IQ.Pilot Prebuilt Release @ 67fd9c2

artifacts/package_runtime/iqdbc/lvbs/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

artifacts/package_runtime/iqdbc/lvbs/aol_base.py

@@ -0,0 +1,22 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from abc import abstractmethod, ABC
+from enum import StrEnum
+
+from iqdbc.car import structs
+from iqdbc.can.parser import CANParser
+
+
+class AolCarStateBase(ABC):
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.lkas_button = 0
+    self.prev_lkas_button = 0
+
+  @abstractmethod
+  def update_aol(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    pass

artifacts/package_runtime/iqdbc/lvbs/car/__init__.py

@@ -0,0 +1,38 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+
+def crc8_pedal(data):
+  crc = 0xFF    # standard init value
+  poly = 0xD5   # standard crc8: x8+x7+x6+x4+x2+1
+  size = len(data)
+  for i in range(size - 1, -1, -1):
+    crc ^= data[i]
+    for _ in range(8):
+      if (crc & 0x80) != 0:
+        crc = ((crc << 1) ^ poly) & 0xFF
+      else:
+        crc <<= 1
+  return crc
+
+
+def create_gas_interceptor_command(packer, gas_amount, idx):
+  # Common gas pedal msg generator
+  enable = gas_amount > 0.001
+
+  values = {
+    "ENABLE": enable,
+    "PEDAL_COUNTER": idx & 0xF,
+  }
+
+  if enable:
+    values["GAS_COMMAND"] = gas_amount * 255.
+    values["GAS_COMMAND2"] = gas_amount * 255.
+
+  dat = packer.make_can_msg("GAS_COMMAND", 0, values)[1]
+
+  checksum = crc8_pedal(dat[:-1])
+  values["PEDAL_CHECKSUM"] = checksum
+
+  return packer.make_can_msg("GAS_COMMAND", 0, values)

artifacts/package_runtime/iqdbc/lvbs/car/car_catalog.py

@@ -0,0 +1,62 @@
+import re
+import unicodedata
+
+from iqdbc.car.docs import get_all_footnotes, get_params_for_docs
+from iqdbc.car.values import PLATFORMS
+
+
+def build_car_catalog() -> dict[str, dict[str, list[str] | str]]:
+  collected_footnote = get_all_footnotes()
+  sorted_list: dict[str, dict[str, list[str] | str]] = collect_car_docs(PLATFORMS, collected_footnote)
+  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 collect_car_docs(platforms, footnotes) -> dict[str, dict[str, list[str] | str]]:
+  cars: dict[str, dict[str, list[str] | str]] = {}
+  for model, platform in platforms.items():
+    car_docs = platform.config.get_all_docs()
+    CP, CP_IQ = get_params_for_docs(platform)
+
+    if CP.dashcamOnly or not len(car_docs):
+      continue
+
+    # A platform can include multiple car models
+    for _car_docs in car_docs:
+      if not hasattr(_car_docs, "row"):
+        _car_docs.init_make(CP)
+        _car_docs.init(CP, footnotes)
+      cars[_car_docs.name] = model
+
+      _platform = model
+      _name = _car_docs.name
+      _make = _car_docs.make
+      _brand = _car_docs.brand
+      _model = _car_docs.model
+      _years = _car_docs.year_list
+      _package = _car_docs.package if _car_docs.package else []
+
+      cars[_name] = {
+        "platform": _platform,
+        "make": _make,
+        "brand": _brand,
+        "model": _model,
+        "year": _years if _years else [],
+        "package": _package,
+      }
+
+  # Sort cars by make and model + year
+  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
+
+
+if __name__ == "__main__":
+  # build_car_catalog() is the raw platform source; the shipped catalog is generated
+  # (and encoded to its on-disk envelope) by the main-repo entry point:
+  print("run: python -m iqpilot.selfdrive.car.vehicle_catalog")

artifacts/package_runtime/iqdbc/lvbs/car/chrysler/aol.py

@@ -0,0 +1,73 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Always-on-Lateral adapter for Chrysler. CarState reads the LKAS toggle button
+(and the forwarded LKAS heartbeat); CarController tracks the AOL state and, when
+AOL is available, drives the LKAS_DISABLED bit the dash reads from the heartbeat.
+"""
+from enum import StrEnum
+from collections import namedtuple
+
+from iqdbc.car import Bus, structs
+from iqdbc.car.chrysler.values import RAM_CARS
+from iqdbc.lvbs.aol_base import AolCarStateBase
+from iqdbc.can.parser import CANParser
+
+AolDataIQ = namedtuple("AolDataIQ", ["enable_aol", "paused", "lkas_disabled"])
+ButtonType = structs.CarState.ButtonEvent.Type
+
+_HEARTBIT_FIELDS = ("LKAS_DISABLED", "AUTO_HIGH_BEAM", "FORWARD_1", "FORWARD_2", "FORWARD_3")
+
+
+class AolCarController:
+  def __init__(self):
+    self.aol = AolDataIQ(False, False, False)
+
+  @staticmethod
+  def create_lkas_heartbit(packer, lkas_heartbit, aol):
+    values = {name: lkas_heartbit[name] for name in _HEARTBIT_FIELDS}
+    if aol.enable_aol:
+      values["LKAS_DISABLED"] = 1 if aol.lkas_disabled else 0
+    return packer.make_can_msg("LKAS_HEARTBIT", 0, values)
+
+  @staticmethod
+  def aol_status_update(CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS) -> AolDataIQ:
+    enable_aol = CC_IQ.aol.available
+    paused = CC_IQ.aol.enabled and not CC.latActive
+    # A tap of the LKAS button flips the driver's "LKAS disabled" preference.
+    if any(be.type == ButtonType.lkas and be.pressed for be in CS.out.buttonEvents):
+      CS.lkas_disabled = not CS.lkas_disabled
+    return AolDataIQ(enable_aol, paused, CS.lkas_disabled)
+
+  def update(self, CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS) -> None:
+    self.aol = self.aol_status_update(CC, CC_IQ, CS)
+
+
+class AolCarState(AolCarStateBase):
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    super().__init__(CP, CP_IQ)
+    self.lkas_heartbit = 0
+    self.init_lkas_disabled = False
+    self.lkas_disabled = False
+
+  @staticmethod
+  def get_parser(CP, pt_messages, cam_messages) -> None:
+    if CP.carFingerprint in RAM_CARS:
+      pt_messages.append(("Center_Stack_2", 1))
+    else:
+      pt_messages.append(("TRACTION_BUTTON", 1))
+      cam_messages.append(("LKAS_HEARTBIT", 1))
+
+  def _read_lkas_button(self, cp, cp_cam) -> int:
+    if self.CP.carFingerprint in RAM_CARS:
+      return cp.vl["Center_Stack_2"]["LKAS_Button"]
+
+    self.lkas_heartbit = cp_cam.vl["LKAS_HEARTBIT"]
+    if not self.init_lkas_disabled:
+      self.lkas_disabled = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_DISABLED"]
+      self.init_lkas_disabled = True
+    return cp.vl["TRACTION_BUTTON"]["TOGGLE_LKAS"]
+
+  def update_aol(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    self.prev_lkas_button = self.lkas_button
+    self.lkas_button = self._read_lkas_button(can_parsers[Bus.pt], can_parsers[Bus.cam])

artifacts/package_runtime/iqdbc/lvbs/car/chrysler/iq_carcontroller.py

@@ -0,0 +1,30 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Chrysler low-speed steering gate: overrides the stock LKAS control bit when the
+no-min-steering-speed option is set, and holds the RAM DT engagement window.
+"""
+from iqdbc.car import structs
+from iqdbc.car.interfaces import CarStateBase
+from iqdbc.car.chrysler.values import RAM_DT
+from iqdbc.lvbs.car.chrysler.iq_values import ChryslerFlagsIQ
+
+GearShifter = structs.CarState.GearShifter
+
+
+class IQCarController:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+  def get_lkas_control_bit(self, CS: CarStateBase, CC: structs.CarControl, lkas_control_bit: bool) -> bool:
+    if self.CP_IQ.flags & ChryslerFlagsIQ.NO_MIN_STEERING_SPEED:
+      return CC.latActive
+
+    if self.CP.carFingerprint in RAM_DT:
+      if self.CP.minEnableSpeed <= CS.out.vEgo <= self.CP.minEnableSpeed + 0.5:
+        lkas_control_bit = True
+      if self.CP.minEnableSpeed >= 14.5 and CS.out.gearShifter != GearShifter.drive:
+        lkas_control_bit = False
+
+    return lkas_control_bit

artifacts/package_runtime/iqdbc/lvbs/car/chrysler/iq_carstate.py

@@ -0,0 +1,32 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Chrysler cruise-button reader: emits edge ButtonEvents for the ACC steering-wheel
+buttons so IQ.Pilot can react to accel/decel/cancel/resume.
+"""
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs
+from iqdbc.can.parser import CANParser
+from iqdbc.lvbs.car.chrysler.iq_values import BUTTONS
+
+
+class IQCarState:
+  def __init__(self, CP, CP_IQ):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+    self.button_events: list = []
+    self.button_states = {button.event_type: False for button in BUTTONS}
+
+  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp = can_parsers[Bus.pt]
+    events = []
+    for button in BUTTONS:
+      pressed = cp.vl[button.can_addr][button.can_msg] in button.values
+      if pressed != self.button_states[button.event_type]:
+        event = structs.CarState.ButtonEvent.new_message()
+        event.type = button.event_type
+        event.pressed = pressed
+        events.append(event)
+      self.button_states[button.event_type] = pressed
+    self.button_events = events

artifacts/package_runtime/iqdbc/lvbs/car/chrysler/iq_fingerprints.py

@@ -0,0 +1,27 @@
+from iqdbc.car.structs import CarParams
+from iqdbc.car.chrysler.values import CAR
+
+Ecu = CarParams.Ecu
+
+
+FW_VERSIONS_EXT = {
+  CAR.RAM_1500_5TH_GEN: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68453485AC',
+      b'68510283AH',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68552791AA',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'05149390AA ',
+      b'68378696AI ',
+      b'68500631AF',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'68360085AF',
+      b'68360086AL',
+      b'68502996AC',
+    ],
+  },
+}

artifacts/package_runtime/iqdbc/lvbs/car/chrysler/iq_values.py

@@ -0,0 +1,24 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+IQ.Pilot Chrysler extension flags + the cruise-button table read by the AOL
+cruise-button reader.
+"""
+from collections import namedtuple
+from enum import IntFlag
+
+from iqdbc.car import structs
+
+ButtonType = structs.CarState.ButtonEvent.Type
+Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
+
+BUTTONS = [
+  Button(ButtonType.accelCruise, "CRUISE_BUTTONS", "ACC_Accel", [1]),
+  Button(ButtonType.decelCruise, "CRUISE_BUTTONS", "ACC_Decel", [1]),
+  Button(ButtonType.cancel, "CRUISE_BUTTONS", "ACC_Cancel", [1]),
+  Button(ButtonType.resumeCruise, "CRUISE_BUTTONS", "ACC_Resume", [1]),
+]
+
+
+class ChryslerFlagsIQ(IntFlag):
+  NO_MIN_STEERING_SPEED = 1

artifacts/package_runtime/iqdbc/lvbs/car/gm/iq_carstate.py

@@ -0,0 +1,26 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Non-ACC GM carState: these cars have no adaptive cruise, so cruise engage/set
+speed come from the stock (non-adaptive) ECM cruise message.
+"""
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs
+from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.can.parser import CANParser
+from iqdbc.lvbs.car.gm.iq_values import GMFlagsIQ
+
+
+class IQCarState:
+  def __init__(self, CP, CP_IQ):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+  def update(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    if not self.CP_IQ.flags & GMFlagsIQ.NON_ACC:
+      return
+    pt_cp = can_parsers[Bus.pt]
+    ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
+    ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
+    ret.accFaulted = False

artifacts/package_runtime/iqdbc/lvbs/car/gm/iq_fingerprints.py

@@ -0,0 +1,119 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+# ruff: noqa: E501
+from iqdbc.car.gm.values import CAR
+
+FINGERPRINTS_EXT = {
+  # FIXME-IQ: Need user validation
+  # CAR.CHEVROLET_VOLT: [{
+  #   189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7
+  # }],
+  # FIXME-IQ: Need a message to distinguish flashed from non-flashed
+  # CAR.CHEVROLET_VOLT_CC: [
+  # Volt Premier w/o acc 2016
+  # {
+  #   170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 8, 308: 4, 309: 8, 311: 8, 313: 8, 320: 8, 328: 1, 352: 5, 368: 8, 381: 6, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 4, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 8, 563: 5, 564: 5, 565: 8, 566: 5, 567: 3, 568: 1, 577: 8, 578: 8, 594: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 6, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1618: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 1930: 7, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2025: 8, 2028: 8
+  # },
+  # {
+  #   201: 8, 493: 8, 495: 4, 193: 8, 197: 8, 209: 7, 171: 8, 456: 8, 199: 4, 489: 8, 211: 2, 499: 3, 390: 7, 532: 6, 568: 1, 761: 7, 381: 6, 485: 8, 189: 7, 479: 3, 711: 6, 501: 8, 241: 6, 717: 5, 869: 4, 389: 2, 454: 8, 170: 8, 190: 6, 497: 8, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 500: 6, 508: 8, 528: 4, 647: 3, 1105: 6, 1005: 6, 481: 7, 844: 8, 866: 4, 564: 5, 969: 8, 388: 8, 352: 5, 562: 8, 961: 8, 386: 8, 707: 8, 977: 8, 979: 7, 298: 8, 840: 5, 842: 5, 988: 6, 1001: 8, 560: 8, 546: 7, 558: 8, 309: 8, 995: 7, 311: 8, 566: 5, 567:3, 989: 8, 384: 4, 800: 6, 1033: 7, 1034: 7, 313: 8, 554: 3, 810: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 1223: 3, 1233: 8, 1227: 4, 1417: 8, 1009: 8, 1221: 5, 1275: 3, 1225: 7, 289: 8, 550: 8, 1273: 3, 1928: 7, 1187: 4, 1265: 8, 1927: 7, 1267: 1, 1906: 7, 288: 5, 304: 1, 328: 1, 1912: 7, 320: 3, 1910: 7, 563: 5, 1249: 8, 1930: 7, 1257: 6, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 565: 5, 1280: 4, 1907: 7
+  # },
+  # # Volt Premier w/o ACC 2018 + Pedal
+  # {
+  #   189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7, 1930: 7
+  # }
+  # ],
+  CAR.CHEVROLET_BOLT_NON_ACC: [
+  # Bolt Premier w/o ACC 2017
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 513: 6, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  },
+  # Bolt EV Premier 2017
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 513: 6, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  },
+  # Bolt EV Premier 2017 w Pedal
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 512: 6, 513: 6, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8  # noqa: F601
+  },
+  # Bolt EV Premier 2017 2 w Pedal
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
+  },
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  }],
+  CAR.CHEVROLET_BOLT_NON_ACC_1ST_GEN: [
+  # Bolt Premier no ACC 2018 + Pedal
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1616: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2020: 8, 2023: 8, 2028: 8, 2031: 8
+  },
+  # Bolt Premier no ACC 2019 + Pedal
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 512: 6, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1268: 2, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2024: 8
+  },
+  # Bolt Premier no ACC 2020
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1268: 2, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2024: 8
+  }],
+  CAR.CHEVROLET_BOLT_NON_ACC_2ND_GEN: [
+  # Bolt EV Premier no ACC 2023 w Pedal
+  {
+    170: 8, 188: 8, 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 308: 4, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 398: 8, 407: 7, 417: 8, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 8, 567: 5, 568: 2, 569: 3, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 711: 6, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1010: 8, 1013: 6, 1015: 1, 1017: 8, 1019: 2, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1601: 8, 1616: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2023: 8, 2024: 8, 2028: 8, 2031: 8
+  },
+  # Bolt EV Premier no ACC 2021
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 257: 8, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1513: 8, 1516: 8, 1601: 8, 1616: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2023: 8, 2024: 8, 2028: 8, 2031: 8
+  },
+  # shermy99's Bolt EV Premier no ACC 2023
+  {
+    170: 8, 188: 8, 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 308: 4, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 398: 8, 407: 7, 417: 8, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 8, 567: 5, 568: 2, 569: 3, 573: 1, 577: 8, 579: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 711: 6, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1010: 8, 1013: 6, 1015: 1, 1017: 8, 1019: 2, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1347: 8, 1513: 8, 1516: 8, 1601: 8, 1609: 8, 1613: 8, 1616: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1913: 7, 1920: 8, 1922: 7, 1924: 8, 1927: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2017: 8, 2018: 8, 2020: 8, 2023: 8, 2025: 8, 2028: 8, 2031: 8
+  },
+  {
+    170: 8, 188: 8, 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 398: 8, 407: 7, 417: 8, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 564: 5, 566: 8, 567: 5, 568: 2, 569: 3, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 711: 6, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1009: 8, 1010: 8, 1013: 6, 1015: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 5, 1187: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1913: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  }],
+  CAR.CHEVROLET_EQUINOX_NON_ACC_3RD_GEN: [{
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 444: 7, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1273: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1611: 8, 1618: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1930: 7
+  },
+  {
+    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 384: 4, 393: 8, 398: 8, 401: 8, 413: 8, 422: 4, 431: 8, 444: 7, 453: 6, 456: 8, 479: 3, 481: 7, 485: 8, 499: 3, 500: 6, 501: 8, 567: 5, 647: 6, 800: 6, 1033: 7, 1034: 7, 1296: 4
+  }],
+  # Trailblazer also matches as a Silverado, so comment out to avoid conflicts.
+  # TODO-IQ: split with FW versions
+  # CAR.TRAILBLAZER: [
+  # {
+  #   190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
+  # }],
+  CAR.CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN: [
+  # Slav's 2018 Suburban, LKAS no ACC
+  {
+    170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7
+  },
+  # Qube's 2017 Suburban, LKAS no ACC
+  {
+    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1920: 8, 1924: 8, 1927: 8, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8
+  }],
+  CAR.CADILLAC_CT6_NON_ACC_1ST_GEN: [
+  # badgers4life's 2017 CT6
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 4, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 723: 2, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 7, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 4, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 8, 1924: 8, 1927: 8, 1928: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
+  }],
+  CAR.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN: [
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 723: 4, 730: 4, 761: 7, 800: 6, 840: 5, 842: 5, 844: 8, 869: 4, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7
+  }],
+  CAR.CHEVROLET_MALIBU_NON_ACC_9TH_GEN: [
+  # Verylukyguy's Malibu
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 409: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 730: 4, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1037: 5, 1105: 5, 1187: 6, 1189: 1, 1195: 3, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7
+  },
+  # Tesla's Malibu
+  {
+    189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 6, 390: 8, 392: 4, 393: 4, 394: 8, 395: 3, 396: 4, 397: 4, 398: 4, 399: 4, 400: 4, 401: 4, 402: 4, 403: 4, 404: 4, 405: 4, 406: 4, 407: 4, 408: 4, 409: 4, 410: 4, 411: 4, 412: 4, 413: 4, 414: 4, 415: 4, 416: 4, 417: 4, 418: 4, 419: 4, 420: 4, 421: 4, 422: 4, 423: 4, 424: 4, 425: 4, 426: 4, 427: 4, 428: 4, 429: 4, 430: 4, 431: 4, 432: 4, 433: 4, 434: 4, 435: 4, 436: 4, 437: 4, 438: 4, 439: 4, 440: 4, 441: 4, 442: 4, 443: 4, 444: 4, 445: 4, 446: 4, 447: 4, 448: 4, 449: 4, 450: 4, 451: 8, 452: 8, 453: 6, 479: 4, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 6, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7
+  }],
+  CAR.CADILLAC_XT5_NON_ACC_1ST_GEN: [
+  # TRain's 2017 XT5
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 647: 3, 707: 8, 717: 5, 723: 2, 753: 5, 761: 7, 800: 6, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1919: 7, 1920: 7
+  }],
+}

artifacts/package_runtime/iqdbc/lvbs/car/gm/iq_interface.py

@@ -0,0 +1,43 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+GM torque-space feed-forward for the IQ.Pilot lateral extension: a sigmoid+linear
+lat-accel -> torque curve for the tuned platforms, else the linear default.
+"""
+from math import exp
+
+from iqdbc.car import structs
+from iqdbc.car.gm.interface import CAR
+from iqdbc.lvbs.car.interfaces import LatControlInputs, TorqueFromLateralAccelCallbackTypeTorqueSpace
+
+_NON_LINEAR_TORQUE_PARAMS = {
+  CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
+  CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
+  CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122],
+}
+
+
+class IQCarInterface:
+  def __init__(self, CP: structs.CarParams, CI_Base):
+    self.CP = CP
+    self.CI_Base = CI_Base
+
+  @staticmethod
+  def _centered_sigmoid(val: float) -> float:
+    # sigmoid shifted to pass through the origin; branch keeps exp() from overflowing
+    if val >= 0:
+      return 1.0 / (1.0 + exp(-val)) - 0.5
+    z = exp(val)
+    return z / (1.0 + z) - 0.5
+
+  def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs,
+                                       torque_params: structs.CarParams.LateralTorqueTuning,
+                                       gravity_adjusted: bool) -> float:
+    a, b, c, _ = _NON_LINEAR_TORQUE_PARAMS[self.CP.carFingerprint]
+    lat_accel = latcontrol_inputs.lateral_acceleration
+    return float(self._centered_sigmoid(lat_accel * a) * b + lat_accel * c)
+
+  def torque_from_lateral_accel_in_torque_space(self) -> TorqueFromLateralAccelCallbackTypeTorqueSpace:
+    if self.CP.carFingerprint in _NON_LINEAR_TORQUE_PARAMS:
+      return self.torque_from_lateral_accel_siglin
+    return self.CI_Base.torque_from_lateral_accel_linear_in_torque_space

artifacts/package_runtime/iqdbc/lvbs/car/gm/iq_values.py

@@ -0,0 +1,14 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+IQ.Pilot GM extension flags for the non-adaptive-cruise (Non-ACC) camera-harness port.
+"""
+from enum import IntFlag
+
+
+class GMFlagsIQ(IntFlag):
+  NON_ACC = 1
+
+
+class GMSafetyFlagsIQ:
+  NON_ACC = 1

artifacts/package_runtime/iqdbc/lvbs/car/honda/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

artifacts/package_runtime/iqdbc/lvbs/car/honda/aol.py

@@ -0,0 +1,19 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from iqdbc.car import structs
+from iqdbc.car.honda.values import HONDA_BOSCH_RADARLESS
+
+
+class AolCarController:
+  def __init__(self):
+    self.dashed_lanes = False
+
+  def update(self, CP: structs.CarParams, CC: structs.CarControl, CC_IQ: structs.IQCarControl) -> None:
+    enable_aol = CC_IQ.aol.available
+
+    if enable_aol:
+      self.dashed_lanes = CC_IQ.aol.enabled and not CC.latActive
+    else:
+      self.dashed_lanes = CC.hudControl.lanesVisible if CP.carFingerprint in HONDA_BOSCH_RADARLESS else False

artifacts/package_runtime/iqdbc/lvbs/car/honda/gas_interceptor.py

@@ -0,0 +1,32 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+import numpy as np
+
+from iqdbc.car import structs
+from iqdbc.car.can_definitions import CanData
+from iqdbc.lvbs.car import create_gas_interceptor_command
+
+
+class GasInterceptorCarController:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.gas = 0.
+    self.interceptor_gas_cmd = 0.
+
+  def update(self, CC: structs.CarControl, CS: structs.CarState, gas: float, brake: float, wind_brake: float,
+             packer, frame: int) -> list[CanData]:
+    can_sends = []
+
+    if self.CP_IQ.enableGasInterceptor:
+      gas_pedal = np.interp(CS.out.vEgo, [0., 10.], [0.4, 1.0])
+      if CC.longActive:
+        self.gas = float(np.clip(gas_pedal * (gas - brake + wind_brake * 3 / 4), 0., 1.))
+      else:
+        self.gas = 0.0
+      can_sends.append(create_gas_interceptor_command(packer, self.gas, frame // 2))
+
+    return can_sends

artifacts/package_runtime/iqdbc/lvbs/car/honda/iq_carstate.py

@@ -0,0 +1,37 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs
+from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.car.honda.values import HONDA_BOSCH, HONDA_BOSCH_CANFD, HONDA_BOSCH_RADARLESS
+from iqdbc.can.parser import CANParser
+from iqdbc.lvbs.car.honda.iq_values import HondaFlagsIQ
+
+
+class IQCarState:
+  def __init__(self, CP, CP_IQ):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp = can_parsers[Bus.pt]
+    cp_cam = can_parsers[Bus.cam]
+
+    if self.CP_IQ.flags & HondaFlagsIQ.HAS_CAMERA_MESSAGES:
+      speed_bus = cp if (self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS - HONDA_BOSCH_CANFD)) else cp_cam
+      speed_limit_raw = speed_bus.vl["CAMERA_MESSAGES"]["SPEED_LIMIT_SIGN"] % 32
+      ret_iq.speedLimit = speed_limit_raw * 5.0 * CV.MPH_TO_MS if (1 <= speed_limit_raw <= 17) else 0.0
+
+    if self.CP_IQ.flags & HondaFlagsIQ.NIDEC_HYBRID:
+      ret.accFaulted = bool(cp.vl["HYBRID_BRAKE_ERROR"]["BRAKE_ERROR_1"] or cp.vl["HYBRID_BRAKE_ERROR"]["BRAKE_ERROR_2"])
+      ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE_HYBRID"] > 1e-5)
+
+    if self.CP_IQ.flags & HondaFlagsIQ.HYBRID_ALT_BRAKEHOLD:
+      ret.brakeHoldActive = cp.vl["BRAKE_HOLD_HYBRID_ALT"]["BRAKE_HOLD_ACTIVE"] == 1
+
+    if self.CP_IQ.enableGasInterceptor:
+      # Same threshold as panda, equivalent to 1e-5 with previous DBC scaling
+      gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
+      ret.gasPressed = gas > 492

artifacts/package_runtime/iqdbc/lvbs/car/honda/iq_fingerprints.py

@@ -0,0 +1,56 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from iqdbc.car.structs import CarParams
+from iqdbc.car.honda.values import CAR
+
+Ecu = CarParams.Ecu
+
+FW_VERSIONS_EXT = {
+  CAR.HONDA_ACCORD: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TVA,A150\x00\x00',
+    ],
+  },
+  CAR.HONDA_CIVIC: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TBA,A030\x00\x00',
+    ],
+  },
+  CAR.HONDA_CIVIC_BOSCH: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TGG,A020\x00\x00',
+      b'39990-TGG,A120\x00\x00',
+    ],
+  },
+  CAR.HONDA_CRV_5G: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TLA,A040\x00\x00',
+    ],
+  },
+  CAR.HONDA_CLARITY: {
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TRW-A910\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TRW-A010\x00\x00',
+      b'57114-TRW-A020\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TRW-A020\x00\x00',
+      b'39990-TRW,A020\x00\x00',  # modified firmware
+      b'39990,TRW,A020\x00\x00',  # extra modified firmware
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TRW-A210\x00\x00',
+      b'77959-TRW-A220\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TRW-A010\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-TRW-A110\x00\x00',
+    ],
+  },
+}

artifacts/package_runtime/iqdbc/lvbs/car/honda/iq_values.py

@@ -0,0 +1,17 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from enum import IntFlag
+
+
+class HondaFlagsIQ(IntFlag):
+  NIDEC_HYBRID = 1
+  EPS_MODIFIED = 2
+  HYBRID_ALT_BRAKEHOLD = 4
+  HAS_CAMERA_MESSAGES = 8
+
+
+class HondaSafetyFlagsIQ:
+  NIDEC_HYBRID = 1
+  GAS_INTERCEPTOR = 2

artifacts/package_runtime/iqdbc/lvbs/car/honda/test_honda.py

@@ -0,0 +1,48 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from parameterized import parameterized
+from types import SimpleNamespace
+
+from iqdbc.can import CANParser
+from iqdbc.car import Bus, gen_empty_fingerprint
+from iqdbc.car.structs import CarParams, CarState, IQCarState as IQCarStateStruct
+from iqdbc.car.car_helpers import interfaces
+from iqdbc.car.honda.values import CAR
+from iqdbc.lvbs.car.honda.iq_carstate import IQCarState
+
+CarFw = CarParams.CarFw
+
+
+class TestHondaEpsMod:
+
+  @parameterized.expand([(CAR.HONDA_CIVIC, b'39990-TBA,A030\x00\x00'), (CAR.HONDA_CIVIC, b'39990-TBA-A030\x00\x00'),
+                         (CAR.HONDA_CLARITY, b'39990-TRW-A020\x00\x00'), (CAR.HONDA_CLARITY, b'39990,TRW,A020\x00\x00')])
+  def test_eps_mod_fingerprint(self, car_name, fw):
+    fingerprint = gen_empty_fingerprint()
+    car_fw = [CarFw(ecu="eps", fwVersion=fw)]
+
+    CarInterface = interfaces[car_name]
+    CP = CarInterface.get_params(car_name, fingerprint, car_fw, False, False, False)
+    _ = CarInterface.get_params_iq(CP, car_name, fingerprint, car_fw, False, False, False)
+
+    assert not CP.dashcamOnly
+
+
+class TestHondaGasInterceptor:
+  def test_gas_sensor_registration_and_threshold(self):
+    CP = SimpleNamespace()
+    CP_IQ = SimpleNamespace(enableGasInterceptor=True, flags=0)
+    parser = CANParser("acura_ilx_2016_can_generated", [], 0)
+    state = IQCarState(CP, CP_IQ)
+    ret = CarState()
+    ret_iq = IQCarStateStruct()
+
+    state.update(ret, ret_iq, {Bus.pt: parser, Bus.cam: parser})
+    assert "GAS_SENSOR" in parser.vl
+    assert not ret.gasPressed
+
+    parser.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] = 493
+    parser.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"] = 493
+    state.update(ret, ret_iq, {Bus.pt: parser, Bus.cam: parser})
+    assert ret.gasPressed

artifacts/package_runtime/iqdbc/lvbs/car/interfaces.py

@@ -0,0 +1,127 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+import json
+import numpy as np
+from typing import NamedTuple
+from collections.abc import Callable
+
+from iqdbc.car import structs
+from iqdbc.car.can_definitions import CanRecvCallable, CanSendCallable
+from iqdbc.car.subaru.values import SubaruFlags
+from iqdbc.lvbs.car.subaru.iq_values import SubaruFlagsIQ, SubaruSafetyFlagsIQ
+from iqdbc.lvbs.car.tesla.values import TeslaFlagsIQ, TeslaSafetyFlagsIQ
+from iqdbc.lvbs.car.toyota.values import ToyotaFlagsIQ
+
+
+class LatControlInputs(NamedTuple):
+  lateral_acceleration: float
+  roll_compensation: float
+  vego: float
+  aego: float
+
+
+TorqueFromLateralAccelCallbackTypeTorqueSpace = Callable[[LatControlInputs, structs.CarParams.LateralTorqueTuning, bool], float]
+
+
+class CarInterfaceBaseIQ:
+  @staticmethod
+  def torque_from_lateral_accel_linear_in_torque_space(latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning,
+                                                        gravity_adjusted: bool) -> float:
+    # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
+    return latcontrol_inputs.lateral_acceleration / float(torque_params.latAccelFactor)
+
+  def torque_from_lateral_accel_in_torque_space(self) -> TorqueFromLateralAccelCallbackTypeTorqueSpace:
+    return self.torque_from_lateral_accel_linear_in_torque_space
+
+
+class NanoFFModel:
+  def __init__(self, weights_loc: str, platform: str):
+    self.weights_loc = weights_loc
+    self.platform = platform
+    self.load_weights(platform)
+
+  def load_weights(self, platform: str):
+    with open(self.weights_loc) as fob:
+      self.weights = {k: np.array(v) for k, v in json.load(fob)[platform].items()}
+
+  def relu(self, x: np.ndarray):
+    return np.maximum(0.0, x)
+
+  def forward(self, x: np.ndarray):
+    assert x.ndim == 1
+    x = (x - self.weights['input_norm_mat'][:, 0]) / (self.weights['input_norm_mat'][:, 1] - self.weights['input_norm_mat'][:, 0])
+    x = self.relu(np.dot(x, self.weights['w_1']) + self.weights['b_1'])
+    x = self.relu(np.dot(x, self.weights['w_2']) + self.weights['b_2'])
+    x = self.relu(np.dot(x, self.weights['w_3']) + self.weights['b_3'])
+    x = np.dot(x, self.weights['w_4']) + self.weights['b_4']
+    return x
+
+  def predict(self, x: list[float], do_sample: bool = False):
+    x = self.forward(np.array(x))
+    if do_sample:
+      pred = np.random.laplace(x[0], np.exp(x[1]) / self.weights['temperature'])
+    else:
+      pred = x[0]
+    pred = pred * (self.weights['output_norm_mat'][1] - self.weights['output_norm_mat'][0]) + self.weights['output_norm_mat'][0]
+    return pred
+
+
+def apply_iq_car_config(CI, CP: structs.CarParams, CP_IQ: structs.IQCarParams,
+                     params_list: list[dict[str, str]] | None = None,
+                     can_recv: CanRecvCallable | None = None, can_send: CanSendCallable | None = None) -> None:
+  if params_list is None:
+    params_list = []
+
+  params_dict = {k: v for param in params_list for k, v in param.items()}
+
+  _apply_long_tuning(CI, CP, CP_IQ, params_dict)
+  _apply_tesla_options(CP, CP_IQ, params_dict)
+  _apply_creep_assist(CP, CP_IQ, params_dict)
+  _apply_toyota_options(CP, CP_IQ, params_dict)
+
+
+def _apply_long_tuning(CI, CP: structs.CarParams, CP_IQ: structs.IQCarParams,
+                                           params_dict: dict[str, str]) -> None:
+
+  _ = CI.get_longitudinal_tuning_iq(CP, CP_IQ)
+
+
+def _apply_tesla_options(CP: structs.CarParams, CP_IQ: structs.IQCarParams,
+                         params_dict: dict[str, str]) -> None:
+  if CP.brand == 'tesla':
+    torque_blend = int(params_dict.get("IQTeslaTorqueBlend", 0)) == 1
+    if torque_blend:
+      CP_IQ.flags |= TeslaFlagsIQ.COOP_STEERING.value
+    fsd_visualization = int(params_dict.get("IQTeslaFsdVisualization", 0)) == 1
+    if fsd_visualization:
+      CP_IQ.flags |= TeslaFlagsIQ.FSD_VISUALIZATION.value
+      CP_IQ.iqSafetyFlags |= TeslaSafetyFlagsIQ.FSD_VISUALIZATION
+
+
+def _apply_creep_assist(CP: structs.CarParams, CP_IQ: structs.IQCarParams, params_dict: dict[str, str]) -> None:
+  # Subaru stop-and-go; unsupported on gen2-global and hybrid platforms.
+  if CP.brand != 'subaru' or CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID):
+    return
+
+  if int(params_dict.get("IQSubaruCreepAssist", 0)) == 1:
+    CP_IQ.flags |= SubaruFlagsIQ.STOP_AND_GO.value
+  if int(params_dict.get("IQSubaruCreepAssistManualBrake", 0)) == 1:
+    CP_IQ.flags |= SubaruFlagsIQ.STOP_AND_GO_MANUAL_PARKING_BRAKE.value
+
+  if CP_IQ.flags & (SubaruFlagsIQ.STOP_AND_GO | SubaruFlagsIQ.STOP_AND_GO_MANUAL_PARKING_BRAKE):
+    CP_IQ.iqSafetyFlags |= SubaruSafetyFlagsIQ.STOP_AND_GO
+
+
+def _apply_toyota_options(CP: structs.CarParams, CP_IQ: structs.IQCarParams, params_dict: dict[str, str]) -> None:
+  if CP.brand == 'toyota':
+    toyota_stock_long = int(params_dict.get("IQToyotaFactoryLong", 0)) == 1
+    toyota_sng_hack = int(params_dict.get("ToyotaSnGHack", 0)) == 1
+
+    if toyota_stock_long:
+      CP_IQ.flags |= ToyotaFlagsIQ.STOCK_LONGITUDINAL.value
+
+    if toyota_sng_hack:
+      CP_IQ.flags |= ToyotaFlagsIQ.STOP_AND_GO_HACK.value
+      CP.minEnableSpeed = -1.
+      CP.autoResumeSng = CP.openpilotLongitudinalControl

artifacts/package_runtime/iqdbc/lvbs/car/iq_fingerprints.py

@@ -0,0 +1,36 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+
+def extend_fw_versions(fw_versions, new_fw_versions):
+  """
+    Merge firmware versions by extending lists for matching ECUs,
+    adding all entries regardless of duplicates.
+  """
+  for c, f in new_fw_versions.items():
+    if c not in fw_versions:
+      fw_versions[c] = f
+      continue
+
+    for e, new_fw_list in f.items():
+      if e not in fw_versions[c]:
+        fw_versions[c][e] = new_fw_list
+      else:
+        fw_versions[c][e].extend(new_fw_list)
+
+  return fw_versions
+
+
+def extend_fingerprints(fingerprints, new_fingerprints):
+  """
+    Merge fingerprints by extending lists for matching keys,
+    adding all entries regardless of duplicates.
+  """
+  for car, fp_list in new_fingerprints.items():
+    if car not in fingerprints:
+      fingerprints[car] = fp_list
+    else:
+      fingerprints[car].extend(fp_list)
+
+  return fingerprints

artifacts/package_runtime/iqdbc/lvbs/car/iq_lateral.py

@@ -0,0 +1,18 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+import numpy as np
+
+from iqdbc.car import structs
+from iqdbc.car.lateral import apply_center_deadzone
+
+
+def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
+                 torque_params: structs.CarParams.LateralTorqueTuning) -> float:
+  # TODO torque params' friction should be in lataxel space, not torque space
+  friction_interp = np.interp(
+    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
+    [-friction_threshold, friction_threshold],
+    [-torque_params.friction, torque_params.friction]
+  )
+  return float(friction_interp)

artifacts/package_runtime/iqdbc/lvbs/car/nissan/iq_carstate.py

@@ -0,0 +1,31 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Nissan cruise-button reader: emits edge ButtonEvents for the RES/SET buttons.
+"""
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs
+from iqdbc.can.parser import CANParser
+from iqdbc.lvbs.car.nissan.values import BUTTONS
+
+
+class IQCarState:
+  def __init__(self, CP, CP_IQ):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+    self.button_events: list = []
+    self.button_states = {button.event_type: False for button in BUTTONS}
+
+  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp = can_parsers[Bus.pt]
+    events = []
+    for button in BUTTONS:
+      pressed = cp.vl[button.can_addr][button.can_msg] in button.values
+      if pressed != self.button_states[button.event_type]:
+        event = structs.CarState.ButtonEvent.new_message()
+        event.type = button.event_type
+        event.pressed = pressed
+        events.append(event)
+      self.button_states[button.event_type] = pressed
+    self.button_events = events

artifacts/package_runtime/iqdbc/lvbs/car/nissan/values.py

@@ -0,0 +1,22 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+IQ.Pilot Nissan extension: safety flag + cruise-button table.
+"""
+from collections import namedtuple
+
+from iqdbc.car import structs
+
+
+class NissanSafetyFlagsIQ:
+  DEFAULT = 0
+  LEAF = 1
+
+
+ButtonType = structs.CarState.ButtonEvent.Type
+Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
+
+BUTTONS = [
+  Button(ButtonType.accelCruise, "CRUISE_THROTTLE", "RES_BUTTON", [1]),
+  Button(ButtonType.decelCruise, "CRUISE_THROTTLE", "SET_BUTTON", [1]),
+]

artifacts/package_runtime/iqdbc/lvbs/car/rivian/aol.py

@@ -0,0 +1,30 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Always-on-Lateral output adapter for Rivian: derives the per-frame lateral-active
+and lane-keep icon state the LKAS command needs from the shared AOL state.
+"""
+from collections import namedtuple
+
+from iqdbc.car import structs
+from iqdbc.car.interfaces import CarStateBase
+
+# Rivian EPAS rejects large-angle torque, so lateral is dropped past this bound.
+_MAX_STEERING_ANGLE = 90.0
+
+AolDataIQ = namedtuple("AolDataIQ", ["lka_icon_states", "lat_active"])
+
+
+class AolCarController:
+  def __init__(self):
+    self.aol = AolDataIQ(False, False)
+
+  def update(self, CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS: CarStateBase) -> None:
+    prev_active = self.aol.lat_active
+    if CC_IQ.aol.available:
+      lat_active = CC.latActive and abs(CS.out.steeringAngleDeg) < _MAX_STEERING_ANGLE
+      lka_icon = prev_active
+    else:
+      lat_active = CC.latActive
+      lka_icon = CC.enabled
+    self.aol = AolDataIQ(lka_icon, lat_active)

artifacts/package_runtime/iqdbc/lvbs/car/rivian/iq_carstate.py

@@ -0,0 +1,104 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Rivian longitudinal-harness-upgrade carState reader: with the upgrade harness the
+right steering-wheel controls and the drive stalk drive the openpilot set speed,
+and the harness exposes blind-spot indicators. Only active behind the upgrade flag.
+"""
+import math
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs
+from iqdbc.can.parser import CANParser
+from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.car.rivian.values import DBC
+from iqdbc.lvbs.car.rivian.values import RivianFlagsIQ
+
+ButtonType = structs.CarState.ButtonEvent.Type
+
+_SET_SPEED_MAX = 85 * CV.MPH_TO_MS
+_SET_SPEED_MIN = 20 * CV.MPH_TO_MS
+_LONG_PRESS_FRAMES = 66
+_STALK_HOLD_FRAMES = 50
+
+
+class IQCarState:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.set_speed = 10
+    self.increase_button = False
+    self.decrease_button = False
+    self.distance_button = 0
+    self.increase_counter = 0
+    self.decrease_counter = 0
+    self.stalk_down_counter = 0
+
+  def _apply_set_speed_buttons(self, ret: structs.CarState, cp_park, cp_adas) -> None:
+    was_increasing = self.increase_button
+    was_decreasing = self.decrease_button
+
+    self.increase_button = cp_park.vl["WheelButtons"]["RightButton_RightClick"] == 2
+    self.decrease_button = cp_park.vl["WheelButtons"]["RightButton_LeftClick"] == 2
+    self.increase_counter = self.increase_counter + 1 if self.increase_button else 0
+    self.decrease_counter = self.decrease_counter + 1 if self.decrease_button else 0
+
+    metric = cp_adas.vl["Cluster"]["Cluster_Unit"] == 0
+    conversion = CV.KPH_TO_MS if metric else CV.MPH_TO_MS
+    step = 10.0 if metric else 5.0
+    shown = self.set_speed * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)
+
+    # A held button steps to the next round multiple; a tap nudges by one unit.
+    if self.increase_button:
+      if self.increase_counter % _LONG_PRESS_FRAMES == 0:
+        self.set_speed = math.ceil((shown + 1) / step) * step * conversion
+      elif not was_increasing:
+        self.set_speed += conversion
+    if self.decrease_button:
+      if self.decrease_counter % _LONG_PRESS_FRAMES == 0:
+        self.set_speed = math.floor((shown - 1) / step) * step * conversion
+      elif not was_decreasing:
+        self.set_speed -= conversion
+
+  def update_longitudinal_upgrade(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp_park = can_parsers[Bus.alt]
+    cp_adas = can_parsers[Bus.adas]
+    cp = can_parsers[Bus.pt]
+
+    if self.CP.openpilotLongitudinalControl:
+      right_scroll = cp_park.vl["WheelButtons"]["RightButton_Scroll"]
+      if right_scroll != 255:
+        if self.distance_button != right_scroll:
+          ret.buttonEvents = [structs.CarState.ButtonEvent(pressed=False, type=ButtonType.gapAdjustCruise)]
+        self.distance_button = right_scroll
+
+      self._apply_set_speed_buttons(ret, cp_park, cp_adas)
+
+      if not ret.cruiseState.enabled:
+        self.set_speed = ret.vEgoCluster
+
+      # Drive stalk held down (VDM_UserAdasRequest 3/4) for ~0.5s snaps set speed
+      # up to the current speed, matching stock Rivian ACC (it never lowers it).
+      stalk_down = int(cp.vl["VDM_AdasSts"]["VDM_UserAdasRequest"]) in (3, 4)
+      self.stalk_down_counter = self.stalk_down_counter + 1 if stalk_down else 0
+      if self.stalk_down_counter == _STALK_HOLD_FRAMES:
+        self.set_speed = max(self.set_speed, ret.vEgoCluster)
+
+      self.set_speed = max(_SET_SPEED_MIN, min(self.set_speed, _SET_SPEED_MAX))
+      ret.cruiseState.speed = self.set_speed
+
+    if self.CP.enableBsm:
+      ret.leftBlindspot = cp_park.vl["BSM_BlindSpotIndicator"]["BSM_BlindSpotIndicator_Left"] != 0
+      ret.rightBlindspot = cp_park.vl["BSM_BlindSpotIndicator"]["BSM_BlindSpotIndicator_Right"] != 0
+
+  def update(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    if self.CP_IQ.flags & RivianFlagsIQ.LONGITUDINAL_HARNESS_UPGRADE:
+      self.update_longitudinal_upgrade(ret, can_parsers)
+
+  @staticmethod
+  def get_parser(CP, CP_IQ) -> dict[StrEnum, CANParser]:
+    messages: dict[StrEnum, CANParser] = {}
+    if CP_IQ.flags & RivianFlagsIQ.LONGITUDINAL_HARNESS_UPGRADE:
+      messages[Bus.alt] = CANParser(DBC[CP.carFingerprint][Bus.alt], [], 5)
+    return messages

artifacts/package_runtime/iqdbc/lvbs/car/rivian/values.py

@@ -0,0 +1,10 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+IQ.Pilot Rivian extension flags.
+"""
+from enum import IntFlag
+
+
+class RivianFlagsIQ(IntFlag):
+  LONGITUDINAL_HARNESS_UPGRADE = 1

artifacts/package_runtime/iqdbc/lvbs/car/subaru/aol.py

@@ -0,0 +1,36 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Always-on-Lateral input adapter for Subaru: turns the dashboard LKAS button into
+a carState lkas ButtonEvent so the shared AOL state machine can toggle lateral.
+"""
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs
+from iqdbc.car.subaru.values import SubaruFlags
+from iqdbc.lvbs.aol_base import AolCarStateBase
+from iqdbc.can.parser import CANParser
+
+_LKAS = structs.CarState.ButtonEvent.Type.lkas
+
+# ES_LKAS_State/LKAS_Dash_State: 0 = neutral, 1 = LKAS shown on, 2 = LKAS shown off
+_DASH_ON = 1
+_DASH_OFF = 2
+
+
+class AolCarState(AolCarStateBase):
+  def update_aol(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    if self.CP.flags & SubaruFlags.PREGLOBAL:
+      return
+
+    self.prev_lkas_button = self.lkas_button
+    self.lkas_button = can_parsers[Bus.cam].vl["ES_LKAS_State"]["LKAS_Dash_State"]
+
+    if self._is_toggle_edge():
+      ret.buttonEvents = [*ret.buttonEvents, structs.CarState.ButtonEvent(type=_LKAS, pressed=True)]
+
+  def _is_toggle_edge(self) -> bool:
+    # every dash-state change is a deliberate press except the off->on rebound (2 -> 1)
+    if self.lkas_button == self.prev_lkas_button:
+      return False
+    return not (self.prev_lkas_button == _DASH_OFF and self.lkas_button == _DASH_ON)

artifacts/package_runtime/iqdbc/lvbs/car/subaru/creep_assist.py

@@ -0,0 +1,93 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+IQ.Pilot Subaru stop-and-go: nudges the ACC out of a standstill it would
+otherwise hold. Two variants gated by user flags — an electronic-parking-brake
+resume pulse (distance/lead triggered) and a manual-parking-brake hold-timer
+resume. Both work by spoofing the camera-bus throttle/brake frames.
+"""
+import copy
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs, DT_CTRL
+from iqdbc.car.can_definitions import CanData
+from iqdbc.car.interfaces import CarStateBase
+from iqdbc.car.subaru.values import SubaruFlags
+
+from iqdbc.lvbs.car.subaru import iq_subarucan
+from iqdbc.lvbs.car.subaru.iq_values import SubaruFlagsIQ
+from iqdbc.can.parser import CANParser
+
+# EPB resume fires only while the lead is pulling away within this gap band (m).
+_RESUME_GAP_MIN = 3.0
+_RESUME_GAP_MAX = 4.5
+_EPB_PULSE_FRAMES = 15
+
+
+class IQStopAndGoController:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+    self.enabled = bool(CP_IQ.flags & (SubaruFlagsIQ.STOP_AND_GO | SubaruFlagsIQ.STOP_AND_GO_MANUAL_PARKING_BRAKE))
+    self.manual_parking_brake = bool(CP_IQ.flags & SubaruFlagsIQ.STOP_AND_GO_MANUAL_PARKING_BRAKE)
+
+    self.standstill_since = 0
+    self._pulse_left = 0
+    self.prev_gap = 0.0
+
+  def _epb_pulse(self, trigger: bool) -> bool:
+    # A trigger arms a fixed-length resume pulse; the pulse then plays out frame by frame.
+    if self.manual_parking_brake:
+      return False
+    if trigger:
+      self._pulse_left = _EPB_PULSE_FRAMES
+    if self._pulse_left > 0:
+      self._pulse_left -= 1
+      return True
+    return False
+
+  def _want_resume(self, CC: structs.CarControl, CS: CarStateBase, frame: int) -> bool:
+    if not CC.enabled or not CC.hudControl.leadVisible:
+      return False
+
+    gap = CS.es_distance_msg["Close_Distance"]
+    standing = CS.out.standstill
+    if not standing:
+      self.standstill_since = frame
+
+    hold_arm, hold_reset = (0.75, 0.8) if self.CP.flags & SubaruFlags.PREGLOBAL else (0.5, 0.55)
+    held_for = (frame - self.standstill_since) * DT_CTRL
+    held_long_enough = held_for > hold_arm
+    if held_for >= hold_reset:
+      self.standstill_since = frame
+
+    lead_pulling_away = _RESUME_GAP_MIN < gap < _RESUME_GAP_MAX and gap > self.prev_gap
+    self.prev_gap = gap
+
+    if self.manual_parking_brake:
+      return held_long_enough
+    return self._epb_pulse(standing and lead_pulling_away)
+
+  def create_creep_assist(self, packer, CC: structs.CarControl, CS: CarStateBase, frame: int) -> list[CanData]:
+    if not self.enabled:
+      return []
+
+    resume = self._want_resume(CC, CS, frame)
+    can_sends = [iq_subarucan.create_throttle(packer, self.CP, CS.throttle_msg, resume and not self.manual_parking_brake)]
+    if frame % 2 == 0:
+      can_sends.append(iq_subarucan.create_brake_pedal(packer, self.CP, CS.brake_pedal_msg, resume and self.manual_parking_brake))
+    return can_sends
+
+
+class IQStopAndGoState:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+    self.brake_pedal_msg: dict[str, float] = {}
+    self.throttle_msg: dict[str, float] = {}
+
+  def update(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp = can_parsers[Bus.pt]
+    self.brake_pedal_msg = copy.copy(cp.vl["Brake_Pedal"])
+    if not self.CP.flags & SubaruFlags.HYBRID:
+      self.throttle_msg = copy.copy(cp.vl["Throttle"])

artifacts/package_runtime/iqdbc/lvbs/car/subaru/iq_subarucan.py

@@ -0,0 +1,41 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+Camera-bus message spoofers for Subaru stop-and-go: re-emit the stock Throttle
+and Brake_Pedal frames, nudging a single field to trigger an ACC resume from a
+standstill. Field sets mirror the DBC message layout.
+"""
+from iqdbc.car.subaru.values import CanBus, SubaruFlags
+
+_THROTTLE_FIELDS_PREGLOBAL = ("Throttle_Pedal", "Signal1", "Not_Full_Throttle", "Signal2", "Engine_RPM",
+                              "Off_Throttle", "Signal3", "Throttle_Cruise", "Throttle_Combo", "Throttle_Body",
+                              "Off_Throttle_2", "Signal4")
+_THROTTLE_FIELDS_GLOBAL = ("CHECKSUM", "Signal1", "Engine_RPM", "Neutral", "Throttle_Pedal", "Throttle_Cruise",
+                           "Throttle_Combo", "Signal3", "Off_Accel")
+_BRAKE_FIELDS_PREGLOBAL = ("Speed", "Brake_Pedal", "Signal1")
+_BRAKE_FIELDS_GLOBAL = ("CHECKSUM", "Signal1", "Speed", "Signal2", "Brake_Lights", "Signal3", "Brake_Pedal", "Signal4")
+
+
+def _next_counter(msg):
+  return (msg["COUNTER"] + 1) % 0x10
+
+
+def create_throttle(packer, CP, throttle_msg, send_resume):
+  preglobal = bool(CP.flags & SubaruFlags.PREGLOBAL)
+  fields = _THROTTLE_FIELDS_PREGLOBAL if preglobal else _THROTTLE_FIELDS_GLOBAL
+  values = {name: throttle_msg[name] for name in fields}
+  values["COUNTER"] = _next_counter(throttle_msg)
+  if send_resume:
+    values["Throttle_Pedal"] = 5
+  return packer.make_can_msg("Throttle", CanBus.camera, values)
+
+
+def create_brake_pedal(packer, CP, brake_pedal_msg, send_resume):
+  preglobal = bool(CP.flags & SubaruFlags.PREGLOBAL)
+  fields = _BRAKE_FIELDS_PREGLOBAL if preglobal else _BRAKE_FIELDS_GLOBAL
+  values = {name: brake_pedal_msg[name] for name in fields}
+  if not preglobal:
+    values["COUNTER"] = _next_counter(brake_pedal_msg)
+  if send_resume:
+    values["Speed"] = 1 if preglobal else 3
+  return packer.make_can_msg("Brake_Pedal", CanBus.camera, values)

artifacts/package_runtime/iqdbc/lvbs/car/subaru/iq_values.py

@@ -0,0 +1,16 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+
+IQ.Pilot Subaru extension flags. Selected in apply_iq_car_config() from the user's
+stop-and-go params and consumed by the stop-and-go controller and panda safety.
+"""
+from enum import IntFlag
+
+
+class SubaruFlagsIQ(IntFlag):
+  STOP_AND_GO = 1
+  STOP_AND_GO_MANUAL_PARKING_BRAKE = 2
+
+
+class SubaruSafetyFlagsIQ:
+  STOP_AND_GO = 1

artifacts/package_runtime/iqdbc/lvbs/car/tesla/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

artifacts/package_runtime/iqdbc/lvbs/car/tesla/iq_carstate.py

@@ -0,0 +1,84 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from enum import StrEnum
+
+from iqdbc.car import Bus, create_button_events, structs
+from iqdbc.can.parser import CANParser
+from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.car.tesla.values import DBC, CANBUS
+from iqdbc.lvbs.car.tesla.values import TeslaFlagsIQ
+
+ButtonType = structs.CarState.ButtonEvent.Type
+
+
+class IQCarState:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.infotainment_3_finger_press = 0
+    self.vehicle_bus_available = bool(CP_IQ.flags & TeslaFlagsIQ.HAS_VEHICLE_BUS)
+
+  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    if Bus.adas in can_parsers:
+      cp_adas = can_parsers[Bus.adas]
+
+      odometer_km = float(cp_adas.vl["ID3B6UI_odometer"].get("UI_odometer", 0.0))
+      if 0.0 < odometer_km < 4294967.296:
+        self.vehicle_bus_available = True
+        ret.odometer = odometer_km
+
+    if self.vehicle_bus_available and Bus.adas in can_parsers:
+      cp_adas = can_parsers[Bus.adas]
+
+      prev_infotainment_3_finger_press = self.infotainment_3_finger_press
+      self.infotainment_3_finger_press = int(cp_adas.vl["UI_status2"]["UI_activeTouchPoints"])
+
+      ret.buttonEvents = [*ret.buttonEvents,
+                          *create_button_events(self.infotainment_3_finger_press, prev_infotainment_3_finger_press,
+                                                {3: ButtonType.lkas})]
+
+      bms_soc_ui = float(cp_adas.vl["ID292BMS_SOC"].get("SOCUI292", 0.0))
+      ui_range_mi = float(cp_adas.vl["ID33AUI_rangeSOC"].get("UI_Range", 0.0))
+      hv_batt_voltage_v = float(cp_adas.vl["ID132HVBattAmpVolt"].get("BattVoltage132", 0.0))
+      battery_details = None
+      try:
+        battery_details = ret.batteryDetails
+      except Exception:
+        battery_details = None
+
+      soc_ui = bms_soc_ui if 0.0 <= bms_soc_ui <= 102.3 else None
+      if soc_ui is not None:
+        ret.fuelGauge = min(100.0, soc_ui) / 100.0
+        if battery_details is not None:
+          battery_details.soc = soc_ui
+          battery_details.charge = soc_ui
+      if 0.0 <= ui_range_mi <= 1023.0 and battery_details is not None:
+        battery_details.capacity = ui_range_mi
+      if 0.0 < hv_batt_voltage_v <= 800.0 and battery_details is not None:
+        battery_details.voltage = hv_batt_voltage_v
+
+    cp_party = can_parsers[Bus.party]
+    cp_ap_party = can_parsers[Bus.ap_party]
+
+    speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp_party.vl["DI_state"]["DI_speedUnits"]), None)
+    speed_limit = cp_ap_party.vl["DAS_status"]["DAS_fusedSpeedLimit"]
+    if self.can_define.dv["DAS_status"]["DAS_fusedSpeedLimit"].get(int(speed_limit), None) in ["NONE", "UNKNOWN_SNA"]:
+      ret_iq.speedLimit = 0
+    else:
+      if speed_units == "KPH":
+        ret_iq.speedLimit = speed_limit * CV.KPH_TO_MS
+      elif speed_units == "MPH":
+        ret_iq.speedLimit = speed_limit * CV.MPH_TO_MS
+
+  @staticmethod
+  def get_parser(CP: structs.CarParams, CP_IQ: structs.IQCarParams) -> dict[StrEnum, CANParser]:
+    messages = {}
+
+    # Only tap the vehicle bus on cars where fingerprinting saw it: an always-on
+    # bus-1 parser trips bus_timeout -> canBusMissing on harnesses without the tap.
+    if CP_IQ.flags & TeslaFlagsIQ.HAS_VEHICLE_BUS and Bus.adas in DBC[CP.carFingerprint]:
+      messages[Bus.adas] = CANParser(DBC[CP.carFingerprint][Bus.adas], [], CANBUS.vehicle)
+
+    return messages

artifacts/package_runtime/iqdbc/lvbs/car/tesla/test_torque_blend.py

@@ -0,0 +1,205 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from types import SimpleNamespace
+
+import pytest
+
+from iqdbc.car.tesla.interface import CarInterface
+from iqdbc.car.vehicle_model import VehicleModel
+from iqdbc.lvbs.car.tesla.torque_blend import (
+  DT_LAT_CTRL,
+  STEER_OVERRIDE_MAX_LAT_ACCEL,
+  STEER_OVERRIDE_MIN_TORQUE,
+  STEER_OVERRIDE_TORQUE_RANGE,
+  STEER_OVERRIDE_TORQUE_ZERO_MAX,
+  SteeringTorqueZero,
+  TorqueBlendController,
+  calc_override_angle_limited,
+  get_steer_from_lat_accel,
+)
+from iqdbc.lvbs.car.tesla.values import TeslaFlagsIQ
+
+VM = VehicleModel(CarInterface.get_non_essential_params("TESLA_MODEL_Y"))
+
+COOP_ON = SimpleNamespace(flags=TeslaFlagsIQ.COOP_STEERING.value)
+COOP_OFF = SimpleNamespace(flags=0)
+
+HAND_REST_TORQUE = 0.55
+ZERO_WEIGHT_SPEED = 20.0
+FULL_WEIGHT_SPEED = 8.0
+SETTLING_SECONDS = 300.0
+
+
+def _car_state(torque, v_ego, angle=0.0):
+  return SimpleNamespace(
+    out=SimpleNamespace(steeringTorque=torque, vEgo=v_ego, vEgoRaw=v_ego, steeringAngleDeg=angle, steeringRateDeg=0.0),
+    hands_on_level=0,
+  )
+
+
+def _drive(blend, torque, v_ego, seconds, angle=0.0, cp_iq=COOP_ON, lat_active=True):
+  steps = int(seconds / DT_LAT_CTRL)
+  out = 0.0
+  for _ in range(steps):
+    out = blend.update(angle, lat_active, cp_iq, _car_state(torque, v_ego, angle), VM).steeringAngleDeg
+  return out
+
+
+def _override(blend):
+  return blend.coop_apply_angle_last - blend.debug_angle_desired_limited
+
+
+MAX_NULLABLE_PRELOAD = STEER_OVERRIDE_MIN_TORQUE + STEER_OVERRIDE_TORQUE_ZERO_MAX
+
+
+@pytest.mark.parametrize("rest", [0.3, HAND_REST_TORQUE, MAX_NULLABLE_PRELOAD])
+@pytest.mark.parametrize("sign", [1.0, -1.0])
+def test_torque_zero_pulls_a_sustained_hand_rest_inside_the_deadzone(rest, sign):
+  zero = SteeringTorqueZero()
+  for _ in range(int(SETTLING_SECONDS / DT_LAT_CTRL)):
+    corrected = zero.update(sign * rest, True)
+  assert abs(corrected) <= STEER_OVERRIDE_MIN_TORQUE
+
+
+@pytest.mark.parametrize("sign", [1.0, -1.0])
+def test_a_settled_hand_rest_at_the_nullable_limit_produces_no_override(sign):
+  blend = TorqueBlendController()
+  _drive(blend, sign * MAX_NULLABLE_PRELOAD, ZERO_WEIGHT_SPEED, seconds=SETTLING_SECONDS)
+  assert abs(_override(blend)) == pytest.approx(0.0, abs=1e-6)
+
+
+def test_override_unwinds_once_the_driver_releases():
+  blend = TorqueBlendController()
+  _drive(blend, 2.0, FULL_WEIGHT_SPEED, seconds=10.0)
+  assert abs(_override(blend)) > 1.0
+  _drive(blend, 0.0, FULL_WEIGHT_SPEED, seconds=20.0)
+  assert _override(blend) == pytest.approx(0.0, abs=1e-6)
+  assert blend.override_angle_accu == pytest.approx(0.0, abs=1e-6)
+
+
+def test_torque_zero_passes_a_step_through_untouched():
+  zero = SteeringTorqueZero()
+  assert zero.update(2.0, True) == pytest.approx(2.0, abs=1e-3)
+
+
+def test_torque_zero_is_bounded():
+  zero = SteeringTorqueZero()
+  for _ in range(int(SETTLING_SECONDS / DT_LAT_CTRL)):
+    zero.update(10.0, True)
+  assert zero.update(0.0, False) == pytest.approx(-STEER_OVERRIDE_TORQUE_ZERO_MAX)
+
+
+def test_torque_zero_holds_while_not_learning():
+  zero = SteeringTorqueZero()
+  zero.update(1.0, False)
+  assert zero.update(1.0, False) == pytest.approx(1.0)
+
+
+def test_sustained_hand_rest_stops_steering_the_car():
+  blend = TorqueBlendController()
+  _drive(blend, HAND_REST_TORQUE, FULL_WEIGHT_SPEED, seconds=1.0)
+  early = abs(_override(blend))
+  _drive(blend, HAND_REST_TORQUE, FULL_WEIGHT_SPEED, seconds=SETTLING_SECONDS)
+  assert early > 0.1
+  assert abs(_override(blend)) < 0.1 * early
+
+
+def test_a_deliberate_push_still_overrides_after_the_zero_has_settled():
+  blend = TorqueBlendController()
+  _drive(blend, HAND_REST_TORQUE, FULL_WEIGHT_SPEED, seconds=SETTLING_SECONDS)
+  _drive(blend, HAND_REST_TORQUE + 1.5, FULL_WEIGHT_SPEED, seconds=1.0)
+  assert abs(_override(blend)) > 1.0
+
+
+def test_accumulator_cannot_charge_where_its_weight_is_zero():
+  blend = TorqueBlendController()
+  _drive(blend, 2.0, ZERO_WEIGHT_SPEED, seconds=30.0)
+  assert blend.override_angle_accu == pytest.approx(0.0, abs=1e-6)
+
+
+def test_accumulator_drains_once_the_car_passes_the_crossover_speed():
+  blend = TorqueBlendController()
+  _drive(blend, 2.5, FULL_WEIGHT_SPEED, seconds=10.0)
+  assert abs(blend.override_angle_accu) > 1.0
+  _drive(blend, 2.5, ZERO_WEIGHT_SPEED, seconds=5.0)
+  assert blend.override_angle_accu == pytest.approx(0.0, abs=1e-6)
+
+
+def test_low_speed_override_can_exceed_the_direct_term_authority():
+  blend = TorqueBlendController()
+  _drive(blend, 2.5, FULL_WEIGHT_SPEED, seconds=60.0)
+  authority = calc_override_angle_limited(STEER_OVERRIDE_TORQUE_RANGE, FULL_WEIGHT_SPEED, VM, STEER_OVERRIDE_MAX_LAT_ACCEL)
+  assert abs(blend.override_angle_accu) > authority
+
+
+def test_a_sustained_low_speed_push_reaches_a_large_override():
+  blend = TorqueBlendController()
+  _drive(blend, 2.5, FULL_WEIGHT_SPEED, seconds=10.0)
+  assert abs(_override(blend)) > 20.0
+
+
+@pytest.mark.parametrize("v_ego", [3.0, 5.0, FULL_WEIGHT_SPEED, 12.0])
+def test_override_stays_inside_the_max_lat_accel_envelope_plus_the_direct_term(v_ego):
+  blend = TorqueBlendController()
+  _drive(blend, 2.5, v_ego, seconds=60.0)
+  envelope = get_steer_from_lat_accel(STEER_OVERRIDE_MAX_LAT_ACCEL, v_ego, VM)
+  direct_authority = calc_override_angle_limited(STEER_OVERRIDE_TORQUE_RANGE, v_ego, VM, STEER_OVERRIDE_MAX_LAT_ACCEL)
+  assert abs(_override(blend)) <= envelope + direct_authority
+
+
+@pytest.mark.parametrize("v_ego", [3.0, 5.0, FULL_WEIGHT_SPEED, 12.0])
+def test_a_pinned_push_cannot_run_the_contribution_away(v_ego):
+  blend = TorqueBlendController()
+  _drive(blend, 2.5, v_ego, seconds=130.0)
+  envelope = get_steer_from_lat_accel(STEER_OVERRIDE_MAX_LAT_ACCEL, v_ego, VM)
+  capability = calc_override_angle_limited(STEER_OVERRIDE_TORQUE_RANGE, v_ego, VM, STEER_OVERRIDE_MAX_LAT_ACCEL) / envelope
+  assert abs(blend.override_angle_accu) * (1.0 - capability) <= envelope + 1e-6
+
+
+def test_the_envelope_opens_up_as_speed_drops():
+  low = get_steer_from_lat_accel(STEER_OVERRIDE_MAX_LAT_ACCEL, 3.0, VM)
+  high = get_steer_from_lat_accel(STEER_OVERRIDE_MAX_LAT_ACCEL, 12.0, VM)
+  assert low > 10 * high
+
+
+def test_relative_weight_is_zero_above_the_direct_capability_crossover():
+  capability = (calc_override_angle_limited(STEER_OVERRIDE_TORQUE_RANGE, ZERO_WEIGHT_SPEED, VM, STEER_OVERRIDE_MAX_LAT_ACCEL) /
+                get_steer_from_lat_accel(STEER_OVERRIDE_MAX_LAT_ACCEL, ZERO_WEIGHT_SPEED, VM))
+  assert capability == pytest.approx(1.0)
+
+
+HEAVY_REST = 0.80
+
+
+@pytest.mark.parametrize("sign", [1.0, -1.0])
+def test_the_zero_nulls_a_hand_rest_heavier_than_the_deadzone(sign):
+  assert HEAVY_REST > 2 * STEER_OVERRIDE_MIN_TORQUE
+  blend = TorqueBlendController()
+  _drive(blend, sign * HEAVY_REST, FULL_WEIGHT_SPEED, seconds=SETTLING_SECONDS)
+  assert abs(_override(blend)) == pytest.approx(0.0, abs=1e-6)
+
+
+LIGHT_PUSH = 0.45
+
+
+@pytest.mark.parametrize("v_ego", [FULL_WEIGHT_SPEED, 17.0])
+def test_a_light_push_overrides_without_needing_the_old_half_newton(v_ego):
+  assert STEER_OVERRIDE_MIN_TORQUE < LIGHT_PUSH < 0.5
+  blend = TorqueBlendController()
+  _drive(blend, LIGHT_PUSH, v_ego, seconds=5.0)
+  assert abs(_override(blend)) > 0.2
+
+
+def test_torque_below_the_deadzone_never_overrides():
+  blend = TorqueBlendController()
+  _drive(blend, STEER_OVERRIDE_MIN_TORQUE * 0.5, FULL_WEIGHT_SPEED, seconds=5.0)
+  assert abs(_override(blend)) == pytest.approx(0.0, abs=1e-6)
+
+
+def test_coop_disabled_leaves_the_command_untouched():
+  blend = TorqueBlendController()
+  angle = 5.0
+  out = _drive(blend, 2.0, FULL_WEIGHT_SPEED, seconds=5.0, angle=angle, cp_iq=COOP_OFF)
+  assert out == pytest.approx(angle, abs=1e-6)
+  assert blend.override_angle_accu == pytest.approx(0.0)

artifacts/package_runtime/iqdbc/lvbs/car/tesla/torque_blend.py

@@ -0,0 +1,340 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+import math
+import numpy as np
+from collections import namedtuple
+from dataclasses import replace
+
+from iqdbc.car import structs, rate_limit, DT_CTRL
+from iqdbc.car.vehicle_model import VehicleModel
+from iqdbc.car.lateral import apply_steer_angle_limits_vm
+from iqdbc.car.tesla.values import CarControllerParams
+from iqdbc.lvbs.car.tesla.values import TeslaFlagsIQ
+
+
+DT_LAT_CTRL = DT_CTRL * CarControllerParams.STEER_STEP
+
+class TorqueBlendParams(CarControllerParams):
+  ANGLE_LIMITS = replace(CarControllerParams.ANGLE_LIMITS, MAX_ANGLE_RATE=5)
+
+STEERING_DEG_PHASE_LEAD_COEFF = 8.0
+
+# angle override # todo implement steering torque inertia compensation to increase gains
+STEER_OVERRIDE_MIN_TORQUE = 0.35 # Nm - only noise now, SteeringTorqueZero removes the bias this used to cover
+STEER_OVERRIDE_MAX_TORQUE = 2.5 # Nm max torque before EPS disengages, LKAS takes over at 1.8Nm
+STEER_OVERRIDE_MAX_LAT_ACCEL = 1.5 # m/s^2 - determines angle rate - speed dependent - similar to Tesla comfort steering mode
+STEER_OVERRIDE_LAT_ACCEL_GAIN_LIMIT = 10 # deg/Nm stability and smoothness for angle control  # todo this could be increased after solving feedback stability
+
+# angle ramping
+STEER_OVERRIDE_MAX_LAT_JERK = 2.0 # m/s^3 - determines angle ramping rate - speed dependent
+STEER_OVERRIDE_MAX_LAT_JERK_CENTERING = TorqueBlendParams.ANGLE_LIMITS.MAX_LATERAL_JERK # m/s^3 -  for low speed angle ramp down
+# stability and smoothness for angle ramp control - at very low speeds this takes precedence over jerk settings
+STEER_OVERRIDE_LAT_JERK_GAIN_LIMIT = 100 # deg/s/Nm - should be less than CarControllerParams.ANGLE_LIMITS.MAX_ANGLE_RATE / DT_CTRL / STEER_OVERRIDE_TORQUE_RANGE
+STEER_OVERRIDE_TORQUE_RANGE = STEER_OVERRIDE_MAX_TORQUE - STEER_OVERRIDE_MIN_TORQUE
+
+STEER_OVERRIDE_TORQUE_ZERO_TAU = 60.0
+STEER_OVERRIDE_TORQUE_ZERO_MAX = 0.5 # Nm - sized to the observed hand rest and sensor bias, not to the deadzone
+
+# model fighting mitigation
+STEER_DESIRED_LIMITER_ALLOW_SPEED = 6.0 # m/s - below this speed the desired angle limiter is active
+STEER_DESIRED_LIMITER_ACCEL = 100 # deg/s^2 when override angle ramp is active
+STEER_DESIRED_LIMITER_OVERRIDE_ACTIVE_COUNTER = 0.7 # second
+
+# limit model acceleration when engaging
+STEER_RESUME_RATE_LIMIT_RAMP_RATE = 500 # deg/s^2 - controls rate of rise of angle rate limit, not angle directly
+
+
+TorqueBlendDataIQ = namedtuple("TorqueBlendDataIQ",
+                                ["steeringAngleDeg", "lat_active", "control_type"])
+
+def get_steer_from_lat_accel(lat_accel, v_ego: float, VM: VehicleModel):
+  """Calculate the maximum steering angle based on lateral acceleration."""
+  curvature = lat_accel / (max(1, v_ego) ** 2)  # 1/m
+  return math.degrees(VM.get_steer_from_curvature(curvature, v_ego, 0))  # deg
+
+
+def apply_bounds(signal: float, limit: float) -> float:
+  """Limit input to a range."""
+  return float(np.clip(signal, -limit, limit))
+
+
+def apply_deadzone(signal: float, deadzone: float) -> float:
+  """Apply deadzone to input."""
+  return signal - apply_bounds(signal, deadzone)
+
+
+def calc_override_angle_limited(torque: float, vEgo: float, VM: VehicleModel, lat_accel) -> float:
+  """
+  Map driver torque to lateral acceleration and convert to steering angle.
+  Limit gain for stability with EPS and torque sensor interaction.
+  """
+
+  # lateral accel is linear in respect to angle so it's fine to interpolate it with torque
+  torque_to_angle = get_steer_from_lat_accel(lat_accel, vEgo, VM) / STEER_OVERRIDE_TORQUE_RANGE
+
+  # limit the gain to prevent jerkiness and instability
+  gain_limit = STEER_OVERRIDE_LAT_ACCEL_GAIN_LIMIT
+  override_angle_target = torque * min(torque_to_angle, gain_limit)
+
+  return override_angle_target
+
+
+def calc_override_angle_delta_limited(torque: float, vEgo: float, VM: VehicleModel, lat_jerk) -> float:
+  """
+  Map driver torque to lateral jerk and convert to steering speed.
+  Limit gain for stability with EPS and torque sensor interaction.
+  """
+
+  # prevents windup in carcontroller rate limiter
+  lat_jerk = min(lat_jerk, TorqueBlendParams.ANGLE_LIMITS.MAX_LATERAL_JERK)
+
+  # lateral accel is linear in respect to angle so it's fine to interpolate it with torque
+  torque_to_angle = get_steer_from_lat_accel(lat_jerk, vEgo, VM) / STEER_OVERRIDE_TORQUE_RANGE
+  # limit the gain to prevent jerkiness and instability
+  gain_limit = min(STEER_OVERRIDE_LAT_JERK_GAIN_LIMIT, CarControllerParams.ANGLE_LIMITS.MAX_ANGLE_RATE / DT_CTRL / STEER_OVERRIDE_TORQUE_RANGE)
+  override_angle_rate = torque * min(torque_to_angle, gain_limit)
+
+  # prevent windup in angle rate limiter
+  return apply_bounds(override_angle_rate * DT_LAT_CTRL, TorqueBlendParams.ANGLE_LIMITS.MAX_ANGLE_RATE)
+
+
+class SteeringTorqueZero:
+  def __init__(self):
+    self._zero = 0.0
+
+  def reset(self) -> None:
+    self._zero = 0.0
+
+  def update(self, torque: float, learning: bool) -> float:
+    if learning:
+      self._zero += (torque - self._zero) * (DT_LAT_CTRL / STEER_OVERRIDE_TORQUE_ZERO_TAU)
+      self._zero = apply_bounds(self._zero, STEER_OVERRIDE_TORQUE_ZERO_MAX)
+    return torque - self._zero
+
+
+class SteerRateLimiter:
+  """Handles rate limiting of steering angle changes with a configurable rate."""
+  def __init__(self):
+    self._last = 0.0
+
+  def reset(self, angle: float) -> None:
+    """Reset the rate limiter state with the given angle."""
+    self._last = angle
+
+  def update(self, angle: float, angle_delta_lim: float) -> float:
+    angle_lim = rate_limit(angle, self._last, -angle_delta_lim, angle_delta_lim)
+    self._last = angle_lim
+    return angle_lim
+
+
+class SteerAccelLimiter:
+  """
+  Second-order limiter for steering angle:
+  - Limits angular acceleration (change in allowed angular rate).
+  - Enforces a hard max angular rate.
+  """
+  def __init__(self):
+    self.delta_rl = SteerRateLimiter()
+    self.angle_cmd = 0.0
+
+  def reset(self, angle: float) -> None:
+    self.delta_rl.reset(0)
+    self.angle_cmd = angle
+
+  def update(self, angle_target: float, max_rate: float, accel: float, decel: float, dt: float) -> float:
+    if dt <= 0.0:
+      return self.angle_cmd
+
+    # acceleration limits per update step
+    accel_delta = max(0.0, accel) * (dt * dt)
+    decel_delta = max(0.0, decel) * (dt * dt)
+
+    err = angle_target - self.angle_cmd
+    err = apply_bounds(err, max(0.0, max_rate) * dt)
+
+    # acceleration (towards target) or deceleration (away from target)
+    if err * self.delta_rl._last < 0:
+      delta = decel_delta
+    else:
+      delta = accel_delta
+
+    # Handle large decel (enabled with inf value)
+    if decel == np.inf and err * self.delta_rl._last < 0:
+      # if output crosses the target or target crosses the output
+      self.delta_rl._last = 0
+      angle_out = self.angle_cmd
+    else:
+      self.delta_rl._last = self.delta_rl.update(err, delta)
+      if decel == np.inf:
+        # if we are close to target, snap to it before we cross it
+        self.delta_rl._last = apply_bounds(self.delta_rl._last, abs(err))
+      angle_out = self.angle_cmd + self.delta_rl._last
+
+    # Integrate
+    self.angle_cmd = angle_out
+
+    return angle_out
+
+
+class TorqueBlendController:
+  def __init__(self):
+    self.coop_apply_angle_last = 0
+    self.blend_apply_angle_last_sat = 0
+    self.override_angle_accu = 0
+    self.override_active_counter = 0  # Counter for how many cycles torque is below threshold
+    self.resume_rate_limiter_delta = SteerRateLimiter()
+    self.resume_rate_limiter = SteerRateLimiter()
+    self.override_accel_rate_limiter = SteerAccelLimiter()
+    self.torque_zero = SteeringTorqueZero()
+    self.debug_angle_desired_limited = 0
+
+  def apply_override_angle_direct(self, lat_active: bool, driverTorque: float, vEgo: float, VM: VehicleModel) -> float:
+    """
+    Emulates steering springiness based on lateral acceleration exerted on the steering rack.
+    We rely on apply_override_angle_ramp to reach the max angle at low speeds.
+    At low speed lateral acceleration approaches infinity and it is not good proxy
+    for the torque to target angle conversion and needs to be limited
+
+    """
+    if not lat_active:
+      return 0.0
+
+    ## torque to position
+    # ignore torque sensor offset and disturbances
+    steering_torque_with_deadzone = apply_deadzone(driverTorque, STEER_OVERRIDE_MIN_TORQUE)
+    angle_override = calc_override_angle_limited(steering_torque_with_deadzone, vEgo, VM, STEER_OVERRIDE_MAX_LAT_ACCEL)
+    return angle_override
+
+  def apply_override_angle_relative(self, lat_active: bool, driverTorque: float, vEgo: float,
+                                    VM: VehicleModel, unwind_weight: float = 1.0) -> float:
+    """
+    Converts steering torque to steering rotation rate.
+    Physically angle rate is related to viscous damping of tires rotating on the ground.
+    Here, however, the angle rate target is obtained from lateral jerk limit
+    as a reasonable safe rate which decays quadratically with vehicle speed.
+    """
+    if not lat_active:
+      self.override_angle_accu = 0
+      return 0
+
+    # unwind accumulator toward zero if the previous loop saturated (apply_steer_angle_limits_vm)
+    unwind = (self.coop_apply_angle_last - self.blend_apply_angle_last_sat) * unwind_weight
+    if self.override_angle_accu * unwind > 0:
+      unwind = apply_bounds(unwind, abs(self.override_angle_accu))
+      self.override_angle_accu -= unwind
+
+    # torque biasing emulates the steering centering when released:
+    if self.override_angle_accu > 0 and abs(vEgo) > 0.1:
+      torque_biased = driverTorque - STEER_OVERRIDE_MIN_TORQUE
+    elif self.override_angle_accu < 0 and abs(vEgo) > 0.1:
+      torque_biased = driverTorque + STEER_OVERRIDE_MIN_TORQUE
+    else:
+      # when override_angle_accu is reset this turns off  everything
+      torque_biased = apply_deadzone(driverTorque, STEER_OVERRIDE_MIN_TORQUE)
+
+    # higher rate when centering
+    angle_override_delta = calc_override_angle_delta_limited(torque_biased, vEgo, VM,
+                          STEER_OVERRIDE_MAX_LAT_JERK if (torque_biased * self.override_angle_accu) > 0
+                          else STEER_OVERRIDE_MAX_LAT_JERK_CENTERING)
+
+    # ramp the angle
+    new_override_angle_accu = self.override_angle_accu + angle_override_delta
+    # snap to 0 if sign changes and driver torque is steering centering zone
+    if (new_override_angle_accu * self.override_angle_accu) < 0 and abs(driverTorque) < STEER_OVERRIDE_MIN_TORQUE:
+      new_override_angle_accu = 0
+
+    self.override_angle_accu = new_override_angle_accu
+
+    return self.override_angle_accu
+
+  def apply_override_angle_combined(self, lat_active: bool, driverTorque: float, vEgo: float, VM: VehicleModel) -> float:
+    """
+    Combines direct and relative override angles based on direct angle override limitations (stability and practical range depending on vehicle speed).
+    Effectively vehicle-speed based transition.
+    """
+    if not lat_active:
+      return 0
+
+    override_envelope = get_steer_from_lat_accel(STEER_OVERRIDE_MAX_LAT_ACCEL, vEgo, VM)
+    # calculate capability of direct angle override (fully active above ~36kph)
+    direct_override_capability = calc_override_angle_limited(STEER_OVERRIDE_TORQUE_RANGE, vEgo, VM,
+                                                            STEER_OVERRIDE_MAX_LAT_ACCEL) / override_envelope
+
+    angle_override_direct = self.apply_override_angle_direct(lat_active, driverTorque, vEgo, VM)
+    relative_weight = 1.0 - direct_override_capability
+    if relative_weight > 0.0:
+      self.apply_override_angle_relative(lat_active, driverTorque, vEgo, VM, unwind_weight=relative_weight)
+      self.override_angle_accu = apply_bounds(self.override_angle_accu, override_envelope / relative_weight)
+    else:
+      self.center_override_angle_accu(vEgo, VM)
+
+    return angle_override_direct * direct_override_capability + self.override_angle_accu * relative_weight
+
+  def center_override_angle_accu(self, vEgo: float, VM: VehicleModel) -> None:
+    centering_delta = calc_override_angle_delta_limited(STEER_OVERRIDE_TORQUE_RANGE, vEgo, VM,
+                                                       STEER_OVERRIDE_MAX_LAT_JERK_CENTERING)
+    self.override_angle_accu -= apply_bounds(self.override_angle_accu, centering_delta)
+
+  def overriding_steer_desired_accel_limit(self, lat_active: bool, apply_angle: float, vEgo: float, steeringTorque: float) -> float:
+    """
+    Acceleration rate limiter - limits acceleration but allows for quick deceleration (no overshoot)
+    """
+    if not lat_active:
+      self.override_accel_rate_limiter.reset(apply_angle)
+      return apply_angle
+
+    if abs(steeringTorque) >= STEER_OVERRIDE_MIN_TORQUE:
+      self.override_active_counter = 0
+    else:
+      self.override_active_counter += DT_LAT_CTRL
+      self.override_active_counter = min(self.override_active_counter, STEER_DESIRED_LIMITER_OVERRIDE_ACTIVE_COUNTER)
+
+    max_angle_rate = CarControllerParams.ANGLE_LIMITS.MAX_ANGLE_RATE / DT_LAT_CTRL # MAX_ANGLE_RATE is per frame units so convert to real rate
+    # this ensures no acceleration limit when override is disabled:
+    max_angle_accel = max_angle_rate / DT_LAT_CTRL # ensures max deceleration
+    if vEgo < STEER_DESIRED_LIMITER_ALLOW_SPEED:
+      # Interpolate between STEER_DESIRED_LIMITER_ACCEL and max_angle_accel based on counter progress
+      max_angle_accel = np.interp(
+        self.override_active_counter,
+        [0, STEER_DESIRED_LIMITER_OVERRIDE_ACTIVE_COUNTER],
+        [STEER_DESIRED_LIMITER_ACCEL, max_angle_accel]
+      )
+    # max_angle_rate / DT_LAT_CTRL ensures max deceleration
+    return self.override_accel_rate_limiter.update(apply_angle, max_angle_rate, max_angle_accel, np.inf, DT_LAT_CTRL)
+
+  def resume_steer_desired_rate_limit(self, lat_active: bool, apply_angle: float, steering_angle: float) -> float:
+    """Limits steering wheel acceleration when resuming steering"""
+    if not lat_active:
+      # reset and bypass
+      self.resume_rate_limiter_delta.reset(0)
+      self.resume_rate_limiter.reset(steering_angle)
+      return steering_angle
+
+    angle_rate_delta_lim = self.resume_rate_limiter_delta.update(CarControllerParams.ANGLE_LIMITS.MAX_ANGLE_RATE,
+                                                         STEER_RESUME_RATE_LIMIT_RAMP_RATE * DT_LAT_CTRL**2)
+    apply_angle_lim = self.resume_rate_limiter.update(apply_angle, angle_rate_delta_lim)
+    return apply_angle_lim
+
+  def update(self, apply_angle, lat_active, CP_IQ: structs.IQCarParams, CS: structs.CarState, VM: VehicleModel) -> TorqueBlendDataIQ:
+    # estimate real steering angle by adding rate to the tesla filtered angle
+    steeringAngleDegPhaseLead = CS.out.steeringAngleDeg + CS.out.steeringRateDeg / STEERING_DEG_PHASE_LEAD_COEFF
+
+    angle_coop_enabled = CP_IQ.flags & TeslaFlagsIQ.COOP_STEERING.value
+
+    # avoid sudden rotation on engagement
+    apply_angle = self.resume_steer_desired_rate_limit(lat_active, apply_angle, steeringAngleDegPhaseLead)
+
+    if angle_coop_enabled:
+      # apply_angle = self.overriding_steer_desired_accel_limit(lat_active, apply_angle, CS.out.vEgo, CS.out.steeringTorque)
+      self.debug_angle_desired_limited = apply_angle #! debug
+
+      driver_torque = self.torque_zero.update(CS.out.steeringTorque, lat_active)
+      apply_angle += self.apply_override_angle_combined(lat_active, driver_torque, CS.out.vEgo, VM)
+
+    # final rate limit - matching panda safety
+    self.coop_apply_angle_last = apply_angle
+    self.blend_apply_angle_last_sat = apply_steer_angle_limits_vm(apply_angle, self.blend_apply_angle_last_sat, CS.out.vEgoRaw,
+                                                    CS.out.steeringAngleDeg, lat_active, TorqueBlendParams, VM)
+
+    return TorqueBlendDataIQ(self.blend_apply_angle_last_sat, lat_active, 1)  # 1 = angle control

artifacts/package_runtime/iqdbc/lvbs/car/tesla/values.py

@@ -0,0 +1,15 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from enum import IntFlag
+
+
+class TeslaFlagsIQ(IntFlag):
+  HAS_VEHICLE_BUS = 1  # 3-finger infotainment press signal is present on the VEHICLE bus with the deprecated Tesla harness installed
+  COOP_STEERING = 2  # virtual torque blending
+  FSD_VISUALIZATION = 4
+
+
+class TeslaSafetyFlagsIQ:
+  HAS_VEHICLE_BUS = 1
+  FSD_VISUALIZATION = 2

artifacts/package_runtime/iqdbc/lvbs/car/tests/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

artifacts/package_runtime/iqdbc/lvbs/car/toyota/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

artifacts/package_runtime/iqdbc/lvbs/car/toyota/gas_interceptor.py

@@ -0,0 +1,47 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+import numpy as np
+
+from iqdbc.car import structs
+from iqdbc.car.can_definitions import CanData
+from iqdbc.car.toyota.values import CAR, MIN_ACC_SPEED, PEDAL_TRANSITION
+from iqdbc.lvbs.car import create_gas_interceptor_command
+
+
+class GasInterceptorCarController:
+  def __init__(self, CP, CP_IQ):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.gas = 0.
+    self.interceptor_gas_cmd = 0.
+
+  def create_gas_command(self, CC: structs.CarControl, CS: structs.CarState, actuators: structs.CarControl.Actuators,
+                         packer, frame: int) -> list[CanData]:
+    can_sends = []
+
+    if self.CP_IQ.enableGasInterceptor and CC.longActive:
+      MAX_INTERCEPTOR_GAS = 0.3
+      # RAV4 has very sensitive gas pedal
+      if self.CP.carFingerprint in (CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H, CAR.TOYOTA_HIGHLANDER):
+        PEDAL_SCALE = np.interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
+      elif self.CP.carFingerprint in (CAR.TOYOTA_COROLLA,):
+        PEDAL_SCALE = np.interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
+      else:
+        PEDAL_SCALE = np.interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0])
+      # offset for creep and windbrake
+      pedal_offset = np.interp(CS.out.vEgo, [0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION], [-.4, 0.0, 0.2])
+      pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset)
+      self.interceptor_gas_cmd = float(np.clip(pedal_command, 0., MAX_INTERCEPTOR_GAS))
+    else:
+      self.interceptor_gas_cmd = 0.
+
+    if frame % 2 == 0 and self.CP_IQ.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
+      # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
+      # This prevents unexpected pedal range rescaling
+      can_sends.append(create_gas_interceptor_command(packer, self.interceptor_gas_cmd, frame // 2))
+      self.gas = self.interceptor_gas_cmd
+
+    return can_sends

artifacts/package_runtime/iqdbc/lvbs/car/toyota/iq_carstate.py

@@ -0,0 +1,167 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from enum import StrEnum
+
+from iqdbc.car import Bus, structs
+from iqdbc.car.carlog import carlog
+from iqdbc.can.parser import CANParser
+from iqdbc.car.common.conversions import Conversions as CV
+from iqdbc.lvbs.car.toyota.values import ToyotaFlagsIQ
+
+TRAFFIC_SIGNAL_MAP = {
+  1: "kph",
+  36: "mph",
+  65: "No overtake",
+  66: "No overtake"
+}
+
+ZSS_DIFF_THRESHOLD = 4
+ZSS_MAX_THRESHOLD = 10
+
+
+class IQCarState:
+  def __init__(self, CP, CP_IQ):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.acc_type = 1
+    self.zss_compute = False
+    self.zss_cruise_active_last = False
+    self.zss_angle_offset = 0.
+    self.zss_threshold_count = 0
+
+    """Initialize traffic signal variables"""
+    self._tsgn1 = None
+    self._spdval1 = None
+    self._splsgn1 = None
+    self._tsgn2 = None
+    self._splsgn2 = None
+    self._tsgn3 = None
+    self._splsgn3 = None
+    self._tsgn4 = None
+    self._splsgn4 = None
+
+  @staticmethod
+  def traffic_signal_description(tsgn):
+    """Get description for traffic signal code"""
+    desc = TRAFFIC_SIGNAL_MAP.get(int(tsgn))
+    return f'{tsgn}: {desc}' if desc is not None else f'{tsgn}'
+
+  def update_traffic_signals(self, cp_cam):
+    """Update traffic signals with error handling"""
+    try:
+      # Add error handling for missing RSA messages
+      tsgn1 = cp_cam.vl.get("RSA1", {}).get('TSGN1', 0)
+      spdval1 = cp_cam.vl.get("RSA1", {}).get('SPDVAL1', 0)
+      splsgn1 = cp_cam.vl.get("RSA1", {}).get('SPLSGN1', 0)
+      tsgn2 = cp_cam.vl.get("RSA1", {}).get('TSGN2', 0)
+      splsgn2 = cp_cam.vl.get("RSA1", {}).get('SPLSGN2', 0)
+      tsgn3 = cp_cam.vl.get("RSA2", {}).get('TSGN3', 0)
+      splsgn3 = cp_cam.vl.get("RSA2", {}).get('SPLSGN3', 0)
+      tsgn4 = cp_cam.vl.get("RSA2", {}).get('TSGN4', 0)
+      splsgn4 = cp_cam.vl.get("RSA2", {}).get('SPLSGN4', 0)
+    except (KeyError, AttributeError) as e:
+      # Handle case where RSA messages are not available
+      carlog.debug(f"RSA messages not available: {e}")
+      return
+
+    has_changed = tsgn1 != self._tsgn1 \
+                  or spdval1 != self._spdval1 \
+                  or splsgn1 != self._splsgn1 \
+                  or tsgn2 != self._tsgn2 \
+                  or splsgn2 != self._splsgn2 \
+                  or tsgn3 != self._tsgn3 \
+                  or splsgn3 != self._splsgn3 \
+                  or tsgn4 != self._tsgn4 \
+                  or splsgn4 != self._splsgn4
+
+    self._tsgn1 = tsgn1
+    self._spdval1 = spdval1
+    self._splsgn1 = splsgn1
+    self._tsgn2 = tsgn2
+    self._splsgn2 = splsgn2
+    self._tsgn3 = tsgn3
+    self._splsgn3 = splsgn3
+    self._tsgn4 = tsgn4
+    self._splsgn4 = splsgn4
+
+    if not has_changed:
+      return
+
+    carlog.debug('---- TRAFFIC SIGNAL UPDATE -----')
+    if tsgn1 is not None and tsgn1 != 0:
+      carlog.debug(f'TSGN1: {self.traffic_signal_description(tsgn1)}')
+    if spdval1 is not None and spdval1 != 0:
+      carlog.debug(f'SPDVAL1: {spdval1}')
+    if splsgn1 is not None and splsgn1 != 0:
+      carlog.debug(f'SPLSGN1: {splsgn1}')
+    if tsgn2 is not None and tsgn2 != 0:
+      carlog.debug(f'TSGN2: {self.traffic_signal_description(tsgn2)}')
+    if splsgn2 is not None and splsgn2 != 0:
+      carlog.debug(f'SPLSGN2: {splsgn2}')
+    if tsgn3 is not None and tsgn3 != 0:
+      carlog.debug(f'TSGN3: {self.traffic_signal_description(tsgn3)}')
+    if splsgn3 is not None and splsgn3 != 0:
+      carlog.debug(f'SPLSGN3: {splsgn3}')
+    if tsgn4 is not None and tsgn4 != 0:
+      carlog.debug(f'TSGN4: {self.traffic_signal_description(tsgn4)}')
+    if splsgn4 is not None and splsgn4 != 0:
+      carlog.debug(f'SPLSGN4: {splsgn4}')
+    carlog.debug('------------------------')
+
+  def calculate_speed_limit(self):
+    """Calculate speed limit from traffic signals with validation"""
+    # Check all traffic sign slots for speed limits, not just tsgn1
+    for tsgn, spdval in [(self._tsgn1, self._spdval1),
+                         (self._tsgn2, None),
+                         (self._tsgn3, None),
+                         (self._tsgn4, None)]:
+
+      if tsgn == 1 and spdval is not None and 0 < spdval <= 200:  # Reasonable speed range
+        return spdval * CV.KPH_TO_MS
+
+      if tsgn == 36 and spdval is not None and 0 < spdval <= 120:  # Reasonable MPH range
+        return spdval * CV.MPH_TO_MS
+
+    return 0
+
+  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp = can_parsers[Bus.pt]
+    cp_cam = can_parsers[Bus.cam]
+
+    if self.CP_IQ.flags & ToyotaFlagsIQ.SMART_DSU or self.CP_IQ.flags & ToyotaFlagsIQ.STOP_AND_GO_HACK:
+      self.acc_type = 1
+
+    if self.CP_IQ.enableGasInterceptor:
+      gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
+      ret.gasPressed = gas > 805
+
+    # ZSS support thanks to zorrobyte, ErichMoraga, and dragonpilot
+    if self.CP_IQ.flags & ToyotaFlagsIQ.ZSS:
+      zorro_steer = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"]
+      control_available = ret.cruiseState.available
+
+      # Only compute ZSS offset when control is available
+      if control_available and not self.zss_cruise_active_last:
+        self.zss_threshold_count = 0
+        self.zss_compute = True  # Control was just activated, so allow offset to be recomputed
+      self.zss_cruise_active_last = control_available
+
+      # Compute ZSS offset once we have meaningful angles
+      if self.zss_compute and abs(ret.steeringAngleDeg) > 1e-3 and abs(zorro_steer) > 1e-3:
+        self.zss_compute = False
+        self.zss_angle_offset = zorro_steer - ret.steeringAngleDeg
+
+      # Sanity checks
+      steering_angle_deg = zorro_steer - self.zss_angle_offset
+      if self.zss_threshold_count <= ZSS_MAX_THRESHOLD:
+        if abs(ret.steeringAngleDeg - steering_angle_deg) > ZSS_DIFF_THRESHOLD:
+          self.zss_threshold_count += 1
+        else:
+          ret.steeringAngleDeg = steering_angle_deg
+
+    # Update traffic signals and speed limit
+    self.update_traffic_signals(cp_cam)
+    ret_iq.speedLimit = self.calculate_speed_limit()

artifacts/package_runtime/iqdbc/lvbs/car/toyota/iq_fingerprints.py

@@ -0,0 +1,6 @@
+from iqdbc.car.structs import CarParams
+
+Ecu = CarParams.Ecu
+
+FW_VERSIONS_EXT = {
+}

artifacts/package_runtime/iqdbc/lvbs/car/toyota/values.py

@@ -0,0 +1,21 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+from enum import IntFlag
+
+
+class ToyotaFlagsIQ(IntFlag):
+  SMART_DSU = 1
+  RADAR_CAN_FILTER = 2
+  ZSS = 4
+  STOCK_LONGITUDINAL = 8
+  STOP_AND_GO_HACK = 16
+
+
+class ToyotaSafetyFlagsIQ:
+  DEFAULT = 0
+  UNSUPPORTED_DSU = 1
+  GAS_INTERCEPTOR = 2
+  LKAS_HUD = 4
+

artifacts/package_runtime/iqdbc/lvbs/tools/__init__.py

@@ -0,0 +1 @@
+

artifacts/package_runtime/iqdbc/lvbs/tools/ecu/__init__.py

@@ -0,0 +1 @@
+

artifacts/package_runtime/iqdbc/lvbs/tools/ecu/clear_dtc.py

@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+import sys
+import argparse
+from subprocess import check_output, CalledProcessError
+from iqdbc.car.carlog import carlog
+from iqdbc.car.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE
+from iqdbc.car.structs import CarParams
+from panda import Panda
+
+parser = argparse.ArgumentParser(description="clear DTC status")
+parser.add_argument("addr", type=lambda x: int(x,0), nargs="?", default=0x7DF) # default is functional (broadcast) address
+parser.add_argument("--bus", type=int, default=0)
+parser.add_argument('--debug', action='store_true')
+args = parser.parse_args()
+
+if args.debug:
+  carlog.setLevel('DEBUG')
+
+try:
+  check_output(["pidof", "pandad"])
+  print("pandad is running, please kill openpilot before running this script! (aborted)")
+  sys.exit(1)
+except CalledProcessError as e:
+  if e.returncode != 1: # 1 == no process found (pandad not running)
+    raise e
+
+panda = Panda()
+panda.set_safety_mode(CarParams.SafetyModel.elm327)
+uds_client = UdsClient(panda, args.addr, bus=args.bus)
+print("extended diagnostic session ...")
+try:
+  uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
+except MessageTimeoutError:
+  # functional address isn't properly handled so a timeout occurs
+  if args.addr != 0x7DF:
+    raise
+print("clear diagnostic info ...")
+try:
+  uds_client.clear_diagnostic_information(DTC_GROUP_TYPE.ALL)
+except MessageTimeoutError:
+  # functional address isn't properly handled so a timeout occurs
+  if args.addr != 0x7DF:
+    pass
+print("")
+print("you may need to power cycle your vehicle now")

artifacts/package_runtime/iqdbc/lvbs/tools/ecu/disable_ecu.py

@@ -0,0 +1,15 @@
+#!/usr/bin/env python3
+import time
+import iqpilot.cereal.messaging as messaging
+from iqdbc.car.disable_ecu import disable_ecu
+from iqpilot.selfdrive.car.card import can_comm_callbacks
+
+if __name__ == "__main__":
+  sendcan = messaging.pub_sock('sendcan')
+  logcan = messaging.sub_sock('can')
+  can_callbacks = can_comm_callbacks(logcan, sendcan)
+  time.sleep(1)
+
+  # honda bosch radar disable
+  disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5)
+  print(f"disabled: {disabled}")

artifacts/package_runtime/iqdbc/lvbs/tools/ecu/ecu_addrs.py

@@ -0,0 +1,44 @@
+#!/usr/bin/env python3
+import argparse
+import time
+import iqpilot.cereal.messaging as messaging
+from iqdbc.car.carlog import carlog
+from iqdbc.car.ecu_addrs import get_all_ecu_addrs
+from iqpilot.common.params import Params
+from iqpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
+  parser.add_argument('--debug', action='store_true')
+  parser.add_argument('--bus', type=int, default=1)
+  parser.add_argument('--no-obd', action='store_true')
+  parser.add_argument('--timeout', type=float, default=1.0)
+  args = parser.parse_args()
+
+  if args.debug:
+    carlog.setLevel('DEBUG')
+
+  logcan = messaging.sub_sock('can')
+  sendcan = messaging.pub_sock('sendcan')
+  can_callbacks = can_comm_callbacks(logcan, sendcan)
+
+  # Set up params for pandad
+  params = Params()
+  params.remove("FirmwareQueryDone")
+  params.put_bool("IsOnroad", False)
+  time.sleep(0.2)  # thread is 10 Hz
+  params.put_bool("IsOnroad", True)
+
+  obd_callback(params)(not args.no_obd)
+
+  print("Getting ECU addresses ...")
+  ecu_addrs = get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout)
+
+  print()
+  print("Found ECUs on rx addresses:")
+  for addr, subaddr, _ in ecu_addrs:
+    msg = f"  {hex(addr)}"
+    if subaddr is not None:
+      msg += f" (sub-address: {hex(subaddr)})"
+    print(msg)

artifacts/package_runtime/iqdbc/lvbs/tools/ecu/hyundai_enable_radar_points.py

@@ -0,0 +1,143 @@
+#!/usr/bin/env python3
+"""Some Hyundai radars can be reconfigured to output (debug) radar points on bus 1.
+Reconfiguration is done over UDS by reading/writing to 0x0142 using the Read/Write Data By Identifier
+endpoints (0x22 & 0x2E). This script checks your radar firmware version against a list of known
+firmware versions. If you want to try on a new radar make sure to note the default config value
+in case it's different from the other radars and you need to revert the changes.
+
+After changing the config the car should not show any faults when openpilot is not running.
+These config changes are persistent across car reboots. You need to run this script again
+to go back to the default values.
+
+USE AT YOUR OWN RISK! Safety features, like AEB and FCW, might be affected by these changes."""
+
+import sys
+import argparse
+from typing import NamedTuple
+from subprocess import check_output, CalledProcessError
+
+from iqdbc.car.carlog import carlog
+from iqdbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
+from iqdbc.car.structs import CarParams
+from panda.python import Panda
+
+class ConfigValues(NamedTuple):
+  default_config: bytes
+  tracks_enabled: bytes
+
+# If your radar supports changing data identifier 0x0142 as well make a PR to
+# this file to add your firmware version. Make sure to post a drive as proof!
+# NOTE: these firmware versions do not match what openpilot uses
+#       because this script uses a different diagnostic session type
+SUPPORTED_FW_VERSIONS = {
+  # 2020 SONATA
+  b"DN8_ SCC FHCUP      1.00 1.00 99110-L0000\x19\x08)\x15T    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  b"DN8_ SCC F-CUP      1.00 1.00 99110-L0000\x19\x08)\x15T    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2021 SONATA HYBRID
+  b"DNhe SCC FHCUP      1.00 1.00 99110-L5000\x19\x04&\x13'    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  b"DNhe SCC FHCUP      1.00 1.02 99110-L5000 \x01#\x15#    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2020 PALISADE
+  b"LX2_ SCC FHCUP      1.00 1.04 99110-S8100\x19\x05\x02\x16V    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2022 PALISADE
+  b"LX2_ SCC FHCUP      1.00 1.00 99110-S8110!\x04\x05\x17\x01    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2020 SANTA FE
+  b"TM__ SCC F-CUP      1.00 1.03 99110-S2000\x19\x050\x13'    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2020 GENESIS G70
+  b'IK__ SCC F-CUP      1.00 1.02 96400-G9100\x18\x07\x06\x17\x12    ': ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2019 SANTA FE
+  b"TM__ SCC F-CUP      1.00 1.00 99110-S1210\x19\x01%\x168    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  b"TM__ SCC F-CUP      1.00 1.02 99110-S2000\x18\x07\x08\x18W    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2021 K5 HEV
+  b"DLhe SCC FHCUP      1.00 1.02 99110-L7000 \x01 \x102    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2022 Niro EV
+  b"DEev SCC F-CUP      1.00 1.00 99110-Q4600\x01\x42      ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  b"DEev SCC F-CUP      1.00 1.00 99110-Q4600 \x07\x03\t%      ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+}
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='configure radar to output points (or reset to default)')
+  parser.add_argument('--default', action="store_true", default=False, help='reset to default configuration (default: false)')
+  parser.add_argument('--debug', action="store_true", default=False, help='enable debug output (default: false)')
+  parser.add_argument('--bus', type=int, default=0, help='can bus to use (default: 0)')
+  args = parser.parse_args()
+
+  if args.debug:
+    carlog.setLevel('DEBUG')
+
+  try:
+    check_output(["pidof", "pandad"])
+    print("pandad is running, please kill openpilot before running this script! (aborted)")
+    sys.exit(1)
+  except CalledProcessError as e:
+    if e.returncode != 1: # 1 == no process found (pandad not running)
+      raise e
+
+  confirm = input("power on the vehicle keeping the engine off (press start button twice) then type OK to continue: ").upper().strip()
+  if confirm != "OK":
+    print("\nyou didn't type 'OK! (aborted)")
+    sys.exit(0)
+
+  panda = Panda()
+  panda.set_safety_mode(CarParams.SafetyModel.elm327)
+  uds_client = UdsClient(panda, 0x7D0, bus=args.bus)
+
+  print("\n[START DIAGNOSTIC SESSION]")
+  session_type: SESSION_TYPE = 0x07
+  uds_client.diagnostic_session_control(session_type)
+
+  print("[HARDWARE/SOFTWARE VERSION]")
+  fw_version_data_id: DATA_IDENTIFIER_TYPE = 0xf100
+  fw_version = uds_client.read_data_by_identifier(fw_version_data_id)
+  print(fw_version)
+  if fw_version not in SUPPORTED_FW_VERSIONS.keys():
+    print("radar not supported! (aborted)")
+    sys.exit(1)
+
+  print("[GET CONFIGURATION]")
+  config_data_id: DATA_IDENTIFIER_TYPE = 0x0142
+  current_config = uds_client.read_data_by_identifier(config_data_id)
+  config_values = SUPPORTED_FW_VERSIONS[fw_version]
+  new_config = config_values.default_config if args.default else config_values.tracks_enabled
+  print(f"current config: 0x{current_config.hex()}")
+  if current_config != new_config:
+    print("[CHANGE CONFIGURATION]")
+    print(f"new config:     0x{new_config.hex()}")
+    uds_client.write_data_by_identifier(config_data_id, new_config)
+    if not args.default and current_config != SUPPORTED_FW_VERSIONS[fw_version].default_config:
+      print("\ncurrent config does not match expected default! (aborted)")
+      sys.exit(1)
+
+    print("[DONE]")
+    print("\nrestart your vehicle and ensure there are no faults")
+    if not args.default:
+      print("you can run this script again with --default to go back to the original (factory) settings")
+  else:
+    print("[DONE]")
+    print("\ncurrent config is already the desired configuration")
+    sys.exit(0)

artifacts/package_runtime/iqdbc/lvbs/tools/ecu/read_dtc_status.py

@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+import sys
+import argparse
+from subprocess import check_output, CalledProcessError
+from iqdbc.car.carlog import carlog
+from iqdbc.car.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE, get_dtc_num_as_str, get_dtc_status_names
+from iqdbc.car.structs import CarParams
+from panda import Panda
+
+parser = argparse.ArgumentParser(description="read DTC status")
+parser.add_argument("addr", type=lambda x: int(x,0))
+parser.add_argument("--bus", type=int, default=0)
+parser.add_argument('--debug', action='store_true')
+args = parser.parse_args()
+
+if args.debug:
+  carlog.setLevel('DEBUG')
+
+try:
+  check_output(["pidof", "pandad"])
+  print("pandad is running, please kill openpilot before running this script! (aborted)")
+  sys.exit(1)
+except CalledProcessError as e:
+  if e.returncode != 1: # 1 == no process found (pandad not running)
+    raise e
+
+panda = Panda()
+panda.set_safety_mode(CarParams.SafetyModel.elm327)
+uds_client = UdsClient(panda, args.addr, bus=args.bus)
+print("extended diagnostic session ...")
+uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
+print("read diagnostic codes ...")
+data = uds_client.read_dtc_information(DTC_REPORT_TYPE.DTC_BY_STATUS_MASK, DTC_STATUS_MASK_TYPE.ALL)
+print("status availability:", " ".join(get_dtc_status_names(data[0])))
+print("DTC status:")
+for i in range(1, len(data), 4):
+  dtc_num = get_dtc_num_as_str(data[i:i+3])
+  dtc_status = " ".join(get_dtc_status_names(data[i+3]))
+  print(dtc_num, dtc_status)

artifacts/package_runtime/iqdbc/lvbs/tools/ecu/toyota_eps_factor.py

@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+import sys
+import numpy as np
+import matplotlib.pyplot as plt
+from sklearn import linear_model
+from iqdbc.car.toyota.values import STEER_THRESHOLD
+
+from iqpilot.tools.lib.logreader import LogReader
+
+MIN_SAMPLES = 30 * 100
+
+
+def to_signed(n, bits):
+  if n >= (1 << max((bits - 1), 0)):
+    n = n - (1 << max(bits, 0))
+  return n
+
+
+def get_eps_factor(lr, plot=False):
+  engaged = False
+  steering_pressed = False
+  torque_cmd, eps_torque = None, None
+  cmds, eps = [], []
+
+  for msg in lr:
+    if msg.which() != 'can':
+      continue
+
+    for m in msg.can:
+      if m.address == 0x2e4 and m.src == 128:
+        engaged = bool(m.dat[0] & 1)
+        torque_cmd = to_signed((m.dat[1] << 8) | m.dat[2], 16)
+      elif m.address == 0x260 and m.src == 0:
+        eps_torque = to_signed((m.dat[5] << 8) | m.dat[6], 16)
+        steering_pressed = abs(to_signed((m.dat[1] << 8) | m.dat[2], 16)) > STEER_THRESHOLD
+
+    if engaged and torque_cmd is not None and eps_torque is not None and not steering_pressed:
+      cmds.append(torque_cmd)
+      eps.append(eps_torque)
+    else:
+      if len(cmds) > MIN_SAMPLES:
+        break
+      cmds, eps = [], []
+
+  if len(cmds) < MIN_SAMPLES:
+    raise Exception("too few samples found in route")
+
+  lm = linear_model.LinearRegression(fit_intercept=False)
+  lm.fit(np.array(cmds).reshape(-1, 1), eps)
+  scale_factor = 1. / lm.coef_[0]
+
+  if plot:
+    plt.plot(np.array(eps) * scale_factor)
+    plt.plot(cmds)
+    plt.show()
+  return scale_factor
+
+
+if __name__ == "__main__":
+  lr = LogReader(sys.argv[1])
+  n = get_eps_factor(lr, plot="--plot" in sys.argv)
+  print("EPS torque factor: ", n)

artifacts/package_runtime/iqdbc/lvbs/tools/ecu/vin.py

@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+import argparse
+import time
+import iqpilot.cereal.messaging as messaging
+from iqdbc.car.carlog import carlog
+from iqdbc.car.vin import get_vin
+from iqpilot.selfdrive.car.card import can_comm_callbacks
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='Get VIN of the car')
+  parser.add_argument('--debug', action='store_true')
+  parser.add_argument('--bus', type=int, default=1)
+  parser.add_argument('--timeout', type=float, default=0.1)
+  parser.add_argument('--retry', type=int, default=5)
+  args = parser.parse_args()
+
+  if args.debug:
+    carlog.setLevel('DEBUG')
+
+  sendcan = messaging.pub_sock('sendcan')
+  logcan = messaging.sub_sock('can')
+  can_callbacks = can_comm_callbacks(logcan, sendcan)
+  time.sleep(1)
+
+  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry)
+  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')

artifacts/package_runtime/iqdbc/lvbs/tools/ecu/vw_mqb_config.py

@@ -0,0 +1,164 @@
+#!/usr/bin/env python3
+
+import argparse
+import struct
+from enum import IntEnum
+from iqdbc.car.carlog import carlog
+from iqdbc.car.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\
+  DATA_IDENTIFIER_TYPE, ACCESS_TYPE
+from iqdbc.car.structs import CarParams
+from panda import Panda
+from datetime import date
+
+# TODO: extend UDS library to allow custom/vendor-defined data identifiers without ignoring type checks
+class VOLKSWAGEN_DATA_IDENTIFIER_TYPE(IntEnum):
+  CODING = 0x0600
+
+# TODO: extend UDS library security_access() to take an access level offset per ISO 14229-1:2020 10.4 and remove this
+class ACCESS_TYPE_LEVEL_1(IntEnum):
+  REQUEST_SEED = ACCESS_TYPE.REQUEST_SEED + 2
+  SEND_KEY = ACCESS_TYPE.SEND_KEY + 2
+
+MQB_EPS_CAN_ADDR = 0x712
+RX_OFFSET = 0x6a
+
+if __name__ == "__main__":
+  desc_text = "Shows Volkswagen EPS software and coding info, and enables or disables Heading Control Assist " + \
+                "(Lane Assist). Useful for enabling HCA on cars without factory Lane Assist that want to use " + \
+                "openpilot integrated at the CAN gateway (J533)."
+  epilog_text = "This tool is meant to run directly on a vehicle-installed comma three, with the " + \
+                "openpilot/tmux processes stopped. It should also work on a separate PC with a USB-attached comma " + \
+                "panda. Vehicle ignition must be on. Recommend engine not be running when making changes. Must " + \
+                "turn ignition off and on again for any changes to take effect."
+  parser = argparse.ArgumentParser(description=desc_text, epilog=epilog_text)
+  parser.add_argument("--debug", action="store_true", help="enable ISO-TP/UDS stack debugging output")
+  parser.add_argument("action", choices={"show", "enable", "disable"}, help="show or modify current EPS HCA config")
+  args = parser.parse_args()
+
+  if args.debug:
+    carlog.setLevel('DEBUG')
+
+  panda = Panda()
+  panda.set_safety_mode(CarParams.SafetyModel.elm327)
+  uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, 1, timeout=0.2)
+
+  try:
+    uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
+  except MessageTimeoutError:
+    print("Timeout opening session with EPS")
+    quit()
+
+  odx_file, current_coding = None, None
+  try:
+    hw_pn = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER).decode("utf-8")
+    sw_pn = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER).decode("utf-8")
+    sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8")
+    component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8")
+    odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00')
+    current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING)
+    coding_text = current_coding.hex()
+
+    print("\nEPS diagnostic data\n")
+    print(f"   Part No HW:   {hw_pn}")
+    print(f"   Part No SW:   {sw_pn}")
+    print(f"   SW Version:   {sw_ver}")
+    print(f"   Component:    {component}")
+    print(f"   Coding:       {coding_text}")
+    print(f"   ASAM Dataset: {odx_file}")
+  except NegativeResponseError:
+    print("Error fetching data from EPS")
+    quit()
+  except MessageTimeoutError:
+    print("Timeout fetching data from EPS")
+    quit()
+
+  coding_variant, current_coding_array, coding_byte, coding_bit = None, None, 0, 0
+  coding_length = len(current_coding)
+
+  # EPS_MQB_ZFLS
+  if odx_file in ("EV_SteerAssisMQB", "EV_SteerAssisMNB"):
+    coding_variant = "ZFLS"
+    coding_byte = 0
+    coding_bit = 4
+
+  # MQB_PP_APA, MQB_VWBS_GEN2
+  elif odx_file in ("EV_SteerAssisVWBSMQBA", "EV_SteerAssisVWBSMQBGen2"):
+    coding_variant = "APA"
+    coding_byte = 3
+    coding_bit = 0
+
+  else:
+    print("Configuration changes not yet supported on this EPS!")
+    quit()
+
+  current_coding_array = struct.unpack(f"!{coding_length}B", current_coding)
+  hca_enabled = (current_coding_array[coding_byte] & (1 << coding_bit) != 0)
+  hca_text = ("DISABLED", "ENABLED")[hca_enabled]
+  print(f"   Lane Assist:  {hca_text}")
+
+  try:
+    params = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION).decode("utf-8")
+    param_version_system_params = params[1:3]
+    param_vehicle_type = params[3:5]
+    param_index_char_curve = params[5:7]
+    param_version_char_values = params[7:9]
+    param_version_memory_map = params[9:11]
+    print("\nEPS parameterization (per-vehicle calibration) data\n")
+    print(f"   Version of system parameters:     {param_version_system_params}")
+    print(f"   Vehicle type:                     {param_vehicle_type}")
+    print(f"   Index of characteristic curve:    {param_index_char_curve}")
+    print(f"   Version of characteristic values: {param_version_char_values}")
+    print(f"   Version of memory map:            {param_version_memory_map}")
+  except (NegativeResponseError, MessageTimeoutError):
+    print("Error fetching parameterization data from EPS!")
+    quit()
+
+  if args.action in ["enable", "disable"]:
+    print("\nAttempting configuration update")
+
+    assert (coding_variant in ("ZFLS", "APA"))
+    # ZFLS EPS config coding length can be anywhere from 1 to 4 bytes, but the
+    # bit we care about is always in the same place in the first byte
+    if args.action == "enable":
+      new_byte = current_coding_array[coding_byte] | (1 << coding_bit)
+    else:
+      new_byte = current_coding_array[coding_byte] & ~(1 << coding_bit)
+    new_coding = current_coding[0:coding_byte] + new_byte.to_bytes(1, "little") + current_coding[coding_byte+1:]
+
+    try:
+      seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED)
+      key = struct.unpack("!I", seed)[0] + 28183  # yeah, it's like that
+      uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key))
+    except (NegativeResponseError, MessageTimeoutError):
+      print("Security access failed!")
+      print("Open the hood and retry (disables the \"diagnostic firewall\" on newer vehicles)")
+      quit()
+
+    try:
+      # Programming date and tester number must be written before making
+      # a change, or write to CODING will fail with request sequence error
+      # Encoding on tester is unclear, it contains the workshop code in the
+      # last two bytes, but not the VZ/importer or tester serial number
+      # Can't seem to read it back, but we can read the calibration tester,
+      # so fib a little and say that same tester did the programming
+      current_date = date.today()
+      formatted_date = current_date.strftime('%y-%m-%d')
+      year, month, day = (int(part) for part in formatted_date.split('-'))
+      prog_date = bytes([year, month, day])
+      uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date)
+      tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER)
+      uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER, tester_num)
+      uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)
+    except (NegativeResponseError, MessageTimeoutError):
+      print("Writing new configuration failed!")
+      print("Make sure the comma processes are stopped: tmux kill-session -t comma")
+      quit()
+
+    try:
+      # Read back result just to make 100% sure everything worked
+      current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex()
+      print(f"   New coding:   {current_coding_text}")
+    except (NegativeResponseError, MessageTimeoutError):
+      print("Reading back updated coding failed!")
+      quit()
+    print("EPS configuration successfully updated")

artifacts/package_runtime/iqdbc/lvbs/tools/fw_fingerprint/__init__.py

@@ -0,0 +1 @@
+

artifacts/package_runtime/iqdbc/lvbs/tools/fw_fingerprint/debug_fw_fingerprinting_offline.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+import argparse
+
+from iqdbc.car import uds
+from iqpilot.tools.lib.logreader import LogReader, ReadMode, live_logreader
+
+
+def main(route: str | None, addrs: list[int], rxoffset: int | None):
+  """
+  TODO:
+  - highlight TX vs RX clearly
+  - disambiguate sendcan and can (useful to know if something sent on sendcan made it to the bus on can->128)
+  - print as fixed width table, easier to read
+  """
+
+  if route is None:
+    lr = live_logreader()
+  else:
+    lr = LogReader(route, default_mode=ReadMode.RLOG, sort_by_time=True)
+
+  start_mono_time = None
+  prev_mono_time = 0
+
+  # include rx addresses
+  addrs = addrs + [uds.get_rx_addr_for_tx_addr(addr, rxoffset) for addr in addrs]
+
+  for msg in lr:
+    if msg.which() == 'can':
+      if start_mono_time is None:
+        start_mono_time = msg.logMonoTime
+
+    if msg.which() in ("can", 'sendcan'):
+      for can in getattr(msg, msg.which()):
+        if can.address in addrs or not len(addrs):
+          if msg.logMonoTime != prev_mono_time:
+            print()
+            prev_mono_time = msg.logMonoTime
+          print(f"{msg.which():>7}: rxaddr={can.address}, bus={str(can.src) + ',':<4} {round((msg.logMonoTime - start_mono_time) * 1e-6)} ms, " +
+                f"0x{can.dat.hex()}, {can.dat}, {len(can.dat)=}")
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address')
+  parser.add_argument('route', nargs='?', help='Route name, live if not specified')
+  parser.add_argument('--addrs', nargs='*', default=[], help='List of tx address to view (0x7e0 for engine)')
+  parser.add_argument('--rxoffset', default='')
+  args = parser.parse_args()
+
+  addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs]
+  rxoffset = int(args.rxoffset, base=16) if args.rxoffset else None
+  main(args.route, addrs, rxoffset)

artifacts/package_runtime/iqdbc/lvbs/tools/fw_fingerprint/fingerprint_from_route.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+
+import sys
+from iqpilot.tools.lib.logreader import LogReader, ReadMode
+
+
+def get_fingerprint(lr):
+  # TODO: make this a nice tool for car ports. should also work with qlogs for FW
+
+  fw = None
+  vin = None
+  msgs = {}
+  for msg in lr:
+    if msg.which() == 'carParams':
+      fw = msg.carParams.carFw
+      vin = msg.carParams.carVin
+    elif msg.which() == 'can':
+      for c in msg.can:
+        # read also msgs sent by EON on CAN bus 0x80 and filter out the
+        # addr with more than 11 bits
+        if c.src % 0x80 == 0 and c.address < 0x800 and c.address not in (0x7df, 0x7e0, 0x7e8):
+          msgs[c.address] = len(c.dat)
+
+  # show CAN fingerprint
+  fingerprint = ', '.join(f"{v[0]}: {v[1]}" for v in sorted(msgs.items()))
+  print(f"\nfound {len(msgs)} messages. CAN fingerprint:\n")
+  print(fingerprint)
+
+  # TODO: also print the fw fingerprint merged with the existing ones
+  # show FW fingerprint
+  if fw:
+    print("\nFW fingerprint:\n")
+    for f in fw:
+      print(f"    (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [")
+      print(f"      {f.fwVersion},")
+      print("    ],")
+  print()
+  print(f"VIN: {vin}")
+
+
+if __name__ == "__main__":
+  if len(sys.argv) < 2:
+    print("Usage: ./fingerprint_from_route.py <route>")
+    sys.exit(1)
+
+  lr = LogReader(sys.argv[1], ReadMode.QLOG)
+  get_fingerprint(lr)

artifacts/package_runtime/iqdbc/lvbs/tools/fw_fingerprint/fuzz_fw_fingerprint.py

@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+import random
+from collections import defaultdict
+
+from tqdm import tqdm
+
+from iqdbc.car.fw_versions import match_fw_to_car_fuzzy
+from iqdbc.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
+from iqdbc.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
+from iqdbc.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS
+from iqdbc.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS
+
+
+FWS = {}
+FWS.update(TOYOTA_FW_VERSIONS)
+FWS.update(HONDA_FW_VERSIONS)
+FWS.update(HYUNDAI_FW_VERSIONS)
+FWS.update(VW_FW_VERSIONS)
+
+if __name__ == "__main__":
+  total = 0
+  match = 0
+  wrong_match = 0
+  confusions = defaultdict(set)
+
+  for _ in tqdm(range(1000)):
+    for candidate, fws in FWS.items():
+      fw_dict = {}
+      for (_, addr, subaddr), fw_list in fws.items():
+        fw_dict[(addr, subaddr)] = [random.choice(fw_list)]
+
+      matches = match_fw_to_car_fuzzy(fw_dict, log=False, exclude=candidate)
+
+      total += 1
+      if len(matches) == 1:
+        if list(matches)[0] == candidate:
+          match += 1
+        else:
+          confusions[candidate] |= matches
+          wrong_match += 1
+
+  print()
+  for candidate, wrong_matches in sorted(confusions.items()):
+    print(candidate, wrong_matches)
+
+  print()
+  print(f"Total fuzz cases: {total}")
+  print(f"Correct matches:  {match}")
+  print(f"Wrong matches:    {wrong_match}")

artifacts/package_runtime/iqdbc/lvbs/tools/fw_fingerprint/fw_query_on_routes.py

@@ -0,0 +1,180 @@
+#!/usr/bin/env python3
+
+from collections import defaultdict
+import argparse
+import os
+import traceback
+from tqdm import tqdm
+from iqdbc.car.car_helpers import interface_names
+from iqdbc.car.fingerprints import MIGRATION
+from iqdbc.car.fw_versions import VERSIONS, match_fw_to_car
+from iqpilot.tools.lib.logreader import LogReader, ReadMode
+from iqpilot.tools.lib.route import SegmentRange
+
+
+NO_API = "NO_API" in os.environ
+SUPPORTED_BRANDS = VERSIONS.keys()
+SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]]
+UNKNOWN_BRAND = "unknown"
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='Run FW fingerprint on Qlog of route or list of routes')
+  parser.add_argument('route', help='Route or file with list of routes')
+  parser.add_argument('--car', help='Force comparison fingerprint to known car')
+  args = parser.parse_args()
+
+  if os.path.exists(args.route):
+    routes = list(open(args.route))
+  else:
+    routes = [args.route]
+
+  mismatches = defaultdict(list)
+
+  not_fingerprinted = 0
+  solved_by_fuzzy = 0
+
+  good_exact = 0
+  wrong_fuzzy = 0
+  good_fuzzy = 0
+
+  dongles = []
+  for route in tqdm(routes):
+    sr = SegmentRange(route)
+    dongle_id = sr.dongle_id
+
+    if dongle_id in dongles:
+      continue
+
+    if sr.slice == '' and sr.selector is None:
+      route += '/0'
+
+    lr = LogReader(route, default_mode=ReadMode.QLOG)
+
+    try:
+      dongles.append(dongle_id)
+
+      CP = None
+      for msg in lr:
+        if msg.which() == "pandaStates":
+          if msg.pandaStates[0].pandaType in ('unknown', 'whitePanda', 'greyPanda', 'pedal'):
+            print("wrong panda type")
+            break
+
+        elif msg.which() == "carParams":
+          CP = msg.carParams
+          car_fw = [fw for fw in CP.carFw if not fw.logging]
+          if len(car_fw) == 0:
+            print("WARNING: no fw")
+
+          live_fingerprint = CP.carFingerprint
+          live_fingerprint = MIGRATION.get(live_fingerprint, live_fingerprint)
+
+          if args.car is not None:
+            live_fingerprint = args.car
+
+          if live_fingerprint not in SUPPORTED_CARS:
+            print("not in supported cars")
+            break
+
+          _, exact_matches = match_fw_to_car(car_fw, CP.carVin, allow_exact=True, allow_fuzzy=False)
+          _, fuzzy_matches = match_fw_to_car(car_fw, CP.carVin, allow_exact=False, allow_fuzzy=True)
+
+          if (len(exact_matches) == 1) and (list(exact_matches)[0] == live_fingerprint):
+            good_exact += 1
+            print(f"Correct! Live: {live_fingerprint} - Fuzzy: {fuzzy_matches}")
+
+            # Check if fuzzy match was correct
+            if len(fuzzy_matches) == 1:
+              if list(fuzzy_matches)[0] != live_fingerprint:
+                wrong_fuzzy += 1
+                print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint)
+              else:
+                good_fuzzy += 1
+            break
+
+          print("Old style:", live_fingerprint, "Vin", CP.carVin)
+          print("New style (exact):", exact_matches)
+          print("New style (fuzzy):", fuzzy_matches)
+
+          padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw] + [0])
+          for version in sorted(car_fw, key=lambda fw: fw.brand):
+            subaddr = None if version.subAddress == 0 else hex(version.subAddress)
+            print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - " +
+                  f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
+
+          print("Mismatches")
+          found = False
+          for brand in SUPPORTED_BRANDS:
+            car_fws = VERSIONS[brand]
+            if live_fingerprint in car_fws:
+              found = True
+              expected = car_fws[live_fingerprint]
+              for (_, expected_addr, expected_sub_addr), v in expected.items():
+                for version in car_fw:
+                  if version.brand != brand and len(version.brand):
+                    continue
+                  sub_addr = None if version.subAddress == 0 else version.subAddress
+                  addr = version.address
+
+                  if (addr, sub_addr) == (expected_addr, expected_sub_addr):
+                    if version.fwVersion not in v:
+                      print(f"({hex(addr)}, {'None' if sub_addr is None else hex(sub_addr)}) - {version.fwVersion}")
+
+                      # Add to global list of mismatches
+                      mismatch = (addr, sub_addr, version.fwVersion)
+                      if mismatch not in mismatches[live_fingerprint]:
+                        mismatches[live_fingerprint].append(mismatch)
+
+          # No FW versions for this car yet, add them all to mismatch list
+          if not found:
+            for version in car_fw:
+              sub_addr = None if version.subAddress == 0 else version.subAddress
+              addr = version.address
+              mismatch = (addr, sub_addr, version.fwVersion)
+              if mismatch not in mismatches[live_fingerprint]:
+                mismatches[live_fingerprint].append(mismatch)
+
+          print()
+          not_fingerprinted += 1
+
+          if len(fuzzy_matches) == 1:
+            if list(fuzzy_matches)[0] == live_fingerprint:
+              solved_by_fuzzy += 1
+            else:
+              wrong_fuzzy += 1
+              print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint)
+
+          break
+
+      if CP is None:
+        print("no CarParams in logs")
+    except Exception:
+      traceback.print_exc()
+    except KeyboardInterrupt:
+      break
+
+  print()
+  # Print FW versions that need to be added separated out by car and address
+  for car, m in sorted(mismatches.items()):
+    print(car)
+    addrs = defaultdict(list)
+    for (addr, sub_addr, version) in m:
+      addrs[(addr, sub_addr)].append(version)
+
+    for (addr, sub_addr), versions in addrs.items():
+      print(f"  ({hex(addr)}, {'None' if sub_addr is None else hex(sub_addr)}): [")
+      for v in versions:
+        print(f"    {v},")
+      print("  ]")
+    print()
+
+  print()
+  print(f"Number of dongle ids checked: {len(dongles)}")
+  print(f"Fingerprinted:                {good_exact}")
+  print(f"Not fingerprinted:            {not_fingerprinted}")
+  print(f"  of which had a fuzzy match: {solved_by_fuzzy}")
+
+  print()
+  print(f"Correct fuzzy matches:        {good_fuzzy}")
+  print(f"Wrong fuzzy matches:          {wrong_fuzzy}")
+  print()

artifacts/package_runtime/iqdbc/lvbs/tools/fw_fingerprint/fw_versions.py

@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+import time
+import argparse
+import iqpilot.cereal.messaging as messaging
+from iqpilot.cereal import car
+from iqdbc.car.carlog import carlog
+from iqdbc.car.fw_versions import get_fw_versions, match_fw_to_car
+from iqdbc.car.vin import get_vin
+from iqpilot.common.params import Params
+from iqpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
+from typing import Any
+
+Ecu = car.CarParams.Ecu
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
+  parser.add_argument('--scan', action='store_true')
+  parser.add_argument('--debug', action='store_true')
+  parser.add_argument('--brand', help='Only query addresses/with requests for this brand')
+  args = parser.parse_args()
+
+  if args.debug:
+    carlog.setLevel('DEBUG')
+
+  logcan = messaging.sub_sock('can')
+  pandaStates_sock = messaging.sub_sock('pandaStates')
+  sendcan = messaging.pub_sock('sendcan')
+  can_callbacks = can_comm_callbacks(logcan, sendcan)
+
+  # Set up params for pandad
+  params = Params()
+  params.remove("FirmwareQueryDone")
+  params.put_bool("IsOnroad", False)
+  time.sleep(0.2)  # thread is 10 Hz
+  params.put_bool("IsOnroad", True)
+  set_obd_multiplexing = obd_callback(params)
+
+  extra: Any = None
+  if args.scan:
+    extra = {}
+    # Honda
+    for i in range(256):
+      extra[(Ecu.unknown, 0x18da00f1 + (i << 8), None)] = []
+      extra[(Ecu.unknown, 0x700 + i, None)] = []
+      extra[(Ecu.unknown, 0x750, i)] = []
+    extra = {"any": {"debug": extra}}
+
+  num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
+
+  t = time.monotonic()
+  print("Getting vin...")
+  set_obd_multiplexing(True)
+  vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1))
+  print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
+  print(f"Getting VIN took {time.monotonic() - t:.3f} s")
+  print()
+
+  t = time.monotonic()
+  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True)
+  _, candidates = match_fw_to_car(fw_vers, vin)
+
+  print()
+  print("Found FW versions")
+  print("{")
+  padding = max([len(fw.brand) for fw in fw_vers] or [0])
+  for version in fw_vers:
+    subaddr = None if version.subAddress == 0 else hex(version.subAddress)
+    print(f"  Brand: {version.brand:{padding}}, bus: {version.bus}, OBD: {version.obdMultiplexing} - " +
+          f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion!r}]")
+  print("}")
+
+  print()
+  print("Possible matches:", candidates)
+  print(f"Getting fw took {time.monotonic() - t:.3f} s")

artifacts/package_runtime/iqdbc/lvbs/tools/fw_fingerprint/get_fingerprint.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+
+# simple script to get a vehicle fingerprint.
+
+# Instructions:
+# - connect to a Panda
+# - run selfdrive/pandad/pandad
+# - launching this script
+#   Note: it's very important that the car is in stock mode, in order to collect a complete fingerprint
+# - since some messages are published at low frequency, keep this script running for at least 30s,
+#   until all messages are received at least once
+
+import iqpilot.cereal.messaging as messaging
+
+logcan = messaging.sub_sock('can')
+msgs = {}
+while True:
+  lc = messaging.recv_sock(logcan, True)
+  if lc is None:
+    continue
+
+  for c in lc.can:
+    # read also msgs sent by EON on CAN bus 0x80 and filter out the
+    # addr with more than 11 bits
+    if c.src % 0x80 == 0 and c.address < 0x800 and c.address not in (0x7df, 0x7e0, 0x7e8):
+      msgs[c.address] = len(c.dat)
+
+  fingerprint = ', '.join(f"{v[0]}: {v[1]}" for v in sorted(msgs.items()))
+
+  print(f"number of messages {len(msgs)}:")
+  print(f"fingerprint {fingerprint}")