OP-Community · idontneedonetho · Jun 6, 2025 · Jun 6, 2025 · Jun 6, 2025 · Jun 6, 2025
diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
@@ -23,20 +23,20 @@ jobs:
     # Check PR target branch
     - name: check branch
       uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'commaai/opendbc'
+      if: github.repository == 'op-community/opendbc'
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
         target: /^(?!master$).*/
-        exclude: /commaai:.*/
+        exclude: /op-community:.*/
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
         already-exists-comment: "Your PR should be made against the `master` branch"
 
     # Welcome comment
     - name: "First timers PR"
       uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'commaai/opendbc'
+      if: github.event.pull_request.head.repo.full_name != 'op-community/opendbc'
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         pr-message: |

diff --git a/.github/workflows/stale.yml b/.github/workflows/stale.yml
@@ -20,7 +20,7 @@ jobs:
           stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
           close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
           stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/opendbc' }} # only delete branches on the main repo
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'op-community/opendbc' }} # only delete branches on the main repo
           exempt-draft-pr: true
           exempt-pr-labels: "ignore stale" # if wip, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
@@ -14,23 +14,23 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+          - os: ${{ github.repository == 'op-community/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
             flags: ''
-          - os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+          - os: ${{ github.repository == 'op-community/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
             flags: '--ubsan'
-          - os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+          - os: ${{ github.repository == 'op-community/opendbc' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
             flags: ''
     steps:
     - uses: commaai/timeout@v1
       with:
-        timeout: ${{ github.repository == 'commaai/opendbc' && '60' || '999' }}
+        timeout: ${{ github.repository == 'op-community/opendbc' && '60' || '999' }}
     - uses: actions/checkout@v4
     - uses: ./.github/workflows/cache
     - run: ./test.sh ${{ matrix.flags }}
 
   mutation:
     name: Safety mutation tests
-    runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on: ${{ github.repository == 'op-community/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     timeout-minutes: 20
     env:
       GIT_REF: ${{ github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) && github.event.before || format('origin/{0}', github.event.repository.default_branch) }}

diff --git a/docs/CARS.md b/docs/CARS.md
@@ -1,6 +1,6 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
-# Support Information for 361 Known Cars
+# Support Information for 362 Known Cars
 
 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
@@ -14,7 +14,7 @@
 |Audi|A4 2016-24|All|[Not compatible](#flexray)|
 |Audi|A5 2016-24|All|[Not compatible](#flexray)|
 |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Audi|Q5 2017-24|All|[Not compatible](#flexray)|
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
@@ -38,6 +38,7 @@
 |Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
+|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
 |Ford|Explorer 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
@@ -53,7 +54,7 @@
 |Ford|Maverick 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)|
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|[Upstream](#upstream)|
 |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)|
-|Ford|Mustang Mach-E 2021-23|All|[Upstream](#upstream)|
+|Ford|Mustang Mach-E 2021-24|All|[Upstream](#upstream)|
 |Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
 |Genesis|G70 2018|All|[Upstream](#upstream)|
 |Genesis|G70 2019-21|All|[Upstream](#upstream)|
@@ -79,8 +80,8 @@
 |Honda|Civic 2022-24|All|[Upstream](#upstream)|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|[Upstream](#upstream)|
 |Honda|Civic Hatchback 2022-24|All|[Upstream](#upstream)|
-|Honda|Civic Hatchback Hybrid 2023 (Europe only)|All|[Upstream](#upstream)|
 |Honda|Civic Hatchback Hybrid 2025|All|[Upstream](#upstream)|
+|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|[Upstream](#upstream)|
 |Honda|Clarity 2018-21|All|[Community](#community)|
 |Honda|CR-V 2015-16|Touring Trim|[Upstream](#upstream)|
 |Honda|CR-V 2017-22|Honda Sensing|[Upstream](#upstream)|
@@ -192,12 +193,12 @@
 |Kia|Telluride 2023-24|HDA2|[Community](#community)|
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|[Upstream](#upstream)|
 |Lexus|ES 2017-18|All|[Upstream](#upstream)|
-|Lexus|ES 2019-24|All|[Upstream](#upstream)|
+|Lexus|ES 2019-25|All|[Upstream](#upstream)|
 |Lexus|ES Hybrid 2017-18|All|[Upstream](#upstream)|
 |Lexus|ES Hybrid 2019-25|All|[Upstream](#upstream)|
 |Lexus|GS F 2016|All|[Upstream](#upstream)|
 |Lexus|IS 2017-19|All|[Upstream](#upstream)|
-|Lexus|IS 2022-23|All|[Upstream](#upstream)|
+|Lexus|IS 2022-24|All|[Upstream](#upstream)|
 |Lexus|LC 2024|All|[Upstream](#upstream)|
 |Lexus|NS 2022-25|Any|[Not compatible](#can-bus-security)|
 |Lexus|NX 2018-19|All|[Upstream](#upstream)|
@@ -358,11 +359,11 @@
 |Volkswagen|Sharan 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
 |Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 

diff --git a/opendbc/car/chrysler/fingerprints.py b/opendbc/car/chrysler/fingerprints.py
@@ -130,6 +130,7 @@
       b'68496647AJ ',
       b'68496650AH ',
       b'68496650AI ',
+      b'68496650AL ',
       b'68496652AH ',
       b'68526752AD ',
       b'68526752AE ',
@@ -145,6 +146,7 @@
       b'68414275AC',
       b'68414275AD',
       b'68443154AB',
+      b'68443154AC',
       b'68443155AC',
       b'68443158AB',
       b'68501050AD',
@@ -233,6 +235,7 @@
       b'68594341AB',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'68416680AD ',
       b'68416680AE ',
       b'68416680AF ',
       b'68416680AG ',
@@ -262,6 +265,7 @@
       b'05190289AE',
       b'68540977AH',
       b'68540977AK',
+      b'68540977AL',
       b'68597647AE',
       b'68597647AF',
       b'68632416AB',
@@ -417,6 +421,7 @@
       b'68434847AC',
       b'68434849AC',
       b'68434850AC',
+      b'68434855AC',
       b'68434856AC',
       b'68434858AC',
       b'68434859AC',
@@ -469,6 +474,7 @@
     ],
     (Ecu.srs, 0x744, None): [
       b'68428609AB',
+      b'68441329AA',
       b'68441329AB',
       b'68473844AB',
       b'68490898AA',
@@ -494,6 +500,8 @@
       b'68548900AC',
       b'68586307AB',
       b'68586307AC',
+      b'68728724AA',
+      b'68728727AA',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672892AB',
@@ -525,6 +533,7 @@
       b'68466110AA',
       b'68466110AB',
       b'68466113AA',
+      b'68466116AA',
       b'68469901AA',
       b'68469904AA',
       b'68469907AA',
@@ -570,6 +579,7 @@
       b'05190346AD',
       b'68378695AI ',
       b'68378695AJ ',
+      b'68378695AK ',
       b'68378696AJ ',
       b'68378696AK ',
       b'68378701AI ',
@@ -591,6 +601,7 @@
       b'68455119AC ',
       b'68455137AC ',
       b'68455142AC ',
+      b'68455142AE ',
       b'68455145AC ',
       b'68455145AE ',
       b'68455146AC ',
@@ -602,11 +613,13 @@
       b'68467936AC ',
       b'68500630AD',
       b'68500630AE',
+      b'68500630AF',
       b'68500631AE',
       b'68502719AC ',
       b'68502722AC ',
       b'68502733AC ',
       b'68502734AF ',
+      b'68502737AF ',
       b'68502740AF ',
       b'68502741AF ',
       b'68502742AC ',
@@ -639,6 +652,7 @@
       b'68360081AN',
       b'68360085AH',
       b'68360085AJ',
+      b'68360085AK',
       b'68360085AL',
       b'68360085AO',
       b'68360086AH',

diff --git a/opendbc/car/debug/format_fingerprints.py b/opendbc/car/debug/format_fingerprints.py
@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+import jinja2
+import os
+
+from opendbc.car.common.basedir import BASEDIR
+from opendbc.car.interfaces import get_interface_attr
+from opendbc.car.structs import CarParams
+
+Ecu = CarParams.Ecu
+
+CARS = get_interface_attr('CAR')
+FW_VERSIONS = get_interface_attr('FW_VERSIONS')
+FINGERPRINTS = get_interface_attr('FINGERPRINTS')
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+
+FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
+{%- if FINGERPRINTS[brand] %}
+# ruff: noqa: E501
+{% endif %}
+{% if FW_VERSIONS[brand] %}
+from opendbc.car.structs import CarParams
+{% endif %}
+from opendbc.car.{{brand}}.values import CAR
+{% if FW_VERSIONS[brand] %}
+
+Ecu = CarParams.Ecu
+{% endif %}
+{% if comments +%}
+{{ comments | join() }}
+{% endif %}
+{% if FINGERPRINTS[brand] %}
+
+FINGERPRINTS = {
+{% for car, fingerprints in FINGERPRINTS[brand].items() %}
+  CAR.{{car.name}}: [{
+{% for fingerprint in fingerprints %}
+{% if not loop.first %}
+  {{ "{" }}
+{% endif %}
+    {% for key, value in fingerprint.items() %}{{key}}: {{value}}{% if not loop.last %}, {% endif %}{% endfor %}
+
+  }{% if loop.last %}]{% endif %},
+{% endfor %}
+{% endfor %}
+}
+{% endif %}
+
+FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{% endif %} = {
+{% for car, _ in FW_VERSIONS[brand].items() %}
+  CAR.{{car.name}}: {
+{% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
+    (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
+{% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
+  {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %}
+    {{fw_version}},
+  {% endfor %}
+  ],
+{% endfor %}
+  },
+{% endfor %}
+}
+
+""", trim_blocks=True)
+
+
+def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tuple, list[bytes]]] = None):
+  extra_fw_versions = extra_fw_versions or {}
+
+  fingerprints_file = os.path.join(BASEDIR, f"{brand}/fingerprints.py")
+  with open(fingerprints_file) as f:
+    comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
+
+  with open(fingerprints_file, "w") as f:
+    f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
+                                            FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS,
+                                            extra_fw_versions=extra_fw_versions))
+
+
+if __name__ == "__main__":
+  for brand in FW_VERSIONS.keys():
+    format_brand_fw_versions(brand)
diff --git a/opendbc/car/ford/fingerprints.py b/opendbc/car/ford/fingerprints.py
@@ -89,24 +89,42 @@
       b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
+  CAR.FORD_EXPEDITION_MK4: {
+    (Ecu.eps, 0x730, None): [
+      b'NL14-14D003-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'RL14-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.FORD_F_150_MK14: {
     (Ecu.eps, 0x730, None): [
       b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'ML3V-14D003-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
       b'NL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PL34-2D053-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PL3V-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PL3V-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
       b'ML3T-14H102-ABR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'RJ6T-14H102-ACJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'RJ6T-14H102-BBC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.FORD_F_150_LIGHTNING_MK1: {
@@ -130,10 +148,13 @@
     (Ecu.eps, 0x730, None): [
       b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LJ9C-14D003-FA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LJ9C-14D003-GA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LJ9C-14D003-HA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
       b'LK9C-2D053-CK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LK9C-2D053-CN\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -179,11 +200,13 @@
   },
   CAR.FORD_RANGER_MK2: {
     (Ecu.eps, 0x730, None): [
+      b'NB3C-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NL14-14D003-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'RB3C-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
       b'PB3C-2D053-ZD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PB3C-2D053-ZG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PB3C-2D053-ZJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [