Merge branch 'master' of https://github.com/sunnypilot/opendbc into sync

.github/ISSUE_TEMPLATE/misc.yml

@@ -0,0 +1,36 @@
+name: Miscellaneous
+description: For tools or test bugs, or enhancements
+labels: ["bug"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        * If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
+        Before creating a **miscellaneous bug report**, please check the following:
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+
+  - type: textarea
+    attributes:
+      label: Describe the bug or enhancement
+      description: Also include a description of how to reproduce the bug or how the enhancement would work
+    validations:
+      required: true
+
+  - type: input
+    id: route
+    attributes:
+      label: Provide a route where the issue occurs if applicable
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai
+      placeholder: 77611a1fac303767|2020-05-11--16-37-07
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version if applicable
+      description: If you're not on release, provide the commit hash
+      placeholder: 0.8.10
+
+  - type: textarea
+    attributes:
+      label: Additional info

.github/workflows/car_diff.yml

@@ -0,0 +1,45 @@
+name: car diff
+
+on:
+  pull_request_target:
+    types: [opened, synchronize, reopened]
+
+jobs:
+  comment:
+    name: comment
+    runs-on: ubuntu-latest
+    timeout-minutes: 10
+    permissions:
+      contents: read
+      pull-requests: write
+      actions: read
+    steps:
+    - name: Wait for car diff
+      id: wait
+      continue-on-error: true
+      uses: lewagon/wait-on-check-action@v1.3.4
+      with:
+        ref: ${{ github.event.pull_request.head.sha }}
+        check-name: car diff
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        allowed-conclusions: success
+        wait-interval: 20
+    - name: Download car diff
+      if: steps.wait.outcome == 'success'
+      uses: dawidd6/action-download-artifact@v6
+      with:
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+        workflow: tests.yml
+        workflow_conclusion: ''
+        pr: ${{ github.event.number }}
+        name: car_diff_${{ github.event.number }}
+        path: .
+        allow_forks: true
+    - name: Comment car diff on PR
+      if: steps.wait.outcome == 'success'
+      uses: thollander/actions-comment-pull-request@v2
+      with:
+        filePath: diff.txt
+        comment_tag: car_diff
+        pr_number: ${{ github.event.number }}
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/tests.yml

@@ -62,6 +62,7 @@ jobs:
 
   car_diff:
     name: car diff
+    if: false
     runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     env:
       GIT_REF: ${{ github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) && github.event.before || format('origin/{0}', github.event.repository.default_branch) }}
@@ -77,11 +78,12 @@ jobs:
     - name: Test car diff
       if: github.event_name == 'pull_request'
       run: source setup.sh && python opendbc/car/tests/car_diff.py | tee diff.txt
-    - name: Comment PR
+    - name: Upload diff
       if: always() && github.event_name == 'pull_request' && github.repository == 'commaai/opendbc'
-      env:
-        GH_TOKEN: ${{ github.token }}
-      run: '[ -s diff.txt ] && gh pr comment ${{ github.event.pull_request.number }} --repo ${{ github.repository }} -F diff.txt || true'
+      uses: actions/upload-artifact@v4
+      with:
+        name: car_diff_${{ github.event.number }}
+        path: diff.txt
     - name: Update refs
       if: github.repository == 'commaai/opendbc' && github.ref == 'refs/heads/master'
       run: source setup.sh && python opendbc/car/tests/car_diff.py --update-refs

.github/workflows/update-cars-docs.yml

@@ -16,7 +16,7 @@ jobs:
         run: |
           pip install -e .
           scons -c && scons -j$(nproc)
-          python -m pip install jinja2==3.1.4 natsort==8.4.0
+          python -m pip install jinja2==3.1.4
           python opendbc/car/docs.py
       - uses: stefanzweifel/git-auto-commit-action@8621497c8c39c72f3e2a999a26b4ca1b5058a842
         with:

.github/workflows/update-uv-lock.yml

@@ -0,0 +1,30 @@
+name: Update uv.lock
+
+on:
+  schedule:
+    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
+  workflow_dispatch:
+
+jobs:
+  update-uv-lock:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+      pull-requests: write
+    steps:
+      - uses: actions/checkout@v4
+      - uses: astral-sh/setup-uv@v5
+      - name: Update uv.lock
+        run: uv lock --upgrade
+      - name: Create Pull Request
+        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+        with:
+          author: Vehicle Researcher <user@comma.ai>
+          token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+          commit-message: "[bot] Update uv.lock"
+          title: "[bot] Update uv.lock"
+          body: "Weekly update of uv.lock dependencies"
+          branch: "update-uv-lock"
+          base: "master"
+          delete-branch: true
+          labels: bot

.gitignore

@@ -17,7 +17,6 @@
 *.gcno
 *.dump
 *.gcov
-uv.lock
 /dist/
 .vscode/
 __pycache__/

docs/CARS.md

@@ -1,16 +1,18 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
-# Support Information for 384 Known Cars
+# Support Information for 410 Known Cars
 
 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
+|Acura|ADX 2025-26|All|[Community](#community)|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|[Upstream](#upstream)|
 |Acura|ILX 2019|All|[Upstream](#upstream)|
 |Acura|Integra 2023-25|All|[Community](#community)|
 |Acura|MDX 2015-16|Advance Package|[Community](#community)|
 |Acura|MDX 2017-20|All|[Community](#community)|
 |Acura|MDX 2022-24|All|[Community](#community)|
-|Acura|MDX 2025|All except Type S|[Upstream](#upstream)|
+|Acura|MDX 2025-26|All except Type S|[Upstream](#upstream)|
+|Acura|MDX Hybrid 2017-20|All|[Community](#community)|
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|[Upstream](#upstream)|
 |Acura|RDX 2019-21|All|[Upstream](#upstream)|
 |Acura|RDX 2022-25|All|[Community](#community)|
@@ -19,6 +21,7 @@
 |Acura|TLX 2018-20|All|[Community](#community)|
 |Acura|TLX 2021|All|[Upstream](#upstream)|
 |Acura|TLX 2022-23|All|[Community](#community)|
+|Acura|TLX 2025|All|[Upstream](#upstream)|
 |Acura|ZDX 2024|All|[Not compatible](#can-bus-security)|
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
@@ -29,11 +32,21 @@
 |Audi|Q5 2017-24|All|[Not compatible](#flexray)|
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|Cadillac|CT6 Non-ACC 2017-18|No Adaptive Cruise Control (Non-ACC)|[Dashcam mode](#dashcam)|
+|Cadillac|XT5 Non-ACC 2018|No Adaptive Cruise Control (Non-ACC)|[Dashcam mode](#dashcam)|
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|[Upstream](#upstream)|
+|Chevrolet|Bolt EUV LT Non-ACC 2022-23|No Adaptive Cruise Control (Non-ACC)|[Dashcam mode](#dashcam)|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|[Upstream](#upstream)|
+|Chevrolet|Bolt EV LT Non-ACC 2022-23|No Adaptive Cruise Control (Non-ACC)|[Dashcam mode](#dashcam)|
+|Chevrolet|Bolt EV Non-ACC 2017|No Adaptive Cruise Control (Non-ACC)|[Community](community)|
+|Chevrolet|Bolt EV Non-ACC 2018-21|No Adaptive Cruise Control (Non-ACC)|[Community](community)|
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Equinox Non-ACC 2019-22|No Adaptive Cruise Control (Non-ACC)|[Dashcam mode](#dashcam)|
+|Chevrolet|Malibu Non-ACC 2016-23|No Adaptive Cruise Control (Non-ACC)|[Community](community)|
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|[Upstream](#upstream)|
+|Chevrolet|Suburban Non-ACC 2016-20|No Adaptive Cruise Control (Non-ACC)|[Dashcam mode](#dashcam)|
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Trailblazer Non-ACC 2021-22|No Adaptive Cruise Control (Non-ACC)|[Dashcam mode](#dashcam)|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chrysler|Pacifica 2021-23|All|[Upstream](#upstream)|
@@ -70,6 +83,7 @@
 |Genesis|G70 2018|All|[Upstream](#upstream)|
 |Genesis|G70 2019-21|All|[Upstream](#upstream)|
 |Genesis|G70 2022-23|All|[Upstream](#upstream)|
+|Genesis|G70 Non-SCC 2021|No Smart Cruise Control (Non-SCC)|[Dashcam mode](#dashcam)|
 |Genesis|G80 2017|All|[Upstream](#upstream)|
 |Genesis|G80 2018-19|All|[Upstream](#upstream)|
 |Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024|Highway Driving Assist II|[Upstream](#upstream)|
@@ -86,6 +100,7 @@
 |Honda|Accord 2016-17|Honda Sensing|[Community](#community)|
 |Honda|Accord 2018-22|All|[Upstream](#upstream)|
 |Honda|Accord 2023-25|All|[Upstream](#upstream)|
+|Honda|Accord Hybrid 2017|All|[Community](#community)|
 |Honda|Accord Hybrid 2018-22|All|[Upstream](#upstream)|
 |Honda|Accord Hybrid 2023-25|All|[Upstream](#upstream)|
 |Honda|City (Brazil only) 2023|All|[Upstream](#upstream)|
@@ -98,12 +113,13 @@
 |Honda|Civic Hatchback Hybrid 2025-26|All|[Upstream](#upstream)|
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|[Upstream](#upstream)|
 |Honda|Civic Hybrid 2025-26|All|[Upstream](#upstream)|
+|Honda|Clarity 2018-21|Honda Sensing|[Community](community)|
 |Honda|Clarity 2018-21|All|[Community](#community)|
 |Honda|CR-V 2015-16|Touring Trim|[Upstream](#upstream)|
 |Honda|CR-V 2017-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|CR-V 2023-26|All|[Upstream](#upstream)|
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|[Upstream](#upstream)|
-|Honda|CR-V Hybrid 2023-25|All|[Upstream](#upstream)|
+|Honda|CR-V Hybrid 2023-26|All|[Upstream](#upstream)|
 |Honda|e 2020|All|[Upstream](#upstream)|
 |Honda|Fit 2018-20|Honda Sensing|[Upstream](#upstream)|
 |Honda|Freed 2020|Honda Sensing|[Upstream](#upstream)|
@@ -114,6 +130,7 @@
 |Honda|N-Box 2018|All|[Upstream](#upstream)|
 |Honda|Odyssey 2018-20|Honda Sensing|[Upstream](#upstream)|
 |Honda|Odyssey 2021-26|All|[Upstream](#upstream)|
+|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|[Upstream](#upstream)|
 |Honda|Passport 2019-25|All|[Upstream](#upstream)|
 |Honda|Passport 2026|All|[Upstream](#upstream)|
 |Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
@@ -123,12 +140,14 @@
 |Hyundai|Azera 2022|All|[Upstream](#upstream)|
 |Hyundai|Azera Hybrid 2019|All|[Upstream](#upstream)|
 |Hyundai|Azera Hybrid 2020|All|[Upstream](#upstream)|
+|Hyundai|Bayon Non-SCC 2021|No Smart Cruise Control (Non-SCC)|[Dashcam mode](#dashcam)|
 |Hyundai|Custin 2023|All|[Upstream](#upstream)|
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|[Community](community)|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|[Upstream](#upstream)|
@@ -142,14 +161,16 @@
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|[Upstream](#upstream)|
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|[Upstream](#upstream)|
-|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|[Dashcam mode](#dashcam)|
+|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|[Community](community)|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|[Community](community)|
 |Hyundai|Nexo 2021|All|[Upstream](#upstream)|
 |Hyundai|Palisade 2020-22|All|[Upstream](#upstream)|
-|Hyundai|Palisade 2023-24|HDA2|[Community](#community)|
+|Hyundai|Palisade 2023-24|Highway Driving Assist II|[Community](#community)|
 |Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Santa Fe 2019-20|All|[Upstream](#upstream)|
 |Hyundai|Santa Fe 2021-23|All|[Upstream](#upstream)|
@@ -171,11 +192,14 @@
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|[Community](community)|
 |Kia|EV6 (Southeast Asia only) 2022-24|All|[Upstream](#upstream)|
 |Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|[Upstream](#upstream)|
 |Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|[Upstream](#upstream)|
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|[Community](community)|
+|Kia|Forte Non-SCC 2021|No Smart Cruise Control (Non-SCC)|[Dashcam mode](#dashcam)|
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|[Upstream](#upstream)|
@@ -198,6 +222,7 @@
 |Kia|Optima Hybrid 2017|Advanced Smart Cruise Control|[Dashcam mode](#dashcam)|
 |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|Seltos Non-SCC 2023-24|No Smart Cruise Control (Non-SCC)|[Dashcam mode](#dashcam)|
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|[Upstream](#upstream)|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Sorento 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
@@ -208,7 +233,7 @@
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Stinger 2022-23|All|[Upstream](#upstream)|
 |Kia|Telluride 2020-22|All|[Upstream](#upstream)|
-|Kia|Telluride 2023-24|HDA2|[Community](#community)|
+|Kia|Telluride 2023-24|Highway Driving Assist II|[Community](#community)|
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|[Upstream](#upstream)|
 |Lexus|ES 2017-18|All|[Upstream](#upstream)|
 |Lexus|ES 2019-25|All|[Upstream](#upstream)|
@@ -218,7 +243,8 @@
 |Lexus|IS 2017-19|All|[Upstream](#upstream)|
 |Lexus|IS 2022-24|All|[Upstream](#upstream)|
 |Lexus|LC 2024-25|All|[Upstream](#upstream)|
-|Lexus|NS 2022-25|Any|[Not compatible](#can-bus-security)|
+|Lexus|LS 2018|All except Lexus Safety System+ A|[Upstream](#upstream)|
+|Lexus|NS 2022-25|All|[Not compatible](#can-bus-security)|
 |Lexus|NX 2018-19|All|[Upstream](#upstream)|
 |Lexus|NX 2020-21|All|[Upstream](#upstream)|
 |Lexus|NX Hybrid 2018-19|All|[Upstream](#upstream)|
@@ -249,8 +275,8 @@
 |Peugeot|208 2019-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
 |Porsche|Macan 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
-|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
-|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
+|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Rivian|R1S 2022-24|All|[Upstream](#upstream)|
 |Rivian|R1T 2022-24|All|[Upstream](#upstream)|
 |SEAT|Alhambra 2018-20|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
@@ -261,19 +287,19 @@
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|[Upstream](#upstream)|
 |Subaru|Crosstrek Hybrid 2020|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
-|Subaru|Forester 2017-18|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
+|Subaru|Forester 2017-18|EyeSight Driver Assistance|[Upstream](#upstream)|
 |Subaru|Forester 2019-21|All|[Upstream](#upstream)|
 |Subaru|Forester 2022-24|All|[Dashcam mode](#dashcam)|
 |Subaru|Forester Hybrid 2020|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
 |Subaru|Impreza 2017-19|EyeSight Driver Assistance|[Upstream](#upstream)|
 |Subaru|Impreza 2020-22|EyeSight Driver Assistance|[Upstream](#upstream)|
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance|[Upstream](#upstream)|
 |Subaru|Legacy 2020-22|All|[Upstream](#upstream)|
-|Subaru|Outback 2015-17|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
-|Subaru|Outback 2018-19|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
+|Subaru|Outback 2015-17|EyeSight Driver Assistance|[Upstream](#upstream)|
+|Subaru|Outback 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
 |Subaru|Outback 2020-22|All|[Upstream](#upstream)|
 |Subaru|Outback 2023|All|[Dashcam mode](#dashcam)|
-|Subaru|Solterra 2023-25|Any|[Not compatible](#can-bus-security)|
+|Subaru|Solterra 2023-25|All|[Not compatible](#can-bus-security)|
 |Subaru|XV 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
 |Subaru|XV 2020-21|EyeSight Driver Assistance|[Upstream](#upstream)|
 |Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
@@ -298,19 +324,19 @@
 |Toyota|Avalon 2022|All|[Upstream](#upstream)|
 |Toyota|Avalon Hybrid 2019-21|All|[Upstream](#upstream)|
 |Toyota|Avalon Hybrid 2022|All|[Upstream](#upstream)|
-|Toyota|bZ4x 2023-25|Any|[Not compatible](#can-bus-security)|
+|Toyota|bZ4x 2023-25|All|[Not compatible](#can-bus-security)|
 |Toyota|C-HR 2017-20|All|[Upstream](#upstream)|
 |Toyota|C-HR 2021|All|[Upstream](#upstream)|
 |Toyota|C-HR Hybrid 2017-20|All|[Upstream](#upstream)|
 |Toyota|C-HR Hybrid 2021-22|All|[Upstream](#upstream)|
 |Toyota|Camry 2018-20|All|[Upstream](#upstream)|
 |Toyota|Camry 2021-24|All|[Upstream](#upstream)|
-|Toyota|Camry 2025|Any|[Not compatible](#can-bus-security)|
+|Toyota|Camry 2025|All|[Not compatible](#can-bus-security)|
 |Toyota|Camry Hybrid 2018-20|All|[Upstream](#upstream)|
 |Toyota|Camry Hybrid 2021-24|All|[Upstream](#upstream)|
 |Toyota|Corolla 2017-19|All|[Upstream](#upstream)|
 |Toyota|Corolla 2020-22|All|[Upstream](#upstream)|
-|Toyota|Corolla Cross 2022-25|Any|[Not compatible](#can-bus-security)|
+|Toyota|Corolla Cross 2022-25|All|[Not compatible](#can-bus-security)|
 |Toyota|Corolla Cross (Non-US only) 2020-23|All|[Upstream](#upstream)|
 |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|[Upstream](#upstream)|
 |Toyota|Corolla Hatchback 2019-22|All|[Upstream](#upstream)|
@@ -318,7 +344,7 @@
 |Toyota|Corolla Hybrid (South America only) 2020-23|All|[Upstream](#upstream)|
 |Toyota|Highlander 2017-19|All|[Upstream](#upstream)|
 |Toyota|Highlander 2020-23|All|[Upstream](#upstream)|
-|Toyota|Highlander 2025|Any|[Not compatible](#can-bus-security)|
+|Toyota|Highlander 2025|All|[Not compatible](#can-bus-security)|
 |Toyota|Highlander Hybrid 2017-19|All|[Upstream](#upstream)|
 |Toyota|Highlander Hybrid 2020-23|All|[Upstream](#upstream)|
 |Toyota|Mirai 2021|All|[Upstream](#upstream)|
@@ -339,13 +365,13 @@
 |Toyota|RAV4 Hybrid 2022|All|[Upstream](#upstream)|
 |Toyota|RAV4 Hybrid 2023-25|All|[Upstream](#upstream)|
 |Toyota|RAV4 Prime 2021-23|All|[Custom](#secoc-cars-with-recoverable-keys)|
-|Toyota|RAV4 Prime 2024-25|Any|[Not compatible](#can-bus-security)|
-|Toyota|Sequoia 2023-25|Any|[Not compatible](#can-bus-security)|
+|Toyota|RAV4 Prime 2024-25|All|[Not compatible](#can-bus-security)|
+|Toyota|Sequoia 2023-25|All|[Not compatible](#can-bus-security)|
 |Toyota|Sienna 2018-20|All|[Upstream](#upstream)|
 |Toyota|Sienna 2021-23|All|[Custom](#secoc-cars-with-recoverable-keys)|
-|Toyota|Sienna 2024-25|Any|[Not compatible](#can-bus-security)|
-|Toyota|Tundra 2022-25|Any|[Not compatible](#can-bus-security)|
-|Toyota|Venza 2021-25|Any|[Not compatible](#can-bus-security)|
+|Toyota|Sienna 2024-25|All|[Not compatible](#can-bus-security)|
+|Toyota|Tundra 2022-25|All|[Not compatible](#can-bus-security)|
+|Toyota|Venza 2021-25|All|[Not compatible](#can-bus-security)|
 |Toyota|Yaris (Non-US only) 2020, 2023|All|[Custom](#secoc-cars-with-recoverable-keys)|
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|

opendbc/car/__init__.py

@@ -130,17 +130,15 @@ class CanSignalRateCalculator:
   Calculates the instantaneous rate of a CAN signal by using the counter
   variable and the known frequency of the CAN message that contains it.
   """
-  def __init__(self, frequency):
+  def __init__(self, frequency: int):
     self.frequency = frequency
-    self.previous_counter = 0
     self.previous_value = 0
     self.rate = 0
 
-  def update(self, current_value, current_counter):
-    if current_counter != self.previous_counter:
+  def update(self, current_value: float, updated: bool):
+    if updated:
       self.rate = (current_value - self.previous_value) * self.frequency
 
-    self.previous_counter = current_counter
     self.previous_value = current_value
 
     return self.rate

opendbc/car/body/bodycan.py

@@ -1,3 +1,6 @@
+from opendbc.car.crc import CRC8BODY
+
+
 def create_control(packer, torque_l, torque_r):
   values = {
     "TORQUE_L": torque_l,
@@ -9,12 +12,6 @@ def create_control(packer, torque_l, torque_r):
 
 def body_checksum(address: int, sig, d: bytearray) -> int:
   crc = 0xFF
-  poly = 0xD5
   for i in range(len(d) - 2, -1, -1):
-    crc ^= d[i]
-    for _ in range(8):
-      if crc & 0x80:
-        crc = ((crc << 1) ^ poly) & 0xFF
-      else:
-        crc = (crc << 1) & 0xFF
+    crc = CRC8BODY[crc ^ d[i]]
   return crc

opendbc/car/ccp.py

@@ -217,7 +217,7 @@ class CcpClient:
     resp = self._recv_dto(0.025)
     # mta_addr_ext = resp[0]
     mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
-    return mta_addr  # type: ignore
+    return mta_addr
 
   def download_6_bytes(self, data: bytes) -> int:
     if len(data) != 6:
@@ -226,7 +226,7 @@ class CcpClient:
     resp = self._recv_dto(0.025)
     # mta_addr_ext = resp[0]
     mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
-    return mta_addr  # type: ignore
+    return mta_addr
 
   def upload(self, size: int) -> bytes:
     if size > 5:
@@ -325,7 +325,7 @@ class CcpClient:
     resp = self._recv_dto(0.1)
     # mta_addr_ext = resp[0]
     mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
-    return mta_addr  # type: ignore
+    return mta_addr
 
   def program_6_bytes(self, data: bytes) -> int:
     if len(data) != 6:
@@ -334,7 +334,7 @@ class CcpClient:
     resp = self._recv_dto(0.1)
     # mta_addr_ext = resp[0]
     mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
-    return mta_addr  # type: ignore
+    return mta_addr
 
   def move_memory_block(self, size: int) -> None:
     self._send_cro(COMMAND_CODE.MOVE, struct.pack(f"{self.byte_order.value}I", size))

opendbc/car/chrysler/radar_interface.py

@@ -73,8 +73,8 @@ class RadarInterface(RadarInterfaceBase):
       if 'LONG_DIST' in cpt:  # c_* message
         self.pts[trackId].dRel = cpt['LONG_DIST']  # from front of car
         # our lat_dist is positive to the right in car's frame.
-        # TODO what does yRel want?
-        self.pts[trackId].yRel = cpt['LAT_DIST']  # in car frame's y axis, left is positive
+        # LAT_DIST is right-positive, yRel is left-positive
+        self.pts[trackId].yRel = -cpt['LAT_DIST']  # in car frame's y axis, left is positive
       else:  # d_* message
         self.pts[trackId].vRel = cpt['REL_SPEED']
 

opendbc/car/crc.py

@@ -27,4 +27,5 @@ def _gen_crc16_table(poly: int) -> list[int]:
 
 CRC8H2F = _gen_crc8_table(0x2F)
 CRC8J1850 = _gen_crc8_table(0x1D)
+CRC8BODY = _gen_crc8_table(0xD5)
 CRC16_XMODEM = _gen_crc16_table(0x1021)

opendbc/car/docs.py

@@ -1,12 +1,13 @@
 #!/usr/bin/env python3
-import argparse
+import re
 import os
+import jinja2
+import argparse
+import unicodedata
 from typing import get_args
 
-from collections import defaultdict
-import jinja2
 from enum import Enum
-from natsort import natsorted
+from collections import defaultdict
 
 from opendbc.car.common.basedir import BASEDIR
 from opendbc.car import gen_empty_fingerprint
@@ -47,6 +48,12 @@ def get_all_footnotes() -> dict[Enum, int]:
   return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
 
 
+def _natural_sort_key(s):
+  # NFKD normalization ensures accented characters sort with their base letter (e.g., Š sorts with S)
+  normalized = unicodedata.normalize('NFKD', s)
+  return [int(t) if t.isdigit() else t.lower() for t in re.split(r'(\d+)', normalized) if t]
+
+
 def build_sorted_car_docs_list(platforms, footnotes=None):
   collected_car_docs: list[CarDocs | ExtraCarDocs] = []
   for platform in platforms.values():
@@ -64,7 +71,7 @@ def build_sorted_car_docs_list(platforms, footnotes=None):
       collected_car_docs.append(_car_docs)
 
   # Sort cars by make and model + year
-  sorted_cars = natsorted(collected_car_docs, key=lambda car: car.name.lower())
+  sorted_cars = sorted(collected_car_docs, key=lambda car: _natural_sort_key(car.name))
   return sorted_cars
 
 

opendbc/car/extra_cars.py

@@ -37,9 +37,11 @@ class CAR(Platforms):
 
   EXTRA_HONDA = ExtraPlatformConfig(
     [
+      CommunityCarDocs("Acura ADX 2025-26"),
       CommunityCarDocs("Acura Integra 2023-25"),
       CommunityCarDocs("Acura MDX 2015-16", "Advance Package"),
       CommunityCarDocs("Acura MDX 2017-20"),
+      CommunityCarDocs("Acura MDX Hybrid 2017-20"),
       CommunityCarDocs("Acura MDX 2022-24"),
       CommunityCarDocs("Acura RDX 2022-25"),
       CommunityCarDocs("Acura RLX 2017", "Advance Package or Technology Package"),
@@ -48,6 +50,7 @@ class CAR(Platforms):
       CommunityCarDocs("Acura TLX 2022-23"),
       GMSecurityCarDocs("Acura ZDX 2024"),
       CommunityCarDocs("Honda Accord 2016-17", "Honda Sensing"),
+      CommunityCarDocs("Honda Accord Hybrid 2017"),
       CommunityCarDocs("Honda Clarity 2018-21"),
       GMSecurityCarDocs("Honda Prologue 2024-25"),
     ],
@@ -55,8 +58,8 @@ class CAR(Platforms):
 
   EXTRA_HYUNDAI = ExtraPlatformConfig(
     [
-      CommunityCarDocs("Hyundai Palisade 2023-24", package="HDA2"),
-      CommunityCarDocs("Kia Telluride 2023-24", package="HDA2"),
+      CommunityCarDocs("Hyundai Palisade 2023-24", "Highway Driving Assist II"),
+      CommunityCarDocs("Kia Telluride 2023-24", "Highway Driving Assist II"),
     ],
   )
 

opendbc/car/gm/values.py

@@ -3,7 +3,7 @@ from enum import Enum, IntFlag
 
 from opendbc.car import Bus, PlatformConfig, DbcDict, Platforms, CarSpecs
 from opendbc.car.structs import CarParams
-from opendbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column
+from opendbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column, SupportType
 from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 from opendbc.sunnypilot.car.gm.values_ext import GMFlagsSP
@@ -88,6 +88,13 @@ class GMCarDocs(CarDocs):
       self.car_parts = CarParts.common([CarHarness.obd_ii])
 
 
+@dataclass
+class GMNonAccCarDocs(GMCarDocs):
+  package: str = "No Adaptive Cruise Control (Non-ACC)"
+  support_type: SupportType = SupportType.COMMUNITY
+  support_link: str = "community"
+
+
 @dataclass(frozen=True, kw_only=True)
 class GMCarSpecs(CarSpecs):
   tireStiffnessFactor: float = 0.444  # not optimized yet
@@ -116,6 +123,12 @@ class GMSDGMPlatformConfig(GMPlatformConfig):
     self.car_docs = []
 
 
+@dataclass
+class GMNonSccPlatformConfig(GMPlatformConfig):
+  def init(self):
+    self.sp_flags |= GMFlagsSP.NON_ACC
+
+
 class CAR(Platforms):
   HOLDEN_ASTRA = GMASCMPlatformConfig(
     [GMCarDocs("Holden Astra 2017")],
@@ -199,58 +212,48 @@ class CAR(Platforms):
   # port extensions
   # Separate car def is required when there is no ASCM
   # (for now) unless there is a way to detect it when it has been unplugged...
-  # CHEVROLET_VOLT_CC = GMPlatformConfig(
-  #   [GMCarDocs("Chevrolet Volt LT 2017-18")],
+  # CHEVROLET_VOLT_CC = GMNonSccPlatformConfig(
+  #   [GMNonAccCarDocs("Chevrolet Volt LT 2017-18")],
   #   CHEVROLET_VOLT.specs,
-  #   sp_flags=GMFlagsSP.NON_ACC,
   # )
-  CHEVROLET_BOLT_NON_ACC = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Bolt EV Non-ACC 2017")],
+  CHEVROLET_BOLT_NON_ACC = GMNonSccPlatformConfig(
+    [GMNonAccCarDocs("Chevrolet Bolt EV Non-ACC 2017")],
     CHEVROLET_BOLT_EUV.specs,
-    sp_flags=GMFlagsSP.NON_ACC,
   )
-  CHEVROLET_BOLT_NON_ACC_1ST_GEN = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Bolt EV Non-ACC 2018-21")],
+  CHEVROLET_BOLT_NON_ACC_1ST_GEN = GMNonSccPlatformConfig(
+    [GMNonAccCarDocs("Chevrolet Bolt EV Non-ACC 2018-21")],
     CHEVROLET_BOLT_EUV.specs,
-    sp_flags=GMFlagsSP.NON_ACC,
   )
-  CHEVROLET_BOLT_NON_ACC_2ND_GEN = GMPlatformConfig(
+  CHEVROLET_BOLT_NON_ACC_2ND_GEN = GMNonSccPlatformConfig(
     [
-      GMCarDocs("Chevrolet Bolt EUV LT Non-ACC 2022-23"),
-      GMCarDocs("Chevrolet Bolt EV LT Non-ACC 2022-23"),
+      GMNonAccCarDocs("Chevrolet Bolt EUV LT Non-ACC 2022-23"),
+      GMNonAccCarDocs("Chevrolet Bolt EV LT Non-ACC 2022-23"),
     ],
     CHEVROLET_BOLT_EUV.specs,
-    sp_flags=GMFlagsSP.NON_ACC,
   )
-  CHEVROLET_EQUINOX_NON_ACC_3RD_GEN = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Equinox Non-ACC 2019-22")],
+  CHEVROLET_EQUINOX_NON_ACC_3RD_GEN = GMNonSccPlatformConfig(
+    [GMNonAccCarDocs("Chevrolet Equinox Non-ACC 2019-22")],
     CHEVROLET_EQUINOX.specs,
-    sp_flags=GMFlagsSP.NON_ACC,
   )
-  CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Suburban Non-ACC 2016-20")],
+  CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN = GMNonSccPlatformConfig(
+    [GMNonAccCarDocs("Chevrolet Suburban Non-ACC 2016-20")],
     CarSpecs(mass=2731, wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
-    sp_flags=GMFlagsSP.NON_ACC,
   )
-  CADILLAC_CT6_NON_ACC_1ST_GEN = GMPlatformConfig(
-    [GMCarDocs("Cadillac CT6 Non-ACC 2017-18")],
+  CADILLAC_CT6_NON_ACC_1ST_GEN = GMNonSccPlatformConfig(
+    [GMNonAccCarDocs("Cadillac CT6 Non-ACC 2017-18")],
     CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
-    sp_flags=GMFlagsSP.NON_ACC,
   )
-  CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Trailblazer Non-ACC 2021-22")],
+  CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN = GMNonSccPlatformConfig(
+    [GMNonAccCarDocs("Chevrolet Trailblazer Non-ACC 2021-22")],
     CHEVROLET_TRAILBLAZER.specs,
-    sp_flags=GMFlagsSP.NON_ACC,
   )
-  CHEVROLET_MALIBU_NON_ACC_9TH_GEN = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Malibu Non-ACC 2016-23")],
+  CHEVROLET_MALIBU_NON_ACC_9TH_GEN = GMNonSccPlatformConfig(
+    [GMNonAccCarDocs("Chevrolet Malibu Non-ACC 2016-23")],
     CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
-    sp_flags=GMFlagsSP.NON_ACC,
   )
-  CADILLAC_XT5_NON_ACC_1ST_GEN = GMPlatformConfig(
-    [GMCarDocs("Cadillac XT5 Non-ACC 2018")],
+  CADILLAC_XT5_NON_ACC_1ST_GEN = GMNonSccPlatformConfig(
+    [GMNonAccCarDocs("Cadillac XT5 Non-ACC 2018")],
     CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
-    sp_flags=GMFlagsSP.NON_ACC,
   )
 
 

opendbc/car/honda/carstate.py

@@ -51,6 +51,8 @@ class CarState(CarStateBase, CarStateExt):
     # When available we use cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] to populate vEgoCluster
     # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
     self.dash_speed_seen = False
+    self.is_metric = False
+    self.v_cruise_factor = 1.
 
   def update(self, can_parsers) -> tuple[structs.CarState, structs.CarStateSP]:
     cp = can_parsers[Bus.pt]
@@ -72,7 +74,8 @@ class CarState(CarStateBase, CarStateExt):
     self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
 
     # used for car hud message
-    self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
+    # TODO: find CAR_SPEED for HONDA_ODYSSEY_TWN or use ACC_HUD w/ detection
+    self.is_metric = self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_TWN,) or not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
     self.v_cruise_factor = CV.MPH_TO_MS if self.dynamic_v_cruise_units and not self.is_metric else CV.KPH_TO_MS
 
     # ******************* parse out can *******************
@@ -131,10 +134,11 @@ class CarState(CarStateBase, CarStateExt):
 
     ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
 
-    self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3
-    if self.dash_speed_seen:
-      conversion = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
-      ret.vEgoCluster = cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] * conversion
+    if self.CP.carFingerprint not in (CAR.HONDA_ODYSSEY_TWN,):
+      self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3
+      if self.dash_speed_seen:
+        conversion = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+        ret.vEgoCluster = cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] * conversion
 
     ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"]
     ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"]

opendbc/car/honda/fingerprints.py

@@ -223,10 +223,12 @@ FW_VERSIONS = {
       b'57114-TBG-A340\x00\x00',
       b'57114-TBG-A350\x00\x00',
       b'57114-TGG-A340\x00\x00',
+      b'57114-TGG-C120\x00\x00',
       b'57114-TGG-C320\x00\x00',
       b'57114-TGG-G320\x00\x00',
       b'57114-TGG-L320\x00\x00',
       b'57114-TGG-L330\x00\x00',
+      b'57114-TGH-A130\x00\x00',
       b'57114-TGH-L130\x00\x00',
       b'57114-TGJ-Q330\x00\x00',
       b'57114-TGK-T320\x00\x00',
@@ -241,6 +243,7 @@ FW_VERSIONS = {
       b'39990-TGG-A020\x00\x00',
       b'39990-TGG-A120\x00\x00',
       b'39990-TGG-J510\x00\x00',
+      b'39990-TGH-J020\x00\x00',
       b'39990-TGH-J530\x00\x00',
       b'39990-TGL-E130\x00\x00',
       b'39990-TGN-E120\x00\x00',
@@ -257,6 +260,7 @@ FW_VERSIONS = {
       b'77959-TGG-J320\x00\x00',
       b'77959-TGG-Q810\x00\x00',
       b'77959-TGG-Z820\x00\x00',
+      b'77959-TGH-E220\x00\x00',
       b'77959-TGH-J110\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
@@ -269,6 +273,7 @@ FW_VERSIONS = {
       b'36802-TGG-A130\x00\x00',
       b'36802-TGG-G040\x00\x00',
       b'36802-TGG-G130\x00\x00',
+      b'36802-TGH-A030\x00\x00',
       b'36802-TGH-A140\x00\x00',
       b'36802-TGK-Q030\x00\x00',
       b'36802-TGK-Q120\x00\x00',
@@ -285,6 +290,7 @@ FW_VERSIONS = {
       b'36161-TGG-G070\x00\x00',
       b'36161-TGG-G130\x00\x00',
       b'36161-TGG-G140\x00\x00',
+      b'36161-TGH-A020\x00\x00',
       b'36161-TGH-A140\x00\x00',
       b'36161-TGK-Q040\x00\x00',
       b'36161-TGK-Q120\x00\x00',
@@ -580,6 +586,17 @@ FW_VERSIONS = {
       b'54008-THR-A020\x00\x00',
     ],
   },
+  CAR.HONDA_ODYSSEY_TWN: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-T6A-J210\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-T6A-P110\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-T6A-P040\x00\x00',
+    ],
+  },
   CAR.HONDA_ODYSSEY_5G_MMR: {
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-THR-A240\x00\x00',
@@ -858,6 +875,7 @@ FW_VERSIONS = {
       b'77959-3V0-A910\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'8S102-3M1-T050\x00\x00',
       b'8S102-3M3-T050\x00\x00',
       b'8S102-3M6-P030\x00\x00',
       b'8S102-3M6-PA20\x00\x00',
@@ -1070,6 +1088,14 @@ FW_VERSIONS = {
       b'36161-TGV-A030\x00\x00',
     ],
   },
+  CAR.ACURA_TLX_2G_MMR: {
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'8S302-TGV-A030\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'8S102-TGV-A030\x00\x00',
+    ],
+  },
 }
 
 FW_VERSIONS = merge_fw_versions(FW_VERSIONS, FW_VERSIONS_EXT)

opendbc/car/honda/interface.py

@@ -167,6 +167,10 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
 
+    elif candidate == CAR.HONDA_ODYSSEY_TWN:
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
+
     elif candidate == CAR.HONDA_PILOT:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
@@ -195,6 +199,11 @@ class CarInterface(CarInterfaceBase):
         # When using stock ACC, the radar intercepts and filters steering commands the EPS would otherwise accept
         ret.minSteerSpeed = 70. * CV.KPH_TO_MS
 
+    elif candidate == CAR.ACURA_TLX_2G_MMR:
+      ret.steerActuatorDelay = 0.15
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     # TODO-SP: remove when https://github.com/commaai/opendbc/pull/2687 is merged
     elif candidate == CAR.HONDA_CLARITY:
       pass
@@ -205,7 +214,7 @@ class CarInterface(CarInterfaceBase):
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     # These cars use alternate user brake msg (0x1BE)
-    if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G, *HONDA_BOSCH_CANFD):
+    if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G, CAR.ACURA_RDX_3G, *HONDA_BOSCH_CANFD):
       ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
 
     if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
@@ -223,7 +232,12 @@ class CarInterface(CarInterfaceBase):
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
     # conflict with PCM acc
     ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
-    ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.51 * CV.MPH_TO_MS
+    if ret.autoResumeSng:
+      ret.minEnableSpeed = -1.
+    elif candidate == CAR.HONDA_ODYSSEY_TWN:
+      ret.minEnableSpeed = 19. * CV.MPH_TO_MS
+    else:
+      ret.minEnableSpeed = 25.51 * CV.MPH_TO_MS
 
     ret.steerLimitTimer = 0.8
     ret.radarDelay = 0.1

opendbc/car/honda/values.py

@@ -3,7 +3,7 @@ from enum import Enum, IntFlag
 
 from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, structs, uds
 from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
+from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, SupportType
 from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
 Ecu = structs.CarParams.Ecu
@@ -114,6 +114,8 @@ class HondaCarDocs(CarDocs):
     if CP.carFingerprint in (CAR.HONDA_CLARITY,):
       self.car_parts = CarParts.common([CarHarness.honda_clarity])
       self.car_parts.custom_parts_url = "https://shop.retropilot.org/product/honda-clarity-proxy-board-kit"
+      self.support_type: SupportType = SupportType.COMMUNITY
+      self.support_link: str = "community"
 
 
 class Footnote(Enum):
@@ -189,6 +191,7 @@ class CAR(Platforms):
     ],
     CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4),  # steerRatio: 10.93 is end-to-end spec
     {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
+    flags=HondaFlags.ALLOW_MANUAL_TRANS,
   )
   HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
     [],  # don't show in docs
@@ -281,6 +284,11 @@ class CAR(Platforms):
     {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
     flags=HondaFlags.BOSCH_ALT_RADAR,
   )
+  # mid-model refresh
+  ACURA_TLX_2G_MMR = HondaBoschCANFDPlatformConfig(
+    [HondaCarDocs("Acura TLX 2025", "All")],
+    CarSpecs(mass=3990 * CV.LB_TO_KG, wheelbase=2.87, centerToFrontRatio=0.43, steerRatio=13.7),
+  )
 
   # Nidec Cars
   ACURA_ILX = HondaNidecPlatformConfig(
@@ -328,6 +336,12 @@ class CAR(Platforms):
     radar_dbc_dict('honda_odyssey_exl_2018_generated'),
     flags=HondaFlags.NIDEC_ALT_PCM_ACCEL | HondaFlags.HAS_ALL_DOOR_STATES,
   )
+  HONDA_ODYSSEY_TWN = HondaNidecPlatformConfig(
+    [HondaCarDocs("Honda Odyssey (Taiwan) 2018-19")],
+    CarSpecs(mass=1865, wheelbase=2.9, steerRatio=14.35, centerToFrontRatio=0.44, tireStiffnessFactor=0.82),
+    radar_dbc_dict('honda_odyssey_twn_2018_generated'),
+    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
+  )
   ACURA_RDX = HondaNidecPlatformConfig(
     [HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus or Advance Package", min_steer_speed=12. * CV.MPH_TO_MS)],
     CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444),  # as spec

opendbc/car/hyundai/fingerprints.py

@@ -701,6 +701,7 @@ FW_VERSIONS = {
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310-K4271 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4971 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102',
@@ -1087,12 +1088,14 @@ FW_VERSIONS = {
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
+      b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9240 14Q',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
       b'\xf1\x00NX4__               1.00 1.01 99110-N9000         ',
       b'\xf1\x00NX4__               1.00 1.02 99110-N9000         ',
       b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
+      b'\xf1\x00NX4__               1.01 1.02 99110-N9000         ',
     ],
   },
   CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN: {

opendbc/car/hyundai/values.py

@@ -5,7 +5,7 @@ from enum import IntFlag
 from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.structs import CarParams
-from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts
+from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts, SupportType
 from opendbc.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
@@ -134,6 +134,13 @@ class HyundaiCarDocs(CarDocs):
   package: str = "Smart Cruise Control (SCC)"
 
 
+@dataclass
+class HyundaiNonSccCarDocs(CarDocs):
+  package: str = "No Smart Cruise Control (Non-SCC)"
+  support_type: SupportType = SupportType.COMMUNITY
+  support_link: str = "community"
+
+
 @dataclass
 class HyundaiPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_kia_generic"})
@@ -146,6 +153,17 @@ class HyundaiPlatformConfig(PlatformConfig):
       self.specs = self.specs.override(minSteerSpeed=32 * CV.MPH_TO_MS)
 
 
+@dataclass
+class HyundaiNonSccPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_kia_generic"})
+
+  def init(self):
+    self.sp_flags |= HyundaiFlagsSP.NON_SCC
+
+    if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
+      self.specs = self.specs.override(minSteerSpeed=32 * CV.MPH_TO_MS)
+
+
 @dataclass
 class HyundaiCanFDPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_canfd_generated"})
@@ -589,57 +607,50 @@ class CAR(Platforms):
   )
 
   # port extensions
-  HYUNDAI_BAYON_1ST_GEN_NON_SCC = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Bayon Non-SCC 2021", "No Smart Cruise Control (Non-SCC)", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+  HYUNDAI_BAYON_1ST_GEN_NON_SCC = HyundaiNonSccPlatformConfig(
+    [HyundaiNonSccCarDocs("Hyundai Bayon Non-SCC 2021", car_parts=CarParts.common([CarHarness.hyundai_n]))],
     CarSpecs(mass=1150, wheelbase=2.58, steerRatio=13.27 * 1.15),
     flags=HyundaiFlags.CHECKSUM_CRC8,
-    sp_flags=HyundaiFlagsSP.NON_SCC,
   )
-  HYUNDAI_ELANTRA_2022_NON_SCC = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Elantra Non-SCC 2022", "No Smart Cruise Control (Non-SCC)", car_parts=CarParts.common([CarHarness.hyundai_k]))],
+  HYUNDAI_ELANTRA_2022_NON_SCC = HyundaiNonSccPlatformConfig(
+    [HyundaiNonSccCarDocs("Hyundai Elantra Non-SCC 2022", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     HYUNDAI_ELANTRA_2021.specs,
     flags=HyundaiFlags.CHECKSUM_CRC8,
-    sp_flags=HyundaiFlagsSP.NON_SCC,
   )
-  HYUNDAI_KONA_NON_SCC = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona Non-SCC 2019", "No Smart Cruise Control (Non-SCC)", car_parts=CarParts.common([CarHarness.hyundai_b]))],
+  HYUNDAI_KONA_NON_SCC = HyundaiNonSccPlatformConfig(
+    [HyundaiNonSccCarDocs("Hyundai Kona Non-SCC 2019", car_parts=CarParts.common([CarHarness.hyundai_b]))],
     HYUNDAI_KONA.specs,
     flags=HyundaiFlags.ALT_LIMITS,
-    sp_flags=HyundaiFlagsSP.NON_SCC,
   )
-  HYUNDAI_KONA_EV_NON_SCC = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona Electric Non-SCC 2019", "No Smart Cruise Control (Non-SCC)", car_parts=CarParts.common([CarHarness.hyundai_g]))],
+  HYUNDAI_KONA_EV_NON_SCC = HyundaiNonSccPlatformConfig(
+    [HyundaiNonSccCarDocs("Hyundai Kona Electric Non-SCC 2019", car_parts=CarParts.common([CarHarness.hyundai_g]))],
     HYUNDAI_KONA_EV.specs,
     flags=HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
-    sp_flags=HyundaiFlagsSP.NON_SCC,
   )
-  KIA_CEED_PHEV_2022_NON_SCC = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Kia Ceed Plug-in Hybrid Non-SCC 2022", "No Smart Cruise Control (Non-SCC)", car_parts=CarParts.common([CarHarness.hyundai_i]))],
+  KIA_CEED_PHEV_2022_NON_SCC = HyundaiNonSccPlatformConfig(
+    [HyundaiNonSccCarDocs("Kia Ceed Plug-in Hybrid Non-SCC 2022", car_parts=CarParts.common([CarHarness.hyundai_i]))],
     CarSpecs(mass=1650, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
     flags=HyundaiFlags.HYBRID,
-    sp_flags=HyundaiFlagsSP.NON_SCC,
   )
-  KIA_FORTE_2019_NON_SCC = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Kia Forte Non-SCC 2019", "No Smart Cruise Control (Non-SCC)", car_parts=CarParts.common([CarHarness.hyundai_g]))],
+  KIA_FORTE_2019_NON_SCC = HyundaiNonSccPlatformConfig(
+    [HyundaiNonSccCarDocs("Kia Forte Non-SCC 2019", car_parts=CarParts.common([CarHarness.hyundai_g]))],
     KIA_FORTE.specs,
-    sp_flags=HyundaiFlagsSP.NON_SCC | HyundaiFlagsSP.NON_SCC_NO_FCA,
+    sp_flags=HyundaiFlagsSP.NON_SCC_NO_FCA,
   )
-  KIA_FORTE_2021_NON_SCC = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Kia Forte Non-SCC 2021", "No Smart Cruise Control (Non-SCC)", car_parts=CarParts.common([CarHarness.hyundai_g]))],
+  KIA_FORTE_2021_NON_SCC = HyundaiNonSccPlatformConfig(
+    [HyundaiNonSccCarDocs("Kia Forte Non-SCC 2021", car_parts=CarParts.common([CarHarness.hyundai_g]))],
     KIA_FORTE.specs,
-    sp_flags=HyundaiFlagsSP.NON_SCC,
   )
-  KIA_SELTOS_2023_NON_SCC = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Kia Seltos Non-SCC 2023-24", "No Smart Cruise Control (Non-SCC)", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+  KIA_SELTOS_2023_NON_SCC = HyundaiNonSccPlatformConfig(
+    [HyundaiNonSccCarDocs("Kia Seltos Non-SCC 2023-24", car_parts=CarParts.common([CarHarness.hyundai_l]))],
     KIA_SELTOS.specs,
     flags=HyundaiFlags.CHECKSUM_CRC8,
-    sp_flags=HyundaiFlagsSP.NON_SCC,
   )
-  GENESIS_G70_2021_NON_SCC = HyundaiPlatformConfig(
-    [HyundaiCarDocs("Genesis G70 Non-SCC 2021", "No Smart Cruise Control (Non-SCC)", car_parts=CarParts.common([CarHarness.hyundai_f]))],
+  GENESIS_G70_2021_NON_SCC = HyundaiNonSccPlatformConfig(
+    [HyundaiNonSccCarDocs("Genesis G70 Non-SCC 2021", car_parts=CarParts.common([CarHarness.hyundai_f]))],
     GENESIS_G70_2020.specs,
     flags=HyundaiFlags.CHECKSUM_CRC8,
-    sp_flags=HyundaiFlagsSP.NON_SCC | HyundaiFlagsSP.NON_SCC_RADAR_FCA,
+    sp_flags=HyundaiFlagsSP.NON_SCC_RADAR_FCA,
   )
 
 

opendbc/car/lateral.py

@@ -5,7 +5,7 @@ from opendbc.car import structs, rate_limit, DT_CTRL, ACCELERATION_DUE_TO_GRAVIT
 from opendbc.car.vehicle_model import VehicleModel
 from typing import Tuple
 
-FRICTION_THRESHOLD = 0.3
+FRICTION_THRESHOLD = 0.2
 
 # ISO 11270
 ISO_LATERAL_ACCEL = 3.0  # m/s^2

opendbc/car/mazda/carstate.py

@@ -4,15 +4,12 @@ from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.mazda.values import DBC, LKAS_LIMITS
 
-from opendbc.sunnypilot.car.mazda.carstate_ext import CarStateExt
-
 ButtonType = structs.CarState.ButtonEvent.Type
 
 
-class CarState(CarStateBase, CarStateExt):
+class CarState(CarStateBase):
   def __init__(self, CP, CP_SP):
-    CarStateBase.__init__(self, CP, CP_SP)
-    CarStateExt.__init__(self, CP, CP_SP)
+    super().__init__(CP, CP_SP)
 
     can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
     self.shifter_values = can_define.dv["GEAR"]["GEAR"]
@@ -22,6 +19,8 @@ class CarState(CarStateBase, CarStateExt):
     self.lkas_allowed_speed = False
 
     self.distance_button = 0
+    self.accel_button = 0
+    self.decel_button = 0
 
   def update(self, can_parsers) -> tuple[structs.CarState, structs.CarStateSP]:
     cp = can_parsers[Bus.pt]
@@ -30,9 +29,6 @@ class CarState(CarStateBase, CarStateExt):
     ret = structs.CarState()
     ret_sp = structs.CarStateSP()
 
-    prev_distance_button = self.distance_button
-    self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"]
-
     self.parse_wheel_speeds(ret,
       cp.vl["WHEEL_SPEEDS"]["FL"],
       cp.vl["WHEEL_SPEEDS"]["FR"],
@@ -116,12 +112,18 @@ class CarState(CarStateBase, CarStateExt):
     self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
     ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
 
-    CarStateExt.update(self, ret, ret_sp, can_parsers)
+    # cruise control button events: distance, inc, and dec
+    prev_distance_button = self.distance_button
+    prev_accel_button = self.accel_button
+    prev_decel_button = self.decel_button
+    self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"]
+    self.accel_button = cp.vl["CRZ_BTNS"]["RES"]
+    self.decel_button = cp.vl["CRZ_BTNS"]["SET_M"]
 
-    # TODO: add button types for inc and dec
     ret.buttonEvents = [
       *create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise}),
-      *self.button_events,
+      *create_button_events(self.accel_button, prev_accel_button, {1: ButtonType.accelCruise}),
+      *create_button_events(self.decel_button, prev_decel_button, {1: ButtonType.decelCruise}),
     ]
 
     return ret, ret_sp

opendbc/car/nissan/interface.py

@@ -16,6 +16,7 @@ class CarInterface(CarInterfaceBase):
     ret.brand = "nissan"
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.nissan)]
     ret.autoResumeSng = False
+    ret.steerAtStandstill = True
 
     ret.steerLimitTimer = 1.0
 

opendbc/car/subaru/carstate.py

@@ -66,11 +66,19 @@ class CarState(CarStateBase, MadsCarState, SnGCarState):
     can_gear = int(cp_transmission.vl["Transmission"]["Gear"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
 
-    ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
+    if not (self.CP.flags & SubaruFlags.LKAS_ANGLE):
+      ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
+      steering_updated = len(cp.vl_all["Steering_Torque"]["Steering_Angle"]) > 0
+    else:
+      # Steering_Torque->Steering_Angle exists on SUBARU_FORESTER_2022, SUBARU_OUTBACK_2023, SUBARU_ASCENT_2023 where
+      # it is identical to Steering_2's signal. However, it is always zero on newer LKAS_ANGLE cars
+      # such as 2024+ Crosstrek, 2023+ Ascent, etc. Use a universal signal for LKAS_ANGLE cars.
+      ret.steeringAngleDeg = cp.vl["Steering_2"]["Steering_Angle"]
+      steering_updated = len(cp.vl_all["Steering_2"]["Steering_Angle"]) > 0
 
     if not (self.CP.flags & SubaruFlags.PREGLOBAL):
       # ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it
-      ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, cp.vl["Steering_Torque"]["COUNTER"])
+      ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, steering_updated)
 
     ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
     ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
@@ -79,8 +87,16 @@ class CarState(CarStateBase, MadsCarState, SnGCarState):
     ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
 
     cp_cruise = cp_alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
-    if self.CP.flags & SubaruFlags.HYBRID:
-      ret.cruiseState.enabled = cp_cam.vl["ES_DashStatus"]['Cruise_Activated'] != 0
+    cp_es_brake = cp_alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam
+
+    if self.CP.flags & (SubaruFlags.HYBRID | SubaruFlags.LKAS_ANGLE):
+      # ES_DashStatus->Cruise_Activated_Dash is likely intended for the dash display only, as it falls
+      # during user gas override and at standstill. ES_Status is missing on hybrid, so we use ES_Brake instead
+
+      # TODO: ES_Brake->Cruise_Activated has been seen staying high when Crosstrek 2025 angle LKAS user pressed
+      #  brake while engaged at a stop. ES_Status and ES_DashStatus->Signal7 correctly fell, but is either missing or
+      #  always zero on hybrids. Probably need to split angle & hybrid. 0x27 and 0x225 on hybrids may work for them.
+      ret.cruiseState.enabled = cp_es_brake.vl["ES_Brake"]['Cruise_Activated'] != 0
       ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0
     else:
       ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0
@@ -109,9 +125,7 @@ class CarState(CarStateBase, MadsCarState, SnGCarState):
                      (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2)
 
       self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
-      cp_es_brake = cp_alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam
       self.es_brake_msg = copy.copy(cp_es_brake.vl["ES_Brake"])
-      cp_es_status = cp_alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp_cam
 
       # TODO: Hybrid cars don't have ES_Distance, need a replacement
       if not (self.CP.flags & SubaruFlags.HYBRID):
@@ -119,7 +133,7 @@ class CarState(CarStateBase, MadsCarState, SnGCarState):
         ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \
                        (cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0)
 
-        self.es_status_msg = copy.copy(cp_es_status.vl["ES_Status"])
+        self.es_status_msg = copy.copy(cp_es_brake.vl["ES_Status"])
         self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"])
 
     if not (self.CP.flags & SubaruFlags.HYBRID):

opendbc/car/subaru/fingerprints.py

@@ -146,6 +146,7 @@ FW_VERSIONS = {
       b'\xc5!ap\x07',
       b'\xc5!ar\x07',
       b'\xc5!as\x07',
+      b'\xc5!au\x07',
       b'\xc5!dr\x07',
       b'\xc5!ds\x07',
       b'\xca\x01b0\x07',

opendbc/car/subaru/interface.py

@@ -37,12 +37,13 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     ret.steerActuatorDelay = 0.1
 
-    if ret.flags & SubaruFlags.LKAS_ANGLE:
-      ret.steerControlType = structs.CarParams.SteerControlType.angle
-    else:
+    if not (ret.flags & SubaruFlags.LKAS_ANGLE):
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate in (CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023):
+    if ret.flags & SubaruFlags.LKAS_ANGLE:
+      ret.steerControlType = structs.CarParams.SteerControlType.angle
+
+    elif candidate == CAR.SUBARU_ASCENT:
       ret.steerActuatorDelay = 0.3  # end-to-end angle controller
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00003
@@ -65,13 +66,13 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.SUBARU_CROSSTREK_HYBRID:
       ret.steerActuatorDelay = 0.1
 
-    elif candidate in (CAR.SUBARU_FORESTER, CAR.SUBARU_FORESTER_2022, CAR.SUBARU_FORESTER_HYBRID):
+    elif candidate in (CAR.SUBARU_FORESTER, CAR.SUBARU_FORESTER_HYBRID):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.000038
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
 
-    elif candidate in (CAR.SUBARU_OUTBACK, CAR.SUBARU_LEGACY, CAR.SUBARU_OUTBACK_2023):
+    elif candidate in (CAR.SUBARU_OUTBACK, CAR.SUBARU_LEGACY):
       ret.steerActuatorDelay = 0.1
 
     elif candidate in (CAR.SUBARU_FORESTER_PREGLOBAL, CAR.SUBARU_OUTBACK_PREGLOBAL_2018):

opendbc/car/subaru/subarucan.py

@@ -147,8 +147,8 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l
     "Signal4",
     "Conventional_Cruise",
     "Signal5",
-    "Cruise_Disengaged",
-    "Cruise_Activated",
+    "Cruise_Disengaged_Dash",
+    "Cruise_Activated_Dash",
     "Signal6",
     "Cruise_Set_Speed",
     "Cruise_Fault",
@@ -165,8 +165,9 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l
 
   if long_enabled:
     values["Cruise_State"] = 0
-    values["Cruise_Activated"] = enabled
-    values["Cruise_Disengaged"] = 0
+    # TODO: Cruise_Activated_dash should respect gas pressed and standstill stock behavior
+    values["Cruise_Activated_Dash"] = enabled
+    values["Cruise_Disengaged_Dash"] = 0
     values["Car_Follow"] = int(lead_visible)
 
     values["PCB_Off"] = 1 # AEB is not presevered, so show the PCB_Off on dash

opendbc/car/tesla/carstate.py

@@ -1,10 +1,11 @@
 import copy
 from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, structs
+from opendbc.car.carlog import carlog
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.tesla.teslacan import get_steer_ctrl_type
-from opendbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_THRESHOLD, CAR
+from opendbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_THRESHOLD, TeslaFlags
 
 from opendbc.sunnypilot.car.tesla.carstate_ext import CarStateExt
 
@@ -21,6 +22,8 @@ class CarState(CarStateBase, CarStateExt):
     self.autopark = False
     self.autopark_prev = False
     self.cruise_enabled_prev = False
+    self.fsd14_error_logged = False
+    self.suspected_fsd14 = False
 
     self.hands_on_level = 0
     self.das_control = None
@@ -117,10 +120,23 @@ class CarState(CarStateBase, CarStateExt):
     ret.stockLkas = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == lkas_ctrl_type  # LANE_KEEP_ASSIST
 
     # Stock Autosteer should be off (includes FSD)
-    if self.CP.carFingerprint in (CAR.TESLA_MODEL_3, CAR.TESLA_MODEL_Y):
+    # TODO: find for TESLA_MODEL_X and HW2.5 vehicles
+    if not (self.CP.flags & TeslaFlags.MISSING_DAS_SETTINGS):
       ret.invalidLkasSetting = cp_ap_party.vl["DAS_settings"]["DAS_autosteerEnabled"] != 0
-    else:
-      pass
+
+      # Because we don't have FSD 14 detection outside of a set of FW, we should check if this FW is accidentally missing from FSD_14_FW
+      # 1. If in Autosteer or FSD, already caught by invalidLkasSetting
+      # 2. If in TACC and DAS ever sends ANGLE_CONTROL (1), we can infer it's trying to do LKAS on FSD 14+
+      angle_control = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == 1  # ANGLE_CONTROL
+      if not ret.invalidLkasSetting and angle_control and not self.CP.flags & TeslaFlags.FSD_14:
+        self.suspected_fsd14 = True
+
+      if self.suspected_fsd14:
+        ret.invalidLkasSetting = True
+        if not self.fsd14_error_logged:
+          carlog.error("FSD 14 detected, but FW not in FSD_14_FW set")
+          self.fsd14_error_logged = True
+
     # Buttons # ToDo: add Gap adjust button
 
     # Messages needed by carcontroller

opendbc/car/tesla/fingerprints.py

@@ -18,6 +18,7 @@ FW_VERSIONS = {
       b'TeMYG4_Main_0.0.0 (59),E4H014.29.0',
       b'TeMYG4_Main_0.0.0 (65),E4H015.01.0',
       b'TeMYG4_Main_0.0.0 (67),E4H015.02.1',
+      b'TeMYG4_Main_0.0.0 (77),E4H015.04.5',
       b'TeMYG4_SingleECU_0.0.0 (33),E4S014.27',
     ],
   },

opendbc/car/tesla/interface.py

@@ -1,8 +1,9 @@
-from opendbc.car import get_safety_config, structs
+from opendbc.car import Bus, get_safety_config, structs
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.tesla.carcontroller import CarController
 from opendbc.car.tesla.carstate import CarState
-from opendbc.car.tesla.values import TeslaSafetyFlags, TeslaFlags, CAR, FSD_14_FW, Ecu
+from opendbc.car.tesla.values import TeslaSafetyFlags, TeslaFlags, CANBUS, CAR, DBC, FSD_14_FW, Ecu
+from opendbc.car.tesla.radar_interface import RadarInterface, RADAR_START_ADDR
 
 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP, TeslaSafetyFlagsSP
 
@@ -10,6 +11,7 @@ from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP, TeslaSafetyFlagsSP
 class CarInterface(CarInterfaceBase):
   CarState = CarState
   CarController = CarController
+  RadarInterface = RadarInterface
 
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
@@ -22,7 +24,17 @@ class CarInterface(CarInterfaceBase):
     ret.steerAtStandstill = True
 
     ret.steerControlType = structs.CarParams.SteerControlType.angle
-    ret.radarUnavailable = True
+
+    # Model X and HW 2.5 vehicles are missing DAS_settings
+    if 0x293 not in fingerprint[CANBUS.autopilot_party]:
+      ret.flags |= TeslaFlags.MISSING_DAS_SETTINGS.value
+
+    # Radar support is intended to work for:
+    # - Tesla Model 3 vehicles built approximately mid-2017 through early-2021
+    # - Tesla Model Y vehicles built approximately mid-2020 through early-2021
+    # - Vehicles equipped with the Continental ARS4-B radar (used on HW2 / HW2.5 / early HW3)
+    # - Radar CAN lines must be tapped and connected to CAN bus 1 (normally not used for tesla vehicles)
+    ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in DBC[candidate]
 
     ret.alphaLongitudinalAvailable = True
     if alpha_long:

opendbc/car/tesla/radar_interface.py

@@ -0,0 +1,89 @@
+from opendbc.can import CANParser
+from opendbc.car import Bus, structs
+from opendbc.car.interfaces import RadarInterfaceBase
+from opendbc.car.tesla.values import DBC
+
+RADAR_START_ADDR = 0x410
+RADAR_MSG_COUNT = 80  # 40 points * 2 messages each
+
+
+def get_radar_can_parser(CP):
+  if Bus.radar not in DBC[CP.carFingerprint]:
+    return None
+
+  messages = [('RadarStatus', 16)]
+  for i in range(RADAR_MSG_COUNT // 2):
+    messages.extend([
+      (f'RadarPoint{i}_A', 16),
+      (f'RadarPoint{i}_B', 16),
+    ])
+
+  return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, 1)
+
+
+class RadarInterface(RadarInterfaceBase):
+  def __init__(self, CP, CP_SP):
+    super().__init__(CP, CP_SP)
+    self.updated_messages = set()
+    self.trigger_msg = RADAR_START_ADDR + RADAR_MSG_COUNT - 1
+    self.track_id = 0
+
+    self.radar_off_can = CP.radarUnavailable
+    self.rcp = get_radar_can_parser(CP)
+
+  def update(self, can_strings):
+    if self.radar_off_can or self.rcp is None:
+      return super().update(None)
+
+    vls = self.rcp.update(can_strings)
+    self.updated_messages.update(vls)
+
+    if self.trigger_msg not in self.updated_messages:
+      return None
+
+    rr = self._update(self.updated_messages)
+    self.updated_messages.clear()
+
+    return rr
+
+  def _update(self, updated_messages):
+    ret = structs.RadarData()
+    if self.rcp is None:
+      return ret
+
+    if not self.rcp.can_valid:
+      ret.errors.canError = True
+
+    radar_status = self.rcp.vl['RadarStatus']
+    if radar_status['shortTermUnavailable']:
+      ret.errors.radarUnavailableTemporary = True
+    if radar_status['sensorBlocked'] or radar_status['vehDynamicsError']:
+      ret.errors.radarFault = True
+
+    for i in range(RADAR_MSG_COUNT // 2):
+      msg_a = self.rcp.vl[f'RadarPoint{i}_A']
+      msg_b = self.rcp.vl[f'RadarPoint{i}_B']
+
+      # Make sure msg A and B are together
+      if msg_a['Index'] != msg_b['Index2']:
+        continue
+
+      if not msg_a['Tracked']:
+        if i in self.pts:
+          del self.pts[i]
+        continue
+
+      if i not in self.pts:
+        self.pts[i] = structs.RadarData.RadarPoint()
+        self.pts[i].trackId = self.track_id
+        self.track_id += 1
+
+      self.pts[i].dRel = msg_a['LongDist']
+      self.pts[i].yRel = msg_a['LatDist']
+      self.pts[i].vRel = msg_a['LongSpeed']
+      self.pts[i].aRel = msg_a['LongAccel']
+      self.pts[i].yvRel = msg_b['LatSpeed']
+      self.pts[i].measured = bool(msg_a['Meas'])
+
+    ret.points = list(self.pts.values())
+    return ret

opendbc/car/tesla/tests/test_tesla.py

@@ -0,0 +1,24 @@
+from opendbc.car import gen_empty_fingerprint
+from opendbc.car.tesla.interface import CarInterface
+from opendbc.car.tesla.radar_interface import RADAR_START_ADDR
+from opendbc.car.tesla.values import CAR
+
+
+class TestTeslaFingerprint:
+  def test_radar_detection(self):
+    # Test radar availability detection for cars with radar DBC defined
+    for radar in (True, False):
+      fingerprint = gen_empty_fingerprint()
+      if radar:
+        fingerprint[1][RADAR_START_ADDR] = 8
+      CP = CarInterface.get_params(CAR.TESLA_MODEL_3, fingerprint, [], False, False, False)
+      assert CP.radarUnavailable != radar
+
+  def test_no_radar_car(self):
+    # Model X doesn't have radar DBC defined, should always be unavailable
+    for radar in (True, False):
+      fingerprint = gen_empty_fingerprint()
+      if radar:
+        fingerprint[1][RADAR_START_ADDR] = 8
+      CP = CarInterface.get_params(CAR.TESLA_MODEL_X, fingerprint, [], False, False, False)
+      assert CP.radarUnavailable  # Always unavailable since no radar DBC

opendbc/car/tesla/values.py

@@ -48,6 +48,7 @@ class CAR(Platforms):
       TeslaCarDocsHW4("Tesla Model 3 (with HW4) 2024-25"),
     ],
     CarSpecs(mass=1899., wheelbase=2.875, steerRatio=12.0),
+    {Bus.party: 'tesla_model3_party', Bus.radar: 'tesla_radar_continental_generated', Bus.adas: 'tesla_model3_vehicle'},
   )
   TESLA_MODEL_Y = TeslaPlatformConfig(
     [
@@ -55,6 +56,7 @@ class CAR(Platforms):
       TeslaCarDocsHW4("Tesla Model Y (with HW4) 2024-25"),
     ],
     CarSpecs(mass=2072., wheelbase=2.890, steerRatio=12.0),
+    {Bus.party: 'tesla_model3_party', Bus.radar: 'tesla_radar_continental_generated', Bus.adas: 'tesla_model3_vehicle'},
   )
   TESLA_MODEL_X = TeslaPlatformConfig(
     [TeslaCarDocsHW4("Tesla Model X (with HW4) 2024")],
@@ -133,6 +135,7 @@ class TeslaSafetyFlags(IntFlag):
 class TeslaFlags(IntFlag):
   LONG_CONTROL = 1
   FSD_14 = 2
+  MISSING_DAS_SETTINGS = 4
 
 
 DBC = CAR.create_dbc_map()

opendbc/car/tests/car_diff.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import argparse
 import os
 import pickle
@@ -5,23 +6,33 @@ import re
 import subprocess
 import sys
 import tempfile
+import traceback
 import zstandard as zstd
+from tqdm import tqdm
+from tqdm.contrib.concurrent import process_map
 from urllib.request import urlopen
 from collections import defaultdict
-from concurrent.futures import ProcessPoolExecutor
 from pathlib import Path
+from typing import Any
 
-from comma_car_segments import get_comma_car_segments_database, get_url
 
+from opendbc.car import structs
+from opendbc.car.can_definitions import CanData
+from opendbc.car.car_helpers import can_fingerprint, interfaces
 from opendbc.car.logreader import LogReader, decompress_stream
 
 
 TOLERANCE = 1e-4
 DIFF_BUCKET = "car_diff"
 IGNORE_FIELDS = ["cumLagMs", "canErrorCounter"]
+PADDING = 5
+
+Diff = tuple[str, int, tuple[Any, Any], int]
+Ref = tuple[int, structs.CarState]
+Result = tuple[str, str, list[Diff], list[Ref] | None, list[structs.CarState] | None, str | None]
 
 
-def dict_diff(d1, d2, path="", ignore=None, tolerance=0):
+def dict_diff(d1: dict[str, Any], d2: dict[str, Any], path: str = "", ignore: list[str] | None = None, tolerance: float = 0) -> list[tuple]:
   ignore = ignore or []
   diffs = []
   for key in d1.keys() | d2.keys():
@@ -39,23 +50,21 @@ def dict_diff(d1, d2, path="", ignore=None, tolerance=0):
   return diffs
 
 
-def load_can_messages(seg):
+def load_can_messages(seg: str) -> list[Any]:
+  from comma_car_segments import get_url
   parts = seg.split("/")
   url = get_url(f"{parts[0]}/{parts[1]}", parts[2])
-  msgs = LogReader(url, only_union_types=True)
+  msgs = LogReader(url, only_union_types=True, sort_by_time=True)
   return [m for m in msgs if m.which() == 'can']
 
 
-def replay_segment(platform, can_msgs):
-  from opendbc.car import gen_empty_fingerprint, structs
-  from opendbc.car.can_definitions import CanData
-  from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
+def replay_segment(platform: str, can_msgs: list[Any]) -> tuple[structs.CarParams, list[structs.CarState], list[int]]:
+  _can_msgs = ([CanData(can.address, can.dat, can.src) for can in m.can] for m in can_msgs)
 
-  fingerprint = gen_empty_fingerprint()
-  for msg in can_msgs[:FRAME_FINGERPRINT]:
-    for m in msg.can:
-      if m.src < 64:
-        fingerprint[m.src][m.address] = len(m.dat)
+  def can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
+    return [next(_can_msgs, [])]
+
+  _, fingerprint = can_fingerprint(can_recv)
 
   CarInterface = interfaces[platform]
   CP = CarInterface.get_params(platform, fingerprint, [], False, False, False)
@@ -69,35 +78,39 @@ def replay_segment(platform, can_msgs):
     states.append(CI.update([(msg.logMonoTime, frames)]))
     CI.apply(CC, msg.logMonoTime)
     timestamps.append(msg.logMonoTime)
-  return states, timestamps
+  return CP, states, timestamps
 
 
-def process_segment(args):
+def process_segment(args: tuple) -> Result:
   platform, seg, ref_path, update = args
   try:
     can_msgs = load_can_messages(seg)
-    states, timestamps = replay_segment(platform, can_msgs)
+    CP, states, timestamps = replay_segment(platform, can_msgs)
     ref_file = Path(ref_path) / f"{platform}_{seg.replace('/', '_')}.zst"
 
     if update:
-      data = list(zip(timestamps, states, strict=True))
+      data = {"cp": CP.to_dict(), "frames": list(zip(timestamps, states, strict=True))}
       ref_file.write_bytes(zstd.compress(pickle.dumps(data), 10))
-      return (platform, seg, [], None)
+      return (platform, seg, [], None, None, None)
 
     if not ref_file.exists():
-      return (platform, seg, [], "no ref")
+      return (platform, seg, [], None, None, "no ref")
 
-    ref = pickle.loads(decompress_stream(ref_file.read_bytes()))
+    ref_data = pickle.loads(decompress_stream(ref_file.read_bytes()))
+    cp: dict[str, Any] = ref_data["cp"]
+    ref: list[Ref] = ref_data["frames"]
     diffs = []
+    for diff in dict_diff(cp, CP.to_dict(), path="carParams", ignore=IGNORE_FIELDS, tolerance=TOLERANCE):
+      diffs.append((diff[1], -1, diff[2], 0))
     for i, ((ts, ref_state), state) in enumerate(zip(ref, states, strict=True)):
       for diff in dict_diff(ref_state.to_dict(), state.to_dict(), ignore=IGNORE_FIELDS, tolerance=TOLERANCE):
         diffs.append((diff[1], i, diff[2], ts))
-    return (platform, seg, diffs, None)
-  except Exception as e:
-    return (platform, seg, [], str(e))
+    return (platform, seg, diffs, ref, states, None)
+  except Exception:
+    return (platform, seg, [], None, None, traceback.format_exc())
 
 
-def get_changed_platforms(cwd, database, interfaces):
+def get_changed_platforms(cwd: Path, database: dict[str, Any], interfaces: dict[str, Any]) -> list[str]:
   git_ref = os.environ.get("GIT_REF", "origin/master")
   changed = subprocess.check_output(["git", "diff", "--name-only", f"{git_ref}...HEAD"], cwd=cwd, encoding='utf8').strip()
   brands = set()
@@ -110,30 +123,26 @@ def get_changed_platforms(cwd, database, interfaces):
   return [p for p in interfaces if any(b in p.lower() for b in brands) and p in database]
 
 
-def download_refs(ref_path, platforms, segments):
+def download_refs(ref_path: Path, platforms: list[str], segments: dict[str, list[str]]) -> None:
   base_url = f"https://raw.githubusercontent.com/commaai/ci-artifacts/refs/heads/{DIFF_BUCKET}"
-  for platform in platforms:
+  for platform in tqdm(platforms):
     for seg in segments.get(platform, []):
       filename = f"{platform}_{seg.replace('/', '_')}.zst"
-      try:
-        with urlopen(f"{base_url}/{filename}") as resp:
-          (Path(ref_path) / filename).write_bytes(resp.read())
-      except Exception:
-        pass
+      with urlopen(f"{base_url}/{filename}") as resp:
+        (Path(ref_path) / filename).write_bytes(resp.read())
 
 
-def run_replay(platforms, segments, ref_path, update, workers=4):
+def run_replay(platforms: list[str], segments: dict[str, list[str]], ref_path: Path, update: bool, workers: int = 4) -> list[Result]:
   work = [(platform, seg, ref_path, update)
           for platform in platforms for seg in segments.get(platform, [])]
-  with ProcessPoolExecutor(max_workers=workers) as pool:
-    return list(pool.map(process_segment, work))
+  return process_map(process_segment, work, max_workers=workers)
 
 
 # ASCII waveforms helpers
-def find_edges(vals, init):
+def find_edges(vals: list[bool]) -> tuple[list[int], list[int]]:
   rises = []
   falls = []
-  prev = init
+  prev = vals[0]
   for i, val in enumerate(vals):
     if val and not prev:
       rises.append(i)
@@ -143,10 +152,10 @@ def find_edges(vals, init):
   return rises, falls
 
 
-def render_waveform(label, vals, init):
+def render_waveform(label: str, vals: list[bool]) -> str:
   wave = {(False, False): "_", (True, True): "‾", (False, True): "/", (True, False): "\\"}
   line = f"  {label}:".ljust(12)
-  prev = init
+  prev = vals[0]
   for val in vals:
     line += wave[(prev, val)]
     prev = val
@@ -155,7 +164,7 @@ def render_waveform(label, vals, init):
   return line
 
 
-def format_timing(edge_type, master_edges, pr_edges, ms_per_frame):
+def format_timing(edge_type: str, master_edges: list[int], pr_edges: list[int], ms_per_frame: float) -> str | None:
   if not master_edges or not pr_edges:
     return None
   delta = pr_edges[0] - master_edges[0]
@@ -166,7 +175,7 @@ def format_timing(edge_type, master_edges, pr_edges, ms_per_frame):
   return " " * 12 + f"{edge_type}: PR {direction} by {abs(delta)} frames ({ms}ms)"
 
 
-def group_frames(diffs, max_gap=15):
+def group_frames(diffs: list[Diff], max_gap: int = 15) -> list[list[Diff]]:
   groups = []
   current = [diffs[0]]
   for diff in diffs[1:]:
@@ -181,28 +190,25 @@ def group_frames(diffs, max_gap=15):
   return groups
 
 
-def build_signals(group):
+def build_signals(group: list[Diff], ref: list[Ref], states: list[structs.CarState], field: str) -> tuple[list[Any], list[Any], int, int]:
   _, first_frame, _, _ = group[0]
-  _, last_frame, (final_master, _), _ = group[-1]
-  start = max(0, first_frame - 5)
-  end = last_frame + 6
-  init = not final_master
-  diff_at = {frame: (m, p) for _, frame, (m, p), _ in group}
+  _, last_frame, _, _ = group[-1]
+  start = max(0, first_frame - PADDING)
+  end = min(last_frame + PADDING + 1, len(ref))
   master_vals = []
   pr_vals = []
-  master = init
-  pr = init
   for frame in range(start, end):
-    if frame in diff_at:
-      master, pr = diff_at[frame]
-    elif frame > last_frame:
-      master = pr = final_master
-    master_vals.append(master)
-    pr_vals.append(pr)
-  return master_vals, pr_vals, init, start, end
+    mval = ref[frame][1].to_dict()
+    pval = states[frame].to_dict()
+    for k in field.split("."):
+      mval = mval.get(k) if isinstance(mval, dict) else None
+      pval = pval.get(k) if isinstance(pval, dict) else None
+    master_vals.append(mval)
+    pr_vals.append(pval)
+  return master_vals, pr_vals, start, end
 
 
-def format_numeric_diffs(diffs):
+def format_numeric_diffs(diffs: list[Diff]) -> list[str]:
   lines = []
   for _, frame, (old_val, new_val), _ in diffs[:10]:
     lines.append(f"    frame {frame}: {old_val} -> {new_val}")
@@ -211,7 +217,7 @@ def format_numeric_diffs(diffs):
   return lines
 
 
-def format_boolean_diffs(diffs):
+def format_boolean_diffs(diffs: list[Diff], ref: list[Ref], states: list[structs.CarState], field: str) -> list[str]:
   _, first_frame, _, first_ts = diffs[0]
   _, last_frame, _, last_ts = diffs[-1]
   frame_time = last_frame - first_frame
@@ -219,14 +225,12 @@ def format_boolean_diffs(diffs):
   ms = time_ms / frame_time if frame_time else 10.0
   lines = []
   for group in group_frames(diffs):
-    master_vals, pr_vals, init, start, end = build_signals(group)
-    master_rises, master_falls = find_edges(master_vals, init)
-    pr_rises, pr_falls = find_edges(pr_vals, init)
-    if bool(master_rises) != bool(pr_rises) or bool(master_falls) != bool(pr_falls):
-      continue
+    master_vals, pr_vals, start, end = build_signals(group, ref, states, field)
+    master_rises, master_falls = find_edges(master_vals)
+    pr_rises, pr_falls = find_edges(pr_vals)
     lines.append(f"\n  frames {start}-{end - 1}")
-    lines.append(render_waveform("master", master_vals, init))
-    lines.append(render_waveform("PR", pr_vals, init))
+    lines.append(render_waveform("master", master_vals))
+    lines.append(render_waveform("PR", pr_vals))
     for edge_type, master_edges, pr_edges in [("rise", master_rises, pr_rises), ("fall", master_falls, pr_falls)]:
       msg = format_timing(edge_type, master_edges, pr_edges, ms)
       if msg:
@@ -234,19 +238,18 @@ def format_boolean_diffs(diffs):
   return lines
 
 
-def format_diff(diffs):
+def format_diff(diffs: list[Diff], ref: list[Ref], states: list[structs.CarState], field: str) -> list[str]:
   if not diffs:
     return []
   _, _, (old, new), _ = diffs[0]
   is_bool = isinstance(old, bool) and isinstance(new, bool)
   if is_bool:
-    return format_boolean_diffs(diffs)
+    return format_boolean_diffs(diffs, ref, states, field)
   return format_numeric_diffs(diffs)
 
 
-def main(platform=None, segments_per_platform=10, update_refs=False, all_platforms=False):
-  from opendbc.car.car_helpers import interfaces
-
+def main(platform: str | None = None, segments_per_platform: int = 10, update_refs: bool = False, all_platforms: bool = False) -> int:
+  from comma_car_segments import get_comma_car_segments_database
   cwd = Path(__file__).resolve().parents[3]
   ref_path = cwd / DIFF_BUCKET
   if not update_refs:
@@ -262,8 +265,12 @@ def main(platform=None, segments_per_platform=10, update_refs=False, all_platfor
   else:
     platforms = get_changed_platforms(cwd, database, interfaces)
 
+  print("## Car behavior report")
+  print("Replays driving segments through this PR and compares the behavior to master.")
+  print("Please review any changes carefully to ensure they are expected.\n")
+
   if not platforms:
-    print("No car changes detected", file=sys.stderr)
+    print("✅ No changes detected")
     return 0
 
   segments = {p: database.get(p, [])[:segments_per_platform] for p in platforms}
@@ -272,35 +279,36 @@ def main(platform=None, segments_per_platform=10, update_refs=False, all_platfor
 
   if update_refs:
     results = run_replay(platforms, segments, ref_path, update=True)
-    errors = [e for _, _, _, e in results if e]
+    errors = [e for _, _, _, _, _, e in results if e]
     assert len(errors) == 0, f"Segment failures: {errors}"
     print(f"Generated {n_segments} refs to {ref_path}")
     return 0
 
   download_refs(ref_path, platforms, segments)
   results = run_replay(platforms, segments, ref_path, update=False)
-
-  with_diffs = [(p, s, d) for p, s, d, e in results if d]
-  errors = [(p, s, e) for p, s, d, e in results if e]
+  with_diffs = [(platform, seg, diffs, ref, states)
+                for platform, seg, diffs, ref, states, err in results if diffs]
+  errors = [(platform, seg, err) for platform, seg, diffs, ref, states, err in results if err]
   n_passed = len(results) - len(with_diffs) - len(errors)
 
-  print(f"\nResults: {n_passed} passed, {len(with_diffs)} with diffs, {len(errors)} errors")
+  icon = "⚠️" if with_diffs else "✅"
+  print(f"\n{icon}  {len(with_diffs)} changed, {n_passed} passed, {len(errors)} errors")
 
   for plat, seg, err in errors:
     print(f"\nERROR {plat} - {seg}: {err}")
 
   if with_diffs:
-    print("```")
-    for plat, seg, diffs in with_diffs:
+    print("<details><summary><b>Show changes</b></summary>\n\n```")
+    for plat, seg, diffs, ref, states in with_diffs:
       print(f"\n{plat} - {seg}")
       by_field = defaultdict(list)
       for d in diffs:
         by_field[d[0]].append(d)
       for field, fd in sorted(by_field.items()):
-        print(f"  {field} ({len(fd)} diffs)")
-        for line in format_diff(fd):
+        print(f"\n  {field} ({len(fd)} diffs)")
+        for line in format_diff(fd, ref, states, field):
           print(line)
-    print("```")
+    print("```\n</details>")
 
   return 1 if errors else 0
 

opendbc/car/tests/routes.py

@@ -140,6 +140,7 @@ routes = [
   CarTestRoute("f29e2b57a55e7ad5/2021-03-24--20-52-38", HONDA.HONDA_ACCORD),  # hybrid, 2021 with new style HUD msgs
   CarTestRoute("1ad763dd22ef1a0e/2020-02-29--18-37-03", HONDA.HONDA_CRV_5G),
   CarTestRoute("0a96f86fcfe35964/2020-02-05--07-25-51", HONDA.HONDA_ODYSSEY),
+  CarTestRoute("7817fe954aff07b8/00000001--fdaaf36c4f", HONDA.HONDA_ODYSSEY_TWN),
   CarTestRoute("d7233a428eb7d0b5/00000001--9b99b04d43", HONDA.HONDA_ODYSSEY_5G_MMR),
   CarTestRoute("d83f36766f8012a5/2020-02-05--18-42-21", HONDA.HONDA_CIVIC_BOSCH_DIESEL),
   CarTestRoute("f0890d16a07a236b/2021-05-25--17-27-22", HONDA.HONDA_INSIGHT),
@@ -157,6 +158,7 @@ routes = [
   # CarTestRoute("56b2cf1dacdcd033/00000017--d24ffdb376", HONDA.HONDA_CITY_7G),  # Brazilian model
   CarTestRoute("2dc4489d7e1410ca/00000001--bbec3f5117", HONDA.HONDA_CRV_6G),
   CarTestRoute("a703d058f4e05aeb/00000008--f169423024", HONDA.HONDA_PASSPORT_4G),
+  CarTestRoute("ad9840558640c31d/000001f2--026c4f6275", HONDA.ACURA_TLX_2G_MMR),
 
   CarTestRoute("87d7f06ade479c2e/2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN),
   CarTestRoute("66189dd8ec7b50e6/2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN),

opendbc/car/tests/test_car_interfaces.py

@@ -2,6 +2,7 @@ import os
 import math
 import hypothesis.strategies as st
 import pytest
+from functools import cache
 from hypothesis import Phase, given, settings
 from collections.abc import Callable
 from typing import Any
@@ -27,7 +28,8 @@ DLC_TO_LEN = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64]
 MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '15'))
 
 
-def get_fuzzy_car_interface(car_name: str, draw: DrawType) -> CarInterfaceBase:
+@cache
+def get_fuzzy_strategy():
   # Fuzzy CAN fingerprints and FW versions to test more states of the CarInterface
   fingerprint_strategy = st.fixed_dictionaries({0: st.dictionaries(st.integers(min_value=0, max_value=0x800),
                                                                    st.sampled_from(DLC_TO_LEN))})
@@ -44,8 +46,11 @@ def get_fuzzy_car_interface(car_name: str, draw: DrawType) -> CarInterfaceBase:
     'car_fw': car_fw_strategy,
     'alpha_long': st.booleans(),
   })
+  return params_strategy
 
-  params: dict = draw(params_strategy)
+
+def get_fuzzy_car_interface(car_name: str, draw: DrawType) -> CarInterfaceBase:
+  params: dict = draw(get_fuzzy_strategy())
   # reduce search space by duplicating CAN fingerprints across all buses
   params['fingerprints'] |= {key + 1: params['fingerprints'][0] for key in range(6)}
 

opendbc/car/tests/test_docs.py

@@ -52,7 +52,7 @@ class TestCarDocs:
     for car in self.all_cars:
       with subtests.test(car=car.name):
         # honda sanity check, it's the definition of a no torque star
-        if car.car_fingerprint in (HONDA.HONDA_ACCORD, HONDA.HONDA_CIVIC, HONDA.HONDA_CRV, HONDA.HONDA_ODYSSEY, HONDA.HONDA_PILOT):
+        if car.car_fingerprint in (HONDA.HONDA_ACCORD, HONDA.HONDA_CIVIC, HONDA.HONDA_CRV, HONDA.HONDA_ODYSSEY, HONDA.HONDA_ODYSSEY_TWN, HONDA.HONDA_PILOT):
           assert car.row[Column.STEERING_TORQUE] == Star.EMPTY, f"{car.name} has full torque star"
         elif car.brand in ("toyota", "hyundai"):
           assert car.row[Column.STEERING_TORQUE] != Star.EMPTY, f"{car.name} has no torque star"

opendbc/car/torque_data/override.toml

@@ -101,7 +101,11 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_ODYSSEY_5G_MMR" = [0.9, 0.9, 0.2]
 "HONDA_NBOX_2G" = [1.2, 1.2, 0.2]
 "ACURA_TLX_2G" = [1.2, 1.2, 0.15]
+"ACURA_TLX_2G_MMR" = [1.7, 1.7, 0.16]
 "PORSCHE_MACAN_MK1" = [2.0, 2.0, 0.2]
+"LEXUS_LS" = [1.35, 1.7, 0.17]
+"TOYOTA_RAV4_PRIME" = [1.7, 2.0, 0.14]
+"TOYOTA_RAV4_TSS2_2022" = [1.9, 1.9304407208090029, 0.112174]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]

opendbc/car/torque_data/params.toml

@@ -69,9 +69,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "TOYOTA_PRIUS" = [1.60, 1.5023147650693636, 0.151515]
 "TOYOTA_PRIUS_TSS2" = [1.972600, 1.9104337425537743, 0.170968]
 "TOYOTA_RAV4" = [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
-"TOYOTA_RAV4_TSS2" = [2.279239424615458, 2.087101966779332, 0.13682208413446817]
+"TOYOTA_RAV4_TSS2" = [1.9557514786720276, 2.087101966779332, 0.12075843289494514]
 "TOYOTA_RAV4H" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
-"TOYOTA_RAV4_TSS2_2022" = [2.241883248393209, 1.9304407208090029, 0.112174]
 "TOYOTA_SIENNA" = [1.689726, 1.3208264576110418, 0.140456]
 "TOYOTA_YARIS" = [2.22984, 1.86145, 0.168189]
 "VOLKSWAGEN_ARTEON_MK1" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032]

opendbc/car/torque_data/substitute.toml

@@ -9,15 +9,13 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 
 "TOYOTA_ALPHARD_TSS2" = "TOYOTA_SIENNA"
 "TOYOTA_PRIUS_V" = "TOYOTA_PRIUS"
-"TOYOTA_RAV4_PRIME" = "TOYOTA_RAV4_TSS2"
-"TOYOTA_SIENNA_4TH_GEN" = "TOYOTA_RAV4_TSS2"
+"TOYOTA_SIENNA_4TH_GEN" = "TOYOTA_RAV4_PRIME"
 "LEXUS_IS" = "LEXUS_NX"
 "LEXUS_CTH" = "LEXUS_NX"
 "LEXUS_ES" = "TOYOTA_CAMRY"
 "LEXUS_RC" = "LEXUS_NX_TSS2"
 "LEXUS_RC_TSS2" = "LEXUS_NX_TSS2"
 "LEXUS_LC_TSS2" = "LEXUS_NX_TSS2"
-"LEXUS_LS" = "LEXUS_NX"
 
 "KIA_OPTIMA_G4" = "HYUNDAI_SONATA"
 "KIA_OPTIMA_G4_FL" = "HYUNDAI_SONATA"
@@ -52,6 +50,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_CRV_EU" = "HONDA_CRV"
 "HONDA_CIVIC_BOSCH_DIESEL" = "HONDA_CIVIC_BOSCH"
 "HONDA_E" = "HONDA_CIVIC_BOSCH"
+"HONDA_ODYSSEY_TWN" = "HONDA_ODYSSEY"
 
 "BUICK_LACROSSE" = "CHEVROLET_VOLT"
 "BUICK_REGAL" = "CHEVROLET_VOLT"

opendbc/car/toyota/carcontroller.py

@@ -31,7 +31,7 @@ MAX_PITCH_COMPENSATION = 1.5  # m/s^2
 # LKA limits
 # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
 MAX_STEER_RATE = 100  # deg/s
-MAX_STEER_RATE_FRAMES = 18  # tx control frames needed before torque can be cut
+MAX_STEER_RATE_FRAMES = 17  # tx control frames needed before torque can be cut
 
 # EPS allows user torque above threshold for 50 frames before permanently faulting
 MAX_USER_TORQUE = 500

opendbc/car/toyota/fingerprints.py

@@ -1442,21 +1442,26 @@ FW_VERSIONS = {
   CAR.LEXUS_GS_F: {
     (Ecu.engine, 0x7e0, None): [
       b'\x0233075200\x00\x00\x00\x00\x00\x00\x00\x00530B9000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02330Y8000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152630700\x00\x00\x00\x00\x00\x00',
+      b'F152630400\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
       b'881513016200\x00\x00\x00\x00',
+      b'881513011300\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B30551\x00\x00\x00\x00\x00\x00',
+      b'8965B30431\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4702000\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'8646F3002100\x00\x00\x00\x00',
+      b'8646F3001200\x00\x00\x00\x00',
     ],
   },
   CAR.LEXUS_NX: {

opendbc/car/toyota/interface.py

@@ -76,24 +76,7 @@ class CarInterface(CarInterfaceBase):
       # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
       stop_and_go = candidate != CAR.TOYOTA_AVALON
 
-    elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023, CAR.TOYOTA_RAV4_PRIME, CAR.TOYOTA_SIENNA_4TH_GEN):
-      ret.lateralTuning.init('pid')
-      ret.lateralTuning.pid.kiBP = [0.0]
-      ret.lateralTuning.pid.kpBP = [0.0]
-      ret.lateralTuning.pid.kpV = [0.6]
-      ret.lateralTuning.pid.kiV = [0.1]
-      ret.lateralTuning.pid.kf = 0.00007818594
-
-      # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
-      # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
-      for fw in car_fw:
-        if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
-          ret.lateralTuning.pid.kpV = [0.15]
-          ret.lateralTuning.pid.kiV = [0.05]
-          ret.lateralTuning.pid.kf = 0.00004
-          break
-
-    elif candidate in (CAR.TOYOTA_CHR, CAR.TOYOTA_CAMRY, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX):
+    elif candidate in (CAR.TOYOTA_CHR, CAR.TOYOTA_CAMRY, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_LS, CAR.LEXUS_NX):
       # TODO: Some of these platforms are not advertised to have full range ACC, do they really all have sng?
       stop_and_go = True
 

opendbc/car/vehicle_model.py

@@ -219,7 +219,7 @@ def dyn_ss_sol(sa: float, u: float, roll: float, VM: VehicleModel) -> np.ndarray
   """
   A, B = create_dyn_state_matrices(u, VM)
   inp = np.array([[sa], [roll]])
-  return -solve(A, B) @ inp  # type: ignore
+  return -solve(A, B) @ inp
 
 
 def calc_slip_factor(VM: VehicleModel) -> float:

opendbc/car/volkswagen/fingerprints.py

@@ -1128,11 +1128,13 @@ FW_VERSIONS = {
       b'\xf1\x8795B906259BM\xf1\x890001',
       b'\xf1\x8795B90652013\xf1\x893485',
       b'\xf1\x8795B90654002\xf1\x893495',
+      b'\xf1\x8795B907551AD\xf1\x890001',
       b'\xf1\x8795B907551D \xf1\x890006',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8795B927156CE\xf1\x890022',
       b'\xf1\x8795B927156JH\xf1\x890001',
+      b'\xf1\x8795B927156KD\xf1\x890001',
       b'\xf1\x8795B927156KK\xf1\x890001',
       b'\xf1\x8795B927156KP\xf1\x890001',
       b'\xf1\x8795B927156R \xf1\x890021',
@@ -1141,6 +1143,7 @@ FW_VERSIONS = {
       b'\xf1\x8795B959655F \xf1\x890130\xf1\x82\x05065Q033513',
       b'\xf1\x8795B959655F \xf1\x890130\xf1\x82\x050682033514',
       b'\xf1\x8795B959655G \xf1\x890150\xf1\x82\x0506B1033514',
+      b'\xf1\x8795B959655G \xf1\x890150\xf1\x82\x0506CG033517',
       b'\xf1\x8795B959655G \xf1\x890150\xf1\x82\x0506CJ02D417',
     ],
     (Ecu.eps, 0x712, None): [
@@ -1150,6 +1153,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x8795B907567B\x00\xf1\x890800\xf1\x82108',
       b'\xf1\x8795B907567G\x00\xf1\x890410\xf1\x82104',
+      b'\xf1\x8795B907567H\x00\xf1\x890430\xf1\x82104',
       b'\xf1\x8795B907567J \xf1\x890440\xf1\x82104',
     ],
   },

opendbc/dbc/generator/honda/_honda_common.dbc

@@ -85,6 +85,13 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 547 BRAKE_HOLD_HYBRID_ALT: 6 XXX
+ SG_ BRAKE_HOLD_FAULT_BIT : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 37|2@0+ (1,0) [0|7] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "kph" EON
  SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "kph" EON

opendbc/dbc/generator/honda/_nidec_common.dbc

@@ -35,13 +35,6 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
 
-BO_ 547 BRAKE_HOLD_HYBRID_ALT: 6 XXX
- SG_ BRAKE_HOLD_FAULT_BIT : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_HOLD_ENABLED : 37|2@0+ (1,0) [0|7] "" XXX
- SG_ BRAKE_HOLD_ACTIVE : 38|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" XXX
-
 BO_ 892 CRUISE_PARAMS: 8 PCM
  SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

opendbc/dbc/generator/honda/_steering_control_c.dbc

@@ -0,0 +1,17 @@
+BO_ 404 STEERING_CONTROL: 4 EON
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-2985|2985] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+
+VAL_ 399 STEER_STATUS 7 "permanent_fault" 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 1 "driver_steering" 0 "normal" ;

opendbc/dbc/generator/honda/_steering_sensors_c.dbc

@@ -0,0 +1,7 @@
+CM_ "steer_angle_rate is negative vs _steering_sensors_b.dbc";
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON

opendbc/dbc/generator/honda/honda_odyssey_twn_2018.dbc

@@ -0,0 +1,7 @@
+CM_ "IMPORT _honda_common.dbc";
+CM_ "IMPORT _nidec_common.dbc";
+CM_ "IMPORT _lkas_hud_5byte.dbc";
+CM_ "IMPORT _nidec_scm_group_a.dbc";
+CM_ "IMPORT _steering_sensors_c.dbc";
+CM_ "IMPORT _steering_control_c.dbc";
+CM_ "IMPORT _gearbox_common.dbc";

opendbc/dbc/generator/subaru/_subaru_global.dbc

@@ -45,8 +45,8 @@ BO_ 64 Throttle: 8 XXX
  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
- SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
+ SG_ Engine_RPM : 16|13@1+ (1,0) [0|8191] "" XXX
+ SG_ Neutral : 31|1@1+ (1,0) [0|1] "" XXX
  SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
  SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
  SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX
@@ -110,6 +110,7 @@ BO_ 282 Steering_2: 8 XXX
 BO_ 312 Brake_Pressure_L_R: 8 XXX
  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Steering_Angle : 16|16@1- (-0.1,0) [-3276.8|3276.7] "" XXX
  SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
  SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
 
@@ -158,6 +159,7 @@ BO_ 544 ES_Brake: 8 XXX
 BO_ 577 Cruise_Status: 8 XXX
  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Clutch_Depressed : 47|1@0+ (1,0) [0|1] "" XXX
  SG_ Cruise_Set_Speed : 51|12@0+ (1,0) [0|120] "" XXX
  SG_ Cruise_On : 54|1@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_Activated : 55|1@1+ (1,0) [0|1] "" XXX
@@ -211,8 +213,8 @@ BO_ 801 ES_DashStatus: 8 XXX
  SG_ Signal4 : 31|1@1+ (1,0) [0|1] "" XXX
  SG_ Conventional_Cruise : 32|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal5 : 33|2@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_Activated : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Disengaged_Dash : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated_Dash : 36|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal6 : 37|3@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
  SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX
@@ -283,6 +285,7 @@ CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights";
 CM_ SG_ 544 Brake_Pressure "Winds down after cruise disabled. Also can be non-zero when likely preparing for AEB";
 CM_ SG_ 544 Signal3 "Usually goes to 2 if AEB_Status is 4";
 CM_ SG_ 544 AEB_Status "Occasionally is 4 instead of 8 while Brake_Pressure is non-zero, unsure why";
+CM_ SG_ 801 Cruise_Activated_Dash "Falls during user gas or standstill. This is likely only a UI signal to the dash to show if ACC is actually actuating";
 CM_ SG_ 801 PCB_Off "Pre-Collision Braking off";
 CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on";
 CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";

opendbc/dbc/generator/subaru/subaru_forester_2017.dbc

@@ -3,7 +3,7 @@ CM_ "IMPORT _subaru_preglobal_2015.dbc";
 BO_ 355 ES_DashStatus: 8 XXX
  SG_ Not_Ready_Startup : 4|2@1+ (1,0) [0|3] "" XXX
  SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_Activated : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated_Dash : 17|1@0+ (1,0) [0|1] "" XXX
  SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 40|3@1+ (1,0) [0|7] "" XXX
  SG_ Brake : 43|1@1+ (1,0) [0|1] "" XXX

opendbc/dbc/generator/subaru/subaru_outback_2015.dbc

@@ -5,7 +5,7 @@ BO_ 358 ES_DashStatus: 8 XXX
  SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX
  SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX
  SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated_Dash : 17|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
  SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
  SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX

opendbc/dbc/generator/subaru/subaru_outback_2019.dbc

@@ -5,7 +5,7 @@ BO_ 358 ES_DashStatus: 8 XXX
  SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX
  SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX
  SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated_Dash : 17|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
  SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
  SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX

opendbc/dbc/gwm_haval_h6_phev_2024.dbc

@@ -23,8 +23,9 @@ BO_ 147 IMPRECISE_SPEED_INFORMATION: 8 XXX
 
 BO_ 161 STEER_AND_AP_STALK: 8 XXX
  SG_ CRC : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ STEERING_ANGLE : 15|16@0+ (0.05,0) [0|65535] "degs" XXX
- SG_ STEERING_TORQUE : 31|16@0+ (1,0) [0|65535] "??" XXX
+ SG_ STEERING_ANGLE : 13|13@0+ (0.05,0) [0|65535] "degs" XXX
+ SG_ STEERING_DIRECTION : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEERING_TORQUE : 29|14@0+ (1,0) [0|65535] "??" XXX
  SG_ AP_REDUCE_DISTANCE_COMMAND : 44|1@0+ (1,0) [0|1] "" XXX
  SG_ AP_INCREASE_DISTANCE_COMMAND : 45|1@0+ (1,0) [0|1] "AUTOPILOT_STALK" XXX
  SG_ AP_CANCEL_COMMAND : 46|1@0+ (1,0) [0|1] "" XXX

opendbc/safety/modes/subaru.h

@@ -37,9 +37,9 @@
 
 #define MSG_SUBARU_ES_UDS_Request        0x787U
 
-#define MSG_SUBARU_ES_HighBeamAssist     0x121U
-#define MSG_SUBARU_ES_STATIC_1           0x22aU
-#define MSG_SUBARU_ES_STATIC_2           0x325U
+#define MSG_SUBARU_ES_HighBeamAssist     0x22AU
+#define MSG_SUBARU_ES_STATIC_1           0x325U
+#define MSG_SUBARU_ES_STATIC_2           0x121U
 
 #define SUBARU_MAIN_BUS 0U
 #define SUBARU_ALT_BUS  1U
@@ -105,11 +105,6 @@ static void subaru_rx_hook(const CANPacket_t *msg) {
     torque_driver_new = ((GET_BYTES(msg, 0, 4) >> 16) & 0x7FFU);
     torque_driver_new = -1 * to_signed(torque_driver_new, 11);
     update_sample(&torque_driver, torque_driver_new);
-
-    int angle_meas_new = (GET_BYTES(msg, 4, 2) & 0xFFFFU);
-    // convert Steering_Torque -> Steering_Angle to centidegrees, to match the ES_LKAS_ANGLE angle request units
-    angle_meas_new = ROUND(to_signed(angle_meas_new, 16) * -2.17);
-    update_sample(&angle_meas, angle_meas_new);
   }
 
   if ((msg->addr == MSG_SUBARU_ES_LKAS_State) && (msg->bus == SUBARU_CAM_BUS)) {

opendbc/safety/modes/toyota.h

@@ -209,9 +209,9 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
 
     // the EPS faults when the steering angle rate is above a certain threshold for too long. to prevent this,
     // we allow setting STEER_REQUEST bit to 0 while maintaining the requested torque value for a single frame
-    .min_valid_request_frames = 18,
+    .min_valid_request_frames = 17,
     .max_invalid_request_frames = 1,
-    .min_valid_request_rt_interval = 171000,  // 171ms; a ~10% buffer on cutting every 19 frames
+    .min_valid_request_rt_interval = 162000,  // 162ms; a ~10% buffer on cutting every 18 frames
     .has_steer_req_tolerance = true,
   };
 

opendbc/safety/tests/misra/coverage_table

@@ -9,7 +9,7 @@
 2.6     X (Cppcheck)
 2.7     X (Addon)
 3.1     X (Addon)
-3.2     X (Addon)
+3.2     
 4.1     X (Addon)
 4.2     X (Addon)
 5.1     X (Addon)

opendbc/safety/tests/misra/install.sh

@@ -15,7 +15,7 @@ fi
 
 cd $CPPCHECK_DIR
 
-VERS="2.18.3"
+VERS="2.19.1"
 if [ "$(git describe --tags --always)" != "$VERS" ]; then
   git fetch --all --tags --force
   git checkout $VERS

opendbc/safety/tests/misra/test_misra.sh

@@ -37,7 +37,7 @@ cppcheck() {
 
   OPENDBC_ROOT=${OPENDBC_ROOT:-$BASEDIR}
   $CPPCHECK_DIR/cppcheck --inline-suppr -I $OPENDBC_ROOT \
-          -I "$(gcc -print-file-name=include)" --suppress=*:/usr/lib/gcc/* --suppress=*:*/usr/lib/clang/* \
+          --suppress=missingIncludeSystem \
           --suppressions-list=$DIR/suppressions.txt  \
            --error-exitcode=2 --check-level=exhaustive --safety \
           --platform=arm32-wchar_t4 $COMMON_DEFINES --checkers-report=$CHECKLIST.tmp \

opendbc/safety/tests/test_subaru.py

@@ -25,9 +25,9 @@ class SubaruMsg(enum.IntEnum):
   ES_LKAS_State     = 0x322
   ES_Infotainment   = 0x323
   ES_UDS_Request    = 0x787
-  ES_HighBeamAssist = 0x121
-  ES_STATIC_1       = 0x22a
-  ES_STATIC_2       = 0x325
+  ES_HighBeamAssist = 0x22A
+  ES_STATIC_1       = 0x325
+  ES_STATIC_2       = 0x121
 
 
 SUBARU_MAIN_BUS = 0
@@ -95,10 +95,6 @@ class TestSubaruSafetyBase(common.CarSafetyTest):
     values = {s: speed for s in ["FR", "FL", "RR", "RL"]}
     return self.packer.make_can_msg_safety("Wheel_Speeds", self.ALT_MAIN_BUS, values)
 
-  def _angle_meas_msg(self, angle):
-    values = {"Steering_Angle": angle}
-    return self.packer.make_can_msg_safety("Steering_Torque", 0, values)
-
   def _user_brake_msg(self, brake):
     values = {"Brake": brake}
     return self.packer.make_can_msg_safety("Brake_Status", self.ALT_MAIN_BUS, values)

opendbc/safety/tests/test_toyota.py

@@ -178,7 +178,7 @@ class TestToyotaSafetyTorque(TestToyotaSafetyBase, common.MotorTorqueSteeringSaf
   TORQUE_MEAS_TOLERANCE = 1  # toyota safety adds one to be conservative for rounding
 
   # Safety around steering req bit
-  MIN_VALID_STEERING_FRAMES = 18
+  MIN_VALID_STEERING_FRAMES = 17
   MAX_INVALID_STEERING_FRAMES = 1
 
   @classmethod

opendbc/sunnypilot/car/car_list.json

@@ -66,6 +66,16 @@
     ],
     "package": "All"
   },
+  "Acura TLX 2025": {
+    "platform": "ACURA_TLX_2G_MMR",
+    "make": "Acura",
+    "brand": "honda",
+    "model": "TLX",
+    "year": [
+      "2025"
+    ],
+    "package": "All"
+  },
   "Audi A3 2014-19": {
     "platform": "AUDI_A3_MK3",
     "make": "Audi",
@@ -244,7 +254,7 @@
     "year": [
       "2017"
     ],
-    "package": "Adaptive Cruise Control (ACC)"
+    "package": "No Adaptive Cruise Control (Non-ACC)"
   },
   "Chevrolet Bolt EV Non-ACC 2018-21": {
     "platform": "CHEVROLET_BOLT_NON_ACC_1ST_GEN",
@@ -257,7 +267,7 @@
       "2020",
       "2021"
     ],
-    "package": "Adaptive Cruise Control (ACC)"
+    "package": "No Adaptive Cruise Control (Non-ACC)"
   },
   "Chevrolet Equinox 2019-22": {
     "platform": "CHEVROLET_EQUINOX",
@@ -287,7 +297,7 @@
       "2022",
       "2023"
     ],
-    "package": "Adaptive Cruise Control (ACC)"
+    "package": "No Adaptive Cruise Control (Non-ACC)"
   },
   "Chevrolet Silverado 1500 2020-21": {
     "platform": "CHEVROLET_SILVERADO",
@@ -1300,6 +1310,17 @@
     ],
     "package": "All"
   },
+  "Honda Odyssey (Taiwan) 2018-19": {
+    "platform": "HONDA_ODYSSEY_TWN",
+    "make": "Honda",
+    "brand": "honda",
+    "model": "Odyssey (Taiwan)",
+    "year": [
+      "2018",
+      "2019"
+    ],
+    "package": "Honda Sensing"
+  },
   "Honda Passport 2019-25": {
     "platform": "HONDA_PILOT",
     "make": "Honda",

opendbc/sunnypilot/car/hyundai/fingerprints_ext.py

@@ -55,6 +55,7 @@ FW_VERSIONS_EXT = {
   CAR.KIA_FORTE_2019_NON_SCC: {
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x00BD  MDPS C 1.00 1.04 56310/M6000 4BDDC104',
+      b'\xf1\x00BD  MDPS C 1.00 1.05 56310/M6000 4BDDC105',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00BD  LKAS AT USA LHD 1.00 1.02 95740-M6000 J31',

opendbc/sunnypilot/car/mazda/carstate_ext.py

@@ -1,36 +0,0 @@
-
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-from enum import StrEnum
-
-from opendbc.car import Bus, structs
-from opendbc.can.parser import CANParser
-from opendbc.sunnypilot.car.mazda.values import BUTTONS
-
-
-class CarStateExt:
-  def __init__(self, CP, CP_SP):
-    self.CP = CP
-    self.CP_SP = CP_SP
-
-    self.button_events = []
-    self.button_states = {button.event_type: False for button in BUTTONS}
-
-  def update(self, ret: structs.CarState, ret_sp: structs.CarStateSP, can_parsers: dict[StrEnum, CANParser]):
-    cp = can_parsers[Bus.pt]
-
-    button_events = []
-    for button in BUTTONS:
-      state = (cp.vl[button.can_addr][button.can_msg] in button.values)
-      if self.button_states[button.event_type] != state:
-        event = structs.CarState.ButtonEvent.new_message()
-        event.type = button.event_type
-        event.pressed = state
-        button_events.append(event)
-      self.button_states[button.event_type] = state
-    self.button_events = button_events

opendbc/sunnypilot/car/mazda/values.py

@@ -1,20 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-from collections import namedtuple
-
-from opendbc.car import structs
-
-ButtonType = structs.CarState.ButtonEvent.Type
-Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
-
-BUTTONS = [
-  Button(ButtonType.accelCruise, "CRZ_BTNS", "SET_P", [1]),
-  Button(ButtonType.decelCruise, "CRZ_BTNS", "SET_M", [1]),
-  Button(ButtonType.cancel, "CRZ_BTNS", "CAN_OFF", [1]),
-  Button(ButtonType.resumeCruise, "CRZ_BTNS", "RES", [1]),
-]

opendbc/sunnypilot/car/platform_list.py

@@ -1,6 +1,7 @@
+import re
 import json
 import os
-from natsort import natsorted
+import unicodedata
 
 from opendbc.car.common.basedir import BASEDIR
 from opendbc.car.docs import get_all_footnotes, get_params_for_docs
@@ -15,6 +16,12 @@ def get_car_list() -> dict[str, dict[str, list[str] | str]]:
   return sorted_list
 
 
+def _natural_sort_key(s):
+  # NFKD normalization ensures accented characters sort with their base letter (e.g., Š sorts with S)
+  normalized = unicodedata.normalize('NFKD', s)
+  return [int(t) if t.isdigit() else t.lower() for t in re.split(r'(\d+)', normalized) if t]
+
+
 def build_sorted_car_list(platforms, footnotes) -> dict[str, dict[str, list[str] | str]]:
   cars: dict[str, dict[str, list[str] | str]] = {}
   for model, platform in platforms.items():
@@ -49,7 +56,7 @@ def build_sorted_car_list(platforms, footnotes) -> dict[str, dict[str, list[str]
       }
 
   # Sort cars by make and model + year
-  sorted_cars = natsorted(cars.keys(), key=lambda car: car.lower())
+  sorted_cars = sorted(cars.keys(), key=lambda car: _natural_sort_key(car))
   sorted_car_list = {car: cars[car] for car in sorted_cars}
   return sorted_car_list
 

pyproject.toml

@@ -44,7 +44,6 @@ testing = [
 ]
 docs = [
   "Jinja2",
-  "natsort",
 ]
 examples = [
   "inputs",