"#third_party/acados/{arch}/lib",
+      f"{brew_prefix}/lib",
+      f"{brew_prefix}/opt/openssl@3.0/lib",
+      "/System/Library/Frameworks/OpenGL.framework/Libraries",
+    ]
+
+    cflags += ["-DGL_SILENCE_DEPRECATION"]
+    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
+    cpppath += [
+      f"{brew_prefix}/include",
+      f"{brew_prefix}/opt/openssl@3.0/include",
+    ]
+    lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
+  # Linux
+  else:
+    libpath = [
+      f"#third_party/acados/{arch}/lib",
+      f"#third_party/libyuv/{arch}/lib",
+      "/usr/lib",
+      "/usr/local/lib",
+    ]
+
+    if arch == "x86_64":
+      libpath += [
+        f"#third_party/snpe/{arch}"
+      ]
+      rpath += [
+        Dir(f"#third_party/snpe/{arch}").abspath,
+      ]
+
+if GetOption('asan'):
+  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ldflags = ["-fsanitize=address"]
+elif GetOption('ubsan'):
+  ccflags = ["-fsanitize=undefined"]
+  ldflags = ["-fsanitize=undefined"]
+else:
+  ccflags = []
+  ldflags = []
+
+# no --as-needed on mac linker
+if arch != "Darwin":
+  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
+
+# Enable swaglog include in submodules
+cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
+cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
+
+ccflags_option = GetOption('ccflags')
+if ccflags_option:
+  ccflags += ccflags_option.split(' ')
+
+env = Environment(
+  ENV=lenv,
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Wunused",
+    "-Werror",
+    "-Wshadow",
+    "-Wno-unknown-warning-option",
+    "-Wno-deprecated-register",
+    "-Wno-register",
+    "-Wno-inconsistent-missing-override",
+    "-Wno-c99-designator",
+    "-Wno-reorder-init-list",
+    "-Wno-error=unused-but-set-variable",
+    "-Wno-vla-cxx-extension",
+  ] + cflags + ccflags,
+
+  CPPPATH=cpppath + [
+    "#",
+    "#third_party/acados/include",
+    "#third_party/acados/include/blasfeo/include",
+    "#third_party/acados/include/hpipm/include",
+    "#third_party/catch2/include",
+    "#third_party/libyuv/include",
+    "#third_party/json11",
+    "#third_party/linux/include",
+    "#third_party/snpe/include",
+    "#third_party/qrcode",
+    "#third_party",
+    "#cereal",
+    "#msgq",
+    "#opendbc/can",
+    "#third_party/maplibre-native-qt/include",
+    f"#third_party/maplibre-native-qt/{arch}/include"
+  ],
+
+  CC='clang',
+  CXX='clang++',
+  LINKFLAGS=ldflags,
+
+  RPATH=rpath,
+
+  CFLAGS=["-std=gnu11"] + cflags,
+  CXXFLAGS=["-std=c++1z"] + cxxflags,
+  LIBPATH=libpath + [
+    "#msgq_repo",
+    "#third_party",
+    "#selfdrive/pandad",
+    "#common",
+    "#rednose/helpers",
+  ],
+  CYTHONCFILESUFFIX=".cpp",
+  COMPILATIONDB_USE_ABSPATH=True,
+  REDNOSE_ROOT="#",
+  tools=["default", "cython", "compilation_db", "rednose_filter"],
+  toolpath=["#rednose_repo/site_scons/site_tools"],
+)
+
+if arch == "Darwin":
+  # RPATH is not supported on macOS, instead use the linker flags
+  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
+  env["LINKFLAGS"] += darwin_rpath_link_flags
+
+if GetOption('compile_db'):
+  env.CompilationDatabase('compile_commands.json')
+
+# Setup cache dir
+default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
+cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
+CacheDir(cache_dir)
+Clean(["."], cache_dir)
+
+node_interval = 5
+node_count = 0
+def progress_function(node):
+  global node_count
+  node_count += node_interval
+  sys.stderr.write("progress: %d\n" % node_count)
+
+if os.environ.get('SCONS_PROGRESS'):
+  Progress(progress_function, interval=node_interval)
+
+# Cython build environment
+py_include = sysconfig.get_paths()['include']
+envCython = env.Clone()
+envCython["CPPPATH"] += [py_include, np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"].remove("-Werror")
+
+envCython["LIBS"] = []
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+Export('envCython')
+
+# Qt build environment
+qt_env = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"]
+
+qt_libs = []
+if arch == "Darwin":
+  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
+  qt_dirs = [
+    os.path.join(qt_env['QTDIR'], "include"),
+  ]
+  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
+  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
+  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
+else:
+  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
+  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
+
+  qt_env['QTDIR'] = qt_install_prefix
+  qt_dirs = [
+    f"{qt_install_headers}",
+  ]
+
+  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
+  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
+  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
+  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  if arch == "larch64":
+    qt_libs += ["GLESv2", "wayland-client"]
+    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
+  elif arch != "Darwin":
+    qt_libs += ["GL"]
+qt_env['QT3DIR'] = qt_env['QTDIR']
+
+# compatibility for older SCons versions
+try:
+  qt_env.Tool('qt3')
+except SCons.Errors.UserError:
+  qt_env.Tool('qt')
+
+qt_env['CPPPATH'] += qt_dirs# + ["#selfdrive/ui/qt/"]
+qt_flags = [
+  "-D_REENTRANT",
+  "-DQT_NO_DEBUG",
+  "-DQT_WIDGETS_LIB",
+  "-DQT_GUI_LIB",
+  "-DQT_QUICK_LIB",
+  "-DQT_QUICKWIDGETS_LIB",
+  "-DQT_QML_LIB",
+  "-DQT_CORE_LIB",
+  "-DQT_MESSAGELOGCONTEXT",
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#selfdrive/ui', f"#third_party/maplibre-native-qt/{arch}/lib"]
+qt_env['RPATH'] += [Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath]
+qt_env['LIBS'] = qt_libs
+
+if GetOption("clazy"):
+  checks = [
+    "level0",
+    "level1",
+    "no-range-loop",
+    "no-non-pod-global-static",
+  ]
+  qt_env['CXX'] = 'clazy'
+  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
+  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
+
+Export('env', 'qt_env', 'arch', 'real_arch')
+
+# Build common module
+SConscript(['common/SConscript'])
+Import('_common', '_gpucommon')
+
+common = [_common, 'json11']
+gpucommon = [_gpucommon]
+
+Export('common', 'gpucommon')
+
+# Build messaging (cereal + msgq + socketmaster + their dependencies)
+SConscript(['msgq_repo/SConscript'])
+SConscript(['cereal/SConscript'])
+Import('socketmaster', 'msgq')
+messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',]
+Export('messaging')
+
+
+# Build other submodules
+SConscript([
+  'body/board/SConscript',
+  'opendbc/can/SConscript',
+  'panda/SConscript',
+])
+
+# Build rednose library
+SConscript(['rednose/SConscript'])
+
+# Build system services
+SConscript([
+  'system/proclogd/SConscript',
+  'system/ubloxd/SConscript',
+  'system/loggerd/SConscript',
+])
+if arch != "Darwin":
+  SConscript([
+    'system/sensord/SConscript',
+    'system/logcatd/SConscript',
+  ])
+
+if arch == "larch64":
+  SConscript(['system/camerad/SConscript'])
+
+# Build openpilot
+SConscript(['third_party/SConscript'])
+
+SConscript(['selfdrive/SConscript'])
+
+if Dir('#tools/cabana/').exists() and GetOption('extras'):
+  SConscript(['tools/replay/SConscript'])
+  if arch != "larch64":
+    SConscript(['tools/cabana/SConscript'])
+
+external_sconscript = GetOption('external_sconscript')
+if external_sconscript:
+  SConscript([external_sconscript])

body/LICENSE

@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+  To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights.  Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+  For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received.  You must make sure that they, too, receive
+or can get the source code.  And you must show them these terms so they
+know their rights.
+
+  Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
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+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.

body/SConstruct

@@ -0,0 +1 @@
+SConscript('board/SConscript')

body/board/SConscript

@@ -0,0 +1,197 @@
+import os
+import subprocess
+
+PREFIX = "arm-none-eabi-"
+BUILDER = "DEV"
+
+common_flags = []
+build_projects = {}
+
+build_projects["body"] = {
+  "MAIN": "main.c",
+  "STARTUP_FILE": "startup_stm32f413xx.s",
+  "LINKER_SCRIPT": "stm32fx_flash.ld",
+  "APP_START_ADDRESS": "0x08004000",
+  "PROJECT_FLAGS": [
+    "-mcpu=cortex-m4",
+    "-mhard-float",
+    "-DSTM32F4",
+    "-DSTM32F413xx",
+    "-mfpu=fpv4-sp-d16",
+    "-fsingle-precision-constant",
+    "-Os",
+    "-g",
+  ],
+}
+
+if os.getenv("RELEASE"):
+  BUILD_TYPE = "RELEASE"
+  cert_fn = os.getenv("CERT")
+  assert cert_fn is not None, 'No certificate file specified. Please set CERT env variable'
+  assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
+else:
+  BUILD_TYPE = "DEBUG"
+  cert_fn = File("../certs/debug").srcnode().relpath
+  common_flags += ["-DALLOW_DEBUG"]
+
+if os.getenv("DEBUG"):
+  common_flags += ["-DDEBUG"]
+
+includes = [
+  "inc/STM32F4xx_HAL_Driver/Inc",
+  "inc",
+  "..",
+  ".",
+]
+
+c_sources = [
+  ["hal_flash", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c"],
+  ["hal_pwr", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c"],
+  ["hal_rcc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c"],
+  ["hal_i2c", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c"],
+  ["hal_i2c_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c"],
+  ["hal_tim", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c"],
+  ["hal_tim_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c"],
+  ["hal_adc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c"],
+  ["hal_cortex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c"],
+  ["hal_flash_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c"],
+  ["hal_gpio", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c"],
+  ["hal_rcc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c"],
+  ["hal", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c"],
+  ["hal_adc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c"],
+  ["hal_dma", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c"],
+  ["system", "inc/system_stm32f4xx.c"],
+  ["it", "inc/stm32f4xx_it.c"],
+  ["bldc", "bldc/bldc.c"],
+  ["bldc_data", "bldc/BLDC_controller_data.c"],
+  ["bldc_con", "bldc/BLDC_controller.c"],
+  ["util", "util.c"],
+]
+
+c_bstub_sources = [
+  ["hal_pwr", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c"],
+  ["hal_rcc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c"],
+  ["hal_cortex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c"],
+  ["hal_gpio", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c"],
+  ["hal_rcc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c"],
+  ["hal", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c"],
+  ["system", "inc/system_stm32f4xx.c"],
+  ["it", "inc/stm32f4xx_it.c"],
+  ["util", "util.c"],
+]
+
+def get_version(builder, build_type):
+  try:
+    git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
+  except subprocess.CalledProcessError:
+    git = "00000000"
+  return f"{git}"
+
+
+def to_c_uint32(x):
+  nums = []
+  for _ in range(0x20):
+    nums.append(x % (2**32))
+    x //= (2**32)
+  return "{" + 'U,'.join(map(str, nums)) + "U}"
+
+
+def get_key_header(name):
+  from Crypto.PublicKey import RSA
+
+  public_fn = f'../certs/{name}.pub'
+  rsa = RSA.importKey(open(public_fn).read())
+  assert(rsa.size_in_bits() == 1024)
+
+  rr = pow(2**1024, 2, rsa.n)
+  n0inv = 2**32 - pow(rsa.n, -1, 2**32)
+
+  r = [
+    f"RSAPublicKey {name}_rsa_key = {{",
+    f"  .len = 0x20,",
+    f"  .n0inv = {n0inv}U,",
+    f"  .n = {to_c_uint32(rsa.n)},",
+    f"  .rr = {to_c_uint32(rr)},",
+    f"  .exponent = {rsa.e},",
+    f"}};",
+  ]
+  return r
+
+def objcopy(source, target, env, for_signature):
+    return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
+
+# Common autogenerated includes
+git_ver = get_version(BUILDER, BUILD_TYPE)
+with open("obj/gitversion.h", "w") as f:
+  f.write(f'const uint8_t gitversion[8] = "{git_ver}";\n')
+
+certs = [get_key_header(n) for n in ["debug", "release"]]
+with open("obj/cert.h", "w") as f:
+  for cert in certs:
+    f.write("\n".join(cert) + "\n")
+
+for project_name in build_projects:
+  project = build_projects[project_name]
+  linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().relpath
+
+  flags = [
+    "-Wall",
+    "-Wextra",
+    "-Wstrict-prototypes",
+    "-Werror",
+    "-mlittle-endian",
+    "-mthumb",
+    "-nostdlib",
+    "-fno-builtin",
+    f"-T{linkerscript_fn}",
+    "-std=gnu11",
+    "-fdata-sections",
+    "-ffunction-sections",
+    "-Wl,--gc-sections",
+  ] + project["PROJECT_FLAGS"] + common_flags
+
+  project_env = Environment(
+    ENV=os.environ,
+    CC=PREFIX + 'gcc',
+    AS=PREFIX + 'gcc',
+    OBJCOPY=PREFIX + 'objcopy',
+    OBJDUMP=PREFIX + 'objdump',
+    ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
+    CFLAGS=flags,
+    ASFLAGS=flags,
+    LINKFLAGS=flags,
+    LIBS = ['gcc',],
+    CPPPATH=includes,
+    BUILDERS={
+      'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
+    }
+  )
+  startup = project_env.Object(project["STARTUP_FILE"])
+
+  c_bstub_obj_list = []
+  for c in c_bstub_sources:
+    c_bstub_obj_list.append(project_env.Object(f"{c[0]}-{project_name}", c[1]))
+
+  # Bootstub
+  crypto_obj = [
+    project_env.Object(f"rsa-{project_name}", "../crypto/rsa.c"),
+    project_env.Object(f"sha-{project_name}", "../crypto/sha.c")
+  ]
+  bootstub_obj = project_env.Object(f"bootstub-{project_name}", "bootstub.c")
+  bootstub_elf = project_env.Program(f"obj/bootstub.{project_name}.elf", [startup] + crypto_obj + c_bstub_obj_list + [bootstub_obj])
+  bootstub_bin = project_env.Objcopy(f"obj/bootstub.{project_name}.bin", bootstub_elf)
+
+  c_obj_list = []
+  for c in c_sources:
+    c_obj_list.append(project_env.Object(f"{c[0]}-{project_name}", c[1]))
+
+  # Build main
+  main_obj = project_env.Object(f"main-{project_name}", project["MAIN"])
+  obj_list = [startup, main_obj] + c_obj_list
+  main_elf = project_env.Program(f"obj/{project_name}.elf", obj_list,
+    LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
+  main_bin = project_env.Objcopy(f"obj/{project_name}.bin", main_elf)
+
+  # Sign main
+  sign_py = File("../crypto/sign.py").srcnode().relpath
+  panda_bin_signed = project_env.Command(f"obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")

cereal/SConscript

@@ -0,0 +1,31 @@
+Import('env', 'envCython', 'arch', 'common', 'msgq')
+
+import shutil
+
+cereal_dir = Dir('.')
+gen_dir = Dir('gen')
+other_dir = Dir('#msgq')
+
+# Build cereal
+schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
+env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
+env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
+            schema_files,
+            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
+
+# TODO: remove non shared cereal and messaging
+cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
+
+cereal = env.Library('cereal', cereal_objects)
+env.SharedLibrary('cereal_shared', cereal_objects)
+
+# Build messaging
+
+services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[msgq, 'zmq', common])
+
+
+socketmaster = env.SharedObject(['messaging/socketmaster.cc'])
+socketmaster = env.Library('socketmaster', socketmaster)
+
+Export('cereal', 'socketmaster')

cereal/car.capnp

@@ -116,28 +116,26 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     paramsdTemporaryError @50;
     paramsdPermanentError @119;
     actuatorsApiUnavailable @120;
-    espActive @121;
-    manualSteeringRequired @122;
-    manualLongitudinalRequired @123;
-    silentPedalPressed @124;
-    silentButtonEnable @125;
-    silentBrakeHold @126;
-    silentWrongGear @127;
-    spReverseGear @128;
-    preKeepHandsOnWheel @129;
-    promptKeepHandsOnWheel @130;
-    keepHandsOnWheel @131;
-    speedLimitActive @132;
-    speedLimitValueChange @133;
-    e2eLongStop @134;
-    e2eLongStart @135;
-    controlsMismatchLong @136;
-    cruiseEngageBlocked @137;
-    laneChangeRoadEdge @138;
-    speedLimitPreActive @139;
-    speedLimitConfirmed @140;
-    torqueNNLoad @141;
-    spAutoBrakeHold @142;
+    manualSteeringRequired @121;
+    manualLongitudinalRequired @122;
+    silentPedalPressed @123;
+    silentButtonEnable @124;
+    silentBrakeHold @125;
+    silentWrongGear @126;
+    spReverseGear @127;
+    preKeepHandsOnWheel @128;
+    promptKeepHandsOnWheel @129;
+    keepHandsOnWheel @130;
+    speedLimitActive @131;
+    speedLimitValueChange @132;
+    e2eLongStop @133;
+    e2eLongStart @134;
+    controlsMismatchLong @135;
+    cruiseEngageBlocked @136;
+    laneChangeRoadEdge @137;
+    speedLimitPreActive @138;
+    speedLimitConfirmed @139;
+    torqueNNLoad @140;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -216,7 +214,6 @@ struct CarState {
   espDisabled @32 :Bool;
   accFaulted @42 :Bool;
   carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
-  espActive @51 :Bool;
 
   # cruise state
   cruiseState @10 :CruiseState;
@@ -237,16 +234,16 @@ struct CarState {
   # clutch (manual transmission only)
   clutchPressed @28 :Bool;
 
-  madsEnabled @52 :Bool;
-  leftBlinkerOn @53 :Bool;
-  rightBlinkerOn @54 :Bool;
-  disengageByBrake @55 :Bool;
-  belowLaneChangeSpeed @56 :Bool;
-  accEnabled @57 :Bool;
-  latActive @58 :Bool;
-  gapAdjustCruiseTr @59 :Int32;
-  endToEndLong @60 :Bool;
-  customStockLong @61 :CustomStockLong;
+  madsEnabled @51 :Bool;
+  leftBlinkerOn @52 :Bool;
+  rightBlinkerOn @53 :Bool;
+  disengageByBrake @54 :Bool;
+  belowLaneChangeSpeed @55 :Bool;
+  accEnabled @56 :Bool;
+  latActive @57 :Bool;
+  gapAdjustCruiseTr @58 :Int32;
+  endToEndLong @59 :Bool;
+  customStockLong @60 :CustomStockLong;
 
   struct CustomStockLong {
     cruiseButton @0 :Int16;
@@ -542,7 +539,8 @@ struct CarParams {
   startingState @70 :Bool; # Does this car make use of special starting state
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
-  longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
+  longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
+  longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
   carVin @38 :Text; # VIN number queried during fingerprinting
   dashcamOnly @41: Bool;
@@ -595,8 +593,8 @@ struct CarParams {
     kiBP @2 :List(Float32);
     kiV @3 :List(Float32);
     kf @6 :Float32;
-    deadzoneBPDEPRECATED @4 :List(Float32);
-    deadzoneVDEPRECATED @5 :List(Float32);
+    deadzoneBP @4 :List(Float32);
+    deadzoneV @5 :List(Float32);
   }
 
   struct LateralINDITuning {
@@ -756,5 +754,4 @@ struct CarParams {
   brakeMaxVDEPRECATED @16 :List(Float32);
   directAccelControlDEPRECATED @30 :Bool;
   maxSteeringAngleDegDEPRECATED @54 :Float32;
-  longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED @61 :Float32;
 }

cereal/custom.capnp

@@ -18,27 +18,9 @@ enum LongitudinalPersonalitySP {
   relaxed @3;
 }
 
-enum AccelerationPersonality {
-  sport @0;
-  normal @1;
-  eco @2;
-  stock @3;
-}
-
-enum ModelGeneration {
-  default @0;
-  one @1;
-  two @2;
-  three @3;
-  four @4;
-  five @5;
-}
-
 struct ControlsStateSP @0x81c2f05a394cf4af {
   lateralState @0 :Text;
   personality @8 :LongitudinalPersonalitySP;
-  dynamicPersonality @9 :Bool;
-  accelPersonality @10 :AccelerationPersonality;
 
   lateralControlState :union {
     indiState @1 :LateralINDIState;
@@ -198,9 +180,6 @@ struct E2eLongStateSP @0xa5cd762cd951a455 {
 struct ModelDataV2SP @0xf98d843bfd7004a3 {
   laneChangePrev @0 :Bool;
   laneChangeEdgeBlock @1 :Bool;
-  customModel @2 :Bool;
-  modelGeneration @3 :ModelGeneration;
-  modelCapabilities @4 :UInt32;
 }
 
 struct CustomReserved7 @0xb86e6369214c01c8 {

cereal/gen/cpp/car.capnp.h

@@ -142,7 +142,6 @@ enum class EventName_baa8c5d505f727de: uint16_t {
   LOCATIOND_PERMANENT_ERROR,
   PARAMSD_PERMANENT_ERROR,
   ACTUATORS_API_UNAVAILABLE,
-  ESP_ACTIVE,
   MANUAL_STEERING_REQUIRED,
   MANUAL_LONGITUDINAL_REQUIRED,
   SILENT_PEDAL_PRESSED,
@@ -163,7 +162,6 @@ enum class EventName_baa8c5d505f727de: uint16_t {
   SPEED_LIMIT_PRE_ACTIVE,
   SPEED_LIMIT_CONFIRMED,
   TORQUE_N_N_LOAD,
-  SP_AUTO_BRAKE_HOLD,
 };
 CAPNP_DECLARE_ENUM(EventName, baa8c5d505f727de);
 CAPNP_DECLARE_SCHEMA(9da4fa09e052903c);
@@ -1008,8 +1006,6 @@ public:
 
   inline float getCumLagMs() const;
 
-  inline bool getEspActive() const;
-
   inline bool getMadsEnabled() const;
 
   inline bool getLeftBlinkerOn() const;
@@ -1238,9 +1234,6 @@ public:
   inline float getCumLagMs();
   inline void setCumLagMs(float value);
 
-  inline bool getEspActive();
-  inline void setEspActive(bool value);
-
   inline bool getMadsEnabled();
   inline void setMadsEnabled(bool value);
 
@@ -2660,13 +2653,13 @@ public:
 
   inline bool getHasStockCameraDEPRECATED() const;
 
-  inline float getLongitudinalActuatorDelay() const;
+  inline float getLongitudinalActuatorDelayUpperBound() const;
 
   inline float getVEgoStarting() const;
 
   inline float getStopAccel() const;
 
-  inline float getLongitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED() const;
+  inline float getLongitudinalActuatorDelayLowerBound() const;
 
   inline bool hasSafetyConfigs() const;
   inline  ::capnp::List< ::cereal::CarParams::SafetyConfig,  ::capnp::Kind::STRUCT>::Reader getSafetyConfigs() const;
@@ -2947,8 +2940,8 @@ public:
   inline bool getHasStockCameraDEPRECATED();
   inline void setHasStockCameraDEPRECATED(bool value);
 
-  inline float getLongitudinalActuatorDelay();
-  inline void setLongitudinalActuatorDelay(float value);
+  inline float getLongitudinalActuatorDelayUpperBound();
+  inline void setLongitudinalActuatorDelayUpperBound(float value);
 
   inline float getVEgoStarting();
   inline void setVEgoStarting(float value);
@@ -2956,8 +2949,8 @@ public:
   inline float getStopAccel();
   inline void setStopAccel(float value);
 
-  inline float getLongitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED();
-  inline void setLongitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED(float value);
+  inline float getLongitudinalActuatorDelayLowerBound();
+  inline void setLongitudinalActuatorDelayLowerBound(float value);
 
   inline bool hasSafetyConfigs();
   inline  ::capnp::List< ::cereal::CarParams::SafetyConfig,  ::capnp::Kind::STRUCT>::Builder getSafetyConfigs();
@@ -3493,11 +3486,11 @@ public:
   inline bool hasKiV() const;
   inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader getKiV() const;
 
-  inline bool hasDeadzoneBPDEPRECATED() const;
-  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader getDeadzoneBPDEPRECATED() const;
+  inline bool hasDeadzoneBP() const;
+  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader getDeadzoneBP() const;
 
-  inline bool hasDeadzoneVDEPRECATED() const;
-  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader getDeadzoneVDEPRECATED() const;
+  inline bool hasDeadzoneV() const;
+  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader getDeadzoneV() const;
 
   inline float getKf() const;
 
@@ -3561,21 +3554,21 @@ public:
   inline void adoptKiV(::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>&& value);
   inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> disownKiV();
 
-  inline bool hasDeadzoneBPDEPRECATED();
-  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder getDeadzoneBPDEPRECATED();
-  inline void setDeadzoneBPDEPRECATED( ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader value);
-  inline void setDeadzoneBPDEPRECATED(::kj::ArrayPtr<const float> value);
-  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder initDeadzoneBPDEPRECATED(unsigned int size);
-  inline void adoptDeadzoneBPDEPRECATED(::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>&& value);
-  inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> disownDeadzoneBPDEPRECATED();
+  inline bool hasDeadzoneBP();
+  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder getDeadzoneBP();
+  inline void setDeadzoneBP( ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader value);
+  inline void setDeadzoneBP(::kj::ArrayPtr<const float> value);
+  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder initDeadzoneBP(unsigned int size);
+  inline void adoptDeadzoneBP(::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>&& value);
+  inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> disownDeadzoneBP();
 
-  inline bool hasDeadzoneVDEPRECATED();
-  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder getDeadzoneVDEPRECATED();
-  inline void setDeadzoneVDEPRECATED( ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader value);
-  inline void setDeadzoneVDEPRECATED(::kj::ArrayPtr<const float> value);
-  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder initDeadzoneVDEPRECATED(unsigned int size);
-  inline void adoptDeadzoneVDEPRECATED(::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>&& value);
-  inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> disownDeadzoneVDEPRECATED();
+  inline bool hasDeadzoneV();
+  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder getDeadzoneV();
+  inline void setDeadzoneV( ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader value);
+  inline void setDeadzoneV(::kj::ArrayPtr<const float> value);
+  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder initDeadzoneV(unsigned int size);
+  inline void adoptDeadzoneV(::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>&& value);
+  inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> disownDeadzoneV();
 
   inline float getKf();
   inline void setKf(float value);
@@ -5192,116 +5185,102 @@ inline void CarState::Builder::setCumLagMs(float value) {
       ::capnp::bounded<17>() * ::capnp::ELEMENTS, value);
 }
 
-inline bool CarState::Reader::getEspActive() const {
-  return _reader.getDataField<bool>(
-      ::capnp::bounded<364>() * ::capnp::ELEMENTS);
-}
-
-inline bool CarState::Builder::getEspActive() {
-  return _builder.getDataField<bool>(
-      ::capnp::bounded<364>() * ::capnp::ELEMENTS);
-}
-inline void CarState::Builder::setEspActive(bool value) {
-  _builder.setDataField<bool>(
-      ::capnp::bounded<364>() * ::capnp::ELEMENTS, value);
-}
-
 inline bool CarState::Reader::getMadsEnabled() const {
   return _reader.getDataField<bool>(
-      ::capnp::bounded<365>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<364>() * ::capnp::ELEMENTS);
 }
 
 inline bool CarState::Builder::getMadsEnabled() {
   return _builder.getDataField<bool>(
-      ::capnp::bounded<365>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<364>() * ::capnp::ELEMENTS);
 }
 inline void CarState::Builder::setMadsEnabled(bool value) {
   _builder.setDataField<bool>(
-      ::capnp::bounded<365>() * ::capnp::ELEMENTS, value);
+      ::capnp::bounded<364>() * ::capnp::ELEMENTS, value);
 }
 
 inline bool CarState::Reader::getLeftBlinkerOn() const {
   return _reader.getDataField<bool>(
-      ::capnp::bounded<366>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<365>() * ::capnp::ELEMENTS);
 }
 
 inline bool CarState::Builder::getLeftBlinkerOn() {
   return _builder.getDataField<bool>(
-      ::capnp::bounded<366>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<365>() * ::capnp::ELEMENTS);
 }
 inline void CarState::Builder::setLeftBlinkerOn(bool value) {
   _builder.setDataField<bool>(
-      ::capnp::bounded<366>() * ::capnp::ELEMENTS, value);
+      ::capnp::bounded<365>() * ::capnp::ELEMENTS, value);
 }
 
 inline bool CarState::Reader::getRightBlinkerOn() const {
   return _reader.getDataField<bool>(
-      ::capnp::bounded<367>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<366>() * ::capnp::ELEMENTS);
 }
 
 inline bool CarState::Builder::getRightBlinkerOn() {
   return _builder.getDataField<bool>(
-      ::capnp::bounded<367>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<366>() * ::capnp::ELEMENTS);
 }
 inline void CarState::Builder::setRightBlinkerOn(bool value) {
   _builder.setDataField<bool>(
-      ::capnp::bounded<367>() * ::capnp::ELEMENTS, value);
+      ::capnp::bounded<366>() * ::capnp::ELEMENTS, value);
 }
 
 inline bool CarState::Reader::getDisengageByBrake() const {
   return _reader.getDataField<bool>(
-      ::capnp::bounded<368>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<367>() * ::capnp::ELEMENTS);
 }
 
 inline bool CarState::Builder::getDisengageByBrake() {
   return _builder.getDataField<bool>(
-      ::capnp::bounded<368>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<367>() * ::capnp::ELEMENTS);
 }
 inline void CarState::Builder::setDisengageByBrake(bool value) {
   _builder.setDataField<bool>(
-      ::capnp::bounded<368>() * ::capnp::ELEMENTS, value);
+      ::capnp::bounded<367>() * ::capnp::ELEMENTS, value);
 }
 
 inline bool CarState::Reader::getBelowLaneChangeSpeed() const {
   return _reader.getDataField<bool>(
-      ::capnp::bounded<369>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<368>() * ::capnp::ELEMENTS);
 }
 
 inline bool CarState::Builder::getBelowLaneChangeSpeed() {
   return _builder.getDataField<bool>(
-      ::capnp::bounded<369>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<368>() * ::capnp::ELEMENTS);
 }
 inline void CarState::Builder::setBelowLaneChangeSpeed(bool value) {
   _builder.setDataField<bool>(
-      ::capnp::bounded<369>() * ::capnp::ELEMENTS, value);
+      ::capnp::bounded<368>() * ::capnp::ELEMENTS, value);
 }
 
 inline bool CarState::Reader::getAccEnabled() const {
   return _reader.getDataField<bool>(
-      ::capnp::bounded<370>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<369>() * ::capnp::ELEMENTS);
 }
 
 inline bool CarState::Builder::getAccEnabled() {
   return _builder.getDataField<bool>(
-      ::capnp::bounded<370>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<369>() * ::capnp::ELEMENTS);
 }
 inline void CarState::Builder::setAccEnabled(bool value) {
   _builder.setDataField<bool>(
-      ::capnp::bounded<370>() * ::capnp::ELEMENTS, value);
+      ::capnp::bounded<369>() * ::capnp::ELEMENTS, value);
 }
 
 inline bool CarState::Reader::getLatActive() const {
   return _reader.getDataField<bool>(
-      ::capnp::bounded<371>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<370>() * ::capnp::ELEMENTS);
 }
 
 inline bool CarState::Builder::getLatActive() {
   return _builder.getDataField<bool>(
-      ::capnp::bounded<371>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<370>() * ::capnp::ELEMENTS);
 }
 inline void CarState::Builder::setLatActive(bool value) {
   _builder.setDataField<bool>(
-      ::capnp::bounded<371>() * ::capnp::ELEMENTS, value);
+      ::capnp::bounded<370>() * ::capnp::ELEMENTS, value);
 }
 
 inline  ::int32_t CarState::Reader::getGapAdjustCruiseTr() const {
@@ -5320,16 +5299,16 @@ inline void CarState::Builder::setGapAdjustCruiseTr( ::int32_t value) {
 
 inline bool CarState::Reader::getEndToEndLong() const {
   return _reader.getDataField<bool>(
-      ::capnp::bounded<372>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<371>() * ::capnp::ELEMENTS);
 }
 
 inline bool CarState::Builder::getEndToEndLong() {
   return _builder.getDataField<bool>(
-      ::capnp::bounded<372>() * ::capnp::ELEMENTS);
+      ::capnp::bounded<371>() * ::capnp::ELEMENTS);
 }
 inline void CarState::Builder::setEndToEndLong(bool value) {
   _builder.setDataField<bool>(
-      ::capnp::bounded<372>() * ::capnp::ELEMENTS, value);
+      ::capnp::bounded<371>() * ::capnp::ELEMENTS, value);
 }
 
 inline bool CarState::Reader::hasCustomStockLong() const {
@@ -7722,16 +7701,16 @@ inline void CarParams::Builder::setHasStockCameraDEPRECATED(bool value) {
       ::capnp::bounded<15>() * ::capnp::ELEMENTS, value);
 }
 
-inline float CarParams::Reader::getLongitudinalActuatorDelay() const {
+inline float CarParams::Reader::getLongitudinalActuatorDelayUpperBound() const {
   return _reader.getDataField<float>(
       ::capnp::bounded<25>() * ::capnp::ELEMENTS);
 }
 
-inline float CarParams::Builder::getLongitudinalActuatorDelay() {
+inline float CarParams::Builder::getLongitudinalActuatorDelayUpperBound() {
   return _builder.getDataField<float>(
       ::capnp::bounded<25>() * ::capnp::ELEMENTS);
 }
-inline void CarParams::Builder::setLongitudinalActuatorDelay(float value) {
+inline void CarParams::Builder::setLongitudinalActuatorDelayUpperBound(float value) {
   _builder.setDataField<float>(
       ::capnp::bounded<25>() * ::capnp::ELEMENTS, value);
 }
@@ -7764,16 +7743,16 @@ inline void CarParams::Builder::setStopAccel(float value) {
       ::capnp::bounded<27>() * ::capnp::ELEMENTS, value);
 }
 
-inline float CarParams::Reader::getLongitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED() const {
+inline float CarParams::Reader::getLongitudinalActuatorDelayLowerBound() const {
   return _reader.getDataField<float>(
       ::capnp::bounded<28>() * ::capnp::ELEMENTS);
 }
 
-inline float CarParams::Builder::getLongitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED() {
+inline float CarParams::Builder::getLongitudinalActuatorDelayLowerBound() {
   return _builder.getDataField<float>(
       ::capnp::bounded<28>() * ::capnp::ELEMENTS);
 }
-inline void CarParams::Builder::setLongitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED(float value) {
+inline void CarParams::Builder::setLongitudinalActuatorDelayLowerBound(float value) {
   _builder.setDataField<float>(
       ::capnp::bounded<28>() * ::capnp::ELEMENTS, value);
 }
@@ -8604,78 +8583,78 @@ inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> CarPara
       ::capnp::bounded<3>() * ::capnp::POINTERS));
 }
 
-inline bool CarParams::LongitudinalPIDTuning::Reader::hasDeadzoneBPDEPRECATED() const {
+inline bool CarParams::LongitudinalPIDTuning::Reader::hasDeadzoneBP() const {
   return !_reader.getPointerField(
       ::capnp::bounded<4>() * ::capnp::POINTERS).isNull();
 }
-inline bool CarParams::LongitudinalPIDTuning::Builder::hasDeadzoneBPDEPRECATED() {
+inline bool CarParams::LongitudinalPIDTuning::Builder::hasDeadzoneBP() {
   return !_builder.getPointerField(
       ::capnp::bounded<4>() * ::capnp::POINTERS).isNull();
 }
-inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader CarParams::LongitudinalPIDTuning::Reader::getDeadzoneBPDEPRECATED() const {
+inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader CarParams::LongitudinalPIDTuning::Reader::getDeadzoneBP() const {
   return ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField(
       ::capnp::bounded<4>() * ::capnp::POINTERS));
 }
-inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder CarParams::LongitudinalPIDTuning::Builder::getDeadzoneBPDEPRECATED() {
+inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder CarParams::LongitudinalPIDTuning::Builder::getDeadzoneBP() {
   return ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField(
       ::capnp::bounded<4>() * ::capnp::POINTERS));
 }
-inline void CarParams::LongitudinalPIDTuning::Builder::setDeadzoneBPDEPRECATED( ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader value) {
+inline void CarParams::LongitudinalPIDTuning::Builder::setDeadzoneBP( ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
       ::capnp::bounded<4>() * ::capnp::POINTERS), value);
 }
-inline void CarParams::LongitudinalPIDTuning::Builder::setDeadzoneBPDEPRECATED(::kj::ArrayPtr<const float> value) {
+inline void CarParams::LongitudinalPIDTuning::Builder::setDeadzoneBP(::kj::ArrayPtr<const float> value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
       ::capnp::bounded<4>() * ::capnp::POINTERS), value);
 }
-inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder CarParams::LongitudinalPIDTuning::Builder::initDeadzoneBPDEPRECATED(unsigned int size) {
+inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder CarParams::LongitudinalPIDTuning::Builder::initDeadzoneBP(unsigned int size) {
   return ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField(
       ::capnp::bounded<4>() * ::capnp::POINTERS), size);
 }
-inline void CarParams::LongitudinalPIDTuning::Builder::adoptDeadzoneBPDEPRECATED(
+inline void CarParams::LongitudinalPIDTuning::Builder::adoptDeadzoneBP(
     ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>&& value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField(
       ::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value));
 }
-inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> CarParams::LongitudinalPIDTuning::Builder::disownDeadzoneBPDEPRECATED() {
+inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> CarParams::LongitudinalPIDTuning::Builder::disownDeadzoneBP() {
   return ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField(
       ::capnp::bounded<4>() * ::capnp::POINTERS));
 }
 
-inline bool CarParams::LongitudinalPIDTuning::Reader::hasDeadzoneVDEPRECATED() const {
+inline bool CarParams::LongitudinalPIDTuning::Reader::hasDeadzoneV() const {
   return !_reader.getPointerField(
       ::capnp::bounded<5>() * ::capnp::POINTERS).isNull();
 }
-inline bool CarParams::LongitudinalPIDTuning::Builder::hasDeadzoneVDEPRECATED() {
+inline bool CarParams::LongitudinalPIDTuning::Builder::hasDeadzoneV() {
   return !_builder.getPointerField(
       ::capnp::bounded<5>() * ::capnp::POINTERS).isNull();
 }
-inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader CarParams::LongitudinalPIDTuning::Reader::getDeadzoneVDEPRECATED() const {
+inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader CarParams::LongitudinalPIDTuning::Reader::getDeadzoneV() const {
   return ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField(
       ::capnp::bounded<5>() * ::capnp::POINTERS));
 }
-inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder CarParams::LongitudinalPIDTuning::Builder::getDeadzoneVDEPRECATED() {
+inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder CarParams::LongitudinalPIDTuning::Builder::getDeadzoneV() {
   return ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField(
       ::capnp::bounded<5>() * ::capnp::POINTERS));
 }
-inline void CarParams::LongitudinalPIDTuning::Builder::setDeadzoneVDEPRECATED( ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader value) {
+inline void CarParams::LongitudinalPIDTuning::Builder::setDeadzoneV( ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
       ::capnp::bounded<5>() * ::capnp::POINTERS), value);
 }
-inline void CarParams::LongitudinalPIDTuning::Builder::setDeadzoneVDEPRECATED(::kj::ArrayPtr<const float> value) {
+inline void CarParams::LongitudinalPIDTuning::Builder::setDeadzoneV(::kj::ArrayPtr<const float> value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
       ::capnp::bounded<5>() * ::capnp::POINTERS), value);
 }
-inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder CarParams::LongitudinalPIDTuning::Builder::initDeadzoneVDEPRECATED(unsigned int size) {
+inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder CarParams::LongitudinalPIDTuning::Builder::initDeadzoneV(unsigned int size) {
   return ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField(
       ::capnp::bounded<5>() * ::capnp::POINTERS), size);
 }
-inline void CarParams::LongitudinalPIDTuning::Builder::adoptDeadzoneVDEPRECATED(
+inline void CarParams::LongitudinalPIDTuning::Builder::adoptDeadzoneV(
     ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>&& value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField(
       ::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value));
 }
-inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> CarParams::LongitudinalPIDTuning::Builder::disownDeadzoneVDEPRECATED() {
+inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> CarParams::LongitudinalPIDTuning::Builder::disownDeadzoneV() {
   return ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField(
       ::capnp::bounded<5>() * ::capnp::POINTERS));
 }

cereal/gen/cpp/custom.capnp.c++

@@ -54,106 +54,7 @@ const ::capnp::_::RawSchema s_d92113aa7c18cdf6 = {
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(LongitudinalPersonalitySP_d92113aa7c18cdf6, d92113aa7c18cdf6);
-static const ::capnp::_::AlignedData<35> b_f40bf11ea3a7a163 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-     99, 161, 167, 163,  30, 241,  11, 244,
-     13,   0,   0,   0,   2,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0,  42,   1,   0,   0,
-     37,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     33,   0,   0,   0, 103,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  65,  99,  99,
-    101, 108, 101, 114,  97, 116, 105, 111,
-    110,  80, 101, 114, 115, 111, 110,  97,
-    108, 105, 116, 121,   0,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0,
-     16,   0,   0,   0,   1,   0,   2,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     41,   0,   0,   0,  50,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-     33,   0,   0,   0,  58,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      2,   0,   0,   0,   0,   0,   0,   0,
-     25,   0,   0,   0,  34,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      3,   0,   0,   0,   0,   0,   0,   0,
-     17,   0,   0,   0,  50,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    115, 112, 111, 114, 116,   0,   0,   0,
-    110, 111, 114, 109,  97, 108,   0,   0,
-    101,  99, 111,   0,   0,   0,   0,   0,
-    115, 116, 111,  99, 107,   0,   0,   0, }
-};
-::capnp::word const* const bp_f40bf11ea3a7a163 = b_f40bf11ea3a7a163.words;
-#if !CAPNP_LITE
-static const uint16_t m_f40bf11ea3a7a163[] = {2, 1, 0, 3};
-const ::capnp::_::RawSchema s_f40bf11ea3a7a163 = {
-  0xf40bf11ea3a7a163, b_f40bf11ea3a7a163.words, 35, nullptr, m_f40bf11ea3a7a163,
-  0, 4, nullptr, nullptr, nullptr, { &s_f40bf11ea3a7a163, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-CAPNP_DEFINE_ENUM(AccelerationPersonality_f40bf11ea3a7a163, f40bf11ea3a7a163);
-static const ::capnp::_::AlignedData<42> b_91cbf59645e9e0b9 = {
-  {   0,   0,   0,   0,   5,   0,   6,   0,
-    185, 224, 233,  69, 150, 245, 203, 145,
-     13,   0,   0,   0,   2,   0,   0,   0,
-     89,  10,  85,  29, 102, 186,  38, 181,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 234,   0,   0,   0,
-     33,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     29,   0,   0,   0, 151,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  77, 111, 100,
-    101, 108,  71, 101, 110, 101, 114,  97,
-    116, 105, 111, 110,   0,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0,
-     24,   0,   0,   0,   1,   0,   2,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     65,   0,   0,   0,  66,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-     57,   0,   0,   0,  34,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      2,   0,   0,   0,   0,   0,   0,   0,
-     49,   0,   0,   0,  34,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      3,   0,   0,   0,   0,   0,   0,   0,
-     41,   0,   0,   0,  50,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      4,   0,   0,   0,   0,   0,   0,   0,
-     33,   0,   0,   0,  42,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      5,   0,   0,   0,   0,   0,   0,   0,
-     25,   0,   0,   0,  42,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    100, 101, 102,  97, 117, 108, 116,   0,
-    111, 110, 101,   0,   0,   0,   0,   0,
-    116, 119, 111,   0,   0,   0,   0,   0,
-    116, 104, 114, 101, 101,   0,   0,   0,
-    102, 111, 117, 114,   0,   0,   0,   0,
-    102, 105, 118, 101,   0,   0,   0,   0, }
-};
-::capnp::word const* const bp_91cbf59645e9e0b9 = b_91cbf59645e9e0b9.words;
-#if !CAPNP_LITE
-static const uint16_t m_91cbf59645e9e0b9[] = {0, 5, 4, 1, 3, 2};
-const ::capnp::_::RawSchema s_91cbf59645e9e0b9 = {
-  0x91cbf59645e9e0b9, b_91cbf59645e9e0b9.words, 42, nullptr, m_91cbf59645e9e0b9,
-  0, 6, nullptr, nullptr, nullptr, { &s_91cbf59645e9e0b9, nullptr, nullptr, 0, 0, nullptr }, false
-};
-#endif  // !CAPNP_LITE
-CAPNP_DEFINE_ENUM(ModelGeneration_91cbf59645e9e0b9, 91cbf59645e9e0b9);
-static const ::capnp::_::AlignedData<127> b_81c2f05a394cf4af = {
+static const ::capnp::_::AlignedData<93> b_81c2f05a394cf4af = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     175, 244,  76,  57,  90, 240, 194, 129,
      13,   0,   0,   0,   1,   0,   1,   0,
@@ -163,7 +64,7 @@ static const ::capnp::_::AlignedData<127> b_81c2f05a394cf4af = {
      21,   0,   0,   0, 234,   0,   0,   0,
      33,   0,   0,   0, 119,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    161,   0,   0,   0,  31,   1,   0,   0,
+    161,   0,   0,   0, 175,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99, 117, 115, 116, 111, 109,  46,  99,
@@ -204,42 +105,28 @@ static const ::capnp::_::AlignedData<127> b_81c2f05a394cf4af = {
      83, 116,  97, 116, 101,   0,   0,   0,
      76,  97, 116, 101, 114,  97, 108,  76,
      81,  82,  83, 116,  97, 116, 101,   0,
-     20,   0,   0,   0,   3,   0,   4,   0,
+     12,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    125,   0,   0,   0, 106,   0,   0,   0,
+     69,   0,   0,   0, 106,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    124,   0,   0,   0,   3,   0,   1,   0,
-    136,   0,   0,   0,   2,   0,   1,   0,
-      4,   0,   0,   0,   0,   0,   0,   0,
+     68,   0,   0,   0,   3,   0,   1,   0,
+     80,   0,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   0,   0,   0,   0,
       1,   0,   0,   0,   0,   0,   0,   0,
      45,  92, 210, 165, 131,  44,  76, 142,
-    133,   0,   0,   0, 162,   0,   0,   0,
+     77,   0,   0,   0, 162,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       1,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   8,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    117,   0,   0,   0,  98,   0,   0,   0,
+     61,   0,   0,   0,  98,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    116,   0,   0,   0,   3,   0,   1,   0,
-    128,   0,   0,   0,   2,   0,   1,   0,
-      2,   0,   0,   0,  32,   0,   0,   0,
-      0,   0,   1,   0,   9,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    125,   0,   0,   0, 154,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    128,   0,   0,   0,   3,   0,   1,   0,
-    140,   0,   0,   0,   2,   0,   1,   0,
-      3,   0,   0,   0,   3,   0,   0,   0,
-      0,   0,   1,   0,  10,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    137,   0,   0,   0, 138,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    140,   0,   0,   0,   3,   0,   1,   0,
-    152,   0,   0,   0,   2,   0,   1,   0,
+     60,   0,   0,   0,   3,   0,   1,   0,
+     72,   0,   0,   0,   2,   0,   1,   0,
     108,  97, 116, 101, 114,  97, 108,  83,
     116,  97, 116, 101,   0,   0,   0,   0,
      12,   0,   0,   0,   0,   0,   0,   0,
@@ -258,26 +145,6 @@ static const ::capnp::_::AlignedData<127> b_81c2f05a394cf4af = {
     246, 205,  24, 124, 170,  19,  33, 217,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     15,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    100, 121, 110,  97, 109, 105,  99,  80,
-    101, 114, 115, 111, 110,  97, 108, 105,
-    116, 121,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     97,  99,  99, 101, 108,  80, 101, 114,
-    115, 111, 110,  97, 108, 105, 116, 121,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     15,   0,   0,   0,   0,   0,   0,   0,
-     99, 161, 167, 163,  30, 241,  11, 244,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
      15,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0, }
@@ -287,13 +154,12 @@ static const ::capnp::_::AlignedData<127> b_81c2f05a394cf4af = {
 static const ::capnp::_::RawSchema* const d_81c2f05a394cf4af[] = {
   &s_8e4c2c83a5d25c2d,
   &s_d92113aa7c18cdf6,
-  &s_f40bf11ea3a7a163,
 };
-static const uint16_t m_81c2f05a394cf4af[] = {4, 3, 1, 0, 2};
-static const uint16_t i_81c2f05a394cf4af[] = {0, 1, 2, 3, 4};
+static const uint16_t m_81c2f05a394cf4af[] = {1, 0, 2};
+static const uint16_t i_81c2f05a394cf4af[] = {0, 1, 2};
 const ::capnp::_::RawSchema s_81c2f05a394cf4af = {
-  0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 127, d_81c2f05a394cf4af, m_81c2f05a394cf4af,
-  3, 5, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
+  0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 93, d_81c2f05a394cf4af, m_81c2f05a394cf4af,
+  2, 3, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<19> b_b6a9042bc207bf27 = {
@@ -2114,7 +1980,7 @@ const ::capnp::_::RawSchema s_a5cd762cd951a455 = {
   0, 1, i_a5cd762cd951a455, nullptr, nullptr, { &s_a5cd762cd951a455, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<100> b_f98d843bfd7004a3 = {
+static const ::capnp::_::AlignedData<51> b_f98d843bfd7004a3 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     163,   4, 112, 253,  59, 132, 141, 249,
      13,   0,   0,   0,   1,   0,   1,   0,
@@ -2124,7 +1990,7 @@ static const ::capnp::_::AlignedData<100> b_f98d843bfd7004a3 = {
      21,   0,   0,   0, 218,   0,   0,   0,
      33,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     29,   0,   0,   0,  31,   1,   0,   0,
+     29,   0,   0,   0, 119,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99, 117, 115, 116, 111, 109,  46,  99,
@@ -2132,42 +1998,21 @@ static const ::capnp::_::AlignedData<100> b_f98d843bfd7004a3 = {
     101, 108,  68,  97, 116,  97,  86,  50,
      83,  80,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   1,   0,   1,   0,
-     20,   0,   0,   0,   3,   0,   4,   0,
+      8,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    125,   0,   0,   0, 122,   0,   0,   0,
+     41,   0,   0,   0, 122,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    124,   0,   0,   0,   3,   0,   1,   0,
-    136,   0,   0,   0,   2,   0,   1,   0,
+     40,   0,   0,   0,   3,   0,   1,   0,
+     52,   0,   0,   0,   2,   0,   1,   0,
       1,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    133,   0,   0,   0, 162,   0,   0,   0,
+     49,   0,   0,   0, 162,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    136,   0,   0,   0,   3,   0,   1,   0,
-    148,   0,   0,   0,   2,   0,   1,   0,
-      2,   0,   0,   0,   2,   0,   0,   0,
-      0,   0,   1,   0,   2,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    145,   0,   0,   0,  98,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    144,   0,   0,   0,   3,   0,   1,   0,
-    156,   0,   0,   0,   2,   0,   1,   0,
-      3,   0,   0,   0,   1,   0,   0,   0,
-      0,   0,   1,   0,   3,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    153,   0,   0,   0, 130,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    152,   0,   0,   0,   3,   0,   1,   0,
-    164,   0,   0,   0,   2,   0,   1,   0,
-      4,   0,   0,   0,   1,   0,   0,   0,
-      0,   0,   1,   0,   4,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    161,   0,   0,   0, 146,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    164,   0,   0,   0,   3,   0,   1,   0,
-    176,   0,   0,   0,   2,   0,   1,   0,
+     52,   0,   0,   0,   3,   0,   1,   0,
+     64,   0,   0,   0,   2,   0,   1,   0,
     108,  97, 110, 101,  67, 104,  97, 110,
     103, 101,  80, 114, 101, 118,   0,   0,
       1,   0,   0,   0,   0,   0,   0,   0,
@@ -2186,46 +2031,15 @@ static const ::capnp::_::AlignedData<100> b_f98d843bfd7004a3 = {
       0,   0,   0,   0,   0,   0,   0,   0,
       1,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     99, 117, 115, 116, 111, 109,  77, 111,
-    100, 101, 108,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      1,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    109, 111, 100, 101, 108,  71, 101, 110,
-    101, 114,  97, 116, 105, 111, 110,   0,
-     15,   0,   0,   0,   0,   0,   0,   0,
-    185, 224, 233,  69, 150, 245, 203, 145,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     15,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    109, 111, 100, 101, 108,  67,  97, 112,
-     97,  98, 105, 108, 105, 116, 105, 101,
-    115,   0,   0,   0,   0,   0,   0,   0,
-      8,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-      8,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0, }
 };
 ::capnp::word const* const bp_f98d843bfd7004a3 = b_f98d843bfd7004a3.words;
 #if !CAPNP_LITE
-static const ::capnp::_::RawSchema* const d_f98d843bfd7004a3[] = {
-  &s_91cbf59645e9e0b9,
-};
-static const uint16_t m_f98d843bfd7004a3[] = {2, 1, 0, 4, 3};
-static const uint16_t i_f98d843bfd7004a3[] = {0, 1, 2, 3, 4};
+static const uint16_t m_f98d843bfd7004a3[] = {1, 0};
+static const uint16_t i_f98d843bfd7004a3[] = {0, 1};
 const ::capnp::_::RawSchema s_f98d843bfd7004a3 = {
-  0xf98d843bfd7004a3, b_f98d843bfd7004a3.words, 100, d_f98d843bfd7004a3, m_f98d843bfd7004a3,
-  1, 5, i_f98d843bfd7004a3, nullptr, nullptr, { &s_f98d843bfd7004a3, nullptr, nullptr, 0, 0, nullptr }, false
+  0xf98d843bfd7004a3, b_f98d843bfd7004a3.words, 51, nullptr, m_f98d843bfd7004a3,
+  0, 2, i_f98d843bfd7004a3, nullptr, nullptr, { &s_f98d843bfd7004a3, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<17> b_b86e6369214c01c8 = {

cereal/gen/cpp/custom.capnp.h

@@ -27,24 +27,6 @@ enum class LongitudinalPersonalitySP_d92113aa7c18cdf6: uint16_t {
   RELAXED,
 };
 CAPNP_DECLARE_ENUM(LongitudinalPersonalitySP, d92113aa7c18cdf6);
-CAPNP_DECLARE_SCHEMA(f40bf11ea3a7a163);
-enum class AccelerationPersonality_f40bf11ea3a7a163: uint16_t {
-  SPORT,
-  NORMAL,
-  ECO,
-  STOCK,
-};
-CAPNP_DECLARE_ENUM(AccelerationPersonality, f40bf11ea3a7a163);
-CAPNP_DECLARE_SCHEMA(91cbf59645e9e0b9);
-enum class ModelGeneration_91cbf59645e9e0b9: uint16_t {
-  DEFAULT,
-  ONE,
-  TWO,
-  THREE,
-  FOUR,
-  FIVE,
-};
-CAPNP_DECLARE_ENUM(ModelGeneration, 91cbf59645e9e0b9);
 CAPNP_DECLARE_SCHEMA(81c2f05a394cf4af);
 CAPNP_DECLARE_SCHEMA(b6a9042bc207bf27);
 CAPNP_DECLARE_SCHEMA(88da8426fae53f07);
@@ -117,10 +99,6 @@ namespace cereal {
 
 typedef ::capnp::schemas::LongitudinalPersonalitySP_d92113aa7c18cdf6 LongitudinalPersonalitySP;
 
-typedef ::capnp::schemas::AccelerationPersonality_f40bf11ea3a7a163 AccelerationPersonality;
-
-typedef ::capnp::schemas::ModelGeneration_91cbf59645e9e0b9 ModelGeneration;
-
 struct ControlsStateSP {
   ControlsStateSP() = delete;
 
@@ -444,10 +422,6 @@ public:
 
   inline  ::cereal::LongitudinalPersonalitySP getPersonality() const;
 
-  inline bool getDynamicPersonality() const;
-
-  inline  ::cereal::AccelerationPersonality getAccelPersonality() const;
-
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -489,12 +463,6 @@ public:
   inline  ::cereal::LongitudinalPersonalitySP getPersonality();
   inline void setPersonality( ::cereal::LongitudinalPersonalitySP value);
 
-  inline bool getDynamicPersonality();
-  inline void setDynamicPersonality(bool value);
-
-  inline  ::cereal::AccelerationPersonality getAccelPersonality();
-  inline void setAccelPersonality( ::cereal::AccelerationPersonality value);
-
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -1904,12 +1872,6 @@ public:
 
   inline bool getLaneChangeEdgeBlock() const;
 
-  inline bool getCustomModel() const;
-
-  inline  ::cereal::ModelGeneration getModelGeneration() const;
-
-  inline  ::uint32_t getModelCapabilities() const;
-
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -1944,15 +1906,6 @@ public:
   inline bool getLaneChangeEdgeBlock();
   inline void setLaneChangeEdgeBlock(bool value);
 
-  inline bool getCustomModel();
-  inline void setCustomModel(bool value);
-
-  inline  ::cereal::ModelGeneration getModelGeneration();
-  inline void setModelGeneration( ::cereal::ModelGeneration value);
-
-  inline  ::uint32_t getModelCapabilities();
-  inline void setModelCapabilities( ::uint32_t value);
-
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -2258,34 +2211,6 @@ inline void ControlsStateSP::Builder::setPersonality( ::cereal::LongitudinalPers
       ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
 }
 
-inline bool ControlsStateSP::Reader::getDynamicPersonality() const {
-  return _reader.getDataField<bool>(
-      ::capnp::bounded<32>() * ::capnp::ELEMENTS);
-}
-
-inline bool ControlsStateSP::Builder::getDynamicPersonality() {
-  return _builder.getDataField<bool>(
-      ::capnp::bounded<32>() * ::capnp::ELEMENTS);
-}
-inline void ControlsStateSP::Builder::setDynamicPersonality(bool value) {
-  _builder.setDataField<bool>(
-      ::capnp::bounded<32>() * ::capnp::ELEMENTS, value);
-}
-
-inline  ::cereal::AccelerationPersonality ControlsStateSP::Reader::getAccelPersonality() const {
-  return _reader.getDataField< ::cereal::AccelerationPersonality>(
-      ::capnp::bounded<3>() * ::capnp::ELEMENTS);
-}
-
-inline  ::cereal::AccelerationPersonality ControlsStateSP::Builder::getAccelPersonality() {
-  return _builder.getDataField< ::cereal::AccelerationPersonality>(
-      ::capnp::bounded<3>() * ::capnp::ELEMENTS);
-}
-inline void ControlsStateSP::Builder::setAccelPersonality( ::cereal::AccelerationPersonality value) {
-  _builder.setDataField< ::cereal::AccelerationPersonality>(
-      ::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
-}
-
 inline bool ControlsStateSP::LateralTorqueState::Reader::hasNnLog() const {
   return !_reader.getPointerField(
       ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
@@ -3755,48 +3680,6 @@ inline void ModelDataV2SP::Builder::setLaneChangeEdgeBlock(bool value) {
       ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
 }
 
-inline bool ModelDataV2SP::Reader::getCustomModel() const {
-  return _reader.getDataField<bool>(
-      ::capnp::bounded<2>() * ::capnp::ELEMENTS);
-}
-
-inline bool ModelDataV2SP::Builder::getCustomModel() {
-  return _builder.getDataField<bool>(
-      ::capnp::bounded<2>() * ::capnp::ELEMENTS);
-}
-inline void ModelDataV2SP::Builder::setCustomModel(bool value) {
-  _builder.setDataField<bool>(
-      ::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
-}
-
-inline  ::cereal::ModelGeneration ModelDataV2SP::Reader::getModelGeneration() const {
-  return _reader.getDataField< ::cereal::ModelGeneration>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
-}
-
-inline  ::cereal::ModelGeneration ModelDataV2SP::Builder::getModelGeneration() {
-  return _builder.getDataField< ::cereal::ModelGeneration>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
-}
-inline void ModelDataV2SP::Builder::setModelGeneration( ::cereal::ModelGeneration value) {
-  _builder.setDataField< ::cereal::ModelGeneration>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
-}
-
-inline  ::uint32_t ModelDataV2SP::Reader::getModelCapabilities() const {
-  return _reader.getDataField< ::uint32_t>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
-}
-
-inline  ::uint32_t ModelDataV2SP::Builder::getModelCapabilities() {
-  return _builder.getDataField< ::uint32_t>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
-}
-inline void ModelDataV2SP::Builder::setModelCapabilities( ::uint32_t value) {
-  _builder.setDataField< ::uint32_t>(
-      ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
-}
-
 }  // namespace
 
 CAPNP_END_HEADER

cereal/log.capnp

@@ -698,6 +698,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   personality @66 :LongitudinalPersonality;
 
   longControlState @30 :Car.CarControl.Actuators.LongControlState;
+  vPid @2 :Float32;
   vTargetLead @3 :Float32;
   vCruise @22 :Float32;  # actual set speed
   vCruiseCluster @63 :Float32;  # set speed to display in the UI
@@ -865,38 +866,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   canMonoTimesDEPRECATED @21 :List(UInt64);
   desiredCurvatureRateDEPRECATED @62 :Float32;
   canErrorCounterDEPRECATED @57 :UInt32;
-  vPidDEPRECATED @2 :Float32;
-}
-
-struct DrivingModelData {
-  frameId @0 :UInt32;
-  frameIdExtra @1 :UInt32;
-  frameDropPerc @6 :Float32;
-
-  action @2 :ModelDataV2.Action;
-
-  laneLineMeta @3 :LaneLineMeta;
-  meta @4 :MetaData;
-
-  path @5 :PolyPath;
-
-  struct PolyPath {
-    xCoefficients @0 :List(Float32);
-    yCoefficients @1 :List(Float32);
-    zCoefficients @2 :List(Float32);
-  }
-
-  struct LaneLineMeta {
-    leftY @0 :Float32;
-    rightY @1 :Float32;
-    leftProb @2 :Float32;
-    rightProb @3 :Float32;
-  }
-
-  struct MetaData {
-    laneChangeState @0 :LaneChangeState;
-    laneChangeDirection @1 :LaneChangeDirection;
-  }
 }
 
 # All SI units and in device frame
@@ -1091,11 +1060,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   accels @32 :List(Float32);
   speeds @33 :List(Float32);
   jerks @34 :List(Float32);
-  aTarget @18 :Float32;
-  shouldStop @37: Bool;
-  allowThrottle @38: Bool;
-  allowBrake @39: Bool;
-
 
   solverExecutionTime @35 :Float32;
 
@@ -1112,6 +1076,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   aCruiseDEPRECATED @17 :Float32;
   vTargetDEPRECATED @3 :Float32;
   vTargetFutureDEPRECATED @14 :Float32;
+  aTargetDEPRECATED @18 :Float32;
   vStartDEPRECATED @26 :Float32;
   aStartDEPRECATED @27 :Float32;
   vMaxDEPRECATED @20 :Float32;
@@ -2279,6 +2244,7 @@ struct Event {
     carControl @23 :Car.CarControl;
     carOutput @127 :Car.CarOutput;
     longitudinalPlan @24 :LongitudinalPlan;
+    uiPlan @106 :UiPlan;
     ubloxGnss @34 :UbloxGnss;
     ubloxRaw @39 :Data;
     qcomGnss @31 :QcomGnss;
@@ -2294,7 +2260,6 @@ struct Event {
     driverMonitoringState @71: DriverMonitoringState;
     liveLocationKalman @72 :LiveLocationKalman;
     modelV2 @75 :ModelDataV2;
-    drivingModelData @128 :DrivingModelData;
     driverStateV2 @92 :DriverStateV2;
 
     # camera stuff, each camera state has a matching encode idx
@@ -2400,6 +2365,5 @@ struct Event {
     sensorEventsDEPRECATED @11 :List(SensorEventData);
     lateralPlanDEPRECATED @64 :LateralPlan;
     navModelDEPRECATED @104 :NavModelData;
-    uiPlanDEPRECATED @106 :UiPlan;
   }
 }

cereal/messaging/.gitignore

@@ -0,0 +1,10 @@
+demo
+bridge
+test_runner
+*.o
+*.os
+*.d
+*.a
+*.so
+messaging_pyx.cpp
+build/

cereal/messaging/messaging.h

@@ -5,13 +5,20 @@
 #include <string>
 #include <vector>
 #include <utility>
+#include <time.h>
 
 #include <capnp/serialize.h>
 
 #include "cereal/gen/cpp/log.capnp.h"
-#include "common/timing.h"
 #include "msgq/ipc.h"
 
+#ifdef __APPLE__
+#define CLOCK_BOOTTIME CLOCK_MONOTONIC
+#endif
+
+#define MSG_MULTIPLE_PUBLISHERS 100
+
+
 class SubMaster {
 public:
   SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
@@ -46,7 +53,10 @@ public:
 
   cereal::Event::Builder initEvent(bool valid = true) {
     cereal::Event::Builder event = initRoot<cereal::Event>();
-    event.setLogMonoTime(nanos_since_boot());
+    struct timespec t;
+    clock_gettime(CLOCK_BOOTTIME, &t);
+    uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
+    event.setLogMonoTime(current_time);
     event.setValid(valid);
     return event;
   }

cereal/services.h

@@ -54,8 +54,7 @@ static std::map<std::string, service> services = {
   { "driverMonitoringState", {"driverMonitoringState", true, 20, 10}},
   { "wideRoadEncodeIdx", {"wideRoadEncodeIdx", false, 20, 1}},
   { "wideRoadCameraState", {"wideRoadCameraState", true, 20, 20}},
-  { "drivingModelData", {"drivingModelData", true, 20, 10}},
-  { "modelV2", {"modelV2", true, 20, -1}},
+  { "modelV2", {"modelV2", true, 20, 40}},
   { "managerState", {"managerState", true, 2, 1}},
   { "uploaderState", {"uploaderState", true, 0, 1}},
   { "navInstruction", {"navInstruction", true, 1, 10}},
@@ -63,7 +62,7 @@ static std::map<std::string, service> services = {
   { "navThumbnail", {"navThumbnail", true, 0, -1}},
   { "navModelDEPRECATED", {"navModelDEPRECATED", true, 2, 4}},
   { "mapRenderState", {"mapRenderState", true, 2, 1}},
-  { "uiPlanDEPRECATED", {"uiPlanDEPRECATED", true, 20, 40}},
+  { "uiPlan", {"uiPlan", true, 20, 40}},
   { "qRoadEncodeIdx", {"qRoadEncodeIdx", false, 20, -1}},
   { "userFlag", {"userFlag", true, 0, 1}},
   { "microphone", {"microphone", true, 10, 10}},

cereal/services.py

@@ -61,8 +61,7 @@ _services: dict[str, tuple] = {
   "driverMonitoringState": (True, 20., 10),
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
-  "drivingModelData": (True, 20., 10),
-  "modelV2": (True, 20.),
+  "modelV2": (True, 20., 40),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
   "navInstruction": (True, 1., 10),
@@ -70,7 +69,7 @@ _services: dict[str, tuple] = {
   "navThumbnail": (True, 0.),
   "navModelDEPRECATED": (True, 2., 4.),
   "mapRenderState": (True, 2., 1.),
-  "uiPlanDEPRECATED": (True, 20., 40.),
+  "uiPlan": (True, 20., 40.),
   "qRoadEncodeIdx": (False, 20.),
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),

common/SConscript

@@ -0,0 +1,39 @@
+Import('env', 'envCython', 'arch')
+
+common_libs = [
+  'params.cc',
+  'swaglog.cc',
+  'util.cc',
+  'i2c.cc',
+  'watchdog.cc',
+  'ratekeeper.cc'
+]
+
+if arch != "Darwin":
+  common_libs.append('gpio.cc')
+
+_common = env.Library('common', common_libs, LIBS="json11")
+
+files = [
+  'clutil.cc',
+]
+
+_gpucommon = env.Library('gpucommon', files)
+Export('_common', '_gpucommon')
+
+if GetOption('extras'):
+  env.Program('tests/test_common',
+              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
+              LIBS=[_common, 'json11', 'zmq', 'pthread'])
+
+# Cython bindings
+params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
+
+SConscript([
+  'transformations/SConscript',
+])
+
+Import('transformations_python')
+common_python = [params_python, transformations_python]
+
+Export('common_python')

common/api/base.py

@@ -1,7 +1,7 @@
 import jwt
 import requests
 import unicodedata
-from datetime import datetime, timedelta, UTC
+from datetime import datetime, timedelta
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version
 
@@ -24,7 +24,7 @@ class BaseApi:
     return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
 
   def _get_token(self, expiry_hours=1, **extra_payload):
-    now = datetime.now(UTC).replace(tzinfo=None)
+    now = datetime.utcnow()
     payload = {
       'identity': self.dongle_id,
       'nbf': now,

common/model.h

@@ -1 +1 @@
-#define CURRENT_MODEL "Notre Dame (July 1, 2024)"
+#define CURRENT_MODEL "North Dakota (April 29, 2024)"

common/realtime.py

@@ -6,7 +6,7 @@ import threading
 import psutil
 from collections import deque
 
-from openpilot.common.threadname import getthreadname
+from setproctitle import getproctitle
 
 from openpilot.system.hardware import PC
 
@@ -62,7 +62,7 @@ class Ratekeeper:
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
     self._remaining = 0.0
-    self._thread_name = getthreadname()
+    self._process_name = getproctitle()
     self._dts = deque([self._interval], maxlen=100)
     self._last_monitor_time = time.monotonic()
 
@@ -97,7 +97,7 @@ class Ratekeeper:
     remaining = self._next_frame_time - time.monotonic()
     self._next_frame_time += self._interval
     if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
-      print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms")
+      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
       lagged = True
     self._frame += 1
     self._remaining = remaining

common/threadname.py

@@ -1,19 +0,0 @@
-import ctypes
-import os
-
-LINUX = os.name == 'posix' and os.uname().sysname == 'Linux'
-
-if LINUX:
-  libc = ctypes.CDLL('libc.so.6')
-
-def setthreadname(name: str) -> None:
-  if LINUX:
-    name = name[-15:] + '\0'
-    libc.prctl(15, str.encode(name), 0, 0, 0)
-
-def getthreadname() -> str:
-  if LINUX:
-    name = ctypes.create_string_buffer(16)
-    libc.prctl(16, name)
-    return name.value.decode('utf-8')
-  return ""

common/transformations/SConscript

@@ -0,0 +1,5 @@
+Import('env', 'envCython')
+
+transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
+transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
+Export('transformations', 'transformations_python')

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "2024.07.20-2654"
+#define COMMA_VERSION "0.9.7.1-release"

docs/CARS.md

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

msgq_repo/SConscript

@@ -0,0 +1,51 @@
+Import('env', 'envCython', 'arch', 'common')
+
+
+visionipc_dir = Dir('msgq/visionipc')
+gen_dir = Dir('gen')
+
+
+# Build msgq
+msgq_objects = env.SharedObject([
+  'msgq/ipc.cc',
+  'msgq/event.cc',
+  'msgq/impl_zmq.cc',
+  'msgq/impl_msgq.cc',
+  'msgq/impl_fake.cc',
+  'msgq/msgq.cc',
+])
+msgq = env.Library('msgq', msgq_objects)
+msgq_python = envCython.Program('msgq/ipc_pyx.so', 'msgq/ipc_pyx.pyx', LIBS=envCython["LIBS"]+[msgq, "zmq", common])
+
+# Build Vision IPC
+vipc_files = ['visionipc.cc', 'visionipc_server.cc', 'visionipc_client.cc', 'visionbuf.cc']
+vipc_sources = [f'{visionipc_dir.abspath}/{f}' for f in vipc_files]
+
+if arch == "larch64":
+  vipc_sources += [f'{visionipc_dir.abspath}/visionbuf_ion.cc']
+else:
+  vipc_sources += [f'{visionipc_dir.abspath}/visionbuf_cl.cc']
+
+print(f'Building Vision IPC with {vipc_sources}')
+vipc_objects = env.SharedObject(vipc_sources)
+print(f'Building Vision IPC with {vipc_objects}')
+
+visionipc = env.Library('visionipc', vipc_objects)
+
+
+vipc_frameworks = []
+vipc_libs = envCython["LIBS"] + [visionipc, msgq, common, "zmq"]
+if arch == "Darwin":
+  vipc_frameworks.append('OpenCL')
+else:
+  vipc_libs.append('OpenCL')
+envCython.Program(f'{visionipc_dir.abspath}/visionipc_pyx.so', f'{visionipc_dir.abspath}/visionipc_pyx.pyx',
+                  LIBS=vipc_libs, FRAMEWORKS=vipc_frameworks)
+
+if GetOption('extras'):
+  env.Program('msgq/test_runner', ['msgq/test_runner.cc', 'msgq/msgq_tests.cc'], LIBS=[msgq, common])
+  env.Program(f'{visionipc_dir.abspath}/test_runner',
+             [f'{visionipc_dir.abspath}/test_runner.cc', f'{visionipc_dir.abspath}/visionipc_tests.cc'],
+              LIBS=['pthread'] + vipc_libs, FRAMEWORKS=vipc_frameworks)
+
+Export('visionipc', 'msgq', 'msgq_python')

msgq_repo/SConstruct

@@ -0,0 +1,90 @@
+import os
+import platform
+import subprocess
+import sysconfig
+import numpy as np
+
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
+
+common = ''
+
+cpppath = [
+  f"#/",
+  '#msgq/',
+  '/usr/lib/include',
+  '/opt/homebrew/include',
+  sysconfig.get_paths()['include'],
+]
+
+libpath = [
+  '/opt/homebrew/lib',
+]
+
+AddOption('--minimal',
+          action='store_false',
+          dest='extras',
+          default=True,
+          help='the minimum build. no tests, tools, etc.')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+AddOption('--ubsan',
+          action='store_true',
+          help='turn on UBSan')
+
+ccflags = []
+ldflags = []
+if GetOption('ubsan'):
+  flags = [
+    "-fsanitize=undefined",
+    "-fno-sanitize-recover=undefined",
+  ]
+  ccflags += flags
+  ldflags += flags
+elif GetOption('asan'):
+  ccflags += ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ldflags += ["-fsanitize=address"]
+
+env = Environment(
+  ENV=os.environ,
+  CC='clang',
+  CXX='clang++',
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Wunused",
+    "-Werror",
+    "-Wshadow",
+    "-Wno-vla-cxx-extension",
+  ] + ccflags,
+  LDFLAGS=ldflags,
+  LINKFLAGS=ldflags,
+
+  CFLAGS="-std=gnu11",
+  CXXFLAGS="-std=c++1z",
+  CPPPATH=cpppath,
+  LIBPATH=libpath,
+  CYTHONCFILESUFFIX=".cpp",
+  tools=["default", "cython"]
+)
+
+Export('env', 'arch', 'common')
+
+envCython = env.Clone(LIBS=[])
+envCython["CPPPATH"] += [np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"].remove('-Werror')
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+Export('envCython')
+
+
+SConscript(['SConscript'])

msgq_repo/msgq/msgq.h

@@ -6,7 +6,7 @@
 #include <atomic>
 
 #define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
-#define NUM_READERS 23
+#define NUM_READERS 20
 #define ALIGN(n) ((n + (8 - 1)) & -8)
 
 #define UNUSED(x) (void)x

opendbc/LICENSE

@@ -0,0 +1,7 @@
+Copyright (c) 2020, Comma.ai, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

opendbc/SConstruct

@@ -0,0 +1,85 @@
+import os
+import subprocess
+import sysconfig
+import numpy as np
+
+zmq = 'zmq'
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+
+cereal_dir = Dir('.')
+
+python_path = sysconfig.get_paths()['include']
+cpppath = [
+  '#',
+  '/usr/lib/include',
+  python_path
+]
+
+AddOption('--minimal',
+          action='store_false',
+          dest='extras',
+          default=True,
+          help='the minimum build. no tests, tools, etc.')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
+ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
+
+env = Environment(
+  ENV=os.environ,
+  CC='clang',
+  CXX='clang++',
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Wunused",
+    "-Werror",
+    "-Wshadow",
+    "-Wno-vla-cxx-extension",
+  ] + ccflags_asan,
+  LDFLAGS=ldflags_asan,
+  LINKFLAGS=ldflags_asan,
+  LIBPATH=[
+    "#opendbc/can/",
+  ],
+  CFLAGS="-std=gnu11",
+  CXXFLAGS=["-std=c++1z"],
+  CPPPATH=cpppath,
+  CYTHONCFILESUFFIX=".cpp",
+  tools=["default", "cython"]
+)
+
+common = ''
+Export('env', 'zmq', 'arch', 'common')
+
+cereal = [File('#cereal/libcereal.a')]
+messaging = [File('#cereal/libmessaging.a')]
+Export('cereal', 'messaging')
+
+
+envCython = env.Clone()
+envCython["CPPPATH"] += [np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"].remove("-Werror")
+
+python_libs = []
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+  envCython["LINKFLAGS"] = ["-shared"]
+
+  python_libs.append(os.path.basename(python_path))
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+envCython["LIBS"] = python_libs
+
+Export('envCython')
+
+
+SConscript(['cereal/SConscript'])
+SConscript(['opendbc/can/SConscript'])

opendbc/can/SConscript

@@ -0,0 +1,28 @@
+Import('env', 'envCython', 'cereal', 'common')
+
+import os
+
+envDBC = env.Clone()
+dbc_file_path = '-DDBC_FILE_PATH=\'"%s"\'' % (envDBC.Dir("..").abspath)
+envDBC['CXXFLAGS'] += [dbc_file_path]
+src = ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]
+libs = [common, "capnp", "kj", "zmq"]
+
+# shared library for openpilot
+libdbc = envDBC.SharedLibrary('libdbc', src, LIBS=libs)
+
+# static library for tools like cabana
+envDBC.Library('libdbc_static', src, LIBS=libs)
+
+# Build packer and parser
+lenv = envCython.Clone()
+lenv["LINKFLAGS"] += [libdbc[0].get_labspath()]
+parser = lenv.Program('parser_pyx.so', 'parser_pyx.pyx')
+packer = lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
+
+lenv.Depends(parser, libdbc)
+lenv.Depends(packer, libdbc)
+
+opendbc_python = Alias("opendbc_python", [parser, packer])
+
+Export('opendbc_python')

opendbc/generator/toyota/_sp_debug_toyota.dbc

@@ -1,27 +0,0 @@
-BO_ 1880 DEBUG: 8 XXX
- SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
- SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 836 PRE_COLLISION_2: 8 DSU
- SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
- SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
- SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
- SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
- SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
- SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
- SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX

opendbc/generator/toyota/_toyota_2017.dbc

@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 865 CLUTCH: 8 XXX
  SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX
  SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX

opendbc/generator/toyota/toyota_new_mc_pt.dbc

@@ -1,6 +1,5 @@
 CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _toyota_2017.dbc";
-CM_ "IMPORT _sp_debug_toyota.dbc";
 
 BO_ 548 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX

opendbc/generator/toyota/toyota_nodsu_pt.dbc

@@ -1,6 +1,5 @@
 CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _toyota_2017.dbc";
-CM_ "IMPORT _sp_debug_toyota.dbc";
 
 BO_ 401 STEERING_LTA: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

opendbc/generator/toyota/toyota_tnga_k_pt.dbc

@@ -1,6 +1,5 @@
 CM_ "IMPORT _community.dbc";
 CM_ "IMPORT _toyota_2017.dbc";
-CM_ "IMPORT _sp_debug_toyota.dbc";
 
 BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX

opendbc/hyundai_kia_generic.dbc

@@ -1518,7 +1518,6 @@ BO_ 865 ADAS_PRK_11: 8 ADAS_PRK
 
 BO_ 882 ELECT_GEAR: 8 XXX
  SG_ Elect_Gear_Shifter : 16|4@1+ (1,0) [0|7] ""  CLU
- SG_ VSetDis : 32|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 881 E_EMS11: 8 XXX
  SG_ Brake_Pedal_Pos : 0|8@1+ (1,0) [0|127] "" XXX
@@ -1532,10 +1531,6 @@ BO_ 881 E_EMS11: 8 XXX
 BO_ 1355 EV_PC6: 8 CGW
  SG_ CF_Vcu_SbwWarnMsg : 16|3@1+ (1,0) [0|7] "" Vector__XXX
 
-BO_ 1429 E_CRUISE_CONTROL: 8 XXX
- SG_ CRUISE_LAMP_M : 50|1@0+ (1,0) [0|1] "" XXX
- SG_ CF_Lvr_CruiseSet : 51|1@0+ (1,0) [0|1] "" XXX
-
 BO_ 1430 EV_PC2: 8 CGW
  SG_ CR_Ldc_ActVol_LS_V : 32|8@1+ (0.1,0) [0|0] "V" Vector__XXX
 

opendbc/toyota_new_mc_pt_generated.dbc

@@ -212,6 +212,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 865 CLUTCH: 8 XXX
  SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX
  SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
@@ -559,36 +562,6 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
 VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked";
 
-
-CM_ "Imported file _sp_debug_toyota.dbc starts here";
-BO_ 1880 DEBUG: 8 XXX
- SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
- SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 836 PRE_COLLISION_2: 8 DSU
- SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
- SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
- SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
- SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
- SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
- SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
- SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
-
 CM_ "toyota_new_mc_pt.dbc starts here";
 
 BO_ 548 BRAKE_MODULE: 8 XXX

opendbc/toyota_nodsu_pt_generated.dbc

@@ -212,6 +212,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 865 CLUTCH: 8 XXX
  SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX
  SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
@@ -559,36 +562,6 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
 VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked";
 
-
-CM_ "Imported file _sp_debug_toyota.dbc starts here";
-BO_ 1880 DEBUG: 8 XXX
- SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
- SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 836 PRE_COLLISION_2: 8 DSU
- SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
- SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
- SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
- SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
- SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
- SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
- SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
-
 CM_ "toyota_nodsu_pt.dbc starts here";
 
 BO_ 401 STEERING_LTA: 8 XXX

opendbc/toyota_tnga_k_pt_generated.dbc

@@ -212,6 +212,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 865 CLUTCH: 8 XXX
  SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX
  SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
@@ -559,36 +562,6 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
 VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked";
 
-
-CM_ "Imported file _sp_debug_toyota.dbc starts here";
-BO_ 1880 DEBUG: 8 XXX
- SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
- SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 836 PRE_COLLISION_2: 8 DSU
- SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
- SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
- SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
- SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
- SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
- SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
- SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
-
 CM_ "toyota_tnga_k_pt.dbc starts here";
 
 BO_ 550 BRAKE_MODULE: 8 XXX

panda/LICENSE

@@ -0,0 +1,7 @@
+Copyright (c) 2016, Comma.ai, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

panda/SConscript

@@ -0,0 +1,188 @@
+import os
+import subprocess
+
+
+PREFIX = "arm-none-eabi-"
+BUILDER = "DEV"
+
+common_flags = []
+
+panda_root = Dir('.')
+
+if os.getenv("RELEASE"):
+  BUILD_TYPE = "RELEASE"
+  cert_fn = os.getenv("CERT")
+  assert cert_fn is not None, 'No certificate file specified. Please set CERT env variable'
+  assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
+else:
+  BUILD_TYPE = "DEBUG"
+  cert_fn = File("./certs/debug").srcnode().relpath
+  common_flags += ["-DALLOW_DEBUG"]
+
+  if os.getenv("DEBUG"):
+    common_flags += ["-DDEBUG"]
+
+def objcopy(source, target, env, for_signature):
+    return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
+
+def get_version(builder, build_type):
+  try:
+    git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
+  except subprocess.CalledProcessError:
+    git = "unknown"
+  return f"{builder}-{git}-{build_type}"
+
+def get_key_header(name):
+  from Crypto.PublicKey import RSA
+
+  public_fn = File(f'./certs/{name}.pub').srcnode().get_path()
+  with open(public_fn) as f:
+    rsa = RSA.importKey(f.read())
+  assert(rsa.size_in_bits() == 1024)
+
+  rr = pow(2**1024, 2, rsa.n)
+  n0inv = 2**32 - pow(rsa.n, -1, 2**32)
+
+  r = [
+    f"RSAPublicKey {name}_rsa_key = {{",
+    f"  .len = 0x20,",
+    f"  .n0inv = {n0inv}U,",
+    f"  .n = {to_c_uint32(rsa.n)},",
+    f"  .rr = {to_c_uint32(rr)},",
+    f"  .exponent = {rsa.e},",
+    f"}};",
+  ]
+  return r
+
+def to_c_uint32(x):
+  nums = []
+  for _ in range(0x20):
+    nums.append(x % (2**32))
+    x //= (2**32)
+  return "{" + 'U,'.join(map(str, nums)) + "U}"
+
+
+def build_project(project_name, project, extra_flags):
+  linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().relpath
+
+  flags = project["PROJECT_FLAGS"] + extra_flags + common_flags + [
+    "-Wall",
+    "-Wextra",
+    "-Wstrict-prototypes",
+    "-Werror",
+    "-mlittle-endian",
+    "-mthumb",
+    "-nostdlib",
+    "-fno-builtin",
+    "-std=gnu11",
+    "-fmax-errors=1",
+    f"-T{linkerscript_fn}",
+  ]
+
+  includes = [
+    '.',
+    '..',
+    panda_root,
+    f"{panda_root}/board/",
+  ]
+
+  env = Environment(
+    ENV=os.environ,
+    CC=PREFIX + 'gcc',
+    AS=PREFIX + 'gcc',
+    OBJCOPY=PREFIX + 'objcopy',
+    OBJDUMP=PREFIX + 'objdump',
+    CFLAGS=flags,
+    ASFLAGS=flags,
+    LINKFLAGS=flags,
+    CPPPATH=includes,
+    ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
+    BUILDERS={
+      'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
+    },
+    tools=["default", "compilation_db"],
+  )
+
+  startup = env.Object(f"obj/startup_{project_name}", project["STARTUP_FILE"])
+
+  # Bootstub
+  crypto_obj = [
+    env.Object(f"rsa-{project_name}", f"{panda_root}/crypto/rsa.c"),
+    env.Object(f"sha-{project_name}", f"{panda_root}/crypto/sha.c")
+  ]
+  bootstub_obj = env.Object(f"bootstub-{project_name}", File(project.get("BOOTSTUB", f"{panda_root}/board/bootstub.c")))
+  bootstub_elf = env.Program(f"obj/bootstub.{project_name}.elf",
+                                     [startup] + crypto_obj + [bootstub_obj])
+  env.Objcopy(f"obj/bootstub.{project_name}.bin", bootstub_elf)
+
+  # Build main
+  main_obj = env.Object(f"main-{project_name}", project["MAIN"])
+  main_elf = env.Program(f"obj/{project_name}.elf", [startup, main_obj],
+    LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
+  main_bin = env.Objcopy(f"obj/{project_name}.bin", main_elf)
+
+  # Sign main
+  sign_py = File(f"{panda_root}/crypto/sign.py").srcnode().relpath
+  env.Command(f"obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
+
+
+base_project_f4 = {
+  "MAIN": "main.c",
+  "STARTUP_FILE": File("./board/stm32f4/startup_stm32f413xx.s"),
+  "LINKER_SCRIPT": File("./board/stm32f4/stm32f4_flash.ld"),
+  "APP_START_ADDRESS": "0x8004000",
+  "PROJECT_FLAGS": [
+    "-mcpu=cortex-m4",
+    "-mhard-float",
+    "-DSTM32F4",
+    "-DSTM32F413xx",
+    "-Iboard/stm32f4/inc",
+    "-mfpu=fpv4-sp-d16",
+    "-fsingle-precision-constant",
+    "-Os",
+    "-g",
+  ],
+}
+
+base_project_h7 = {
+  "MAIN": "main.c",
+  "STARTUP_FILE": File("./board/stm32h7/startup_stm32h7x5xx.s"),
+  "LINKER_SCRIPT": File("./board/stm32h7/stm32h7x5_flash.ld"),
+  "APP_START_ADDRESS": "0x8020000",
+  "PROJECT_FLAGS": [
+    "-mcpu=cortex-m7",
+    "-mhard-float",
+    "-DSTM32H7",
+    "-DSTM32H725xx",
+    "-Iboard/stm32h7/inc",
+    "-mfpu=fpv5-d16",
+    "-fsingle-precision-constant",
+    "-Os",
+    "-g",
+  ],
+}
+
+Export('base_project_f4', 'base_project_h7', 'build_project')
+
+
+# Common autogenerated includes
+with open("board/obj/gitversion.h", "w") as f:
+  f.write(f'const uint8_t gitversion[] = "{get_version(BUILDER, BUILD_TYPE)}";\n')
+
+with open("board/obj/version", "w") as f:
+  f.write(f'{get_version(BUILDER, BUILD_TYPE)}')
+
+certs = [get_key_header(n) for n in ["debug", "release"]]
+with open("board/obj/cert.h", "w") as f:
+  for cert in certs:
+    f.write("\n".join(cert) + "\n")
+
+# panda fw
+SConscript('board/SConscript')
+
+# panda jungle fw
+SConscript('board/jungle/SConscript')
+
+# test files
+if GetOption('extras'):
+  SConscript('tests/libpanda/SConscript')

panda/SConstruct

@@ -0,0 +1,28 @@
+AddOption('--minimal',
+          action='store_false',
+          dest='extras',
+          default=True,
+          help='the minimum build. no tests, tools, etc.')
+
+AddOption('--ubsan',
+          action='store_true',
+          help='turn on UBSan')
+
+AddOption('--coverage',
+          action='store_true',
+          help='build with test coverage options')
+
+AddOption('--compile_db',
+          action='store_true',
+          help='build clang compilation database')
+
+env = Environment(
+  COMPILATIONDB_USE_ABSPATH=True,
+  tools=["default", "compilation_db"],
+)
+  
+if GetOption('compile_db'):
+    env.CompilationDatabase("compile_commands.json")
+
+# panda fw & test files
+SConscript('SConscript')

panda/python/__init__.py

@@ -216,7 +216,6 @@ class Panda:
   FLAG_HYUNDAI_LFA_BTN = 256
   FLAG_HYUNDAI_ESCC = 512
   FLAG_HYUNDAI_NON_SCC = 1024
-  FLAG_HYUNDAI_UPSTREAM_TACO = 2048
 
   FLAG_TESLA_POWERTRAIN = 1
   FLAG_TESLA_LONG_CONTROL = 2
@@ -242,7 +241,6 @@ class Panda:
 
   FLAG_FORD_LONG_CONTROL = 1
   FLAG_FORD_CANFD = 2
-  FLAG_FORD_ENHANCED_LAT_CONTROL = 2048
 
   def __init__(self, serial: str | None = None, claim: bool = True, disable_checks: bool = True, can_speed_kbps: int = 500):
     self._connect_serial = serial

panda/python/uds.py

@@ -476,14 +476,8 @@ class IsoTpMessage():
     if rx_data[0] >> 4 == ISOTP_FRAME_TYPE.SINGLE:
       assert self.rx_dat == b"" or self.rx_done, "isotp - rx: single frame with active frame"
       self.rx_len = rx_data[0] & 0x0F
-      # "if the first byte of SF=0, then second byte specifies the size of the data."
-      # - https://en.wikipedia.org/wiki/CAN_FD
-      offset = 1
-      if self.rx_len == 0x0 and len(rx_data) > 8:
-        self.rx_len = rx_data[1]
-        offset = 2
-      # assert self.rx_len < self.max_len, f"isotp - rx: invalid single frame length: {self.rx_len}"
-      self.rx_dat = rx_data[offset:offset + self.rx_len]
+      assert self.rx_len < self.max_len, f"isotp - rx: invalid single frame length: {self.rx_len}"
+      self.rx_dat = rx_data[1:1 + self.rx_len]
       self.rx_idx = 0
       self.rx_done = True
       if self.debug:

pyproject.toml

@@ -1,140 +1,15 @@
 [project]
 name = "openpilot"
 requires-python = ">= 3.11"
+readme = "README.md"
 license = {text = "MIT License"}
-version = "0.1.0"
-description = "an open source driver assistance system"
-authors = [
-  {name ="Vehicle Researcher", email="user@comma.ai"}
-]
-
-dependencies = [
-  # multiple users
-  "sounddevice",  # micd + soundd
-  "pyserial",     # pigeond + qcomgpsd
-  "requests",     # many one-off uses
-  "sympy",        # rednose + friends
-  "crcmod",       # cars + qcomgpsd
-  "tqdm",         # cars (fw_versions.py) on start + many one-off uses
-
-  # hardwared
-  "smbus2", # configuring amp
-
-  # core
-  "cffi",
-  "scons",
-  "pycapnp",
-  "Cython",
-  "setuptools",
-  "numpy < 2.0.0", # control does not support numpy 2
-
-  # body / webrtcd
-  "aiohttp",
-  "aiortc",
-  "pyaudio",
-
-  # panda
-  "libusb1",
-  "spidev; platform_system == 'Linux'",
-
-  # modeld
-  "onnx >= 1.14.0",
-  "onnxruntime >=1.16.3; platform_system == 'Linux' and platform_machine == 'aarch64'",
-  "onnxruntime-gpu >=1.16.3; platform_system == 'Linux' and platform_machine == 'x86_64'",
-
-  # logging
-  "pyzmq",
-  "sentry-sdk",
-
-  # athena
-  "PyJWT",
-  "json-rpc",
-  "websocket_client",
-
-  # acados deps
-  "casadi",
-  "future-fstrings",
-
-  # these should be removed
-  "psutil",
-  "pycryptodome", # used in updated/casync, panda, body, and a test
-
-  #logreader
-  "zstd",
-]
-
-[project.optional-dependencies]
-docs = [
-  "Jinja2",
-]
-
-testing = [
-  "coverage",
-  "hypothesis ==6.47.*",
-  "mypy",
-  "pre-commit",
-  "pytest",
-  "pytest-cov",
-  "pytest-cpp",
-  "pytest-subtests",
-  "pytest-xdist",
-  "pytest-timeout",
-  "pytest-randomly",
-  "pytest-asyncio",
-  "pytest-mock",
-  "pytest-repeat",
-  "ruff"
-]
-
-dev = [
-  "av",
-  "azure-identity",
-  "azure-storage-blob",
-  "breathe",
-  "control",
-  "dictdiffer",
-  "flaky",
-  "inputs",
-  "lru-dict",
-  "matplotlib",
-  "metadrive-simulator; platform_machine != 'aarch64'",
-  "mpld3",
-  "myst-parser",
-  "natsort",
-  "opencv-python-headless",
-  "parameterized >=0.8, <0.9",
-  #pprofile = "*"
-  "pyautogui",
-  "pygame",
-  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
-  "pywinctl",
-  "pyprof2calltree",
-  "rerun-sdk",
-  "tabulate",
-  "types-requests",
-  "types-tabulate",
-
-  # this is only pinned since 5.15.11 is broken
-  "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
-
-]
-
-[tool.uv.sources]
-metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "opencv_headless" }
 
 [project.urls]
 Homepage = "https://comma.ai"
 
-[build-system]
-requires = ["hatchling"]
-build-backend = "hatchling.build"
-
-[tool.hatch.build.targets.wheel]
-packages = [ "." ]
-
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
@@ -150,6 +25,7 @@ testpaths = [
   "selfdrive/controls",
   "selfdrive/locationd",
   "selfdrive/monitoring",
+  "selfdrive/navd/tests",
   "selfdrive/test/longitudinal_maneuvers",
   "selfdrive/test/process_replay/test_fuzzy.py",
   "system/updated",
@@ -200,6 +76,128 @@ warn_return_any=true
 # allow implicit optionals for default args
 implicit_optional = true
 
+
+[tool.poetry]
+name = "openpilot"
+version = "0.1.0"
+description = "an open source driver assistance system"
+authors = ["Vehicle Researcher <user@comma.ai>"]
+license = "MIT"
+readme = "README.md"
+repository = "https://github.com/commaai/openpilot"
+documentation = "https://docs.comma.ai"
+
+[tool.poetry.dependencies]
+python = "~3.11"
+
+# multiple users
+sounddevice = "*"  # micd + soundd
+pyserial = "*"     # pigeond + qcomgpsd
+requests = "*"     # many one-off uses
+sympy = "*"        # rednose + friends
+crcmod = "*"       # cars + qcomgpsd
+
+# hardwared
+smbus2 = "*"  # configuring amp
+
+# core
+cffi = "*"
+scons = "*"
+pycapnp = "*"
+Cython = "*"
+numpy = "*"
+
+# body / webrtcd
+aiohttp = "*"
+aiortc = "*"
+pyaudio = "*"
+
+# panda
+libusb1 = "*"
+spidev = { version = "*", platform = "linux" }
+
+# modeld
+onnx = ">=1.14.0"
+onnxruntime = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'aarch64'" }
+onnxruntime-gpu = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'x86_64'" }
+
+# logging
+pyzmq = "*"
+sentry-sdk = "*"
+
+# athena
+PyJWT = "*"
+json-rpc = "*"
+websocket_client = "*"
+
+# acados deps
+casadi = "*"
+future-fstrings = "*"
+
+# these should be removed
+psutil = "*"
+timezonefinder = "*"  # just used for nav ETA
+setproctitle = "*"
+pycryptodome = "*"  # used in updated/casync, panda, body, and a test
+
+[tool.poetry.group.dev.dependencies]
+av = "*"
+azure-identity = "*"
+azure-storage-blob = "*"
+breathe = "*"
+control = "*"
+coverage = "*"
+dictdiffer = "*"
+flaky = "*"
+hypothesis = "~6.47"
+inputs = "*"
+Jinja2 = "*"
+lru-dict = "*"
+matplotlib = "*"
+# No release for this fix https://github.com/metadriverse/metadrive/issues/632. Pinned to this commit until next release
+metadrive-simulator = {git = "https://github.com/metadriverse/metadrive.git", rev ="233a3a1698be7038ec3dd050ca10b547b4b3324c", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+mpld3 = "*"
+mypy = "*"
+myst-parser = "*"
+natsort = "*"
+opencv-python-headless = "*"
+parameterized = "^0.8"
+pprofile = "*"
+polyline = "*"
+pre-commit = "*"
+pyautogui = "*"
+pytools = "<=2024.1.3" # our pinned version of pyopencl use a broken version of pytools
+pyopencl = "==2023.1.4"  # 2024.1 is broken on arm64
+pygame = "*"
+pywinctl = "*"
+pyprof2calltree = "*"
+pytest = "*"
+pytest-cov = "*"
+pytest-cpp = "*"
+pytest-subtests = "*"
+pytest-xdist = "*"
+pytest-timeout = "*"
+pytest-randomly = "*"
+pytest-asyncio = "*"
+pytest-mock = "*"
+pytest-repeat = "*"
+rerun-sdk = "*"
+ruff = "*"
+sphinx = "*"
+sphinx-rtd-theme = "*"
+sphinx-sitemap = "*"
+tabulate = "*"
+types-requests = "*"
+types-tabulate = "*"
+tqdm = "*"
+
+# this is only pinned since 5.15.11 is broken
+pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
+
+[build-system]
+requires = ["poetry-core"]
+build-backend = "poetry.core.masonry.api"
+
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
@@ -209,8 +207,7 @@ lint.select = [
   "UP",  # pyupgrade
   "TRY302", "TRY400", "TRY401", # try/excepts
   "RUF008", "RUF100",
-  "TID251",
-  "PLR1704",
+  "TID251"
 ]
 lint.ignore = [
   "E741",

rednose_repo/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2020 comma.ai
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

rednose_repo/SConstruct

@@ -0,0 +1,59 @@
+import os
+import subprocess
+import sysconfig
+import numpy as np
+
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+
+common = ''
+
+python_path = sysconfig.get_paths()['include']
+cpppath = [
+  '#',
+  '#rednose',
+  '#rednose/examples/generated',
+  '/usr/lib/include',
+  python_path,
+  np.get_include(),
+]
+
+env = Environment(
+  ENV=os.environ,
+  CC='clang',
+  CXX='clang++',
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Werror=implicit-function-declaration",
+    "-Werror=incompatible-pointer-types",
+    "-Werror=int-conversion",
+    "-Werror=return-type",
+    "-Werror=format-extra-args",
+    "-Wshadow",
+  ],
+  LIBPATH=["#rednose/examples/generated"],
+  CFLAGS="-std=gnu11",
+  CXXFLAGS="-std=c++1z",
+  CPPPATH=cpppath,
+  REDNOSE_ROOT=Dir("#").abspath,
+  tools=["default", "cython", "rednose_filter"],
+)
+
+# Cython build enviroment
+envCython = env.Clone()
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+
+envCython["LIBS"] = []
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+  envCython["LINKFLAGS"] = ["-shared"]
+  envCython["LIBS"] = [os.path.basename(python_path)]
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+Export('env', 'envCython', 'common')
+
+SConscript(['#rednose/SConscript'])
+SConscript(['#examples/SConscript'])

rednose_repo/examples/SConscript

@@ -0,0 +1,19 @@
+Import('env')
+
+gen_dir = Dir('generated/').abspath
+
+env.RednoseCompileFilter(
+  target="live",
+  filter_gen_script="live_kf.py",
+  output_dir=gen_dir,
+)
+env.RednoseCompileFilter(
+  target="kinematic",
+  filter_gen_script="kinematic_kf.py",
+  output_dir=gen_dir,
+)
+env.RednoseCompileFilter(
+  target="compare",
+  filter_gen_script="test_compare.py",
+  output_dir=gen_dir,
+)

rednose_repo/rednose/SConscript

@@ -0,0 +1,17 @@
+Import('env', 'envCython', 'common')
+
+cc_sources = [
+  "helpers/ekf_load.cc",
+  "helpers/ekf_sym.cc",
+]
+libs = ["dl"]
+if common != "":
+  # for SWAGLOG support
+  libs += [common, 'zmq']
+
+ekf_objects = env.SharedObject(cc_sources)
+rednose = env.Library("helpers/ekf_sym", ekf_objects, LIBS=libs)
+rednose_python = envCython.Program("helpers/ekf_sym_pyx.so", ["helpers/ekf_sym_pyx.pyx", ekf_objects],
+                                   LIBS=libs + envCython["LIBS"])
+
+Export('rednose', 'rednose_python')

selfdrive/SConscript

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

selfdrive/assets/translations_assets.qrc

@@ -4,7 +4,6 @@
 <file alias="main_de">../ui/translations/main_de.qm</file>
 <file alias="main_fr">../ui/translations/main_fr.qm</file>
 <file alias="main_pt-BR">../ui/translations/main_pt-BR.qm</file>
-<file alias="main_es">../ui/translations/main_es.qm</file>
 <file alias="main_tr">../ui/translations/main_tr.qm</file>
 <file alias="main_ar">../ui/translations/main_ar.qm</file>
 <file alias="main_th">../ui/translations/main_th.qm</file>

selfdrive/car/card.py

@@ -56,7 +56,6 @@ class Car:
     self.mads_disengage_lateral_on_brake = self.params.get_bool("DisengageLateralOnBrake")
     self.mads_dlob = self.enable_mads and self.mads_disengage_lateral_on_brake
     self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake
-    self.sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
     self.CP.alternativeExperience = 0
     if not self.disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
@@ -64,8 +63,6 @@ class Car:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
     elif self.mads_ndlob:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISABLE_DISENGAGE_LATERAL_ON_BRAKE
-    if self.sp_toyota_auto_brake_hold:
-      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
 
     if self.CP.customStockLongAvailable and self.CP.pcmCruise and self.params.get_bool("CustomStockLong"):
       self.CP.pcmCruiseSpeed = False

selfdrive/car/chrysler/fingerprints.py

@@ -232,7 +232,6 @@ FW_VERSIONS = {
       b'68540436AD',
       b'68598670AB',
       b'68598670AC',
-      b'68645752AA',
     ],
     (Ecu.eps, 0x75a, None): [
       b'68416741AA',
@@ -254,7 +253,6 @@ FW_VERSIONS = {
       b'68526772AD ',
       b'68526772AH ',
       b'68599493AC ',
-      b'68657433AA ',
     ],
     (Ecu.hybrid, 0x7e2, None): [
       b'05185116AF',
@@ -269,7 +267,6 @@ FW_VERSIONS = {
       b'68540977AH',
       b'68540977AK',
       b'68597647AE',
-      b'68632416AB',
     ],
   },
   CAR.JEEP_GRAND_CHEROKEE: {
@@ -293,7 +290,6 @@ FW_VERSIONS = {
     (Ecu.abs, 0x747, None): [
       b'68252642AG',
       b'68306178AD',
-      b'68336275AB',
       b'68336276AB',
     ],
     (Ecu.fwdRadar, 0x753, None): [
@@ -315,7 +311,6 @@ FW_VERSIONS = {
       b'68284456AI ',
       b'68284477AF ',
       b'68325564AH ',
-      b'68325564AI ',
       b'68325565AH ',
       b'68325565AI ',
       b'68325618AD ',
@@ -380,7 +375,6 @@ FW_VERSIONS = {
       b'68449435AE ',
       b'68496223AA ',
       b'68504959AD ',
-      b'68504959AE ',
       b'68504960AD ',
       b'68504993AC ',
     ],
@@ -439,7 +433,6 @@ FW_VERSIONS = {
       b'68527381AE',
       b'68527382AE',
       b'68527383AD',
-      b'68527383AE',
       b'68527387AE',
       b'68527403AC',
       b'68527403AD',
@@ -543,7 +536,6 @@ FW_VERSIONS = {
       b'05190341AD',
       b'68378695AJ ',
       b'68378696AJ ',
-      b'68378696AK ',
       b'68378701AI ',
       b'68378702AI ',
       b'68378710AL ',

selfdrive/car/chrysler/interface.py

@@ -129,7 +129,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
       if ret.gasPressed and not ret.cruiseState.enabled:

selfdrive/car/chrysler/values.py

@@ -47,7 +47,7 @@ class CAR(Platforms):
     CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
   CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-24")],
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")],
     CHRYSLER_PACIFICA_2017_HYBRID.specs,
   )
   CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(

selfdrive/car/docs_definitions.py

@@ -91,8 +91,8 @@ class CarHarness(EnumBase):
   subaru_d = BaseCarHarness("Subaru D connector")
   fca = BaseCarHarness("FCA connector")
   ram = BaseCarHarness("Ram connector")
-  vw_a = BaseCarHarness("VW A connector")
-  vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
+  vw = BaseCarHarness("VW connector")
+  j533 = BaseCarHarness("J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
   hyundai_a = BaseCarHarness("Hyundai A connector")
   hyundai_b = BaseCarHarness("Hyundai B connector")
   hyundai_c = BaseCarHarness("Hyundai C connector")

selfdrive/car/ecu_addrs.py

@@ -71,35 +71,25 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
 
 if __name__ == "__main__":
   import argparse
-  from openpilot.common.params import Params
-  from openpilot.selfdrive.car.fw_versions import set_obd_multiplexing
 
   parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
   parser.add_argument('--debug', action='store_true')
   parser.add_argument('--bus', type=int, default=1)
-  parser.add_argument('--no-obd', action='store_true')
   parser.add_argument('--timeout', type=float, default=1.0)
   args = parser.parse_args()
 
   logcan = messaging.sub_sock('can')
   sendcan = messaging.pub_sock('sendcan')
 
-  # Set up params for pandad
-  params = Params()
-  params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False)
-  time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True)
-
-  set_obd_multiplexing(params, not args.no_obd)
+  time.sleep(1.0)
 
   print("Getting ECU addresses ...")
   ecu_addrs = get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
 
   print()
-  print("Found ECUs on rx addresses:")
+  print("Found ECUs on addresses:")
   for addr, subaddr, _ in ecu_addrs:
-    msg = f"  {hex(addr)}"
+    msg = f"  0x{hex(addr)}"
     if subaddr is not None:
       msg += f" (sub-address: {hex(subaddr)})"
     print(msg)

selfdrive/car/ford/carcontroller.py

@@ -3,7 +3,7 @@ from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import apply_std_steer_angle_limits
 from openpilot.selfdrive.car.ford import fordcan
-from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags, FordFlagsSP
+from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 
@@ -36,9 +36,6 @@ class CarController(CarControllerBase):
     self.lkas_enabled_last = False
     self.steer_alert_last = False
     self.lead_distance_bars_last = None
-    self.path_angle = 0.
-    self.path_offset = 0.
-    self.curvature_rate = 0.
 
   def update(self, CC, CS, now_nanos):
     can_sends = []
@@ -78,10 +75,7 @@ class CarController(CarControllerBase):
         # TODO: extended mode
         mode = 1 if CC.latActive else 0
         counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
-        if self.CP.spFlags & FordFlagsSP.SP_ENHANCED_LAT_CONTROL.value:
-          can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, self.path_offset, self.path_angle, -apply_curvature, self.curvature_rate, counter))
-        else:
-          can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
+        can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
       else:
         can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
 

selfdrive/car/ford/carstate.py

@@ -15,7 +15,7 @@ class CarState(CarStateBase):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     if CP.transmissionType == TransmissionType.automatic:
-      self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
+      self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
 
     self.vehicle_sensors_valid = False
 
@@ -26,7 +26,6 @@ class CarState(CarStateBase):
     self.prev_lkas_enabled = None
     self.buttonStates = BUTTON_STATES.copy()
     self.buttonStatesPrev = BUTTON_STATES.copy()
-    self.v_limit = 0
 
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
@@ -74,16 +73,12 @@ class CarState(CarStateBase):
     ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
     ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3
     ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2)
-
-    if self.CP.flags & FordFlags.CANFD:
-      ret.cruiseState.speedLimit = self.update_traffic_signals(cp_cam)
-
     if not self.CP.openpilotLongitudinalControl:
       ret.accFaulted = ret.accFaulted or cp_cam.vl["ACCDATA"]["CmbbDeny_B_Actl"] == 1
 
     # gear
     if self.CP.transmissionType == TransmissionType.automatic:
-      gear = self.shifter_values.get(cp.vl["PowertrainData_10"]["TrnRng_D_Rq"])
+      gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"])
       ret.gearShifter = self.parse_gear_shifter(gear)
     elif self.CP.transmissionType == TransmissionType.manual:
       ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
@@ -132,16 +127,6 @@ class CarState(CarStateBase):
 
     return ret
 
-  def update_traffic_signals(self, cp_cam):
-    # TODO: Check if CAN platforms have the same signals
-    if self.CP.flags & FordFlags.CANFD:
-      self.v_limit = cp_cam.vl["Traffic_RecognitnData"]["TsrVLim1MsgTxt_D_Rq"]
-      v_limit_unit = cp_cam.vl["Traffic_RecognitnData"]["TsrVlUnitMsgTxt_D_Rq"]
-
-      speed_factor = CV.MPH_TO_MS if v_limit_unit == 2 else CV.KPH_TO_MS if v_limit_unit == 1 else 0
-
-      return self.v_limit * speed_factor if self.v_limit not in (0, 255) else 0
-
   @staticmethod
   def get_can_parser(CP):
     messages = [
@@ -172,7 +157,7 @@ class CarState(CarStateBase):
 
     if CP.transmissionType == TransmissionType.automatic:
       messages += [
-        ("PowertrainData_10", 10),
+        ("Gear_Shift_by_Wire_FD1", 10),
       ]
     elif CP.transmissionType == TransmissionType.manual:
       messages += [
@@ -198,11 +183,6 @@ class CarState(CarStateBase):
       ("IPMA_Data", 1),
     ]
 
-    if CP.flags & FordFlags.CANFD:
-      messages += [
-        ("Traffic_RecognitnData", 1),
-      ]
-
     if CP.enableBsm and CP.flags & FordFlags.CANFD:
       messages += [
         ("Side_Detect_L_Stat", 5),

selfdrive/car/ford/interface.py

@@ -3,8 +3,7 @@ from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
 from openpilot.selfdrive.car.ford.fordcan import CanBus
-from openpilot.common.params import Params
-from openpilot.selfdrive.car.ford.values import Ecu, FordFlags, BUTTON_STATES, FordFlagsSP
+from openpilot.selfdrive.car.ford.values import Ecu, FordFlags, BUTTON_STATES
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -21,14 +20,16 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
+    ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
 
     ret.radarUnavailable = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
-    if Params().get("DongleId", encoding='utf8') in ("4fde83db16dc0802", "112e4d6e0cad05e1", "e36b272d5679115f", "24574459dd7fb3e0", "83a4e056c7072678"):
-      ret.spFlags |= FordFlagsSP.SP_ENHANCED_LAT_CONTROL.value
+    ret.longitudinalTuning.kpBP = [0.]
+    ret.longitudinalTuning.kpV = [0.5]
+    ret.longitudinalTuning.kiV = [0.]
 
     CAN = CanBus(fingerprint=fingerprint)
     cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
@@ -56,13 +57,6 @@ class CarInterface(CarInterfaceBase):
           if config_tja != 0xFF or config_lca != 0xFF:
             ret.dashcamOnly = True
 
-    if ret.spFlags & FordFlagsSP.SP_ENHANCED_LAT_CONTROL:
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_ENHANCED_LAT_CONTROL
-
-    ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [0.5]
-    ret.longitudinalTuning.kiV = [0.]
-
     # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
     found_ecus = [fw.ecu for fw in car_fw]
     if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
@@ -115,7 +109,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
       if ret.gasPressed and not ret.cruiseState.enabled:

selfdrive/car/ford/radar_interface.py

@@ -11,7 +11,6 @@ DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
 DELPHI_MRR_RADAR_START_ADDR = 0x120
 DELPHI_MRR_RADAR_MSG_COUNT = 64
 
-STEER_ASSIST_DATA_MSGS = 0x3d7
 
 def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
   msg_n = len(DELPHI_ESR_RADAR_MSGS)
@@ -29,9 +28,6 @@ def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
 
   return CANParser(RADAR.DELPHI_MRR, messages, CanBus(CP).radar)
 
-def _create_steer_assist_data(CP) -> CANParser:
-  messages = [("Steer_Assist_Data", 20)]
-  return CANParser(RADAR.STEER_ASSIST_DATA, messages, CanBus(CP).camera)
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
@@ -49,10 +45,6 @@ class RadarInterface(RadarInterfaceBase):
     elif self.radar == RADAR.DELPHI_MRR:
       self.rcp = _create_delphi_mrr_radar_can_parser(CP)
       self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
-    elif self.radar == RADAR.STEER_ASSIST_DATA:
-      self.rcp = _create_steer_assist_data(CP)
-      self.trigger_msg = STEER_ASSIST_DATA_MSGS
-
     else:
       raise ValueError(f"Unsupported radar: {self.radar}")
 
@@ -76,67 +68,11 @@ class RadarInterface(RadarInterfaceBase):
       self._update_delphi_esr()
     elif self.radar == RADAR.DELPHI_MRR:
       self._update_delphi_mrr()
-    elif self.radar == RADAR.STEER_ASSIST_DATA:
-      self._update_steer_assist_data()
 
     ret.points = list(self.pts.values())
     self.updated_messages.clear()
     return ret
 
-  def _update_steer_assist_data(self):
-    msg = self.rcp.vl["Steer_Assist_Data"]
-    updated_msg = self.updated_messages
-
-    dRel = msg['CmbbObjDistLong_L_Actl']
-    confidence = msg['CmbbObjConfdnc_D_Stat']
-    new_track = False
-
-    # if dRel < 1022:
-    if confidence > 0:
-      if 0 not in self.pts:
-        self.pts[0] = car.RadarData.RadarPoint.new_message()
-        self.pts[0].trackId = self.track_id
-        self.vRelCol[0] = collections.deque(maxlen=20)
-        self.track_id += 1
-        new_track = True
-
-      yRel = msg['CmbbObjDistLat_L_Actl']
-      vRel = msg['CmbbObjRelLong_V_Actl']
-      yvRel = msg['CmbbObjRelLat_V_Actl']
-      calc = 0
-      if not new_track:
-        # if this is a newly created track - we don't have historical data so skip it
-        # if we are on the same track
-        # Let's see if we are moving:
-        #   positive gap - lead is moving faster than us
-        #   negative gap - lead is moving slower than us
-        dDiff = dRel - self.pts[0].dRel
-        if (abs(vRel) < 1.0e-2):
-          self.vRelCol[0].append(dDiff)
-          vRel = sum(self.vRelCol[0])
-          calc = 1
-        else:
-          if len(self.vRelCol[0]) > 0:
-            self.vRelCol[0].clear()
-
-        if abs(self.pts[0].vRel - vRel) > 2 or abs(self.pts[0].dRel - dRel) > 5:
-          self.pts[0].trackId = self.track_id
-          if len(self.vRelCol[0]) > 0:
-            self.vRelCol[0].clear()
-          self.track_id += 1
-
-      self.pts[0].dRel = dRel  # from front of car
-      self.pts[0].yRel = yRel  # in car frame's y axis, left is positive
-      self.pts[0].vRel = vRel
-      self.pts[0].aRel = float('nan')
-      self.pts[0].yvRel = yvRel
-      self.pts[0].measured = True
-    else:
-      if 0 in self.pts:
-        del self.pts[0]
-        del self.vRelCol[0]
-
-
   def _update_delphi_esr(self):
     for ii in sorted(self.updated_messages):
       cpt = self.rcp.vl[ii]

selfdrive/car/ford/values.py

@@ -46,10 +46,6 @@ class FordFlags(IntFlag):
   CANFD = 1
 
 
-class FordFlagsSP(IntFlag):
-  SP_ENHANCED_LAT_CONTROL = 1
-
-
 BUTTON_STATES = {
   "accelCruise": False,
   "decelCruise": False,
@@ -63,7 +59,6 @@ BUTTON_STATES = {
 class RADAR:
   DELPHI_ESR = 'ford_fusion_2018_adas'
   DELPHI_MRR = 'FORD_CADS'
-  STEER_ASSIST_DATA = 'ford_lincoln_base_pt'
 
 
 class Footnote(Enum):
@@ -104,7 +99,7 @@ class FordPlatformConfig(PlatformConfig):
 
 @dataclass
 class FordCANFDPlatformConfig(FordPlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.STEER_ASSIST_DATA))
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', None))
 
   def init(self):
     super().init()

selfdrive/car/gm/carcontroller.py

@@ -1,6 +1,4 @@
 from cereal import car
-import cereal.messaging as messaging
-from openpilot.common.params import Params
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
 from openpilot.common.realtime import DT_CTRL
@@ -9,7 +7,6 @@ from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from selfdrive.controls.lib.drive_helpers import GM_V_CRUISE_MIN
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
@@ -42,36 +39,6 @@ class CarController(CarControllerBase):
     self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
     self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
 
-    self.sm = messaging.SubMaster(['longitudinalPlanSP'])
-    self.param_s = Params()
-    self.is_metric = self.param_s.get_bool("IsMetric")
-    self.speed_limit_control_enabled = False
-    self.last_speed_limit_sign_tap = False
-    self.last_speed_limit_sign_tap_prev = False
-    self.speed_limit = 0.
-    self.speed_limit_offset = 0
-    self.timer = 0
-    self.final_speed_kph = 0
-    self.init_speed = 0
-    self.current_speed = 0
-    self.v_set_dis = 0
-    self.v_cruise_min = 0
-    self.button_type = 0
-    self.button_select = 0
-    self.button_count = 0
-    self.target_speed = 0
-    self.t_interval = 7
-    self.slc_active_stock = False
-    self.sl_force_active_timer = 0
-    self.v_tsc_state = 0
-    self.slc_state = 0
-    self.m_tsc_state = 0
-    self.cruise_button = None
-    self.speed_diff = 0
-    self.v_tsc = 0
-    self.m_tsc = 0
-    self.steady_speed = 0
-
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
@@ -80,40 +47,9 @@ class CarController(CarControllerBase):
     if hud_v_cruise > 70:
       hud_v_cruise = 0
 
-    if not self.CP.pcmCruiseSpeed:
-      self.sm.update(0)
-
-      if self.sm.updated['longitudinalPlanSP']:
-        self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
-        self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
-        self.m_tsc_state = self.sm['longitudinalPlanSP'].turnSpeedControlState
-        self.speed_limit = self.sm['longitudinalPlanSP'].speedLimit
-        self.speed_limit_offset = self.sm['longitudinalPlanSP'].speedLimitOffset
-        self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
-        self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
-
-      if self.frame % 200 == 0:
-        self.speed_limit_control_enabled = self.param_s.get_bool("EnableSlc")
-        self.is_metric = self.param_s.get_bool("IsMetric")
-      self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
-      self.v_cruise_min = GM_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
-
     # Send CAN commands.
     can_sends = []
 
-    if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap:
-        self.sl_force_active_timer = self.frame
-        self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
-      self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap
-
-      sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not self.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (self.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
-      slc_active = not sl_inactive and not sl_temp_inactive
-
-      self.slc_active_stock = slc_active
-
     # Steering (Active: 50Hz, inactive: 10Hz)
     steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
 
@@ -214,15 +150,6 @@ class CarController(CarControllerBase):
           self.last_button_frame = self.frame
           can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
-      if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and not self.CP.pcmCruiseSpeed and CS.out.cruiseState.enabled:
-        self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise)
-        if self.cruise_button is not None:
-          send_freq = 1
-          if not (self.v_tsc_state != 0 or self.m_tsc_state > 1) and abs(self.target_speed - self.v_set_dis) <= 2:
-            send_freq = 3
-          if self.frame % 12 < 6:  # thanks to mochi86420 for the magic numbers
-            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, (CS.button_counter + 2) % 4, self.cruise_button))
-
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
       if self.frame % 10 == 0:
@@ -236,120 +163,3 @@ class CarController(CarControllerBase):
 
     self.frame += 1
     return new_actuators, can_sends
-
-  # multikyd methods, sunnyhaibin logic
-  def get_cruise_buttons_status(self, CS):
-    if not CS.out.cruiseState.enabled or CS.cruise_buttons != CruiseButtons.UNPRESS or CS.cruise_buttons != CruiseButtons.INIT:
-      self.timer = 40
-    elif self.timer:
-      self.timer -= 1
-    else:
-      return 1
-    return 0
-
-  def get_target_speed(self, v_cruise_kph_prev):
-    v_cruise_kph = v_cruise_kph_prev
-    if self.slc_state > 1:
-      v_cruise_kph = (self.speed_limit + self.speed_limit_offset) * CV.MS_TO_KPH
-      if not self.slc_active_stock:
-        v_cruise_kph = v_cruise_kph_prev
-    return v_cruise_kph
-
-  def get_button_type(self, button_type):
-    self.type_status = "type_" + str(button_type)
-    self.button_picker = getattr(self, self.type_status, lambda: "default")
-    return self.button_picker()
-
-  def reset_button(self):
-    if self.button_type != 3:
-      self.button_type = 0
-
-  def type_default(self):
-    self.button_type = 0
-    return None
-
-  def type_0(self):
-    self.button_count = 0
-    self.target_speed = self.init_speed
-    self.speed_diff = self.target_speed - self.v_set_dis
-    if self.target_speed > self.v_set_dis:
-      self.button_type = 1
-    elif self.target_speed < self.v_set_dis and self.v_set_dis > self.v_cruise_min:
-      self.button_type = 2
-    return None
-
-  def type_1(self):
-    cruise_button = CruiseButtons.RES_ACCEL
-    self.button_count += 1
-    if self.target_speed <= self.v_set_dis:
-      self.button_count = 0
-      self.button_type = 3
-    elif self.button_count > 5:
-      self.button_count = 0
-      self.button_type = 3
-    return cruise_button
-
-  def type_2(self):
-    cruise_button = CruiseButtons.DECEL_SET
-    self.button_count += 1
-    if self.target_speed >= self.v_set_dis or self.v_set_dis <= self.v_cruise_min:
-      self.button_count = 0
-      self.button_type = 3
-    elif self.button_count > 5:
-      self.button_count = 0
-      self.button_type = 3
-    return cruise_button
-
-  def type_3(self):
-    cruise_button = None
-    self.button_count += 1
-    if self.button_count > self.t_interval:
-      self.button_type = 0
-    return cruise_button
-
-  def get_curve_speed(self, target_speed_kph, v_cruise_kph_prev):
-    if self.v_tsc_state != 0:
-      vision_v_cruise_kph = self.v_tsc * CV.MS_TO_KPH
-      if int(vision_v_cruise_kph) == int(v_cruise_kph_prev):
-        vision_v_cruise_kph = 255
-    else:
-      vision_v_cruise_kph = 255
-    if self.m_tsc_state > 1:
-      map_v_cruise_kph = self.m_tsc * CV.MS_TO_KPH
-      if int(map_v_cruise_kph) == 0.0:
-        map_v_cruise_kph = 255
-    else:
-      map_v_cruise_kph = 255
-    curve_speed = self.curve_speed_hysteresis(min(vision_v_cruise_kph, map_v_cruise_kph) + 2 * CV.MPH_TO_KPH)
-    return min(target_speed_kph, curve_speed)
-
-  def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
-    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not self.is_metric else 1))
-    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not self.is_metric else CV.MS_TO_KPH))
-    cruise_button = self.get_button_type(self.button_type)
-    return cruise_button
-
-  def curve_speed_hysteresis(self, cur_speed: float, hyst=(0.75 * CV.MPH_TO_KPH)):
-    if cur_speed > self.steady_speed:
-      self.steady_speed = cur_speed
-    elif cur_speed < self.steady_speed - hyst:
-      self.steady_speed = cur_speed
-    return self.steady_speed
-
-  def get_cruise_buttons(self, CS, v_cruise_kph_prev):
-    cruise_button = None
-    if not self.get_cruise_buttons_status(CS):
-      pass
-    elif CS.out.cruiseState.enabled:
-      set_speed_kph = self.get_target_speed(v_cruise_kph_prev)
-      if self.slc_state > 1:
-        target_speed_kph = set_speed_kph
-      else:
-        target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
-      if self.v_tsc_state != 0 or self.m_tsc_state > 1:
-        self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
-      else:
-        self.final_speed_kph = target_speed_kph
-
-      cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev)  # MPH/KPH based button presses
-    return cruise_button

selfdrive/car/gm/interface.py

@@ -53,12 +53,7 @@ class CarInterface(CarInterfaceBase):
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
 
     def sig(val):
-      # https://timvieira.github.io/blog/post/2014/02/11/exp-normalize-trick
-      if val >= 0:
-        return 1 / (1 + exp(-val)) - 0.5
-      else:
-        z = exp(val)
-        return z / (1 + z) - 0.5
+      return 1 / (1 + exp(-val)) - 0.5
 
     # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
     # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
@@ -99,7 +94,11 @@ class CarInterface(CarInterfaceBase):
     else:
       ret.transmissionType = TransmissionType.automatic
 
-    ret.longitudinalTuning.kiBP = [5., 35.]
+    ret.longitudinalTuning.deadzoneBP = [0.]
+    ret.longitudinalTuning.deadzoneV = [0.15]
+
+    ret.longitudinalTuning.kpBP = [5., 35.]
+    ret.longitudinalTuning.kiBP = [0.]
 
     if candidate in CAMERA_ACC_CAR:
       ret.experimentalLongitudinalAvailable = True
@@ -111,7 +110,8 @@ class CarInterface(CarInterfaceBase):
       ret.minSteerSpeed = 10 * CV.KPH_TO_MS
 
       # Tuning for experimental long
-      ret.longitudinalTuning.kiV = [2.0, 1.5]
+      ret.longitudinalTuning.kpV = [2.0, 1.5]
+      ret.longitudinalTuning.kiV = [0.72]
       ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
@@ -120,7 +120,6 @@ class CarInterface(CarInterfaceBase):
         ret.pcmCruise = False
         ret.openpilotLongitudinalControl = True
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
-      ret.customStockLongAvailable = True
 
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = True
@@ -132,7 +131,8 @@ class CarInterface(CarInterfaceBase):
       ret.minSteerSpeed = 7 * CV.MPH_TO_MS
 
       # Tuning
-      ret.longitudinalTuning.kiV = [2.4, 1.5]
+      ret.longitudinalTuning.kpV = [2.4, 1.5]
+      ret.longitudinalTuning.kiV = [0.36]
 
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
@@ -148,7 +148,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.steerLimitTimer = 0.4
     ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
-    ret.longitudinalActuatorDelay = 0.5  # large delay to initially start braking
+    ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
 
     if candidate == CAR.CHEVROLET_VOLT:
       ret.lateralTuning.pid.kpBP = [0., 40.]
@@ -239,12 +239,12 @@ class CarInterface(CarInterfaceBase):
     else:
       self.CS.madsEnabled = False
 
-    if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
+    if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0):
       if any(b.type == ButtonType.cancel for b in buttonEvents):
         self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
       if ret.gasPressed and not ret.cruiseState.enabled:

selfdrive/car/honda/carstate.py

@@ -242,7 +242,7 @@ class CarState(CarStateBase):
       ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active
 
     ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"]
-    ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
+    ret.cruiseState.enabled = self.pcm_cruise_enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
     ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
 
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models

selfdrive/car/honda/fingerprints.py

@@ -924,10 +924,7 @@ FW_VERSIONS = {
       b'36161-T20-A070\x00\x00',
       b'36161-T20-A080\x00\x00',
       b'36161-T24-T070\x00\x00',
-      b'36161-T47-A050\x00\x00',
       b'36161-T47-A070\x00\x00',
-      b'8S102-T20-AA10\x00\x00',
-      b'8S102-T47-AA10\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-T20-AB40\x00\x00',

selfdrive/car/honda/interface.py

@@ -77,13 +77,17 @@ class CarInterface(CarInterfaceBase):
     ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward
 
     if candidate in HONDA_BOSCH:
-      ret.longitudinalActuatorDelay = 0.5 # s
+      ret.longitudinalTuning.kpV = [0.25]
+      ret.longitudinalTuning.kiV = [0.05]
+      ret.longitudinalActuatorDelayUpperBound = 0.5 # s
       if candidate in HONDA_BOSCH_RADARLESS:
         ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN  # stock uses -4.0 m/s^2 once stopped but limited by safety model
     else:
       # default longitudinal tuning for all hondas
-      ret.longitudinalTuning.kiBP = [0., 5., 35.]
-      ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]
+      ret.longitudinalTuning.kpBP = [0., 5., 35.]
+      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
+      ret.longitudinalTuning.kiBP = [0., 35.]
+      ret.longitudinalTuning.kiV = [0.18, 0.12]
 
     eps_modified = False
     for fw in car_fw:
@@ -293,12 +297,12 @@ class CarInterface(CarInterfaceBase):
         self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
       if ret.gasPressed and not ret.cruiseState.enabled:
         self.CS.accEnabled = False
-      self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
+      self.CS.accEnabled = self.CS.pcm_cruise_enabled
 
     ret, self.CS = self.get_sp_common_state(ret, self.CS,
                                             min_enable_speed_pcm=(self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed),

selfdrive/car/honda/values.py

@@ -149,8 +149,8 @@ class CAR(Platforms):
   )
   HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
     [
-      HondaCarDocs("Honda Civic 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
-      HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
     ],
     HONDA_CIVIC_BOSCH.specs,
     dbc_dict('honda_civic_ex_2022_can_generated', None),

selfdrive/car/hyundai/carcontroller.py

@@ -1,7 +1,7 @@
 from cereal import car
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
@@ -64,7 +64,7 @@ class CarController(CarControllerBase):
     self.lat_disengage_init = False
     self.lat_active_last = False
 
-    sub_services = ['longitudinalPlan', 'longitudinalPlanSP']
+    sub_services = ['longitudinalPlanSP']
     if CP.openpilotLongitudinalControl:
       sub_services.append('radarState')
     # TODO: Always true, prep for future conditional refactoring
@@ -99,20 +99,9 @@ class CarController(CarControllerBase):
     self.v_tsc = 0
     self.m_tsc = 0
     self.steady_speed = 0
-    self.speeds = 0
-    self.v_target_plan = 0
     self.hkg_can_smooth_stop = self.param_s.get_bool("HkgSmoothStop")
-    self.custom_stock_planner_speed = self.param_s.get_bool("CustomStockLongPlanner")
     self.lead_distance = 0
 
-    self.jerk = 0.0
-    self.jerk_l = 0.0
-    self.jerk_u = 0.0
-    self.jerkStartLimit = 2.0
-    self.cb_upper = 0.0
-    self.cb_lower = 0.0
-    self.jerk_count = 0.0
-
   def calculate_lead_distance(self, hud_control: car.CarControl.HUDControl) -> float:
     lead_one = self.sm["radarState"].leadOne
     lead_two = self.sm["radarState"].leadTwo
@@ -129,10 +118,6 @@ class CarController(CarControllerBase):
       self.sm.update(0)
 
     if not self.CP.pcmCruiseSpeed:
-      if self.sm.updated['longitudinalPlan']:
-        _speeds = self.sm['longitudinalPlan'].speeds
-        self.speeds = _speeds[-1] if len(_speeds) else 0
-
       if self.sm.updated['longitudinalPlanSP']:
         self.v_tsc_state = self.sm['longitudinalPlanSP'].visionTurnControllerState
         self.slc_state = self.sm['longitudinalPlanSP'].speedLimitControlState
@@ -145,21 +130,15 @@ class CarController(CarControllerBase):
       if self.frame % 200 == 0:
         self.speed_limit_control_enabled = self.param_s.get_bool("EnableSlc")
         self.is_metric = self.param_s.get_bool("IsMetric")
-        self.custom_stock_planner_speed = self.param_s.get_bool("CustomStockLongPlanner")
       self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
       self.v_cruise_min = HYUNDAI_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
-      self.v_target_plan = min(CC.vCruise * CV.KPH_TO_MS, self.speeds)
 
     actuators = CC.actuators
     hud_control = CC.hudControl
 
     # steering torque
-    if self.CP.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO.value:
-      self.params = CarControllerParams(self.CP, CS.out.vEgoRaw)
     new_steer = int(round(actuators.steer * self.params.STEER_MAX))
     apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
-    if self.CP.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO.value:
-      apply_steer = clip(apply_steer, -self.params.STEER_MAX, self.params.STEER_MAX)
 
     # >90 degree steering fault prevention
     self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
@@ -220,7 +199,7 @@ class CarController(CarControllerBase):
     if self.frame % 100 == 0 and not ((self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or escc) and \
       self.CP.carFingerprint not in CAMERA_SCC_CAR and self.CP.openpilotLongitudinalControl:
       # for longitudinal control, either radar or ADAS driving ECU
-      addr, bus = 0x7d0, self.CAN.ECAN if self.CP.carFingerprint in CANFD_CAR else 0
+      addr, bus = 0x7d0, 0
       if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, self.CAN.ECAN
       can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
@@ -255,8 +234,6 @@ class CarController(CarControllerBase):
       if self.CP.openpilotLongitudinalControl:
         if hda2:
           can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
-        else:
-          can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
         if self.frame % 2 == 0:
           can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled and CS.out.cruiseState.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
                                                            set_speed_in_units, hud_control))
@@ -297,11 +274,6 @@ class CarController(CarControllerBase):
                   self.last_button_frame = self.frame
             elif self.frame % 2 == 0:
               can_sends.extend([hyundaican.create_clu11(self.packer, (self.frame // 2) + 1, CS.clu11, self.cruise_button, self.CP)] * 25)
-      else:
-        self.make_jerk(CS, accel, actuators)
-
-        if self.frame % 7 and self.CP.carFingerprint in CAMERA_SCC_CAR:
-          can_sends.append(hyundaican.create_hda11_mfc(self.packer, self.frame, CS.hda11_mfc))
 
       # Parse lead distance from radarState and display the corresponding distance in the car's cluster
       if self.CP.openpilotLongitudinalControl and self.sm.updated['radarState'] and self.frame % 5 == 0:
@@ -314,9 +286,9 @@ class CarController(CarControllerBase):
         # TODO: unclear if this is needed
         jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
         use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
-        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, accel, self.jerk_l, self.jerk_u, int(self.frame / 2),
+        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, accel, jerk, int(self.frame / 2),
                                                         hud_control, set_speed_in_units, stopping,
-                                                        CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance, self.cb_lower, self.cb_upper))
+                                                        CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance))
 
       # 20 Hz LFA MFA message
       if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
@@ -483,8 +455,6 @@ class CarController(CarControllerBase):
         target_speed_kph = set_speed_kph
       else:
         target_speed_kph = min(v_cruise_kph_prev, set_speed_kph)
-      if self.custom_stock_planner_speed:
-        target_speed_kph = self.curve_speed_hysteresis(self.v_target_plan * CV.MS_TO_KPH)
       if self.v_tsc_state != 0 or self.m_tsc_state > 1:
         self.final_speed_kph = self.get_curve_speed(target_speed_kph, v_cruise_kph_prev)
       else:
@@ -492,59 +462,3 @@ class CarController(CarControllerBase):
 
       cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev)  # MPH/KPH based button presses
     return cruise_button
-
-  def cal_jerk(self, accel, actuators):
-    if actuators.longControlState == LongCtrlState.off:
-      accel_diff = 0.0
-    elif actuators.longControlState == LongCtrlState.stopping:# or hud_control.softHold > 0:
-      accel_diff = 0.0
-    else:
-      accel_diff = accel - self.accel_last
-
-    accel_diff /= DT_CTRL
-    self.jerk = self.jerk * 0.9 + accel_diff * 0.1
-    return self.jerk
-
-  def make_jerk(self, CS, accel, actuators):
-    jerk = self.cal_jerk(accel, actuators)
-    a_error = accel - CS.out.aEgo
-    jerk = jerk + (a_error * 2.0)
-
-    if self.CP.carFingerprint in CANFD_CAR:
-      startingJerk = 0.5 #self.jerkStartLimit
-      jerkLimit = 5.0
-      self.jerk_count += DT_CTRL
-      jerk_max = interp(self.jerk_count, [0, 1.5, 2.5], [startingJerk, startingJerk, jerkLimit])
-      if actuators.longControlState == LongCtrlState.off:
-        self.jerk_u = jerkLimit
-        self.jerk_l = jerkLimit
-        self.jerk_count = 0
-      elif actuators.longControlState == LongCtrlState.stopping:
-        self.jerk_u += 0.1 if self.jerk_u < 1.5 else -0.1
-        self.jerk_l += 0.1 if self.jerk_l < 1.0 else -0.1
-        self.jerk_count = 0
-      else:
-        #self.jerk_u = min(max(2.5, jerk * 2.0), jerk_max)
-        #self.jerk_l = min(max(2.0, -jerk * 3.0), jerkLimit)
-        self.jerk_u = min(max(0.5, jerk * 2.0), jerk_max)
-        self.jerk_l = min(max(1.0, -jerk * 3.0), jerkLimit)
-    else:
-      startingJerk = self.jerkStartLimit
-      jerkLimit = 5.0
-      self.jerk_count += DT_CTRL
-      jerk_max = interp(self.jerk_count, [0, 1.5, 2.5], [startingJerk, startingJerk, jerkLimit])
-      self.cb_upper = self.cb_lower = 0
-      if actuators.longControlState == LongCtrlState.off:
-        self.jerk_u = jerkLimit
-        self.jerk_l = jerkLimit
-        self.jerk_count = 0
-      elif actuators.longControlState == LongCtrlState.stopping:
-        self.jerk_u += 0.1 if self.jerk_u < 0.5 else -0.1
-        self.jerk_l += 0.1 if self.jerk_l < 1.0 else -0.1
-        self.jerk_count = 0
-      else:
-        self.jerk_u = self.jerk_u * 0.8 + min(max(0.5, jerk * 2.0), jerk_max) * 0.2
-        self.jerk_l = self.jerk_l * 0.8 + min(max(0.5, -jerk * 2.0), jerkLimit) * 0.2
-        #self.jerk_l = min(max(1.2, -jerk * 2.0), jerkLimit) ## 1.0으로 하니 덜감속, 1.5로하니 너무감속, 1.2로 한번해보자(231228)
-        self.cb_upper = clip(0.9 + accel * 0.2, 0, 1.2)
-        self.cb_lower = clip(0.8 + accel * 0.2, 0, 1.2)

selfdrive/car/hyundai/carstate.py

@@ -117,13 +117,9 @@ class CarState(CarStateBase):
       ret.cruiseState.standstill = False
       ret.cruiseState.nonAdaptive = False
     elif self.CP.carFingerprint in NON_SCC_CAR:
-      cruise_available_msg = "E_CRUISE_CONTROL" if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) else "EMS16"
-      cruise_enabled_msg = "E_CRUISE_CONTROL" if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) else "LVR12"
-      cruise_speed_msg = "ELECT_GEAR" if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) else "LVR12"
-      cruise_speed_sig = "VSetDis" if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV) else "CF_Lvr_CruiseSet"
-      ret.cruiseState.available = cp.vl[cruise_available_msg]["CRUISE_LAMP_M"] != 0
-      ret.cruiseState.enabled = cp.vl[cruise_enabled_msg]["CF_Lvr_CruiseSet"] != 0
-      ret.cruiseState.speed = cp.vl[cruise_speed_msg][cruise_speed_sig] * speed_conv
+      ret.cruiseState.available = cp.vl['EMS16']['CRUISE_LAMP_M'] != 0
+      ret.cruiseState.enabled = cp.vl["LVR12"]['CF_Lvr_CruiseSet'] != 0
+      ret.cruiseState.speed = cp.vl["LVR12"]["CF_Lvr_CruiseSet"] * speed_conv
       ret.cruiseState.standstill = False
       ret.cruiseState.nonAdaptive = False
     else:
@@ -139,7 +135,6 @@ class CarState(CarStateBase):
     ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
     ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
     ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
-    ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
     ret.brakeLightsDEPRECATED = bool(cp.vl["TCS13"]["BrakeLight"])
     ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
@@ -201,8 +196,6 @@ class CarState(CarStateBase):
     if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint in CAMERA_SCC_CAR:
       self.fca11 = copy.copy(cp_cruise.vl["FCA11"])
       self.fca12 = copy.copy(cp_cruise.vl["FCA12"])
-    if not self.CP.openpilotLongitudinalControl and self.CP.carFingerprint in CAMERA_SCC_CAR:
-      self.hda11_mfc = copy.copy(cp_cam.vl["HDA11_MFC"])
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.prev_main_buttons = self.main_buttons[-1]
@@ -371,8 +364,6 @@ class CarState(CarStateBase):
 
     if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
       messages.append(("ELECT_GEAR", 20))
-      if CP.carFingerprint in NON_SCC_CAR:
-        messages.append(("E_CRUISE_CONTROL", 10))
     elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       pass
     elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
@@ -408,7 +399,6 @@ class CarState(CarStateBase):
         messages += [
           ("SCC11", 50),
           ("SCC12", 50),
-          ("HDA11_MFC", 14),
         ]
 
       if CP.flags & HyundaiFlags.USE_FCA.value:

selfdrive/car/hyundai/fingerprints.py

@@ -1,11 +1,44 @@
+# ruff: noqa: E501
 from cereal import car
 from openpilot.selfdrive.car.hyundai.values import CAR
 
 Ecu = car.CarParams.Ecu
 
-# The existence of SCC or RDR in the fwdRadar FW usually determines the radar's function,
-# i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does
-
+FINGERPRINTS = {
+  CAR.HYUNDAI_SANTA_FE: [{
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
+  },
+  {
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
+  },
+  {
+    67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8
+  }],
+  CAR.HYUNDAI_SONATA: [{
+    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
+  }],
+  CAR.KIA_STINGER: [{
+    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
+  }],
+  CAR.GENESIS_G90: [{
+    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
+  }],
+  CAR.HYUNDAI_KONA_EV: [{
+    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
+  }],
+  CAR.HYUNDAI_KONA_EV_2022: [{
+    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8
+  }],
+  CAR.KIA_NIRO_EV: [{
+    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
+  }],
+  CAR.KIA_OPTIMA_H: [{
+    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
+  },
+  {
+    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
+  }],
+}
 
 FW_VERSIONS = {
   CAR.HYUNDAI_AZERA_6TH_GEN: {
@@ -676,7 +709,6 @@ FW_VERSIONS = {
       b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4000 191211',
       b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4100 200706',
       b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.03 95740-Q4000 180821',
-      b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.02 95740-Q4000 180705',
       b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.03 95740-Q4000 180821',
       b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.00 99211-Q4000 191211',
       b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.01 99211-Q4500 210428',
@@ -950,9 +982,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NE1 MFC  AT CAN LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT CAN LHD 1.00 1.05 99211-GI010 220614',
-      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.00 99211-GI100 230915',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI010 211007',
-      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI100 240110',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI010 230110',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
@@ -960,7 +990,6 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.00 99211-GI020 230719',
       b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI020 230719',
-      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI100 230915',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
@@ -1161,25 +1190,6 @@ FW_VERSIONS = {
       b'\xf1\x006T6J0_C2\x00\x006T6K1051\x00\x00TOS4N20NS2\x00\x00\x00\x00',
     ],
   },
-  CAR.HYUNDAI_KONA_EV_NON_SCC: {
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4000\x00 4OEDC104',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00OSE LKAS AT USA LHD 1.00 1.00 95740-K4100 W40',
-    ],
-  },
-  CAR.KIA_CEED_PHEV_2022_NON_SCC: {
-    (Ecu.eps, 0x7D4, None): [
-      b'\xf1\x00CD  MDPS C 1.00 1.01 56310-XX000 4CPHC101',
-    ],
-    (Ecu.fwdCamera, 0x7C4, None): [
-      b'\xf1\x00CDH LKAS AT EUR LHD 1.00 1.01 99211-CR700 931',
-    ],
-  },
   CAR.KIA_FORTE_2019_NON_SCC: {
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x00BD  MDPS C 1.00 1.04 56310/M6000 4BDDC104',
@@ -1259,12 +1269,4 @@ FW_VERSIONS = {
       b'\xf1\x00BC3 LKA  AT EUR LHD 1.00 1.01 99211-Q0100 261'
     ],
   },
-  CAR.GENESIS_G70_2024: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.02 99211-G9500 230712',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00IKPE RDR -----      1.00 1.00 99110-G9600         ',
-    ],
-  },
 }

selfdrive/car/hyundai/hyundaican.py

@@ -41,7 +41,7 @@ def create_lkas11(packer, frame, CP, apply_steer, steer_req,
                            CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
                            CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN,
                            CAR.HYUNDAI_ELANTRA_2022_NON_SCC, CAR.GENESIS_G70_2021_NON_SCC, CAR.KIA_SELTOS_2023_NON_SCC,
-                           CAR.HYUNDAI_BAYON_1ST_GEN_NON_SCC, CAR.KIA_CEED_PHEV_2022_NON_SCC, CAR.GENESIS_G70_2024):
+                           CAR.HYUNDAI_BAYON_1ST_GEN_NON_SCC):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 
@@ -99,23 +99,6 @@ def create_lkas11(packer, frame, CP, apply_steer, steer_req,
   return packer.make_can_msg("LKAS11", 0, values)
 
 
-def create_hda11_mfc(packer, frame, hda11_mfc):
-  values = {s: hda11_mfc[s] for s in [
-    "Counter",
-    "NEW_SIGNAL_1",
-    "NEW_SIGNAL_2",
-    "NEW_SIGNAL_3",
-    "NEW_SIGNAL_5",
-    "NEW_SIGNAL_6",
-    "NEW_SIGNAL_7",
-    "NEW_SIGNAL_9",
-  ]}
-  values["NEW_SIGNAL_4"] = 0x00
-  values["NEW_SIGNAL_8"] = 0x00
-  values["Counter"] = frame % 0x10
-  return packer.make_can_msg("HDA11_MFC", 2, values)
-
-
 def create_clu11(packer, frame, clu11, button, CP):
   values = {s: clu11[s] for s in [
     "CF_Clu_CruiseSwState",
@@ -147,8 +130,8 @@ def create_lfahda_mfc(packer, enabled, lat_active, lateral_paused, blinking_icon
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel, lower_jerk, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca,
-                        CS, escc, CP, lead_distance, cb_lower, cb_upper):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca,
+                        CS, escc, CP, lead_distance):
   commands = []
 
   scc11_values = {
@@ -189,10 +172,10 @@ def create_acc_commands(packer, enabled, accel, lower_jerk, upper_jerk, idx, hud
   commands.append(packer.make_can_msg("SCC12", 0, scc12_values))
 
   scc14_values = {
-    "ComfortBandUpper": cb_upper, # stock usually is 0 but sometimes uses higher values
-    "ComfortBandLower": cb_lower, # stock usually is 0 but sometimes uses higher values
+    "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values
+    "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
     "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
-    "JerkLowerLimit": lower_jerk, # stock usually is 0.5 but sometimes uses higher values
+    "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
     "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
     "ObjGap": get_object_gap(lead_distance), # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
   }

selfdrive/car/hyundai/hyundaicanfd.py

@@ -172,20 +172,6 @@ def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
   return ret
 
 
-def create_fca_warning_light(packer, CAN, frame):
-  ret = []
-  if frame % 2 == 0:
-    values = {
-      'AEB_SETTING': 0x1,  # show AEB disabled icon
-      'SET_ME_2': 0x2,
-      'SET_ME_FF': 0xff,
-      'SET_ME_FC': 0xfc,
-      'SET_ME_9': 0x9,
-    }
-    ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
-  return ret
-
-
 def create_adrv_messages(packer, CAN, frame):
   # messages needed to car happy after disabling
   # the ADAS Driving ECU to do longitudinal control
@@ -196,7 +182,15 @@ def create_adrv_messages(packer, CAN, frame):
   }
   ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
 
-  ret.extend(create_fca_warning_light(packer, CAN, frame))
+  if frame % 2 == 0:
+    values = {
+      'AEB_SETTING': 0x1,  # show AEB disabled icon
+      'SET_ME_2': 0x2,
+      'SET_ME_FF': 0xff,
+      'SET_ME_FC': 0xfc,
+      'SET_ME_9': 0x9,
+    }
+    ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
 
   if frame % 5 == 0:
     values = {

selfdrive/car/hyundai/interface.py

@@ -91,10 +91,14 @@ class CarInterface(CarInterfaceBase):
 
     # *** longitudinal control ***
     if candidate in CANFD_CAR:
-      ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | NON_SCC_CAR)
+      ret.longitudinalTuning.kpV = [0.1]
+      ret.longitudinalTuning.kiV = [0.0]
+      ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR)
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC and not hda2:
         ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
     else:
+      ret.longitudinalTuning.kpV = [0.5]
+      ret.longitudinalTuning.kiV = [0.0]
       ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | NON_SCC_CAR)
       if candidate in CAMERA_SCC_CAR:
         ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
@@ -105,7 +109,8 @@ class CarInterface(CarInterfaceBase):
     ret.startingState = True
     ret.vEgoStarting = 0.1
     ret.startAccel = 1.0
-    ret.longitudinalActuatorDelay = 0.5
+    ret.longitudinalActuatorDelayLowerBound = 0.5
+    ret.longitudinalActuatorDelayUpperBound = 0.5
 
     if DBC[ret.carFingerprint]["radar"] is None:
       if ret.spFlags & (HyundaiFlagsSP.SP_ENHANCED_SCC | HyundaiFlagsSP.SP_CAMERA_SCC_LEAD):
@@ -117,8 +122,6 @@ class CarInterface(CarInterfaceBase):
 
       if 0x1fa in fingerprint[CAN.ECAN]:
         ret.spFlags |= HyundaiFlagsSP.SP_NAV_MSG.value
-      if Params().get("DongleId", encoding='utf8') in ("012c95f06918eca4", "68d6a96e703c00c9", "11c1f1909ca37bca"):
-        ret.spFlags |= HyundaiFlagsSP.SP_UPSTREAM_TACO.value
     else:
       ret.enableBsm = 0x58b in fingerprint[0]
 
@@ -144,8 +147,6 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
-      if ret.spFlags & HyundaiFlagsSP.SP_UPSTREAM_TACO:
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_UPSTREAM_TACO
     else:
       if candidate in LEGACY_SAFETY_MODE_CAR:
         # these cars require a special panda safety mode due to missing counters and checksums in the messages
@@ -171,8 +172,7 @@ class CarInterface(CarInterfaceBase):
     elif ret.flags & HyundaiFlags.EV:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
 
-    if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
-                     CAR.HYUNDAI_KONA_NON_SCC, CAR.HYUNDAI_KONA_EV_NON_SCC, CAR.GENESIS_G70_2024):
+    if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_NON_SCC):
       ret.flags |= HyundaiFlags.ALT_LIMITS.value
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
 
@@ -191,7 +191,7 @@ class CarInterface(CarInterfaceBase):
   def init(CP, logcan, sendcan):
     if CP.openpilotLongitudinalControl and not ((CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or (CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC)) and \
       CP.carFingerprint not in CAMERA_SCC_CAR:
-      addr, bus = 0x7d0, CanBus(CP).ECAN if CP.carFingerprint in CANFD_CAR else 0
+      addr, bus = 0x7d0, 0
       if CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, CanBus(CP).ECAN
       disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
@@ -243,7 +243,7 @@ class CarInterface(CarInterfaceBase):
           self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
 
     ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_buttons[-1] == 3))
 

selfdrive/car/hyundai/values.py

@@ -3,7 +3,7 @@ from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 
 from cereal import car
-from panda.python import uds, Panda
+from panda.python import uds
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
@@ -16,7 +16,7 @@ class CarControllerParams:
   ACCEL_MIN = -3.5 # m/s
   ACCEL_MAX = 2.0 # m/s
 
-  def __init__(self, CP, vEgoRaw=100.):
+  def __init__(self, CP):
     self.STEER_DELTA_UP = 3
     self.STEER_DELTA_DOWN = 7
     self.STEER_DRIVER_ALLOWANCE = 50
@@ -26,13 +26,12 @@ class CarControllerParams:
     self.STEER_STEP = 1  # 100 Hz
 
     if CP.carFingerprint in CANFD_CAR:
-      upstream_taco = CP.safetyConfigs[-1].safetyParam & Panda.FLAG_HYUNDAI_UPSTREAM_TACO
-      self.STEER_MAX = 270 if not upstream_taco else 384 if vEgoRaw < 11. else 330
-      self.STEER_DRIVER_ALLOWANCE = 250 if not upstream_taco else 350
+      self.STEER_MAX = 270
+      self.STEER_DRIVER_ALLOWANCE = 250
       self.STEER_DRIVER_MULTIPLIER = 2
-      self.STEER_THRESHOLD = 250 if not upstream_taco else 350
-      self.STEER_DELTA_UP = 2 if not upstream_taco else 10 if vEgoRaw < 11. else 2
-      self.STEER_DELTA_DOWN = 3 if not upstream_taco else 10 if vEgoRaw < 11. else 3
+      self.STEER_THRESHOLD = 250
+      self.STEER_DELTA_UP = 2
+      self.STEER_DELTA_DOWN = 3
 
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
@@ -109,7 +108,6 @@ class HyundaiFlagsSP(IntFlag):
   SP_CAMERA_SCC_LEAD = 2 ** 6
   SP_LKAS12 = 2 ** 7
   SP_RADAR_TRACKS = 2 ** 8
-  SP_UPSTREAM_TACO = 2 ** 9
 
 
 class Footnote(Enum):
@@ -322,9 +320,9 @@ class CAR(Platforms):
   )
   HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
-      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
-      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
     ],
     CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV,
@@ -494,7 +492,7 @@ class CAR(Platforms):
   )
   KIA_EV6 = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarDocs("Kia EV6 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
+      HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
       HyundaiCarDocs("Kia EV6 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
       HyundaiCarDocs("Kia EV6 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
     ],
@@ -534,16 +532,10 @@ class CAR(Platforms):
     GENESIS_G70.specs,
     flags=HyundaiFlags.MANDO_RADAR,
   )
-  GENESIS_G70_2024 = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Genesis G70 2024", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
-    CarSpecs(mass=1769, wheelbase=2.83, steerRatio=12.9),  # steerRatio guesstimate from G70 1st Gen platform
-    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.CAMERA_SCC,
-  )
   GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
     [
-      # TODO: Hyundai P is likely the correct harness for HDA II for 2.5T (unsupported due to missing ADAS ECU, is that the radar?)
-      HyundaiCarDocs("Genesis GV70 (2.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarDocs("Genesis GV70 (3.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+      HyundaiCarDocs("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
     ],
     CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
     flags=HyundaiFlags.RADAR_SCC,
@@ -581,18 +573,6 @@ class CAR(Platforms):
     HYUNDAI_KONA.specs,
     spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA,
   )
-  HYUNDAI_KONA_EV_NON_SCC = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona Electric Non-SCC 2019", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_g]))],
-    HYUNDAI_KONA.specs,
-    flags=HyundaiFlags.EV,
-    spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA,
-  )
-  KIA_CEED_PHEV_2022_NON_SCC = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Kia Ceed PHEV Non-SCC 2022", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_i]))],
-    CarSpecs(mass=1650, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
-    flags=HyundaiFlags.HYBRID,
-    spFlags=HyundaiFlagsSP.SP_NON_SCC | HyundaiFlagsSP.SP_NON_SCC_FCA,
-  )
   KIA_FORTE_2019_NON_SCC = HyundaiPlatformConfig(
     [HyundaiCarDocs("Kia Forte Non-SCC 2019", "No Smart Cruise Control (SCC)", car_parts=CarParts.common([CarHarness.hyundai_g]))],
     KIA_FORTE.specs,

selfdrive/car/interfaces.py

@@ -292,7 +292,6 @@ class CarInterfaceBase(ABC):
     ret.minSteerSpeed = platform.config.specs.minSteerSpeed
     ret.tireStiffnessFactor = platform.config.specs.tireStiffnessFactor
     ret.flags |= int(platform.config.flags)
-    ret.spFlags |= int(platform.config.spFlags)
 
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
 
@@ -380,13 +379,16 @@ class CarInterfaceBase(ABC):
     ret.vEgoStopping = 0.5
     ret.vEgoStarting = 0.5
     ret.stoppingControl = True
+    ret.longitudinalTuning.deadzoneBP = [0.]
+    ret.longitudinalTuning.deadzoneV = [0.]
     ret.longitudinalTuning.kf = 1.
     ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [0.]
+    ret.longitudinalTuning.kpV = [1.]
     ret.longitudinalTuning.kiBP = [0.]
-    ret.longitudinalTuning.kiV = [0.]
+    ret.longitudinalTuning.kiV = [1.]
     # TODO estimate car specific lag, use .15s for now
-    ret.longitudinalActuatorDelay = 0.15
+    ret.longitudinalActuatorDelayLowerBound = 0.15
+    ret.longitudinalActuatorDelayUpperBound = 0.15
     ret.steerLimitTimer = 1.0
     return ret
 
@@ -396,7 +398,7 @@ class CarInterfaceBase(ABC):
 
     tune.init('torque')
     tune.torque.useSteeringAngle = use_steering_angle
-    tune.torque.kp = 0.5
+    tune.torque.kp = 1.0
     tune.torque.kf = 1.0
     tune.torque.ki = 0.1
     tune.torque.friction = params['FRICTION']
@@ -411,7 +413,7 @@ class CarInterfaceBase(ABC):
 
   @staticmethod
   def sp_configure_custom_torque_tune(ret, params):
-    ret.lateralTuning.torque.friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.001
+    ret.lateralTuning.torque.friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.01
     ret.lateralTuning.torque.latAccelFactor = float(params.get("TorqueMaxLatAccel", encoding="utf8")) * 0.01
     return ret
 
@@ -460,9 +462,8 @@ class CarInterfaceBase(ABC):
       events.add(EventName.doorOpen)
     if cs_out.seatbeltUnlatched and cs_out.gearShifter != GearShifter.park:
       events.add(EventName.seatbeltNotLatched)
-    if cs_out.gearShifter != GearShifter.drive and (extra_gears is None or
-       cs_out.gearShifter not in extra_gears) and not (cs_out.gearShifter == GearShifter.unknown and
-       self.gear_warning < int(0.5/DT_CTRL)):
+    if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears and not \
+            (cs_out.gearShifter == GearShifter.unknown and self.gear_warning < int(0.5/DT_CTRL)):
       if cs_out.vEgo < 5:
         events.add(EventName.silentWrongGear)
       else:
@@ -476,8 +477,6 @@ class CarInterfaceBase(ABC):
       events.add(EventName.wrongCarMode)
     if cs_out.espDisabled:
       events.add(EventName.espDisabled)
-    if cs_out.espActive:
-      events.add(EventName.espActive)
     if cs_out.stockFcw:
       events.add(EventName.stockFcw)
     if cs_out.stockAeb:
@@ -779,6 +778,7 @@ class CarStateBase(ABC):
     self.mads_enabled = False
     self.prev_mads_enabled = False
     self.control_initialized = False
+    self.pcm_cruise_enabled = False
 
     Q = [[0.0, 0.0], [0.0, 100.0]]
     R = 0.3

selfdrive/car/mazda/fingerprints.py

@@ -16,7 +16,6 @@ FW_VERSIONS = {
       b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PXFG-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],

selfdrive/car/mazda/interface.py

@@ -70,7 +70,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
       if ret.gasPressed and not ret.cruiseState.enabled:

selfdrive/car/nissan/interface.py

@@ -49,7 +49,7 @@ class CarInterface(CarInterfaceBase):
     if (not ret.cruiseState.enabled and self.CS.out.cruiseState.enabled) or \
        self.get_sp_pedal_disengage(ret):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
 
     ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))