mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-18 15:52:09 +08:00
openpilot v0.9.4 release
date: 2023-07-27T18:38:32 master commit: fa310d9e2542cf497d92f007baec8fd751ffa99c
This commit is contained in:
Vehicle Researcher
@@ -45,7 +45,9 @@ selfdrive/logcatd/logcatd
|
||||
selfdrive/mapd/default_speeds_by_region.json
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system/proclogd/proclogd
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||||
selfdrive/ui/_ui
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||||
selfdrive/ui/translations/alerts_generated.h
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||||
selfdrive/test/longitudinal_maneuvers/out
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||||
selfdrive/car/tests/cars_dump
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||||
system/camerad/camerad
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||||
system/camerad/test/ae_gray_test
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||||
selfdrive/modeld/_modeld
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||||
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||||
Vendored
+60
-21
@@ -6,6 +6,7 @@ ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <
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||||
set -e
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||||
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||||
export CI=1
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||||
export LOGPRINT=debug
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||||
export TEST_DIR=${env.TEST_DIR}
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export SOURCE_DIR=${env.SOURCE_DIR}
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||||
export GIT_BRANCH=${env.GIT_BRANCH}
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||||
@@ -18,6 +19,20 @@ export GIT_SSH_COMMAND="ssh -i /data/gitkey"
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||||
source ~/.bash_profile
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||||
if [ -f /TICI ]; then
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source /etc/profile
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||||
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||||
if ! systemctl is-active --quiet systemd-resolved; then
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||||
echo "restarting resolved"
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||||
sudo systemctl start systemd-resolved
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||||
sleep 3
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||||
fi
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||||
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||||
# restart aux USB
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||||
if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
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||||
echo "restarting aux usb"
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||||
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
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||||
sleep 0.5
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||||
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
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||||
fi
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||||
fi
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||||
if [ -f /data/openpilot/launch_env.sh ]; then
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||||
source /data/openpilot/launch_env.sh
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||||
@@ -128,17 +143,41 @@ pipeline {
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||||
}
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||||
*/
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||||
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stage('scons build test') {
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agent {
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||||
dockerfile {
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||||
filename 'Dockerfile.openpilot_base'
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||||
args '--user=root'
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||||
}
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||||
}
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steps {
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sh "git config --global --add safe.directory '*'"
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sh "git submodule update --init --depth=1 --recursive"
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sh "scons --clean && scons --no-cache -j42"
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sh "scons --clean && scons --no-cache --random -j42"
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}
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||||
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||||
post {
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||||
always {
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||||
sh "rm -rf ${WORKSPACE}/* || true"
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||||
sh "rm -rf .* || true"
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||||
}
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||||
}
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||||
}
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||||
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||||
stage('tizi-tests') {
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||||
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
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||||
steps {
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||||
phone_steps("tizi", [
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||||
["build openpilot", "cd selfdrive/manager && ./build.py"],
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["test boardd loopback", "SINGLE_PANDA=1 python selfdrive/boardd/tests/test_boardd_loopback.py"],
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||||
["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
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||||
["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
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||||
["test camerad", "python system/camerad/test/test_camerad.py"],
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["test exposure", "python system/camerad/test/test_exposure.py"],
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["test amp", "python system/hardware/tici/tests/test_amplifier.py"],
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["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
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["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
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["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
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["test camerad", "pytest system/camerad/test/test_camerad.py"],
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||||
["test exposure", "pytest system/camerad/test/test_exposure.py"],
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["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
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||||
["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
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||||
["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
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||||
])
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}
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}
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@@ -155,7 +194,6 @@ pipeline {
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||||
["check dirty", "release/check-dirty.sh"],
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["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
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||||
["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
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||||
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
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||||
])
|
||||
}
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||||
}
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||||
@@ -165,7 +203,7 @@ pipeline {
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||||
steps {
|
||||
phone_steps("tici-loopback", [
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||||
["build openpilot", "cd selfdrive/manager && ./build.py"],
|
||||
["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
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||||
])
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||||
}
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||||
}
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||||
@@ -175,12 +213,13 @@ pipeline {
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||||
steps {
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||||
phone_steps("tici-common", [
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||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
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||||
["test power draw", "python system/hardware/tici/tests/test_power_draw.py"],
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||||
["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
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||||
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
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||||
["test pigeond", "python system/sensord/tests/test_pigeond.py"],
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||||
["test manager", "python selfdrive/manager/test/test_manager.py"],
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||||
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
|
||||
["test power draw", "pytest system/hardware/tici/tests/test_power_draw.py"],
|
||||
["test loggerd", "pytest system/loggerd/tests/test_loggerd.py"],
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||||
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
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||||
["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
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["test manager", "pytest selfdrive/manager/test/test_manager.py"],
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["test nav", "pytest selfdrive/navd/tests/"],
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||||
])
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||||
}
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||||
}
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@@ -190,13 +229,13 @@ pipeline {
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||||
steps {
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||||
phone_steps("tici-ar0231", [
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||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["test camerad", "python system/camerad/test/test_camerad.py"],
|
||||
["test exposure", "python system/camerad/test/test_exposure.py"],
|
||||
["test camerad", "pytest system/camerad/test/test_camerad.py"],
|
||||
["test exposure", "pytest system/camerad/test/test_exposure.py"],
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||||
])
|
||||
phone_steps("tici-ox03c10", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
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||||
["test camerad", "python system/camerad/test/test_camerad.py"],
|
||||
["test exposure", "python system/camerad/test/test_exposure.py"],
|
||||
["test camerad", "pytest system/camerad/test/test_camerad.py"],
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||||
["test exposure", "pytest system/camerad/test/test_exposure.py"],
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||||
])
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||||
}
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||||
}
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||||
@@ -206,11 +245,11 @@ pipeline {
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||||
steps {
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||||
phone_steps("tici-lsmc", [
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||||
["build", "cd selfdrive/manager && ./build.py"],
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||||
["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
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||||
["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
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||||
])
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||||
phone_steps("tici-bmx-lsm", [
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||||
["build", "cd selfdrive/manager && ./build.py"],
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||||
["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
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||||
["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
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||||
])
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}
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||||
}
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@@ -218,7 +257,7 @@ pipeline {
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||||
stage('replay') {
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agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
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||||
steps {
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||||
phone_steps("tici-common", [
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||||
phone_steps("tici-replay", [
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||||
["build", "cd selfdrive/manager && ./build.py"],
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||||
["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
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||||
])
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||||
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||||
+15
@@ -1,3 +1,18 @@
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||||
Version 0.9.4 (2023-07-27)
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||||
========================
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||||
* Navigate on openpilot in Experimental mode
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||||
* When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
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||||
* When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
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* When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
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* When navigate on openpilot is active, the path on the map is green
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* UI updates
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* Navigation settings moved to home screen and map
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* Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
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* Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
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* Bookmarked segments are preserved on the device's storage
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||||
* Ford Focus 2018 support
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||||
* Kia Carnival 2023 support thanks to sunnyhaibin!
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||||
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||||
Version 0.9.3 (2023-06-29)
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||||
========================
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||||
* New driving model
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+17
-24
@@ -67,17 +67,17 @@ AddOption('--no-test',
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||||
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
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||||
if platform.system() == "Darwin":
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||||
arch = "Darwin"
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||||
brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
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||||
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||||
if arch == "aarch64" and AGNOS:
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||||
arch = "larch64"
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||||
|
||||
|
||||
lenv = {
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"PATH": os.environ['PATH'],
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"LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
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||||
"PYTHONPATH": Dir("#").abspath,
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||||
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||||
"ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
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||||
"ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
|
||||
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
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||||
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
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||||
}
|
||||
@@ -110,26 +110,21 @@ else:
|
||||
cflags = []
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||||
cxxflags = []
|
||||
cpppath = []
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||||
rpath += [
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||||
Dir("#cereal").abspath,
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||||
Dir("#common").abspath
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||||
]
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||||
|
||||
# MacOS
|
||||
if arch == "Darwin":
|
||||
if real_arch == "x86_64":
|
||||
lenv["TERA_PATH"] = Dir("#").abspath + f"/third_party/acados/Darwin_x86_64/t_renderer"
|
||||
|
||||
brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
|
||||
yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
|
||||
libpath = [
|
||||
f"#third_party/libyuv/{yuv_dir}/lib",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
f"{brew_prefix}/lib",
|
||||
f"{brew_prefix}/Library",
|
||||
f"{brew_prefix}/opt/openssl@3.0/lib",
|
||||
f"{brew_prefix}/Cellar",
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
]
|
||||
if real_arch == "x86_64":
|
||||
libpath.append(f"#third_party/acados/Darwin_x86_64/lib")
|
||||
else:
|
||||
libpath.append(f"#third_party/acados/{arch}/lib")
|
||||
|
||||
cflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
@@ -137,6 +132,7 @@ else:
|
||||
f"{brew_prefix}/include",
|
||||
f"{brew_prefix}/opt/openssl@3.0/include",
|
||||
]
|
||||
lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
|
||||
# Linux 86_64
|
||||
else:
|
||||
libpath = [
|
||||
@@ -149,12 +145,9 @@ else:
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
|
||||
rpath += [
|
||||
Dir("#third_party/snpe/x86_64-linux-clang").abspath,
|
||||
Dir("#cereal").abspath,
|
||||
Dir("#common").abspath
|
||||
]
|
||||
rpath += [
|
||||
Dir("#third_party/snpe/x86_64-linux-clang").abspath,
|
||||
]
|
||||
|
||||
if GetOption('asan'):
|
||||
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
@@ -231,7 +224,9 @@ env = Environment(
|
||||
)
|
||||
|
||||
if arch == "Darwin":
|
||||
env['RPATHPREFIX'] = "-rpath "
|
||||
# RPATH is not supported on macOS, instead use the linker flags
|
||||
darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
|
||||
env["LINKFLAGS"] += darwin_rpath_link_flags
|
||||
|
||||
if GetOption('compile_db'):
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
@@ -268,10 +263,11 @@ py_include = sysconfig.get_paths()['include']
|
||||
envCython = env.Clone()
|
||||
envCython["CPPPATH"] += [py_include, np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
|
||||
envCython["CCFLAGS"].remove("-Werror")
|
||||
|
||||
envCython["LIBS"] = []
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
|
||||
elif arch == "aarch64":
|
||||
envCython["LINKFLAGS"] = ["-shared"]
|
||||
envCython["LIBS"] = [os.path.basename(py_include)]
|
||||
@@ -286,10 +282,7 @@ qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "
|
||||
|
||||
qt_libs = []
|
||||
if arch == "Darwin":
|
||||
if real_arch == "arm64":
|
||||
qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
|
||||
else:
|
||||
qt_env['QTDIR'] = "/usr/local/opt/qt@5"
|
||||
qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
|
||||
qt_dirs = [
|
||||
os.path.join(qt_env['QTDIR'], "include"),
|
||||
]
|
||||
|
||||
@@ -124,7 +124,6 @@ def objcopy(source, target, env, for_signature):
|
||||
git_ver = get_version(BUILDER, BUILD_TYPE)
|
||||
with open("obj/gitversion.h", "w") as f:
|
||||
f.write(f'const uint8_t gitversion[8] = "{git_ver}";\n')
|
||||
print(f"Git commit hash for gitversion.h: {git_ver}")
|
||||
|
||||
certs = [get_key_header(n) for n in ["debug", "release"]]
|
||||
with open("obj/cert.h", "w") as f:
|
||||
|
||||
+5
-5
@@ -166,7 +166,7 @@ struct CarState {
|
||||
# gas pedal, 0.0-1.0
|
||||
gas @3 :Float32; # this is user pedal only
|
||||
gasPressed @4 :Bool; # this is user pedal only
|
||||
|
||||
|
||||
engineRpm @46 :Float32;
|
||||
|
||||
# brake pedal, 0.0-1.0
|
||||
@@ -628,6 +628,7 @@ struct CarParams {
|
||||
engine @4;
|
||||
unknown @5;
|
||||
transmission @8; # Transmission Control Module
|
||||
hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
|
||||
srs @9; # airbag
|
||||
gateway @10; # can gateway
|
||||
hud @11; # heads up display
|
||||
@@ -638,6 +639,9 @@ struct CarParams {
|
||||
cornerRadar @21;
|
||||
hvac @20;
|
||||
parkingAdas @7; # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
|
||||
epb @22; # electronic parking brake
|
||||
telematics @23;
|
||||
body @24; # body control module
|
||||
|
||||
# Toyota only
|
||||
dsu @6;
|
||||
@@ -646,11 +650,7 @@ struct CarParams {
|
||||
vsa @13; # Vehicle Stability Assist
|
||||
programmedFuelInjection @14;
|
||||
|
||||
# Chrysler only
|
||||
hcp @18; # Hybrid Control Processor
|
||||
|
||||
debug @17;
|
||||
unused @22;
|
||||
}
|
||||
|
||||
enum FingerprintSource {
|
||||
|
||||
+29
-1
@@ -132,7 +132,6 @@ struct FrameData {
|
||||
frameIdSensor @25 :UInt32;
|
||||
|
||||
frameType @7 :FrameType;
|
||||
frameLength @3 :Int32;
|
||||
|
||||
# Timestamps
|
||||
timestampEof @2 :UInt64;
|
||||
@@ -167,6 +166,7 @@ struct FrameData {
|
||||
ox03c10 @2;
|
||||
}
|
||||
|
||||
frameLengthDEPRECATED @3 :Int32;
|
||||
globalGainDEPRECATED @5 :Int32;
|
||||
androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
|
||||
lensPosDEPRECATED @11 :Int32;
|
||||
@@ -522,6 +522,10 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
canfdEnabled @18 :Bool;
|
||||
brsEnabled @19 :Bool;
|
||||
canfdNonIso @20 :Bool;
|
||||
irq0CallRate @21 :UInt32;
|
||||
irq1CallRate @22 :UInt32;
|
||||
irq2CallRate @23 :UInt32;
|
||||
canCoreResetCnt @24 :UInt32;
|
||||
|
||||
enum LecErrorCode {
|
||||
noError @0;
|
||||
@@ -859,10 +863,14 @@ struct ModelDataV2 {
|
||||
leadsV3 @18 :List(LeadDataV3);
|
||||
|
||||
meta @12 :MetaData;
|
||||
confidence @23: ConfidenceClass;
|
||||
|
||||
# Model perceived motion
|
||||
temporalPose @21 :Pose;
|
||||
|
||||
navEnabled @22 :Bool;
|
||||
locationMonoTime @24 :UInt64;
|
||||
|
||||
|
||||
struct LeadDataV2 {
|
||||
prob @0 :Float32; # probability that car is your lead at time t
|
||||
@@ -907,6 +915,12 @@ struct ModelDataV2 {
|
||||
steerOverrideProbDEPRECATED @4 :Float32;
|
||||
}
|
||||
|
||||
enum ConfidenceClass {
|
||||
red @0;
|
||||
yellow @1;
|
||||
green @2;
|
||||
}
|
||||
|
||||
struct DisengagePredictions {
|
||||
t @0 :List(Float32);
|
||||
brakeDisengageProbs @1 :List(Float32);
|
||||
@@ -1052,6 +1066,13 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
|
||||
curvatureRates @28 :List(Float32);
|
||||
|
||||
solverExecutionTime @30 :Float32;
|
||||
solverCost @32 :Float32;
|
||||
solverState @33 :SolverState;
|
||||
|
||||
struct SolverState {
|
||||
x @0 :List(List(Float32));
|
||||
u @1 :List(Float32);
|
||||
}
|
||||
|
||||
enum Desire {
|
||||
none @0;
|
||||
@@ -1225,6 +1246,8 @@ struct GnssMeasurements {
|
||||
svId @1 :UInt8;
|
||||
type @2 :EphemerisType;
|
||||
source @3 :EphemerisSource;
|
||||
gpsWeek @4 : UInt16;
|
||||
tow @5 :Float64;
|
||||
}
|
||||
|
||||
struct CorrectedMeasurement {
|
||||
@@ -1797,6 +1820,9 @@ struct QcomGnss @0xde94674b07ae51c1 {
|
||||
elevationDot @20 :Float32;
|
||||
elevationUncertainty @21 :Float32;
|
||||
velocityCoeff @22 :List(Float64);
|
||||
|
||||
gpsWeek @23 :UInt16;
|
||||
gpsTow @24 :Float64;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1946,6 +1972,7 @@ struct LiveParametersData {
|
||||
stiffnessFactorStd @12 :Float32;
|
||||
steerRatioStd @13 :Float32;
|
||||
roll @14 :Float32;
|
||||
filterState @15 :LiveLocationKalman.Measurement;
|
||||
|
||||
yawRateDEPRECATED @7 :Float32;
|
||||
}
|
||||
@@ -2091,6 +2118,7 @@ struct MapRenderState {
|
||||
|
||||
struct NavModelData {
|
||||
frameId @0 :UInt32;
|
||||
locationMonoTime @6 :UInt64;
|
||||
modelExecutionTime @1 :Float32;
|
||||
dspExecutionTime @2 :Float32;
|
||||
features @3 :List(Float32);
|
||||
|
||||
@@ -1,10 +1,12 @@
|
||||
# must be build with scons
|
||||
# must be built with scons
|
||||
from .messaging_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event # pylint: disable=no-name-in-module, import-error
|
||||
from .messaging_pyx import MultiplePublishersError, MessagingError # pylint: disable=no-name-in-module, import-error
|
||||
|
||||
import os
|
||||
import capnp
|
||||
import time
|
||||
|
||||
from typing import Optional, List, Union
|
||||
from typing import Optional, List, Union, Dict, Deque
|
||||
from collections import deque
|
||||
|
||||
from cereal import log
|
||||
@@ -20,13 +22,11 @@ assert wait_for_one_event
|
||||
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
AVG_FREQ_HISTORY = 100
|
||||
SIMULATION = "SIMULATION" in os.environ
|
||||
|
||||
# sec_since_boot is faster, but allow to run standalone too
|
||||
try:
|
||||
from common.realtime import sec_since_boot
|
||||
except ImportError:
|
||||
import time
|
||||
sec_since_boot = time.time
|
||||
print("Warning, using python time.time() instead of faster sec_since_boot")
|
||||
|
||||
@@ -43,7 +43,8 @@ def fake_event_handle(endpoint: str, identifier: Optional[str] = None, override:
|
||||
|
||||
|
||||
def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT)
|
||||
with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
|
||||
return msg
|
||||
|
||||
|
||||
def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
@@ -166,7 +167,7 @@ class SubMaster:
|
||||
self.rcv_frame = {s: 0 for s in services}
|
||||
self.alive = {s: False for s in services}
|
||||
self.freq_ok = {s: False for s in services}
|
||||
self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
|
||||
self.recv_dts: Dict[str, Deque[float]] = {s: deque(maxlen=AVG_FREQ_HISTORY) for s in services}
|
||||
self.sock = {}
|
||||
self.freq = {}
|
||||
self.data = {}
|
||||
@@ -179,6 +180,7 @@ class SubMaster:
|
||||
|
||||
self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
|
||||
self.ignore_alive = [] if ignore_alive is None else ignore_alive
|
||||
self.simulation = bool(int(os.getenv("SIMULATION", "0")))
|
||||
|
||||
for s in services:
|
||||
if addr is not None:
|
||||
@@ -198,6 +200,10 @@ class SubMaster:
|
||||
def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return self.data[s]
|
||||
|
||||
def _check_avg_freq(self, s):
|
||||
return self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
|
||||
and (s not in self.ignore_average_freq)
|
||||
|
||||
def update(self, timeout: int = 1000) -> None:
|
||||
msgs = []
|
||||
for sock in self.poller.poll(timeout):
|
||||
@@ -218,8 +224,7 @@ class SubMaster:
|
||||
s = msg.which()
|
||||
self.updated[s] = True
|
||||
|
||||
if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
|
||||
and (s not in self.ignore_average_freq):
|
||||
if self._check_avg_freq(s):
|
||||
self.recv_dts[s].append(cur_time - self.rcv_time[s])
|
||||
|
||||
self.rcv_time[s] = cur_time
|
||||
@@ -228,11 +233,11 @@ class SubMaster:
|
||||
self.logMonoTime[s] = msg.logMonoTime
|
||||
self.valid[s] = msg.valid
|
||||
|
||||
if SIMULATION:
|
||||
if self.simulation:
|
||||
self.freq_ok[s] = True
|
||||
self.alive[s] = True
|
||||
|
||||
if not SIMULATION:
|
||||
if not self.simulation:
|
||||
for s in self.data:
|
||||
# arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
|
||||
if self.freq[s] > 1e-5:
|
||||
@@ -241,9 +246,15 @@ class SubMaster:
|
||||
|
||||
# TODO: check if update frequency is high enough to not drop messages
|
||||
# freq_ok if average frequency is higher than 90% of expected frequency
|
||||
avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY
|
||||
expected_dt = 1 / (self.freq[s] * 0.90)
|
||||
self.freq_ok[s] = (avg_dt < expected_dt)
|
||||
if self._check_avg_freq(s):
|
||||
if len(self.recv_dts[s]) > 0:
|
||||
avg_dt = sum(self.recv_dts[s]) / len(self.recv_dts[s])
|
||||
expected_dt = 1 / (self.freq[s] * 0.90)
|
||||
self.freq_ok[s] = (avg_dt < expected_dt)
|
||||
else:
|
||||
self.freq_ok[s] = False
|
||||
else:
|
||||
self.freq_ok[s] = True
|
||||
else:
|
||||
self.freq_ok[s] = True
|
||||
self.alive[s] = True
|
||||
@@ -282,5 +293,13 @@ class PubMaster:
|
||||
dat = dat.to_bytes()
|
||||
self.sock[s].send(dat)
|
||||
|
||||
def wait_for_readers_to_update(self, s: str, timeout: int) -> bool:
|
||||
dt = 0.05
|
||||
for _ in range(int(timeout*(1./dt))):
|
||||
if self.sock[s].all_readers_updated():
|
||||
return True
|
||||
time.sleep(dt)
|
||||
return False
|
||||
|
||||
def all_readers_updated(self, s: str) -> bool:
|
||||
return self.sock[s].all_readers_updated() # type: ignore
|
||||
|
||||
@@ -6,16 +6,18 @@
|
||||
#include <exception>
|
||||
#include <filesystem>
|
||||
|
||||
#include <sys/eventfd.h>
|
||||
#include <sys/mman.h>
|
||||
#include <sys/stat.h>
|
||||
#include <unistd.h>
|
||||
#include <poll.h>
|
||||
#include <signal.h>
|
||||
#include <fcntl.h>
|
||||
#include <sys/mman.h>
|
||||
#include <sys/stat.h>
|
||||
|
||||
#include "cereal/messaging/event.h"
|
||||
|
||||
#ifndef __APPLE__
|
||||
#include <sys/eventfd.h>
|
||||
|
||||
void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path) {
|
||||
const char* op_prefix = std::getenv("OPENPILOT_PREFIX");
|
||||
|
||||
@@ -136,8 +138,7 @@ void Event::wait(int timeout_sec) const {
|
||||
|
||||
int event_count;
|
||||
struct pollfd fds = { this->event_fd, POLLIN, 0 };
|
||||
|
||||
struct timespec timeout = { timeout_sec, 0 };
|
||||
struct timespec timeout = { timeout_sec, 0 };;
|
||||
|
||||
sigset_t signals;
|
||||
sigfillset(&signals);
|
||||
@@ -159,6 +160,7 @@ bool Event::peek() const {
|
||||
throw_if_invalid();
|
||||
|
||||
int event_count;
|
||||
|
||||
struct pollfd fds = { this->event_fd, POLLIN, 0 };
|
||||
|
||||
// poll with timeout zero to return status immediately
|
||||
@@ -206,3 +208,29 @@ int Event::wait_for_one(const std::vector<Event>& events, int timeout_sec) {
|
||||
|
||||
throw std::runtime_error("Event poll failed, no events ready");
|
||||
}
|
||||
#else
|
||||
// Stub implementation for Darwin, which does not support eventfd
|
||||
void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path) {}
|
||||
|
||||
SocketEventHandle::SocketEventHandle(std::string endpoint, std::string identifier, bool override) {
|
||||
std::cerr << "SocketEventHandle not supported on macOS" << std::endl;
|
||||
assert(false);
|
||||
}
|
||||
SocketEventHandle::~SocketEventHandle() {}
|
||||
bool SocketEventHandle::is_enabled() { return this->state->enabled; }
|
||||
void SocketEventHandle::set_enabled(bool enabled) {}
|
||||
Event SocketEventHandle::recv_called() { return Event(); }
|
||||
Event SocketEventHandle::recv_ready() { return Event(); }
|
||||
void SocketEventHandle::toggle_fake_events(bool enabled) {}
|
||||
void SocketEventHandle::set_fake_prefix(std::string prefix) {}
|
||||
std::string SocketEventHandle::fake_prefix() { return ""; }
|
||||
|
||||
Event::Event(int fd): event_fd(fd) {}
|
||||
void Event::set() const {}
|
||||
int Event::clear() const { return 0; }
|
||||
void Event::wait(int timeout_sec) const {}
|
||||
bool Event::peek() const { return false; }
|
||||
bool Event::is_valid() const { return false; }
|
||||
int Event::fd() const { return this->event_fd; }
|
||||
int Event::wait_for_one(const std::vector<Event>& events, int timeout_sec) { return -1; }
|
||||
#endif
|
||||
|
||||
@@ -20,8 +20,8 @@ from .messaging cimport Event as cppEvent, SocketEventHandle as cppSocketEventHa
|
||||
|
||||
class MessagingError(Exception):
|
||||
def __init__(self, endpoint=None):
|
||||
suffix = "with {endpoint}" if endpoint else ""
|
||||
message = f"Messaging failure {suffix}: {strerror(errno.errno)}"
|
||||
suffix = f"with {endpoint.decode('utf-8')}" if endpoint else ""
|
||||
message = f"Messaging failure {suffix}: {strerror(errno.errno).decode('utf-8')}"
|
||||
super().__init__(message)
|
||||
|
||||
|
||||
|
||||
@@ -9,6 +9,7 @@ struct VisionIpcBufExtra {
|
||||
uint32_t frame_id;
|
||||
uint64_t timestamp_sof;
|
||||
uint64_t timestamp_eof;
|
||||
bool valid;
|
||||
};
|
||||
|
||||
struct VisionIpcPacket {
|
||||
|
||||
@@ -5,19 +5,24 @@ from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
from libcpp.set cimport set
|
||||
from libc.stdint cimport uint32_t, uint64_t
|
||||
from libcpp cimport bool
|
||||
from libcpp cimport bool, int
|
||||
|
||||
cdef extern from "cereal/visionipc/visionbuf.h":
|
||||
struct _cl_mem
|
||||
ctypedef _cl_mem * cl_mem
|
||||
|
||||
cdef enum VisionStreamType:
|
||||
pass
|
||||
|
||||
cdef cppclass VisionBuf:
|
||||
void * addr
|
||||
bool rgb
|
||||
size_t len
|
||||
size_t width
|
||||
size_t height
|
||||
size_t stride
|
||||
size_t uv_offset
|
||||
cl_mem buf_cl
|
||||
void set_frame_id(uint64_t id)
|
||||
|
||||
cdef extern from "cereal/visionipc/visionipc.h":
|
||||
@@ -25,6 +30,7 @@ cdef extern from "cereal/visionipc/visionipc.h":
|
||||
uint32_t frame_id
|
||||
uint64_t timestamp_sof
|
||||
uint64_t timestamp_eof
|
||||
bool valid
|
||||
|
||||
cdef extern from "cereal/visionipc/visionipc_server.h":
|
||||
string get_endpoint_name(string, VisionStreamType)
|
||||
@@ -39,6 +45,8 @@ cdef extern from "cereal/visionipc/visionipc_server.h":
|
||||
|
||||
cdef extern from "cereal/visionipc/visionipc_client.h":
|
||||
cdef cppclass VisionIpcClient:
|
||||
int num_buffers
|
||||
VisionBuf buffers[1]
|
||||
VisionIpcClient(string, VisionStreamType, bool, void*, void*)
|
||||
VisionBuf * recv(VisionIpcBufExtra *, int)
|
||||
bool connect(bool)
|
||||
|
||||
@@ -9,7 +9,13 @@
|
||||
#include "cereal/logger/logger.h"
|
||||
|
||||
static int connect_to_vipc_server(const std::string &name, bool blocking) {
|
||||
std::string path = "/tmp/visionipc_" + name;
|
||||
char* prefix = std::getenv("OPENPILOT_PREFIX");
|
||||
std::string path = "/tmp/";
|
||||
if (prefix) {
|
||||
path = path + std::string(prefix) + "_";
|
||||
}
|
||||
path = path + "visionipc_" + name;
|
||||
|
||||
int socket_fd = ipc_connect(path.c_str());
|
||||
while (socket_fd < 0 && blocking) {
|
||||
std::cout << "VisionIpcClient connecting" << std::endl;
|
||||
|
||||
@@ -0,0 +1,10 @@
|
||||
# distutils: language = c++
|
||||
#cython: language_level=3
|
||||
|
||||
from .visionipc cimport VisionBuf as cppVisionBuf
|
||||
|
||||
cdef class VisionBuf:
|
||||
cdef cppVisionBuf * buf
|
||||
|
||||
@staticmethod
|
||||
cdef create(cppVisionBuf*)
|
||||
@@ -28,6 +28,38 @@ cpdef enum VisionStreamType:
|
||||
VISION_STREAM_MAP
|
||||
|
||||
|
||||
cdef class VisionBuf:
|
||||
@staticmethod
|
||||
cdef create(cppVisionBuf * cbuf):
|
||||
buf = VisionBuf()
|
||||
buf.buf = cbuf
|
||||
return buf
|
||||
|
||||
@property
|
||||
def data(self):
|
||||
return np.asarray(<cnp.uint8_t[:self.buf.len]> self.buf.addr)
|
||||
|
||||
@property
|
||||
def width(self):
|
||||
return self.buf.width
|
||||
|
||||
@property
|
||||
def height(self):
|
||||
return self.buf.height
|
||||
|
||||
@property
|
||||
def stride(self):
|
||||
return self.buf.stride
|
||||
|
||||
@property
|
||||
def uv_offset(self):
|
||||
return self.buf.uv_offset
|
||||
|
||||
@property
|
||||
def rgb(self):
|
||||
return self.buf.rgb
|
||||
|
||||
|
||||
cdef class VisionIpcServer:
|
||||
cdef cppVisionIpcServer * server
|
||||
|
||||
@@ -63,40 +95,64 @@ cdef class VisionIpcServer:
|
||||
|
||||
|
||||
cdef class VisionIpcClient:
|
||||
cdef cppVisionBuf * buf
|
||||
cdef cppVisionIpcClient * client
|
||||
cdef VisionIpcBufExtra extra
|
||||
|
||||
def __cinit__(self, string name, VisionStreamType stream, bool conflate):
|
||||
self.client = new cppVisionIpcClient(name, stream, conflate, NULL, NULL)
|
||||
self.buf = NULL
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.client
|
||||
|
||||
@property
|
||||
def width(self):
|
||||
return None if not self.buf else self.buf.width
|
||||
return self.client.buffers[0].width if self.client.num_buffers else None
|
||||
|
||||
@property
|
||||
def height(self):
|
||||
return None if not self.buf else self.buf.height
|
||||
return self.client.buffers[0].height if self.client.num_buffers else None
|
||||
|
||||
@property
|
||||
def stride(self):
|
||||
return None if not self.buf else self.buf.stride
|
||||
return self.client.buffers[0].stride if self.client.num_buffers else None
|
||||
|
||||
@property
|
||||
def uv_offset(self):
|
||||
return None if not self.buf else self.buf.uv_offset
|
||||
return self.client.buffers[0].uv_offset if self.client.num_buffers else None
|
||||
|
||||
@property
|
||||
def rgb(self):
|
||||
return self.client.buffers[0].rgb if self.client.num_buffers else None
|
||||
|
||||
@property
|
||||
def buffer_len(self):
|
||||
return self.client.buffers[0].len if self.client.num_buffers else None
|
||||
|
||||
@property
|
||||
def num_buffers(self):
|
||||
return self.client.num_buffers
|
||||
|
||||
@property
|
||||
def frame_id(self):
|
||||
return self.extra.frame_id
|
||||
|
||||
@property
|
||||
def timestamp_sof(self):
|
||||
return self.extra.timestamp_sof
|
||||
|
||||
@property
|
||||
def timestamp_eof(self):
|
||||
return self.extra.timestamp_eof
|
||||
|
||||
@property
|
||||
def valid(self):
|
||||
return self.extra.valid
|
||||
|
||||
def recv(self, int timeout_ms=100):
|
||||
self.buf = self.client.recv(NULL, timeout_ms)
|
||||
if not self.buf:
|
||||
buf = self.client.recv(&self.extra, timeout_ms)
|
||||
if not buf:
|
||||
return None
|
||||
cdef cnp.ndarray dat = np.empty(self.buf.len, dtype=np.uint8)
|
||||
cdef char[:] dat_view = dat
|
||||
memcpy(&dat_view[0], self.buf.addr, self.buf.len)
|
||||
return dat
|
||||
return VisionBuf.create(buf)
|
||||
|
||||
def connect(self, bool blocking):
|
||||
return self.client.connect(blocking)
|
||||
|
||||
@@ -83,7 +83,13 @@ void VisionIpcServer::start_listener(){
|
||||
void VisionIpcServer::listener(){
|
||||
std::cout << "Starting listener for: " << name << std::endl;
|
||||
|
||||
std::string path = "/tmp/visionipc_" + name;
|
||||
char* prefix = std::getenv("OPENPILOT_PREFIX");
|
||||
std::string path = "/tmp/";
|
||||
if (prefix) {
|
||||
path = path + std::string(prefix) + "_";
|
||||
}
|
||||
path = path + "visionipc_" + name;
|
||||
|
||||
int sock = ipc_bind(path.c_str());
|
||||
assert(sock >= 0);
|
||||
|
||||
|
||||
+1
-1
@@ -53,7 +53,7 @@ int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int p
|
||||
std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id);
|
||||
int fd = open(gpiochip_path.c_str(), O_RDONLY);
|
||||
if (fd < 0) {
|
||||
LOGE("Error opening gpiochip0 fd")
|
||||
LOGE("Error opening gpiochip0 fd");
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
||||
+22
-7
@@ -1,4 +1,4 @@
|
||||
import glob
|
||||
from functools import lru_cache
|
||||
from typing import Optional, List
|
||||
|
||||
def gpio_init(pin: int, output: bool) -> None:
|
||||
@@ -25,12 +25,27 @@ def gpio_read(pin: int) -> Optional[bool]:
|
||||
|
||||
return val
|
||||
|
||||
def get_irq_for_action(action: str) -> List[int]:
|
||||
ret = []
|
||||
for fn in glob.glob('/sys/kernel/irq/*/actions'):
|
||||
with open(fn) as f:
|
||||
def gpio_export(pin: int) -> None:
|
||||
try:
|
||||
with open("/sys/class/gpio/export", 'w') as f:
|
||||
f.write(str(pin))
|
||||
except Exception:
|
||||
print(f"Failed to export gpio {pin}")
|
||||
|
||||
@lru_cache(maxsize=None)
|
||||
def get_irq_action(irq: int) -> List[str]:
|
||||
try:
|
||||
with open(f"/sys/kernel/irq/{irq}/actions") as f:
|
||||
actions = f.read().strip().split(',')
|
||||
if action in actions:
|
||||
irq = int(fn.split('/')[-2])
|
||||
return actions
|
||||
except FileNotFoundError:
|
||||
return []
|
||||
|
||||
def get_irqs_for_action(action: str) -> List[str]:
|
||||
ret = []
|
||||
with open("/proc/interrupts") as f:
|
||||
for l in f.readlines():
|
||||
irq = l.split(':')[0].strip()
|
||||
if irq.isdigit() and action in get_irq_action(irq):
|
||||
ret.append(irq)
|
||||
return ret
|
||||
|
||||
+5
-13
@@ -10,6 +10,9 @@ const int LON_MPC_N = 32;
|
||||
const float MIN_DRAW_DISTANCE = 10.0;
|
||||
const float MAX_DRAW_DISTANCE = 100.0;
|
||||
|
||||
const float RYG_GREEN = 0.01165;
|
||||
const float RYG_YELLOW = 0.06157;
|
||||
|
||||
template <typename T, size_t size>
|
||||
constexpr std::array<T, size> build_idxs(float max_val) {
|
||||
std::array<T, size> result{};
|
||||
@@ -24,23 +27,12 @@ constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
|
||||
constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
|
||||
constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
|
||||
|
||||
const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
|
||||
const mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
|
||||
0.0, 2648.0, 1208.0 / 2,
|
||||
0.0, 0.0, 1.0}};
|
||||
|
||||
// tici ecam focal probably wrong? magnification is not consistent across frame
|
||||
// Need to retrain model before this can be changed
|
||||
const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
|
||||
const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
|
||||
0.0, 567.0, 1208.0 / 2,
|
||||
0.0, 0.0, 1.0}};
|
||||
|
||||
static inline mat3 get_model_yuv_transform() {
|
||||
float db_s = 1.0;
|
||||
const mat3 transform = (mat3){{
|
||||
1.0, 0.0, 0.0,
|
||||
0.0, 1.0, 0.0,
|
||||
0.0, 0.0, 1.0
|
||||
}};
|
||||
// Can this be removed since scale is 1?
|
||||
return transform_scale_buffer(transform, db_s);
|
||||
}
|
||||
|
||||
+29
-26
@@ -85,6 +85,9 @@ private:
|
||||
|
||||
std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
|
||||
{"ApiCache_Device", PERSISTENT},
|
||||
{"ApiCache_DriveStats", PERSISTENT},
|
||||
{"ApiCache_NavDestinations", PERSISTENT},
|
||||
{"AssistNowToken", PERSISTENT},
|
||||
{"AthenadPid", PERSISTENT},
|
||||
{"AthenadUploadQueue", PERSISTENT},
|
||||
@@ -102,16 +105,16 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"DisablePowerDown", PERSISTENT},
|
||||
{"ExperimentalMode", PERSISTENT},
|
||||
{"ExperimentalModeConfirmed", PERSISTENT},
|
||||
{"LongitudinalPersonality", PERSISTENT},
|
||||
{"ExperimentalLongitudinalEnabled", PERSISTENT},
|
||||
{"DisableUpdates", PERSISTENT},
|
||||
{"DisengageOnAccelerator", PERSISTENT},
|
||||
{"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"DongleId", PERSISTENT},
|
||||
{"DoReboot", CLEAR_ON_MANAGER_START},
|
||||
{"DoShutdown", CLEAR_ON_MANAGER_START},
|
||||
{"DoUninstall", CLEAR_ON_MANAGER_START},
|
||||
{"ExperimentalLongitudinalEnabled", PERSISTENT},
|
||||
{"ExperimentalMode", PERSISTENT},
|
||||
{"ExperimentalModeConfirmed", PERSISTENT},
|
||||
{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"ForcePowerDown", PERSISTENT},
|
||||
{"GitBranch", PERSISTENT},
|
||||
@@ -134,9 +137,9 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"IsOffroad", CLEAR_ON_MANAGER_START},
|
||||
{"IsOnroad", PERSISTENT},
|
||||
{"IsRhdDetected", PERSISTENT},
|
||||
{"IsReleaseBranch", CLEAR_ON_MANAGER_START},
|
||||
{"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
|
||||
{"IsTestedBranch", CLEAR_ON_MANAGER_START},
|
||||
{"IsReleaseBranch", CLEAR_ON_MANAGER_START},
|
||||
{"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
|
||||
{"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
|
||||
@@ -144,6 +147,7 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
|
||||
{"LastGPSPosition", PERSISTENT},
|
||||
{"LastManagerExitReason", CLEAR_ON_MANAGER_START},
|
||||
{"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
|
||||
{"LastSystemShutdown", CLEAR_ON_MANAGER_START},
|
||||
{"LastUpdateException", CLEAR_ON_MANAGER_START},
|
||||
@@ -151,16 +155,30 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"LiveParameters", PERSISTENT},
|
||||
{"LiveTorqueCarParams", PERSISTENT},
|
||||
{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
|
||||
{"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"LongitudinalPersonality", PERSISTENT},
|
||||
{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"NavSettingTime24h", PERSISTENT},
|
||||
{"NavSettingLeftSide", PERSISTENT},
|
||||
{"NavSettingTime24h", PERSISTENT},
|
||||
{"NavdRender", PERSISTENT},
|
||||
{"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
|
||||
{"OpenpilotEnabledToggle", PERSISTENT},
|
||||
{"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"PandaLogState", PERSISTENT},
|
||||
{"PandaSignatures", CLEAR_ON_MANAGER_START},
|
||||
{"Passive", PERSISTENT},
|
||||
{"PrimeType", PERSISTENT},
|
||||
@@ -177,32 +195,17 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"UbloxAvailable", PERSISTENT},
|
||||
{"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"UpdateFailedCount", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterState", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterAvailableBranches", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterState", CLEAR_ON_MANAGER_START},
|
||||
{"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
|
||||
{"Version", PERSISTENT},
|
||||
{"VisionRadarToggle", PERSISTENT},
|
||||
{"ApiCache_Device", PERSISTENT},
|
||||
{"ApiCache_DriveStats", PERSISTENT},
|
||||
{"ApiCache_NavDestinations", PERSISTENT},
|
||||
{"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
|
||||
{"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"WheeledBody", PERSISTENT},
|
||||
};
|
||||
|
||||
} // namespace
|
||||
|
||||
@@ -135,4 +135,3 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun
|
||||
cloudlog_t_common(levelnum, filename, lineno, func, frame_id, fmt, args);
|
||||
va_end(args);
|
||||
}
|
||||
|
||||
|
||||
+3
-3
@@ -21,11 +21,11 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun
|
||||
|
||||
#define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
|
||||
__func__, \
|
||||
fmt, ## __VA_ARGS__);
|
||||
|
||||
fmt, ## __VA_ARGS__)
|
||||
|
||||
#define cloudlog_t(lvl, ...) cloudlog_te(lvl, __FILE__, __LINE__, \
|
||||
__func__, \
|
||||
__VA_ARGS__);
|
||||
__VA_ARGS__)
|
||||
|
||||
|
||||
#define cloudlog_rl(burst, millis, lvl, fmt, ...) \
|
||||
|
||||
@@ -1,3 +1,6 @@
|
||||
import datetime
|
||||
|
||||
MIN_DATE = datetime.datetime(year=2023, month=6, day=1)
|
||||
|
||||
def system_time_valid():
|
||||
return datetime.datetime.now() > MIN_DATE
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "0.9.3"
|
||||
#define COMMA_VERSION "0.9.4"
|
||||
|
||||
+113
-108
@@ -4,27 +4,27 @@
|
||||
|
||||
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
|
||||
|
||||
# 252 Supported Cars
|
||||
# 255 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
|
||||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|
||||
|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
|
||||
|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
|
||||
@@ -34,6 +34,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
|
||||
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
|
||||
|Ford|Maverick 2022-23|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
|
||||
@@ -41,17 +42,17 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
|
||||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
|
||||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|
||||
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|
||||
|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
|
||||
|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
@@ -75,9 +76,9 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
@@ -89,26 +90,28 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Carnival 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Carnival 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
|
||||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
|
||||
@@ -117,9 +120,9 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
|
||||
|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
|
||||
@@ -127,10 +130,10 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Buy Here</a></sub></details>||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
|
||||
@@ -150,11 +153,11 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
|
||||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
|
||||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Buy Here</a></sub></details>||
|
||||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Buy Here</a></sub></details>||
|
||||
|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
|
||||
|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
|
||||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Buy Here</a></sub></details>||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
|
||||
@@ -162,26 +165,26 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
|
||||
|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
|
||||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|
||||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details>||
|
||||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details>||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details>||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details>||
|
||||
|Škoda|Fabia 2022-23[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021[<sup>7,9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-21[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">Buy Here</a></sub></details>||
|
||||
|Škoda|Kodiaq 2017-23[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia 2015, 2018-19[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia RS 2016[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|
||||
|Škoda|Scala 2020[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|
||||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
|
||||
|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details>||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details>||
|
||||
|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details>||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details>||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details>||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details>||
|
||||
|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Škoda|Kamiq 2021[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-21[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">Buy Here</a></sub></details>||
|
||||
|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia 2015, 2018-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
|
||||
|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
|
||||
|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
|
||||
@@ -194,8 +197,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
|
||||
@@ -225,54 +228,56 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
|
||||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
|
||||
|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
|
||||
<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. All the hardware needed is sold in the <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD kit</a>. <br />
|
||||
<sup>6</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>9</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality. <br />
|
||||
<sup>10</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>11</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
<sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
|
||||
<sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>6</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. All the hardware needed is sold in the <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD kit</a>. <br />
|
||||
<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>8</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>9</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>10</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality. <br />
|
||||
<sup>12</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>13</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
+1
-1
@@ -2,7 +2,7 @@ import logging
|
||||
import os
|
||||
|
||||
from .astro_dog import AstroDog
|
||||
assert AstroDog
|
||||
assert AstroDog is not None
|
||||
|
||||
# setup logging
|
||||
LOGLEVEL = os.environ.get('LOGLEVEL', 'INFO').upper()
|
||||
|
||||
+6
-11
@@ -11,7 +11,7 @@ from math import sin, cos, sqrt, fabs, atan2
|
||||
|
||||
from .gps_time import GPSTime, utc_to_gpst
|
||||
from .constants import SPEED_OF_LIGHT, SECS_IN_MIN, SECS_IN_HR, SECS_IN_DAY, \
|
||||
SECS_IN_WEEK, EARTH_ROTATION_RATE, EARTH_GM
|
||||
EARTH_ROTATION_RATE, EARTH_GM
|
||||
from .helpers import get_constellation, get_prn_from_nmea_id
|
||||
|
||||
import capnp
|
||||
@@ -154,7 +154,7 @@ class GLONASSEphemeris(Ephemeris):
|
||||
|
||||
class PolyEphemeris(Ephemeris):
|
||||
def __init__(self, prn: str, data, epoch: GPSTime, ephem_type: EphemerisType,
|
||||
file_epoch: GPSTime=None, file_name: str=None, healthy=True, tgd=0,
|
||||
file_epoch: Optional[GPSTime] = None, file_name: Optional[str] = None, healthy=True, tgd=0,
|
||||
max_time_diff: int=SECS_IN_HR):
|
||||
super().__init__(prn, epoch, ephem_type, healthy, max_time_diff=max_time_diff, file_epoch=file_epoch, file_name=file_name)
|
||||
self.data = data
|
||||
@@ -479,17 +479,12 @@ def parse_rinex_nav_msg_glonass(file_name):
|
||||
return ephems
|
||||
|
||||
|
||||
def parse_qcom_ephem(qcom_poly, current_week):
|
||||
def parse_qcom_ephem(qcom_poly):
|
||||
svId = qcom_poly.svId
|
||||
data = qcom_poly
|
||||
t0 = data.t0
|
||||
# fix glonass time
|
||||
prn = get_prn_from_nmea_id(svId)
|
||||
if prn[0] == 'R':
|
||||
# TODO should handle leap seconds better
|
||||
epoch = GPSTime(current_week, (t0 - 3*SECS_IN_HR + SECS_IN_DAY) % (SECS_IN_WEEK) + 18)
|
||||
else:
|
||||
epoch = GPSTime(current_week, t0)
|
||||
epoch = GPSTime(qcom_poly.gpsWeek, qcom_poly.gpsTow)
|
||||
|
||||
data = qcom_poly
|
||||
poly_data = {}
|
||||
poly_data['t0'] = epoch
|
||||
poly_data['xyz'] = np.array([
|
||||
|
||||
+1
-1
@@ -54,7 +54,7 @@ class GNSSMeasurement:
|
||||
SAT_VEL = slice(11, 14)
|
||||
|
||||
def __init__(self, constellation_id: ConstellationId, sv_id: int, recv_time_week: int, recv_time_sec: float, observables: Dict[str, float], observables_std: Dict[str, float],
|
||||
glonass_freq: Union[int, float] = None):
|
||||
glonass_freq: Union[int, float, None] = None):
|
||||
# Metadata
|
||||
# prn: unique satellite id
|
||||
self.prn = "%s%02d" % (constellation_id.to_rinex_char(), sv_id) # satellite ID in rinex convention
|
||||
|
||||
+1
-1
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="7.1"
|
||||
export AGNOS_VERSION="8.2"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
|
||||
@@ -1,8 +1,9 @@
|
||||
#include <cassert>
|
||||
#include <utility>
|
||||
#include <algorithm>
|
||||
#include <map>
|
||||
#include <cassert>
|
||||
#include <cmath>
|
||||
#include <map>
|
||||
#include <stdexcept>
|
||||
#include <utility>
|
||||
|
||||
#include "opendbc/can/common.h"
|
||||
|
||||
|
||||
@@ -14,8 +14,7 @@ cdef class CANPacker:
|
||||
cdef:
|
||||
cpp_CANPacker *packer
|
||||
const DBC *dbc
|
||||
map[string, (int, int)] name_to_address_and_size
|
||||
map[int, int] address_to_size
|
||||
map[string, int] name_to_address
|
||||
|
||||
def __init__(self, dbc_name):
|
||||
self.dbc = dbc_lookup(dbc_name)
|
||||
@@ -25,8 +24,7 @@ cdef class CANPacker:
|
||||
self.packer = new cpp_CANPacker(dbc_name)
|
||||
for i in range(self.dbc[0].msgs.size()):
|
||||
msg = self.dbc[0].msgs[i]
|
||||
self.name_to_address_and_size[string(msg.name)] = (msg.address, msg.size)
|
||||
self.address_to_size[msg.address] = msg.size
|
||||
self.name_to_address[string(msg.name)] = msg.address
|
||||
|
||||
cdef vector[uint8_t] pack(self, addr, values):
|
||||
cdef vector[SignalPackValue] values_thing
|
||||
@@ -41,12 +39,11 @@ cdef class CANPacker:
|
||||
return self.packer.pack(addr, values_thing)
|
||||
|
||||
cpdef make_can_msg(self, name_or_addr, bus, values):
|
||||
cdef int addr, size
|
||||
cdef int addr
|
||||
if type(name_or_addr) == int:
|
||||
addr = name_or_addr
|
||||
size = self.address_to_size[name_or_addr]
|
||||
else:
|
||||
addr, size = self.name_to_address_and_size[name_or_addr.encode("utf8")]
|
||||
addr = self.name_to_address[name_or_addr.encode("utf8")]
|
||||
|
||||
cdef vector[uint8_t] val = self.pack(addr, values)
|
||||
return [addr, 0, (<char *>&val[0])[:size], bus]
|
||||
return [addr, 0, (<char *>&val[0])[:val.size()], bus]
|
||||
|
||||
@@ -41,12 +41,17 @@ cdef class CANParser:
|
||||
self.vl_all = {}
|
||||
self.ts_nanos = {}
|
||||
msg_name_to_address = {}
|
||||
msg_address_to_signals = {}
|
||||
|
||||
for i in range(self.dbc[0].msgs.size()):
|
||||
msg = self.dbc[0].msgs[i]
|
||||
name = msg.name.decode("utf8")
|
||||
|
||||
msg_name_to_address[name] = msg.address
|
||||
msg_address_to_signals[msg.address] = set()
|
||||
for sig in msg.sigs:
|
||||
msg_address_to_signals[msg.address].add(sig.name.decode("utf8"))
|
||||
|
||||
self.address_to_msg_name[msg.address] = name
|
||||
self.vl[msg.address] = {}
|
||||
self.vl[name] = self.vl[msg.address]
|
||||
@@ -58,12 +63,13 @@ cdef class CANParser:
|
||||
# Convert message names into addresses
|
||||
for i in range(len(signals)):
|
||||
s = signals[i]
|
||||
if not isinstance(s[1], numbers.Number):
|
||||
if s[1] not in msg_name_to_address:
|
||||
print(msg_name_to_address)
|
||||
raise RuntimeError(f"could not find message {repr(s[1])} in DBC {self.dbc_name}")
|
||||
s = (s[0], msg_name_to_address[s[1]])
|
||||
signals[i] = s
|
||||
address = s[1] if isinstance(s[1], numbers.Number) else msg_name_to_address.get(s[1])
|
||||
if address not in msg_address_to_signals:
|
||||
raise RuntimeError(f"could not find message {repr(s[1])} in DBC {self.dbc_name}")
|
||||
if s[0] not in msg_address_to_signals[address]:
|
||||
raise RuntimeError(f"could not find signal {repr(s[0])} in {repr(s[1])}, DBC {self.dbc_name}")
|
||||
|
||||
signals[i] = (s[0], address)
|
||||
|
||||
for i in range(len(checks)):
|
||||
c = checks[i]
|
||||
|
||||
@@ -698,6 +698,7 @@ BO_ 1365 FPCM11: 8 FPCM
|
||||
|
||||
BO_ 871 LVR12: 8 LVR
|
||||
SG_ CF_Lvr_CruiseSet : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,TCU
|
||||
SG_ CF_Lvr_IsgState : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,TCU
|
||||
SG_ CF_Lvr_Gear : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,TCU
|
||||
|
||||
BO_ 872 LVR11: 8 LVR
|
||||
@@ -1639,11 +1640,15 @@ BO_ 1042 ICM_412h: 8 ICM
|
||||
|
||||
BO_ 1348 Navi_HU: 8 XXX
|
||||
SG_ SpeedLim_Nav_Clu : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SpeedLim_Nav_General : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SpeedLim_Nav_Cam : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ E_EMS11: All (plug-in) hybrids use this gas signal: CR_Vcu_AccPedDep_Pos, and all EVs use the Accel_Pedal_Pos signal. See hyundai/values.py for a specific car list";
|
||||
CM_ SG_ 871 CF_Lvr_IsgState "Idle Stop and Go";
|
||||
CM_ SG_ 1348 SpeedLim_Nav_Clu "Speed limit displayed on Nav, Cluster and HUD";
|
||||
|
||||
VAL_ 274 CUR_GR 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 7 "D" 8 "D" 14 "R" 0 "P";
|
||||
VAL_ 871 CF_Lvr_IsgState 0 "enabled" 1 "activated" 2 "unknown" 3 "disabled";
|
||||
VAL_ 871 CF_Lvr_Gear 12 "T" 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
|
||||
VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
|
||||
VAL_ 905 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled";
|
||||
|
||||
@@ -87,10 +87,14 @@ BO_ 314 Wheel_Speeds: 8 XXX
|
||||
SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
|
||||
BO_ 280 STOP_START: 8 XXX
|
||||
BO_ 280 Steering_Torque_2: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ State : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steer_Torque_Output : 13|11@1- (-10,0) [0|255] "" XXX
|
||||
SG_ Signal1 : 24|8@1+ (1,0) [0|511] "" XXX
|
||||
SG_ Steer_Torque_Sensor : 45|11@1- (-1,0) [0|255] "" XXX
|
||||
SG_ Steering_Active : 61|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Steering_Disabled : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 281 Steering_Torque: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -102,6 +106,11 @@ BO_ 281 Steering_Torque: 8 XXX
|
||||
SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X
|
||||
SG_ Steer_Torque_Output : 48|11@1- (-10,0) [-1000|1000] "" XXX
|
||||
|
||||
BO_ 282 Steering_2: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steering_Angle : 24|17@1- (-0.01,0) [0|1] "" XXX
|
||||
|
||||
BO_ 312 Brake_Pressure_L_R: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
@@ -131,12 +140,19 @@ BO_ 290 ES_LKAS: 8 XXX
|
||||
SG_ LKAS_Output : 16|13@1- (-1,0) [-8191|8191] "" XXX
|
||||
SG_ LKAS_Request : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 292 ES_LKAS_ALT: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Request : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Output : 40|17@1- (-1,0) [0|1] "" XXX
|
||||
SG_ SET_3 : 60|2@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 544 ES_Brake: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Brake_Pressure : 16|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ Signal2 : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ AEB_Status : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -244,6 +260,9 @@ BO_ 1677 Dash_State: 8 XXX
|
||||
CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
|
||||
CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on";
|
||||
CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights";
|
||||
CM_ SG_ 544 Brake_Pressure "Winds down after cruise disabled. Also can be non-zero when likely preparing for AEB";
|
||||
CM_ SG_ 544 Signal3 "Usually goes to 2 if AEB_Status is 4";
|
||||
CM_ SG_ 544 AEB_Status "Occasionally is 4 instead of 8 while Brake_Pressure is non-zero, unsure why";
|
||||
CM_ SG_ 801 PCB_Off "Pre-Collision Braking off";
|
||||
CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on";
|
||||
CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
|
||||
@@ -260,6 +279,7 @@ CM_ SG_ 802 LKAS_Dash_State "0 = Off, 1 = Ready, 2 = Active";
|
||||
CM_ SG_ 802 LKAS_Right_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange";
|
||||
CM_ SG_ 912 UNITS "0 = Metric, 1 = Imperial";
|
||||
CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF";
|
||||
VAL_ 544 AEB_Status 12 "AEB related" 8 "AEB actuation" 4 "AEB related" 0 "No AEB actuation";
|
||||
|
||||
CM_ "subaru_global_2017.dbc starts here";
|
||||
|
||||
@@ -316,7 +336,7 @@ BO_ 576 CruiseControl: 8 XXX
|
||||
SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX
|
||||
|
||||
BO_ 803 INFOTAINMENT_STATUS: 8 XXX
|
||||
BO_ 803 ES_Infotainment: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LKAS_Blue_Lines : 15|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
@@ -83,7 +83,7 @@ BU_: XXX DSU HCU EPS IPAS CGW BGM
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX
|
||||
SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
|
||||
SG_ ACCEL_X : 17|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
|
||||
BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
|
||||
SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
|
||||
@@ -286,7 +286,7 @@ BO_ 1042 LKAS_HUD: 8 DSU
|
||||
SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_SPEED_TOO_LOW : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_MESSAGES : 23|3@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -310,6 +310,11 @@ BO_ 1043 TIME : 8 CGW
|
||||
SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
|
||||
SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1044 AUTO_HIGH_BEAM: 8 FCM
|
||||
SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX
|
||||
SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 1083 AUTOPARK_STATUS: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
@@ -468,7 +473,7 @@ CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity";
|
||||
CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning";
|
||||
CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1";
|
||||
CM_ SG_ 1042 LDA_SPEED_TOO_LOW "length is 3 bits in the leaked DBC, displays LDA unavailable below approx 50 km/h if set to 1";
|
||||
CM_ SG_ 1042 LDA_MESSAGES "Various LDA Messages";
|
||||
CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1";
|
||||
CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning";
|
||||
CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch";
|
||||
@@ -532,7 +537,7 @@ VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear";
|
||||
VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on";
|
||||
VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined";
|
||||
VAL_ 1042 LDA_SPEED_TOO_LOW 1 "lda unavailable, speed too low" 0 "ok";
|
||||
VAL_ 1042 LDA_MESSAGES 4 "lda unavailable at this speed" 1 "lda unavailable below approx 50km/h" 0 "ok";
|
||||
VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok";
|
||||
VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok";
|
||||
VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok";
|
||||
|
||||
@@ -83,7 +83,7 @@ BU_: XXX DSU HCU EPS IPAS CGW BGM
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX
|
||||
SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
|
||||
SG_ ACCEL_X : 17|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
|
||||
BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
|
||||
SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
|
||||
@@ -286,7 +286,7 @@ BO_ 1042 LKAS_HUD: 8 DSU
|
||||
SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_SPEED_TOO_LOW : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_MESSAGES : 23|3@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -310,6 +310,11 @@ BO_ 1043 TIME : 8 CGW
|
||||
SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
|
||||
SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1044 AUTO_HIGH_BEAM: 8 FCM
|
||||
SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX
|
||||
SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 1083 AUTOPARK_STATUS: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
@@ -468,7 +473,7 @@ CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity";
|
||||
CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning";
|
||||
CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1";
|
||||
CM_ SG_ 1042 LDA_SPEED_TOO_LOW "length is 3 bits in the leaked DBC, displays LDA unavailable below approx 50 km/h if set to 1";
|
||||
CM_ SG_ 1042 LDA_MESSAGES "Various LDA Messages";
|
||||
CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1";
|
||||
CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning";
|
||||
CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch";
|
||||
@@ -532,7 +537,7 @@ VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear";
|
||||
VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on";
|
||||
VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined";
|
||||
VAL_ 1042 LDA_SPEED_TOO_LOW 1 "lda unavailable, speed too low" 0 "ok";
|
||||
VAL_ 1042 LDA_MESSAGES 4 "lda unavailable at this speed" 1 "lda unavailable below approx 50km/h" 0 "ok";
|
||||
VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok";
|
||||
VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok";
|
||||
VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok";
|
||||
@@ -560,7 +565,7 @@ BO_ 401 STEERING_LTA: 8 XXX
|
||||
SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
|
||||
SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKA_ACTIVE : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CLEAR_HOLD_STEERING_ALERT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -577,6 +582,16 @@ BO_ 610 EPS_STATUS: 8 EPS
|
||||
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 881 LTA_RELATED: 8 FCM
|
||||
SG_ GAS_PEDAL : 15|8@0+ (0.005,0) [0|1] "" XXX
|
||||
SG_ STEER_ANGLE : 23|16@0- (0.0573,0) [-500|500] "" XXX
|
||||
SG_ TURN_SIGNALS : 35|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ UNKNOWN_2 : 58|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_SA_TOGGLE : 59|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LTA_STEER_REQUEST : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ UNKNOWN : 61|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEERING_PRESSED : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1014 BSM: 8 XXX
|
||||
SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -589,13 +604,22 @@ CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeri
|
||||
CM_ SG_ 401 SETME_X64 "ramps to 0 smoothly then back on falling edge of STEER_REQUEST if BIT isn't 1";
|
||||
CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera";
|
||||
CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out";
|
||||
CM_ SG_ 401 BIT "has correlation to STEER_REQUEST";
|
||||
CM_ SG_ 401 CLEAR_HOLD_STEERING_ALERT "set to 1 when user clears LKAS_HUD->LDA_ALERT ('Hold Steering') by applying torque to steering wheel";
|
||||
CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not";
|
||||
CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not";
|
||||
CM_ SG_ 401 LKA_ACTIVE "1 when using LTA for LKA";
|
||||
CM_ SG_ 401 SETME_X1 "usually 1, seen at 0 on some South American Corollas indicating lack of stock Lane Tracing Assist";
|
||||
CM_ SG_ 401 SETME_X3 "almost completely correlates with Toyota Safety Sense version, but may instead describe max torque when using LTA. if TSS 2.5 or 2022 RAV4, this is always 1. if TSS 2.0 this is always 3 (or 0 on Alphard, Highlander, NX)";
|
||||
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
CM_ SG_ 881 GAS_PEDAL "not set on all cars, only seen on TSS 2.5 Camry Hybrid so far";
|
||||
CM_ SG_ 881 STEER_ANGLE "matches STEER_TORQUE_SENSOR->STEER_ANGLE";
|
||||
CM_ SG_ 881 TURN_SIGNALS "flipped on some cars";
|
||||
CM_ SG_ 881 LDA_SA_TOGGLE "not applicable for all cars";
|
||||
CM_ SG_ 881 LTA_STEER_REQUEST "only applicable for TSS 2.5: matches STEERING_LTA->STEER_REQUEST";
|
||||
CM_ SG_ 881 UNKNOWN "related to steering wheel angle";
|
||||
CM_ SG_ 881 STEERING_PRESSED "only applicable for TSS 2.5: low sensitivity steering wheel pressed by driver signal";
|
||||
CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
@@ -603,6 +627,7 @@ CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled
|
||||
CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
|
||||
CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
|
||||
|
||||
VAL_ 401 SETME_X3 3 "TSS 2.0" 1 "TSS 2.5 or 2022 RAV4" 0 "TSS 2.0 on Alphard, Highlander, NX";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 11 "lka_missing_unavailable2" 9 "temporary_fault2" 5 "active" 3 "lka_missing_unavailable" 1 "standby";
|
||||
VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 3 "lta_missing_unavailable" 1 "standby";
|
||||
|
||||
@@ -83,7 +83,7 @@ BU_: XXX DSU HCU EPS IPAS CGW BGM
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX
|
||||
SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
|
||||
SG_ ACCEL_X : 17|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
|
||||
BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
|
||||
SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
|
||||
@@ -286,7 +286,7 @@ BO_ 1042 LKAS_HUD: 8 DSU
|
||||
SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_SPEED_TOO_LOW : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_MESSAGES : 23|3@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -310,6 +310,11 @@ BO_ 1043 TIME : 8 CGW
|
||||
SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
|
||||
SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1044 AUTO_HIGH_BEAM: 8 FCM
|
||||
SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX
|
||||
SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 1083 AUTOPARK_STATUS: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
@@ -468,7 +473,7 @@ CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity";
|
||||
CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning";
|
||||
CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1";
|
||||
CM_ SG_ 1042 LDA_SPEED_TOO_LOW "length is 3 bits in the leaked DBC, displays LDA unavailable below approx 50 km/h if set to 1";
|
||||
CM_ SG_ 1042 LDA_MESSAGES "Various LDA Messages";
|
||||
CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1";
|
||||
CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning";
|
||||
CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch";
|
||||
@@ -532,7 +537,7 @@ VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear";
|
||||
VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on";
|
||||
VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined";
|
||||
VAL_ 1042 LDA_SPEED_TOO_LOW 1 "lda unavailable, speed too low" 0 "ok";
|
||||
VAL_ 1042 LDA_MESSAGES 4 "lda unavailable at this speed" 1 "lda unavailable below approx 50km/h" 0 "ok";
|
||||
VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok";
|
||||
VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok";
|
||||
VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok";
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
*.tmp
|
||||
*.pyc
|
||||
.*.swp
|
||||
.*.swo
|
||||
|
||||
+4
-3
@@ -1,5 +1,6 @@
|
||||
from .python.constants import McuType, BASEDIR, FW_PATH # noqa: F401
|
||||
from .python.constants import McuType, BASEDIR, FW_PATH, USBPACKET_MAX_SIZE # noqa: F401
|
||||
from .python.spi import PandaSpiException, PandaProtocolMismatch # noqa: F401
|
||||
from .python.serial import PandaSerial # noqa: F401
|
||||
from .python import (Panda, PandaDFU, # noqa: F401
|
||||
pack_can_buffer, unpack_can_buffer, calculate_checksum,
|
||||
DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, USBPACKET_MAX_SIZE, CANPACKET_HEAD_SIZE)
|
||||
pack_can_buffer, unpack_can_buffer, calculate_checksum, unpack_log,
|
||||
DLC_TO_LEN, LEN_TO_DLC, ALTERNATIVE_EXPERIENCE, CANPACKET_HEAD_SIZE)
|
||||
|
||||
@@ -4,8 +4,8 @@ Programming
|
||||
**Panda**
|
||||
|
||||
```
|
||||
./recover.py # flash bootstub
|
||||
./flash.py # flash application
|
||||
./recover.py # flash bootstub
|
||||
```
|
||||
|
||||
Troubleshooting
|
||||
@@ -13,7 +13,8 @@ Troubleshooting
|
||||
|
||||
If your panda will not flash and green LED is on, use `recover.py`.
|
||||
If panda is blinking fast with green LED, use `flash.py`.
|
||||
|
||||
Otherwise if LED is off and panda can't be seen with `lsusb` command, use [panda paw](https://comma.ai/shop/products/panda-paw) to go into DFU mode.
|
||||
|
||||
|
||||
[dfu-util](http://github.com/dsigma/dfu-util.git) for flashing
|
||||
If your device has an internal panda and none of the above works, try running `../tests/reflash_internal_panda.py`.
|
||||
|
||||
@@ -11,7 +11,7 @@ typedef void (*board_set_ir_power)(uint8_t percentage);
|
||||
typedef void (*board_set_fan_enabled)(bool enabled);
|
||||
typedef void (*board_set_phone_power)(bool enabled);
|
||||
typedef void (*board_set_siren)(bool enabled);
|
||||
typedef void (*board_board_tick)(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted);
|
||||
typedef bool (*board_board_tick)(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted);
|
||||
typedef bool (*board_read_som_gpio)(void);
|
||||
|
||||
struct board {
|
||||
|
||||
@@ -53,9 +53,11 @@ void dos_set_bootkick(bool enabled){
|
||||
set_gpio_output(GPIOC, 4, !enabled);
|
||||
}
|
||||
|
||||
void dos_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
|
||||
bool dos_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
|
||||
bool ret = false;
|
||||
if ((ignition && !usb_enum) || harness_inserted) {
|
||||
// enable bootkick if ignition seen or if plugged into a harness
|
||||
ret = true;
|
||||
dos_set_bootkick(true);
|
||||
} else if (heartbeat_seen) {
|
||||
// disable once openpilot is up
|
||||
@@ -63,6 +65,7 @@ void dos_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harn
|
||||
} else {
|
||||
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
void dos_set_can_mode(uint8_t mode){
|
||||
|
||||
@@ -36,5 +36,6 @@ const board board_red_v2 = {
|
||||
.set_fan_enabled = unused_set_fan_enabled,
|
||||
.set_ir_power = unused_set_ir_power,
|
||||
.set_phone_power = unused_set_phone_power,
|
||||
.set_siren = unused_set_siren
|
||||
.set_siren = unused_set_siren,
|
||||
.read_som_gpio = unused_read_som_gpio
|
||||
};
|
||||
|
||||
@@ -19,10 +19,12 @@ void tres_set_bootkick(bool enabled){
|
||||
}
|
||||
|
||||
bool tres_ignition_prev = false;
|
||||
void tres_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
|
||||
bool tres_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
|
||||
UNUSED(usb_enum);
|
||||
bool ret = false;
|
||||
if ((ignition && !tres_ignition_prev) || harness_inserted) {
|
||||
// enable bootkick on rising edge of ignition
|
||||
ret = true;
|
||||
tres_set_bootkick(true);
|
||||
} else if (heartbeat_seen) {
|
||||
// disable once openpilot is up
|
||||
@@ -31,6 +33,7 @@ void tres_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool har
|
||||
|
||||
}
|
||||
tres_ignition_prev = ignition;
|
||||
return ret;
|
||||
}
|
||||
|
||||
void tres_set_fan_enabled(bool enabled) {
|
||||
|
||||
@@ -126,7 +126,7 @@ void uno_set_can_mode(uint8_t mode){
|
||||
}
|
||||
}
|
||||
|
||||
void uno_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
|
||||
bool uno_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
|
||||
UNUSED(ignition);
|
||||
UNUSED(usb_enum);
|
||||
UNUSED(heartbeat_seen);
|
||||
@@ -136,6 +136,7 @@ void uno_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harn
|
||||
} else {
|
||||
uno_set_bootkick(false);
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
bool uno_check_ignition(void){
|
||||
|
||||
@@ -22,11 +22,12 @@ uint32_t unused_read_current(void) {
|
||||
return 0U;
|
||||
}
|
||||
|
||||
void unused_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
|
||||
bool unused_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
|
||||
UNUSED(ignition);
|
||||
UNUSED(usb_enum);
|
||||
UNUSED(heartbeat_seen);
|
||||
UNUSED(harness_inserted);
|
||||
return false;
|
||||
}
|
||||
|
||||
bool unused_read_som_gpio(void) {
|
||||
|
||||
@@ -1,3 +1,5 @@
|
||||
#pragma once
|
||||
|
||||
uint8_t crc_checksum(uint8_t *dat, int len, const uint8_t poly) {
|
||||
uint8_t crc = 0xFFU;
|
||||
int i;
|
||||
|
||||
+28
-21
@@ -3,6 +3,11 @@
|
||||
// CAN3_TX, CAN3_RX0, CAN3_SCE
|
||||
|
||||
CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3};
|
||||
uint8_t can_irq_number[3][3] = {
|
||||
{ CAN1_TX_IRQn, CAN1_RX0_IRQn, CAN1_SCE_IRQn },
|
||||
{ CAN2_TX_IRQn, CAN2_RX0_IRQn, CAN2_SCE_IRQn },
|
||||
{ CAN3_TX_IRQn, CAN3_RX0_IRQn, CAN3_SCE_IRQn },
|
||||
};
|
||||
|
||||
bool can_set_speed(uint8_t can_number) {
|
||||
bool ret = true;
|
||||
@@ -68,16 +73,10 @@ void can_set_gmlan(uint8_t bus) {
|
||||
}
|
||||
}
|
||||
|
||||
void update_can_health_pkt(uint8_t can_number, bool error_irq) {
|
||||
void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
|
||||
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
|
||||
uint32_t esr_reg = CAN->ESR;
|
||||
|
||||
if (error_irq) {
|
||||
can_health[can_number].total_error_cnt += 1U;
|
||||
CAN->MSR = CAN_MSR_ERRI;
|
||||
llcan_clear_send(CAN);
|
||||
}
|
||||
|
||||
can_health[can_number].bus_off = ((esr_reg & CAN_ESR_BOFF) >> CAN_ESR_BOFF_Pos);
|
||||
can_health[can_number].bus_off_cnt += can_health[can_number].bus_off;
|
||||
can_health[can_number].error_warning = ((esr_reg & CAN_ESR_EWGF) >> CAN_ESR_EWGF_Pos);
|
||||
@@ -90,16 +89,31 @@ void update_can_health_pkt(uint8_t can_number, bool error_irq) {
|
||||
|
||||
can_health[can_number].receive_error_cnt = ((esr_reg & CAN_ESR_REC) >> CAN_ESR_REC_Pos);
|
||||
can_health[can_number].transmit_error_cnt = ((esr_reg & CAN_ESR_TEC) >> CAN_ESR_TEC_Pos);
|
||||
}
|
||||
|
||||
// CAN error
|
||||
void can_sce(uint8_t can_number) {
|
||||
ENTER_CRITICAL();
|
||||
update_can_health_pkt(can_number, true);
|
||||
EXIT_CRITICAL();
|
||||
can_health[can_number].irq0_call_rate = interrupts[can_irq_number[can_number][0]].call_rate;
|
||||
can_health[can_number].irq1_call_rate = interrupts[can_irq_number[can_number][1]].call_rate;
|
||||
can_health[can_number].irq2_call_rate = interrupts[can_irq_number[can_number][2]].call_rate;
|
||||
|
||||
if (ir_reg != 0U) {
|
||||
can_health[can_number].total_error_cnt += 1U;
|
||||
|
||||
// RX message lost due to FIFO overrun
|
||||
if ((CAN->RF0R & (CAN_RF0R_FOVR0)) != 0) {
|
||||
can_health[can_number].total_rx_lost_cnt += 1U;
|
||||
CAN->RF0R &= ~(CAN_RF0R_FOVR0);
|
||||
}
|
||||
can_health[can_number].can_core_reset_cnt += 1U;
|
||||
llcan_clear_send(CAN);
|
||||
}
|
||||
}
|
||||
|
||||
// ***************************** CAN *****************************
|
||||
// CANx_SCE IRQ Handler
|
||||
void can_sce(uint8_t can_number) {
|
||||
update_can_health_pkt(can_number, 1U);
|
||||
}
|
||||
|
||||
// CANx_TX IRQ Handler
|
||||
void process_can(uint8_t can_number) {
|
||||
if (can_number != 0xffU) {
|
||||
|
||||
@@ -155,22 +169,16 @@ void process_can(uint8_t can_number) {
|
||||
}
|
||||
}
|
||||
|
||||
update_can_health_pkt(can_number, false);
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
}
|
||||
|
||||
// CAN receive handlers
|
||||
// CANx_RX0 IRQ Handler
|
||||
// blink blue when we are receiving CAN messages
|
||||
void can_rx(uint8_t can_number) {
|
||||
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
|
||||
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
|
||||
|
||||
if ((CAN->RF0R & (CAN_RF0R_FOVR0)) != 0) { // RX message lost due to FIFO overrun
|
||||
can_health[can_number].total_rx_lost_cnt += 1U;
|
||||
CAN->RF0R &= ~(CAN_RF0R_FOVR0);
|
||||
}
|
||||
|
||||
while ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
|
||||
can_health[can_number].total_rx_cnt += 1U;
|
||||
|
||||
@@ -215,7 +223,6 @@ void can_rx(uint8_t can_number) {
|
||||
rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U;
|
||||
|
||||
// next
|
||||
update_can_health_pkt(can_number, false);
|
||||
CAN->RF0R |= CAN_RF0R_RFOM0;
|
||||
}
|
||||
}
|
||||
|
||||
+33
-14
@@ -11,6 +11,14 @@ typedef struct {
|
||||
|
||||
FDCAN_GlobalTypeDef *cans[] = {FDCAN1, FDCAN2, FDCAN3};
|
||||
|
||||
uint8_t can_irq_number[3][2] = {
|
||||
{ FDCAN1_IT0_IRQn, FDCAN1_IT1_IRQn },
|
||||
{ FDCAN2_IT0_IRQn, FDCAN2_IT1_IRQn },
|
||||
{ FDCAN3_IT0_IRQn, FDCAN3_IT1_IRQn },
|
||||
};
|
||||
|
||||
#define CAN_ACK_ERROR 3U
|
||||
|
||||
bool can_set_speed(uint8_t can_number) {
|
||||
bool ret = true;
|
||||
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
|
||||
@@ -32,10 +40,7 @@ void can_set_gmlan(uint8_t bus) {
|
||||
print("GMLAN not available on red panda\n");
|
||||
}
|
||||
|
||||
// ***************************** CAN *****************************
|
||||
void update_can_health_pkt(uint8_t can_number, bool error_irq) {
|
||||
ENTER_CRITICAL();
|
||||
|
||||
void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) {
|
||||
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
|
||||
uint32_t psr_reg = CANx->PSR;
|
||||
uint32_t ecr_reg = CANx->ECR;
|
||||
@@ -58,17 +63,30 @@ void update_can_health_pkt(uint8_t can_number, bool error_irq) {
|
||||
can_health[can_number].receive_error_cnt = ((ecr_reg & FDCAN_ECR_REC) >> FDCAN_ECR_REC_Pos);
|
||||
can_health[can_number].transmit_error_cnt = ((ecr_reg & FDCAN_ECR_TEC) >> FDCAN_ECR_TEC_Pos);
|
||||
|
||||
can_health[can_number].irq0_call_rate = interrupts[can_irq_number[can_number][0]].call_rate;
|
||||
can_health[can_number].irq1_call_rate = interrupts[can_irq_number[can_number][1]].call_rate;
|
||||
|
||||
if (error_irq) {
|
||||
|
||||
if (ir_reg != 0U) {
|
||||
// Clear error interrupts
|
||||
CANx->IR |= (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EP | FDCAN_IR_BO | FDCAN_IR_RF0L);
|
||||
can_health[can_number].total_error_cnt += 1U;
|
||||
if ((CANx->IR & (FDCAN_IR_TEFL)) != 0) {
|
||||
can_health[can_number].total_tx_lost_cnt += 1U;
|
||||
// Check for RX FIFO overflow
|
||||
if ((ir_reg & (FDCAN_IR_RF0L)) != 0) {
|
||||
can_health[can_number].total_rx_lost_cnt += 1U;
|
||||
}
|
||||
// While multiplexing between buses 1 and 3 we are getting ACK errors that overwhelm CAN core
|
||||
// By resseting CAN core when no ACK is detected for a while(until TEC counter reaches 127) it can recover faster
|
||||
if (((can_health[can_number].last_error == CAN_ACK_ERROR) || (can_health[can_number].last_data_error == CAN_ACK_ERROR)) && (can_health[can_number].transmit_error_cnt > 127U)) {
|
||||
can_health[can_number].can_core_reset_cnt += 1U;
|
||||
can_health[can_number].total_tx_lost_cnt += (FDCAN_TX_FIFO_EL_CNT - (CANx->TXFQS & FDCAN_TXFQS_TFFL)); // TX FIFO msgs will be lost after reset
|
||||
llcan_clear_send(CANx);
|
||||
}
|
||||
llcan_clear_send(CANx);
|
||||
}
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
|
||||
// ***************************** CAN *****************************
|
||||
// FDCANx_IT1 IRQ Handler (TX)
|
||||
void process_can(uint8_t can_number) {
|
||||
if (can_number != 0xffU) {
|
||||
ENTER_CRITICAL();
|
||||
@@ -122,18 +140,18 @@ void process_can(uint8_t can_number) {
|
||||
refresh_can_tx_slots_available();
|
||||
}
|
||||
}
|
||||
|
||||
update_can_health_pkt(can_number, false);
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
}
|
||||
|
||||
// CAN receive handlers
|
||||
// FDCANx_IT0 IRQ Handler (RX and errors)
|
||||
// blink blue when we are receiving CAN messages
|
||||
void can_rx(uint8_t can_number) {
|
||||
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
|
||||
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
|
||||
|
||||
uint32_t ir_reg = CANx->IR;
|
||||
|
||||
// Clear all new messages from Rx FIFO 0
|
||||
CANx->IR |= FDCAN_IR_RF0N;
|
||||
while((CANx->RXF0S & FDCAN_RXF0S_F0FL) != 0) {
|
||||
@@ -212,8 +230,9 @@ void can_rx(uint8_t can_number) {
|
||||
}
|
||||
|
||||
// Error handling
|
||||
bool error_irq = ((CANx->IR & (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EW | FDCAN_IR_EP | FDCAN_IR_ELO | FDCAN_IR_BO | FDCAN_IR_TEFL | FDCAN_IR_RF0L)) != 0);
|
||||
update_can_health_pkt(can_number, error_irq);
|
||||
if ((ir_reg & (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EP | FDCAN_IR_BO | FDCAN_IR_RF0L)) != 0) {
|
||||
update_can_health_pkt(can_number, ir_reg);
|
||||
}
|
||||
}
|
||||
|
||||
void FDCAN1_IT0_IRQ_Handler(void) { can_rx(0); }
|
||||
|
||||
@@ -272,6 +272,7 @@ bool bitbang_gmlan(CANPacket_t *to_bang) {
|
||||
gmlan_send_ok = true;
|
||||
gmlan_alt_mode = BITBANG;
|
||||
|
||||
#ifndef STM32H7
|
||||
if (gmlan_sendmax == -1) {
|
||||
int len = get_bit_message(pkt_stuffed, to_bang);
|
||||
gmlan_fail_count = 0;
|
||||
@@ -285,5 +286,8 @@ bool bitbang_gmlan(CANPacket_t *to_bang) {
|
||||
// 33kbps
|
||||
setup_timer();
|
||||
}
|
||||
#else
|
||||
UNUSED(to_bang);
|
||||
#endif
|
||||
return gmlan_send_ok;
|
||||
}
|
||||
|
||||
@@ -2,6 +2,7 @@ typedef struct interrupt {
|
||||
IRQn_Type irq_type;
|
||||
void (*handler)(void);
|
||||
uint32_t call_counter;
|
||||
uint32_t call_rate;
|
||||
uint32_t max_call_rate; // Call rate is defined as the amount of calls each second
|
||||
uint32_t call_rate_fault;
|
||||
} interrupt;
|
||||
@@ -17,11 +18,12 @@ void unused_interrupt_handler(void) {
|
||||
|
||||
interrupt interrupts[NUM_INTERRUPTS];
|
||||
|
||||
#define REGISTER_INTERRUPT(irq_num, func_ptr, call_rate, rate_fault) \
|
||||
#define REGISTER_INTERRUPT(irq_num, func_ptr, call_rate_max, rate_fault) \
|
||||
interrupts[irq_num].irq_type = (irq_num); \
|
||||
interrupts[irq_num].handler = (func_ptr); \
|
||||
interrupts[irq_num].call_counter = 0U; \
|
||||
interrupts[irq_num].max_call_rate = (call_rate); \
|
||||
interrupts[irq_num].call_rate = 0U; \
|
||||
interrupts[irq_num].max_call_rate = (call_rate_max); \
|
||||
interrupts[irq_num].call_rate_fault = (rate_fault);
|
||||
|
||||
bool check_interrupt_rate = false;
|
||||
@@ -70,6 +72,7 @@ void interrupt_timer_handler(void) {
|
||||
}
|
||||
|
||||
// Reset interrupt counters
|
||||
interrupts[i].call_rate = interrupts[i].call_counter;
|
||||
interrupts[i].call_counter = 0U;
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,193 @@
|
||||
|
||||
#include "logging_definitions.h"
|
||||
|
||||
#define BANK_SIZE LOGGING_FLASH_SECTOR_SIZE
|
||||
#define BANK_LOG_CAPACITY (BANK_SIZE / sizeof(log_t))
|
||||
#define TOTAL_LOG_CAPACITY (BANK_LOG_CAPACITY * 2U)
|
||||
|
||||
#define LOGGING_MAX_LOGS_PER_MINUTE 10U
|
||||
|
||||
struct logging_state_t {
|
||||
uint16_t read_index;
|
||||
uint16_t write_index;
|
||||
uint16_t last_id;
|
||||
|
||||
uint8_t rate_limit_counter;
|
||||
uint8_t rate_limit_log_count;
|
||||
};
|
||||
struct logging_state_t log_state = { 0 };
|
||||
log_t *log_arr = (log_t *) LOGGING_FLASH_BASE_A;
|
||||
|
||||
uint16_t logging_next_id(uint16_t id) {
|
||||
return (id + 1U) % 0xFFFEU;
|
||||
}
|
||||
|
||||
uint16_t logging_next_index(uint16_t index) {
|
||||
return (index + 1U) % TOTAL_LOG_CAPACITY;
|
||||
}
|
||||
|
||||
void logging_erase_bank(uint8_t flash_sector) {
|
||||
print("erasing sector "); puth(flash_sector); print("\n");
|
||||
flash_unlock();
|
||||
if (!flash_erase_sector(flash_sector)) {
|
||||
print("failed to erase sector "); puth(flash_sector); print("\n");
|
||||
}
|
||||
flash_lock();
|
||||
}
|
||||
|
||||
void logging_erase(void) {
|
||||
logging_erase_bank(LOGGING_FLASH_SECTOR_A);
|
||||
logging_erase_bank(LOGGING_FLASH_SECTOR_B);
|
||||
log_state.read_index = 0U;
|
||||
log_state.write_index = 0U;
|
||||
}
|
||||
|
||||
void logging_find_read_index(uint16_t last_id) {
|
||||
// Figure out the read index by the last empty slot
|
||||
log_state.read_index = BANK_LOG_CAPACITY;
|
||||
for (uint16_t i = 0U; i < TOTAL_LOG_CAPACITY; i++) {
|
||||
if (log_arr[i].id == last_id) {
|
||||
log_state.read_index = logging_next_index(i);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void logging_init_read_index(void) {
|
||||
return logging_find_read_index(0xFFFFU);
|
||||
}
|
||||
|
||||
void logging_init(void) {
|
||||
COMPILE_TIME_ASSERT(sizeof(log_t) == 64U);
|
||||
COMPILE_TIME_ASSERT((LOGGING_FLASH_BASE_A + BANK_SIZE) == LOGGING_FLASH_BASE_B);
|
||||
|
||||
// Make sure all empty-ID logs are fully empty
|
||||
log_t empty_log;
|
||||
(void) memset(&empty_log, 0xFF, sizeof(log_t));
|
||||
|
||||
for (uint16_t i = 0U; i < TOTAL_LOG_CAPACITY; i++) {
|
||||
if ((log_arr[i].id == 0xFFFFU) && (memcmp(&log_arr[i], &empty_log, sizeof(log_t)) != 0)) {
|
||||
logging_erase();
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
logging_init_read_index();
|
||||
|
||||
// At initialization, the read index should always be at the beginning of a bank
|
||||
// If not, clean slate
|
||||
if ((log_state.read_index != 0U) && (log_state.read_index != BANK_LOG_CAPACITY)) {
|
||||
logging_erase();
|
||||
}
|
||||
|
||||
// Figure out the write index
|
||||
log_state.write_index = log_state.read_index;
|
||||
log_state.last_id = log_arr[log_state.write_index].id - 1U;
|
||||
for (uint16_t i = 0U; i < TOTAL_LOG_CAPACITY; i++) {
|
||||
bool done = false;
|
||||
if (log_arr[log_state.write_index].id == 0xFFFFU) {
|
||||
// Found the first empty slot after the read pointer
|
||||
done = true;
|
||||
} else if (log_arr[log_state.write_index].id != logging_next_id(log_state.last_id)) {
|
||||
// Discontinuity in the index, shouldn't happen!
|
||||
logging_erase();
|
||||
done = true;
|
||||
} else {
|
||||
log_state.last_id = log_arr[log_state.write_index].id;
|
||||
log_state.write_index = logging_next_index(log_state.write_index);
|
||||
}
|
||||
|
||||
if (done) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// Reset rate limit
|
||||
log_state.rate_limit_counter = 0U;
|
||||
log_state.rate_limit_log_count = 0U;
|
||||
}
|
||||
|
||||
// Call at 1Hz
|
||||
void logging_tick(void) {
|
||||
flush_write_buffer();
|
||||
|
||||
log_state.rate_limit_counter++;
|
||||
if (log_state.rate_limit_counter >= 60U) {
|
||||
log_state.rate_limit_counter = 0U;
|
||||
log_state.rate_limit_log_count = 0U;
|
||||
}
|
||||
}
|
||||
|
||||
void log(const char* msg){
|
||||
if (log_state.rate_limit_log_count < LOGGING_MAX_LOGS_PER_MINUTE) {
|
||||
ENTER_CRITICAL();
|
||||
log_t new_log = {0};
|
||||
new_log.id = logging_next_id(log_state.last_id);
|
||||
log_state.last_id = new_log.id;
|
||||
new_log.uptime = uptime_cnt;
|
||||
if (current_board->has_rtc_battery) {
|
||||
new_log.timestamp = rtc_get_time();
|
||||
}
|
||||
|
||||
uint8_t i = 0U;
|
||||
for (const char *in = msg; *in; in++) {
|
||||
new_log.msg[i] = *in;
|
||||
i++;
|
||||
if (i >= sizeof(new_log.msg)) {
|
||||
print("log message too long\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// If we are at the beginning of a bank, erase it first and move the read pointer if needed
|
||||
switch (log_state.write_index) {
|
||||
case ((2U * BANK_LOG_CAPACITY) - 1U):
|
||||
logging_erase_bank(LOGGING_FLASH_SECTOR_A);
|
||||
if ((log_state.read_index < BANK_LOG_CAPACITY)) {
|
||||
log_state.read_index = BANK_LOG_CAPACITY;
|
||||
}
|
||||
break;
|
||||
case (BANK_LOG_CAPACITY - 1U):
|
||||
// beginning to write in bank B
|
||||
logging_erase_bank(LOGGING_FLASH_SECTOR_B);
|
||||
if ((log_state.read_index > BANK_LOG_CAPACITY)) {
|
||||
log_state.read_index = 0U;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
// Write!
|
||||
void *addr = &log_arr[log_state.write_index];
|
||||
uint32_t data[sizeof(log_t) / sizeof(uint32_t)];
|
||||
(void) memcpy(data, &new_log, sizeof(log_t));
|
||||
|
||||
flash_unlock();
|
||||
for (uint8_t j = 0U; j < sizeof(log_t) / sizeof(uint32_t); j++) {
|
||||
flash_write_word(&((uint32_t *) addr)[j], data[j]);
|
||||
}
|
||||
flash_lock();
|
||||
|
||||
// Update the write index
|
||||
log_state.write_index = logging_next_index(log_state.write_index);
|
||||
EXIT_CRITICAL();
|
||||
|
||||
log_state.rate_limit_log_count++;
|
||||
} else {
|
||||
fault_occurred(FAULT_LOGGING_RATE_LIMIT);
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t logging_read(uint8_t *buffer) {
|
||||
uint8_t ret = 0U;
|
||||
if ((log_arr[log_state.read_index].id != 0xFFFFU) && (log_state.read_index != log_state.write_index)) {
|
||||
// Read the log
|
||||
(void) memcpy(buffer, &log_arr[log_state.read_index], sizeof(log_t));
|
||||
|
||||
// Update the read index
|
||||
log_state.read_index = logging_next_index(log_state.read_index);
|
||||
|
||||
ret = sizeof(log_t);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
@@ -0,0 +1,9 @@
|
||||
|
||||
// Flash is writable in 32-byte lines, this struct is designed to fit in two lines.
|
||||
// This also matches the USB transfer size.
|
||||
typedef struct __attribute__((packed)) log_t {
|
||||
uint16_t id;
|
||||
timestamp_t timestamp;
|
||||
uint32_t uptime;
|
||||
char msg[50];
|
||||
} log_t;
|
||||
@@ -1,14 +1,7 @@
|
||||
#define YEAR_OFFSET 2000U
|
||||
|
||||
typedef struct __attribute__((packed)) timestamp_t {
|
||||
uint16_t year;
|
||||
uint8_t month;
|
||||
uint8_t day;
|
||||
uint8_t weekday;
|
||||
uint8_t hour;
|
||||
uint8_t minute;
|
||||
uint8_t second;
|
||||
} timestamp_t;
|
||||
#include "rtc_definitions.h"
|
||||
|
||||
#define YEAR_OFFSET 2000U
|
||||
|
||||
uint8_t to_bcd(uint16_t value){
|
||||
return (((value / 10U) & 0x0FU) << 4U) | ((value % 10U) & 0x0FU);
|
||||
@@ -50,14 +43,6 @@ void rtc_set_time(timestamp_t time){
|
||||
|
||||
timestamp_t rtc_get_time(void){
|
||||
timestamp_t result;
|
||||
// Init with zero values in case there is no RTC running
|
||||
result.year = 0U;
|
||||
result.month = 0U;
|
||||
result.day = 0U;
|
||||
result.weekday = 0U;
|
||||
result.hour = 0U;
|
||||
result.minute = 0U;
|
||||
result.second = 0U;
|
||||
|
||||
// Wait until the register sync flag is set
|
||||
while((RTC->ISR & RTC_ISR_RSF) == 0){}
|
||||
|
||||
@@ -0,0 +1,9 @@
|
||||
typedef struct __attribute__((packed)) timestamp_t {
|
||||
uint16_t year;
|
||||
uint8_t month;
|
||||
uint8_t day;
|
||||
uint8_t weekday;
|
||||
uint8_t hour;
|
||||
uint8_t minute;
|
||||
uint8_t second;
|
||||
} timestamp_t;
|
||||
@@ -1,16 +1,19 @@
|
||||
#pragma once
|
||||
|
||||
#define SPI_BUF_SIZE 1024U
|
||||
#include "crc.h"
|
||||
|
||||
#define SPI_TIMEOUT_US 10000U
|
||||
|
||||
// we expect less than 50 transactions (including control messages and
|
||||
// CAN buffers) at the 100Hz boardd interval, plus some buffer
|
||||
#define SPI_IRQ_RATE 6500U
|
||||
// got max rate from hitting a non-existent endpoint
|
||||
// in a tight loop, plus some buffer
|
||||
#define SPI_IRQ_RATE 16000U
|
||||
|
||||
#ifdef STM32H7
|
||||
#define SPI_BUF_SIZE 2048U
|
||||
__attribute__((section(".ram_d1"))) uint8_t spi_buf_rx[SPI_BUF_SIZE];
|
||||
__attribute__((section(".ram_d1"))) uint8_t spi_buf_tx[SPI_BUF_SIZE];
|
||||
__attribute__((section(".ram_d2"))) uint8_t spi_buf_tx[SPI_BUF_SIZE];
|
||||
#else
|
||||
#define SPI_BUF_SIZE 1024U
|
||||
uint8_t spi_buf_rx[SPI_BUF_SIZE];
|
||||
uint8_t spi_buf_tx[SPI_BUF_SIZE];
|
||||
#endif
|
||||
@@ -50,6 +53,52 @@ void can_tx_comms_resume_spi(void) {
|
||||
spi_can_tx_ready = true;
|
||||
}
|
||||
|
||||
uint16_t spi_version_packet(uint8_t *out) {
|
||||
// this protocol version request is a stable portion of
|
||||
// the panda's SPI protocol. its contents match that of the
|
||||
// panda USB descriptors and are sufficent to list/enumerate
|
||||
// a panda, determine panda type, and bootstub status.
|
||||
|
||||
// the response is:
|
||||
// VERSION + 2 byte data length + data + CRC8
|
||||
|
||||
// echo "VERSION"
|
||||
(void)memcpy(out, "VERSION", 7);
|
||||
|
||||
// write response
|
||||
uint16_t data_len = 0;
|
||||
uint16_t data_pos = 7U + 2U;
|
||||
|
||||
// write serial
|
||||
#ifdef UID_BASE
|
||||
(void)memcpy(&out[data_pos], ((uint8_t *)UID_BASE), 12);
|
||||
data_len += 12U;
|
||||
#endif
|
||||
|
||||
// HW type
|
||||
out[data_pos + data_len] = hw_type;
|
||||
data_len += 1U;
|
||||
|
||||
// bootstub
|
||||
out[data_pos + data_len] = USB_PID & 0xFFU;
|
||||
data_len += 1U;
|
||||
|
||||
// SPI protocol version
|
||||
out[data_pos + data_len] = 0x2;
|
||||
data_len += 1U;
|
||||
|
||||
// data length
|
||||
out[7] = data_len & 0xFFU;
|
||||
out[8] = (data_len >> 8) & 0xFFU;
|
||||
|
||||
// CRC8
|
||||
uint16_t resp_len = data_pos + data_len;
|
||||
out[resp_len] = crc_checksum(out, resp_len, 0xD5U);
|
||||
resp_len += 1U;
|
||||
|
||||
return resp_len;
|
||||
}
|
||||
|
||||
void spi_init(void) {
|
||||
// platform init
|
||||
llspi_init();
|
||||
@@ -78,7 +127,10 @@ void spi_rx_done(void) {
|
||||
spi_data_len_mosi = (spi_buf_rx[3] << 8) | spi_buf_rx[2];
|
||||
spi_data_len_miso = (spi_buf_rx[5] << 8) | spi_buf_rx[4];
|
||||
|
||||
if (spi_state == SPI_STATE_HEADER) {
|
||||
if (memcmp(spi_buf_rx, "VERSION", 7) == 0) {
|
||||
response_len = spi_version_packet(spi_buf_tx);
|
||||
next_rx_state = SPI_STATE_HEADER_NACK;;
|
||||
} else if (spi_state == SPI_STATE_HEADER) {
|
||||
checksum_valid = check_checksum(spi_buf_rx, SPI_HEADER_SIZE);
|
||||
if ((spi_buf_rx[0] == SPI_SYNC_BYTE) && checksum_valid) {
|
||||
// response: ACK and start receiving data portion
|
||||
|
||||
@@ -16,9 +16,10 @@ typedef struct uart_ring {
|
||||
USART_TypeDef *uart;
|
||||
void (*callback)(struct uart_ring*);
|
||||
bool dma_rx;
|
||||
bool overwrite;
|
||||
} uart_ring;
|
||||
|
||||
#define UART_BUFFER(x, size_rx, size_tx, uart_ptr, callback_ptr, rx_dma) \
|
||||
#define UART_BUFFER(x, size_rx, size_tx, uart_ptr, callback_ptr, rx_dma, overwrite_mode) \
|
||||
uint8_t elems_rx_##x[size_rx]; \
|
||||
uint8_t elems_tx_##x[size_tx]; \
|
||||
uart_ring uart_ring_##x = { \
|
||||
@@ -32,7 +33,8 @@ typedef struct uart_ring {
|
||||
.rx_fifo_size = (size_rx), \
|
||||
.uart = (uart_ptr), \
|
||||
.callback = (callback_ptr), \
|
||||
.dma_rx = (rx_dma) \
|
||||
.dma_rx = (rx_dma), \
|
||||
.overwrite = (overwrite_mode) \
|
||||
};
|
||||
|
||||
// ***************************** Function prototypes *****************************
|
||||
@@ -43,22 +45,22 @@ void uart_send_break(uart_ring *u);
|
||||
// ******************************** UART buffers ********************************
|
||||
|
||||
// gps = USART1
|
||||
UART_BUFFER(gps, FIFO_SIZE_DMA, FIFO_SIZE_INT, USART1, NULL, true)
|
||||
UART_BUFFER(gps, FIFO_SIZE_DMA, FIFO_SIZE_INT, USART1, NULL, true, false)
|
||||
|
||||
// lin1, K-LINE = UART5
|
||||
// lin2, L-LINE = USART3
|
||||
UART_BUFFER(lin1, FIFO_SIZE_INT, FIFO_SIZE_INT, UART5, NULL, false)
|
||||
UART_BUFFER(lin2, FIFO_SIZE_INT, FIFO_SIZE_INT, USART3, NULL, false)
|
||||
UART_BUFFER(lin1, FIFO_SIZE_INT, FIFO_SIZE_INT, UART5, NULL, false, false)
|
||||
UART_BUFFER(lin2, FIFO_SIZE_INT, FIFO_SIZE_INT, USART3, NULL, false, false)
|
||||
|
||||
// debug = USART2
|
||||
UART_BUFFER(debug, FIFO_SIZE_INT, FIFO_SIZE_INT, USART2, debug_ring_callback, false)
|
||||
UART_BUFFER(debug, FIFO_SIZE_INT, FIFO_SIZE_INT, USART2, debug_ring_callback, false, true)
|
||||
|
||||
// SOM debug = UART7
|
||||
#ifdef STM32H7
|
||||
UART_BUFFER(som_debug, FIFO_SIZE_INT, FIFO_SIZE_INT, UART7, NULL, false)
|
||||
UART_BUFFER(som_debug, FIFO_SIZE_INT, FIFO_SIZE_INT, UART7, NULL, false, true)
|
||||
#else
|
||||
// UART7 is not available on F4
|
||||
UART_BUFFER(som_debug, 1U, 1U, NULL, NULL, false)
|
||||
UART_BUFFER(som_debug, 1U, 1U, NULL, NULL, false, true)
|
||||
#endif
|
||||
|
||||
uart_ring *get_ring_by_number(int a) {
|
||||
@@ -106,7 +108,13 @@ bool injectc(uart_ring *q, char elem) {
|
||||
uint16_t next_w_ptr;
|
||||
|
||||
ENTER_CRITICAL();
|
||||
next_w_ptr = (q->w_ptr_rx + 1U) % q->tx_fifo_size;
|
||||
next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size;
|
||||
|
||||
if ((next_w_ptr == q->r_ptr_rx) && q->overwrite) {
|
||||
// overwrite mode: drop oldest byte
|
||||
q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size;
|
||||
}
|
||||
|
||||
if (next_w_ptr != q->r_ptr_rx) {
|
||||
q->elems_rx[q->w_ptr_rx] = elem;
|
||||
q->w_ptr_rx = next_w_ptr;
|
||||
@@ -123,6 +131,12 @@ bool putc(uart_ring *q, char elem) {
|
||||
|
||||
ENTER_CRITICAL();
|
||||
next_w_ptr = (q->w_ptr_tx + 1U) % q->tx_fifo_size;
|
||||
|
||||
if ((next_w_ptr == q->r_ptr_tx) && q->overwrite) {
|
||||
// overwrite mode: drop oldest byte
|
||||
q->r_ptr_tx = (q->r_ptr_tx + 1U) % q->tx_fifo_size;
|
||||
}
|
||||
|
||||
if (next_w_ptr != q->r_ptr_tx) {
|
||||
q->elems_tx[q->w_ptr_tx] = elem;
|
||||
q->w_ptr_tx = next_w_ptr;
|
||||
|
||||
@@ -2,8 +2,10 @@
|
||||
#include <stdio.h>
|
||||
#include <stdint.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "utils.h"
|
||||
#include "drivers/rtc_definitions.h"
|
||||
|
||||
#define CANFD
|
||||
#define ALLOW_DEBUG
|
||||
@@ -31,3 +33,64 @@ uint32_t microsecond_timer_get(void);
|
||||
uint32_t microsecond_timer_get(void) {
|
||||
return MICROSECOND_TIMER->CNT;
|
||||
}
|
||||
|
||||
// Register functions
|
||||
void register_set_bits(volatile uint32_t *addr, uint32_t val) {}
|
||||
|
||||
// RTC
|
||||
timestamp_t rtc_get_time() {
|
||||
timestamp_t result;
|
||||
result.year = 1996;
|
||||
result.month = 4;
|
||||
result.day = 23;
|
||||
result.weekday = 2;
|
||||
result.hour = 4;
|
||||
result.minute = 20;
|
||||
result.second = 20;
|
||||
return result;
|
||||
}
|
||||
|
||||
// Logging and flash
|
||||
uint8_t fake_logging_bank[0x40000] __attribute__ ((aligned (4)));
|
||||
#define LOGGING_FLASH_BASE_A (&fake_logging_bank[0])
|
||||
#define LOGGING_FLASH_BASE_B (&fake_logging_bank[0x20000])
|
||||
#define LOGGING_FLASH_SECTOR_A 5
|
||||
#define LOGGING_FLASH_SECTOR_B 6
|
||||
#define LOGGING_FLASH_SECTOR_SIZE 0x20000U
|
||||
|
||||
bool flash_locked = true;
|
||||
void flash_unlock(void) {
|
||||
flash_locked = false;
|
||||
}
|
||||
void flash_lock(void) {
|
||||
flash_locked = true;
|
||||
}
|
||||
|
||||
void *memset(void *str, int c, unsigned int n);
|
||||
|
||||
bool flash_erase_sector(uint8_t sector) {
|
||||
if (flash_locked) {
|
||||
return false;
|
||||
}
|
||||
|
||||
switch (sector) {
|
||||
case LOGGING_FLASH_SECTOR_A:
|
||||
memset(LOGGING_FLASH_BASE_A, 0xFF, sizeof(fake_logging_bank)/2);
|
||||
return true;
|
||||
case LOGGING_FLASH_SECTOR_B:
|
||||
memset(LOGGING_FLASH_BASE_B, 0xFF, sizeof(fake_logging_bank)/2);
|
||||
return true;
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
void flash_write_word(void *prog_ptr, uint32_t data) {
|
||||
if (flash_locked || prog_ptr < (void *) LOGGING_FLASH_BASE_A || prog_ptr >= (void *) (LOGGING_FLASH_BASE_A + sizeof(fake_logging_bank))) {
|
||||
return;
|
||||
}
|
||||
|
||||
*(uint32_t *)prog_ptr = data;
|
||||
}
|
||||
|
||||
void flush_write_buffer(void) {}
|
||||
@@ -30,6 +30,7 @@
|
||||
#define FAULT_INTERRUPT_RATE_UART_7 (1U << 24)
|
||||
#define FAULT_SIREN_MALFUNCTION (1U << 25)
|
||||
#define FAULT_HEARTBEAT_LOOP_WATCHDOG (1U << 26)
|
||||
#define FAULT_LOGGING_RATE_LIMIT (1U << 27)
|
||||
|
||||
// Permanent faults
|
||||
#define PERMANENT_FAULTS 0U
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
// flasher state variables
|
||||
uint32_t *prog_ptr = NULL;
|
||||
bool unlocked = false;
|
||||
|
||||
void spi_init(void);
|
||||
|
||||
@@ -33,13 +32,12 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
|
||||
resp[1] = 0xff;
|
||||
}
|
||||
current_board->set_led(LED_GREEN, 1);
|
||||
unlocked = true;
|
||||
prog_ptr = (uint32_t *)APP_START_ADDRESS;
|
||||
break;
|
||||
// **** 0xb2: erase sector
|
||||
case 0xb2:
|
||||
sec = req->param1;
|
||||
if (flash_erase_sector(sec, unlocked)) {
|
||||
if (flash_erase_sector(sec)) {
|
||||
resp[1] = 0xff;
|
||||
}
|
||||
break;
|
||||
|
||||
@@ -31,7 +31,7 @@ struct __attribute__((packed)) health_t {
|
||||
uint16_t sbu2_voltage_mV;
|
||||
};
|
||||
|
||||
#define CAN_HEALTH_PACKET_VERSION 4
|
||||
#define CAN_HEALTH_PACKET_VERSION 5
|
||||
typedef struct __attribute__((packed)) {
|
||||
uint8_t bus_off;
|
||||
uint32_t bus_off_cnt;
|
||||
@@ -55,4 +55,8 @@ typedef struct __attribute__((packed)) {
|
||||
uint8_t canfd_enabled;
|
||||
uint8_t brs_enabled;
|
||||
uint8_t canfd_non_iso;
|
||||
uint32_t irq0_call_rate;
|
||||
uint32_t irq1_call_rate;
|
||||
uint32_t irq2_call_rate;
|
||||
uint32_t can_core_reset_cnt;
|
||||
} can_health_t;
|
||||
|
||||
+34
-10
@@ -6,11 +6,11 @@
|
||||
#include "drivers/gmlan_alt.h"
|
||||
#include "drivers/kline_init.h"
|
||||
#include "drivers/simple_watchdog.h"
|
||||
#include "drivers/logging.h"
|
||||
|
||||
#include "early_init.h"
|
||||
#include "provision.h"
|
||||
|
||||
#include "power_saving.h"
|
||||
#include "safety.h"
|
||||
|
||||
#include "health.h"
|
||||
@@ -23,6 +23,8 @@
|
||||
#include "drivers/bxcan.h"
|
||||
#endif
|
||||
|
||||
#include "power_saving.h"
|
||||
|
||||
#include "obj/gitversion.h"
|
||||
|
||||
#include "can_comms.h"
|
||||
@@ -145,6 +147,8 @@ void __attribute__ ((noinline)) enable_fpu(void) {
|
||||
// called at 8Hz
|
||||
uint8_t loop_counter = 0U;
|
||||
uint8_t previous_harness_status = HARNESS_STATUS_NC;
|
||||
uint32_t waiting_to_boot_count = 0;
|
||||
bool waiting_to_boot = false;
|
||||
void tick_handler(void) {
|
||||
if (TICK_TIMER->SR != 0) {
|
||||
// siren
|
||||
@@ -182,11 +186,31 @@ void tick_handler(void) {
|
||||
|
||||
// tick drivers at 1Hz
|
||||
harness_tick();
|
||||
logging_tick();
|
||||
|
||||
const bool recent_heartbeat = heartbeat_counter == 0U;
|
||||
current_board->board_tick(check_started(), usb_enumerated, recent_heartbeat, ((harness.status != previous_harness_status) && (harness.status != HARNESS_STATUS_NC)));
|
||||
const bool harness_inserted = (harness.status != previous_harness_status) && (harness.status != HARNESS_STATUS_NC);
|
||||
const bool just_bootkicked = current_board->board_tick(check_started(), usb_enumerated, recent_heartbeat, harness_inserted);
|
||||
previous_harness_status = harness.status;
|
||||
|
||||
// log device boot time
|
||||
const bool som_running = current_board->read_som_gpio();
|
||||
if (just_bootkicked && !som_running) {
|
||||
log("bootkick");
|
||||
waiting_to_boot = true;
|
||||
}
|
||||
if (waiting_to_boot) {
|
||||
if (som_running) {
|
||||
log("device booted");
|
||||
waiting_to_boot = false;
|
||||
} else if (waiting_to_boot_count == 10U) {
|
||||
log("not booted after 10s");
|
||||
} else {
|
||||
|
||||
}
|
||||
waiting_to_boot_count += 1U;
|
||||
}
|
||||
|
||||
// increase heartbeat counter and cap it at the uint32 limit
|
||||
if (heartbeat_counter < __UINT32_MAX__) {
|
||||
heartbeat_counter += 1U;
|
||||
@@ -250,14 +274,11 @@ void tick_handler(void) {
|
||||
// Also disable IR when the heartbeat goes missing
|
||||
current_board->set_ir_power(0U);
|
||||
|
||||
// TODO: need a SPI equivalent
|
||||
// If enumerated but no heartbeat (phone up, boardd not running), or when the SOM GPIO is pulled high by the ABL,
|
||||
// turn the fan on to cool the device
|
||||
if(usb_enumerated || current_board->read_som_gpio()){
|
||||
fan_set_power(50U);
|
||||
} else {
|
||||
fan_set_power(0U);
|
||||
}
|
||||
// Run fan when device is up, but not talking to us
|
||||
// * bootloader enables the SOM GPIO on boot
|
||||
// * fallback to USB enumerated where supported
|
||||
bool enabled = usb_enumerated || current_board->read_som_gpio();
|
||||
fan_set_power(enabled ? 50U : 0U);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -328,6 +349,7 @@ int main(void) {
|
||||
peripherals_init();
|
||||
detect_board_type();
|
||||
adc_init();
|
||||
logging_init();
|
||||
|
||||
// print hello
|
||||
print("\n\n\n************************ MAIN START ************************\n");
|
||||
@@ -347,6 +369,8 @@ int main(void) {
|
||||
// panda has an FPU, let's use it!
|
||||
enable_fpu();
|
||||
|
||||
log("main start");
|
||||
|
||||
if (current_board->has_gps) {
|
||||
uart_init(&uart_ring_gps, 9600);
|
||||
} else {
|
||||
|
||||
@@ -167,6 +167,7 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
|
||||
case 0xc2:
|
||||
COMPILE_TIME_ASSERT(sizeof(can_health_t) <= USBPACKET_MAX_SIZE);
|
||||
if (req->param1 < 3U) {
|
||||
update_can_health_pkt(req->param1, 0U);
|
||||
can_health[req->param1].can_speed = (bus_config[req->param1].can_speed / 10U);
|
||||
can_health[req->param1].can_data_speed = (bus_config[req->param1].can_data_speed / 10U);
|
||||
can_health[req->param1].canfd_enabled = bus_config[req->param1].canfd_enabled;
|
||||
@@ -181,6 +182,17 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
|
||||
(void)memcpy(resp, ((uint8_t *)UID_BASE), 12);
|
||||
resp_len = 12;
|
||||
break;
|
||||
case 0xc4:
|
||||
// **** 0xc4: get interrupt call rate
|
||||
if (req->param1 < NUM_INTERRUPTS) {
|
||||
uint32_t load = interrupts[req->param1].call_rate;
|
||||
resp[0] = (load & 0x000000FFU);
|
||||
resp[1] = ((load & 0x0000FF00U) >> 8U);
|
||||
resp[2] = ((load & 0x00FF0000U) >> 16U);
|
||||
resp[3] = ((load & 0xFF000000U) >> 24U);
|
||||
resp_len = 4U;
|
||||
}
|
||||
break;
|
||||
// **** 0xd0: fetch serial (aka the provisioned dongle ID)
|
||||
case 0xd0:
|
||||
// addresses are OTP
|
||||
@@ -478,6 +490,18 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
|
||||
UNUSED(ret);
|
||||
}
|
||||
break;
|
||||
// *** 0xfd: read logs
|
||||
case 0xfd:
|
||||
if (req->param1 == 1U) {
|
||||
logging_init_read_index();
|
||||
}
|
||||
|
||||
if (req->param2 != 0xFFFFU) {
|
||||
logging_find_read_index(req->param2);
|
||||
}
|
||||
|
||||
resp_len = logging_read(resp);
|
||||
break;
|
||||
default:
|
||||
print("NO HANDLER ");
|
||||
puth(req->request);
|
||||
|
||||
@@ -18,6 +18,13 @@ void set_power_save_state(int state) {
|
||||
uart_ring *ur = get_ring_by_number(1);
|
||||
for (unsigned int i = 0; i < sizeof(UBLOX_SLEEP_MSG) - 1U; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
|
||||
}
|
||||
// Disable CAN interrupts
|
||||
if (harness.status == HARNESS_STATUS_FLIPPED) {
|
||||
llcan_irq_disable(cans[0]);
|
||||
} else {
|
||||
llcan_irq_disable(cans[2]);
|
||||
}
|
||||
llcan_irq_disable(cans[1]);
|
||||
} else {
|
||||
print("disable power savings\n");
|
||||
if (current_board->has_gps) {
|
||||
@@ -25,6 +32,14 @@ void set_power_save_state(int state) {
|
||||
uart_ring *ur = get_ring_by_number(1);
|
||||
for (unsigned int i = 0; i < sizeof(UBLOX_WAKE_MSG) - 1U; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
|
||||
}
|
||||
|
||||
if (harness.status == HARNESS_STATUS_FLIPPED) {
|
||||
llcan_irq_enable(cans[0]);
|
||||
} else {
|
||||
llcan_irq_enable(cans[2]);
|
||||
}
|
||||
llcan_irq_enable(cans[1]);
|
||||
|
||||
enable = true;
|
||||
}
|
||||
|
||||
|
||||
@@ -1,53 +1,75 @@
|
||||
// Safety-relevant CAN messages for Ford vehicles.
|
||||
#define MSG_EngBrakeData 0x165 // RX from PCM, for driver brake pedal and cruise state
|
||||
#define MSG_EngVehicleSpThrottle 0x204 // RX from PCM, for driver throttle input
|
||||
#define MSG_DesiredTorqBrk 0x213 // RX from ABS, for standstill state
|
||||
#define MSG_BrakeSysFeatures 0x415 // RX from ABS, for vehicle speed
|
||||
#define MSG_EngVehicleSpThrottle2 0x202 // RX from PCM, for second vehicle speed
|
||||
#define MSG_Yaw_Data_FD1 0x91 // RX from RCM, for yaw rate
|
||||
#define MSG_Steering_Data_FD1 0x083 // TX by OP, various driver switches and LKAS/CC buttons
|
||||
#define MSG_ACCDATA 0x186 // TX by OP, ACC controls
|
||||
#define MSG_ACCDATA_3 0x18A // TX by OP, ACC/TJA user interface
|
||||
#define MSG_Lane_Assist_Data1 0x3CA // TX by OP, Lane Keep Assist
|
||||
#define MSG_LateralMotionControl 0x3D3 // TX by OP, Traffic Jam Assist
|
||||
#define MSG_IPMA_Data 0x3D8 // TX by OP, IPMA and LKAS user interface
|
||||
#define FORD_EngBrakeData 0x165 // RX from PCM, for driver brake pedal and cruise state
|
||||
#define FORD_EngVehicleSpThrottle 0x204 // RX from PCM, for driver throttle input
|
||||
#define FORD_DesiredTorqBrk 0x213 // RX from ABS, for standstill state
|
||||
#define FORD_BrakeSysFeatures 0x415 // RX from ABS, for vehicle speed
|
||||
#define FORD_EngVehicleSpThrottle2 0x202 // RX from PCM, for second vehicle speed
|
||||
#define FORD_Yaw_Data_FD1 0x91 // RX from RCM, for yaw rate
|
||||
#define FORD_Steering_Data_FD1 0x083 // TX by OP, various driver switches and LKAS/CC buttons
|
||||
#define FORD_ACCDATA 0x186 // TX by OP, ACC controls
|
||||
#define FORD_ACCDATA_3 0x18A // TX by OP, ACC/TJA user interface
|
||||
#define FORD_Lane_Assist_Data1 0x3CA // TX by OP, Lane Keep Assist
|
||||
#define FORD_LateralMotionControl 0x3D3 // TX by OP, Lateral Control message
|
||||
#define FORD_LateralMotionControl2 0x3D6 // TX by OP, alternate Lateral Control message
|
||||
#define FORD_IPMA_Data 0x3D8 // TX by OP, IPMA and LKAS user interface
|
||||
|
||||
// CAN bus numbers.
|
||||
#define FORD_MAIN_BUS 0U
|
||||
#define FORD_CAM_BUS 2U
|
||||
|
||||
const CanMsg FORD_STOCK_TX_MSGS[] = {
|
||||
{MSG_Steering_Data_FD1, 0, 8},
|
||||
{MSG_Steering_Data_FD1, 2, 8},
|
||||
{MSG_ACCDATA_3, 0, 8},
|
||||
{MSG_Lane_Assist_Data1, 0, 8},
|
||||
{MSG_LateralMotionControl, 0, 8},
|
||||
{MSG_IPMA_Data, 0, 8},
|
||||
{FORD_Steering_Data_FD1, 0, 8},
|
||||
{FORD_Steering_Data_FD1, 2, 8},
|
||||
{FORD_ACCDATA_3, 0, 8},
|
||||
{FORD_Lane_Assist_Data1, 0, 8},
|
||||
{FORD_LateralMotionControl, 0, 8},
|
||||
{FORD_IPMA_Data, 0, 8},
|
||||
};
|
||||
#define FORD_STOCK_TX_LEN (sizeof(FORD_STOCK_TX_MSGS) / sizeof(FORD_STOCK_TX_MSGS[0]))
|
||||
|
||||
const CanMsg FORD_LONG_TX_MSGS[] = {
|
||||
{MSG_Steering_Data_FD1, 0, 8},
|
||||
{MSG_Steering_Data_FD1, 2, 8},
|
||||
{MSG_ACCDATA, 0, 8},
|
||||
{MSG_ACCDATA_3, 0, 8},
|
||||
{MSG_Lane_Assist_Data1, 0, 8},
|
||||
{MSG_LateralMotionControl, 0, 8},
|
||||
{MSG_IPMA_Data, 0, 8},
|
||||
{FORD_Steering_Data_FD1, 0, 8},
|
||||
{FORD_Steering_Data_FD1, 2, 8},
|
||||
{FORD_ACCDATA, 0, 8},
|
||||
{FORD_ACCDATA_3, 0, 8},
|
||||
{FORD_Lane_Assist_Data1, 0, 8},
|
||||
{FORD_LateralMotionControl, 0, 8},
|
||||
{FORD_IPMA_Data, 0, 8},
|
||||
};
|
||||
#define FORD_LONG_TX_LEN (sizeof(FORD_LONG_TX_MSGS) / sizeof(FORD_LONG_TX_MSGS[0]))
|
||||
|
||||
const CanMsg FORD_CANFD_STOCK_TX_MSGS[] = {
|
||||
{FORD_Steering_Data_FD1, 0, 8},
|
||||
{FORD_Steering_Data_FD1, 2, 8},
|
||||
{FORD_ACCDATA_3, 0, 8},
|
||||
{FORD_Lane_Assist_Data1, 0, 8},
|
||||
{FORD_LateralMotionControl2, 0, 8},
|
||||
{FORD_IPMA_Data, 0, 8},
|
||||
};
|
||||
#define FORD_CANFD_STOCK_TX_LEN (sizeof(FORD_CANFD_STOCK_TX_MSGS) / sizeof(FORD_CANFD_STOCK_TX_MSGS[0]))
|
||||
|
||||
const CanMsg FORD_CANFD_LONG_TX_MSGS[] = {
|
||||
{FORD_Steering_Data_FD1, 0, 8},
|
||||
{FORD_Steering_Data_FD1, 2, 8},
|
||||
{FORD_ACCDATA, 0, 8},
|
||||
{FORD_ACCDATA_3, 0, 8},
|
||||
{FORD_Lane_Assist_Data1, 0, 8},
|
||||
{FORD_LateralMotionControl2, 0, 8},
|
||||
{FORD_IPMA_Data, 0, 8},
|
||||
};
|
||||
#define FORD_CANFD_LONG_TX_LEN (sizeof(FORD_CANFD_LONG_TX_MSGS) / sizeof(FORD_CANFD_LONG_TX_MSGS[0]))
|
||||
|
||||
// warning: quality flags are not yet checked in openpilot's CAN parser,
|
||||
// this may be the cause of blocked messages
|
||||
AddrCheckStruct ford_addr_checks[] = {
|
||||
{.msg = {{MSG_BrakeSysFeatures, 0, 8, .check_checksum = true, .max_counter = 15U, .quality_flag=true, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
// TODO: MSG_EngVehicleSpThrottle2 has a counter that skips by 2, understand and enable counter check
|
||||
{.msg = {{MSG_EngVehicleSpThrottle2, 0, 8, .check_checksum = true, .quality_flag=true, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{MSG_Yaw_Data_FD1, 0, 8, .check_checksum = true, .max_counter = 255U, .quality_flag=true, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{FORD_BrakeSysFeatures, 0, 8, .check_checksum = true, .max_counter = 15U, .quality_flag=true, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
// TODO: FORD_EngVehicleSpThrottle2 has a counter that skips by 2, understand and enable counter check
|
||||
{.msg = {{FORD_EngVehicleSpThrottle2, 0, 8, .check_checksum = true, .quality_flag=true, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{FORD_Yaw_Data_FD1, 0, 8, .check_checksum = true, .max_counter = 255U, .quality_flag=true, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
// These messages have no counter or checksum
|
||||
{.msg = {{MSG_EngBrakeData, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{MSG_EngVehicleSpThrottle, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{MSG_DesiredTorqBrk, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{FORD_EngBrakeData, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{FORD_EngVehicleSpThrottle, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{FORD_DesiredTorqBrk, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
};
|
||||
#define FORD_ADDR_CHECK_LEN (sizeof(ford_addr_checks) / sizeof(ford_addr_checks[0]))
|
||||
addr_checks ford_rx_checks = {ford_addr_checks, FORD_ADDR_CHECK_LEN};
|
||||
@@ -56,13 +78,13 @@ static uint8_t ford_get_counter(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
uint8_t cnt;
|
||||
if (addr == MSG_BrakeSysFeatures) {
|
||||
if (addr == FORD_BrakeSysFeatures) {
|
||||
// Signal: VehVActlBrk_No_Cnt
|
||||
cnt = (GET_BYTE(to_push, 2) >> 2) & 0xFU;
|
||||
} else if (addr == MSG_EngVehicleSpThrottle2) {
|
||||
} else if (addr == FORD_EngVehicleSpThrottle2) {
|
||||
// Signal: VehVActlEng_No_Cnt
|
||||
cnt = (GET_BYTE(to_push, 2) >> 3) & 0xFU;
|
||||
} else if (addr == MSG_Yaw_Data_FD1) {
|
||||
} else if (addr == FORD_Yaw_Data_FD1) {
|
||||
// Signal: VehRollYaw_No_Cnt
|
||||
cnt = GET_BYTE(to_push, 5);
|
||||
} else {
|
||||
@@ -75,13 +97,13 @@ static uint32_t ford_get_checksum(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
uint8_t chksum;
|
||||
if (addr == MSG_BrakeSysFeatures) {
|
||||
if (addr == FORD_BrakeSysFeatures) {
|
||||
// Signal: VehVActlBrk_No_Cs
|
||||
chksum = GET_BYTE(to_push, 3);
|
||||
} else if (addr == MSG_EngVehicleSpThrottle2) {
|
||||
} else if (addr == FORD_EngVehicleSpThrottle2) {
|
||||
// Signal: VehVActlEng_No_Cs
|
||||
chksum = GET_BYTE(to_push, 1);
|
||||
} else if (addr == MSG_Yaw_Data_FD1) {
|
||||
} else if (addr == FORD_Yaw_Data_FD1) {
|
||||
// Signal: VehRollYawW_No_Cs
|
||||
chksum = GET_BYTE(to_push, 4);
|
||||
} else {
|
||||
@@ -94,17 +116,17 @@ static uint32_t ford_compute_checksum(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
uint8_t chksum = 0;
|
||||
if (addr == MSG_BrakeSysFeatures) {
|
||||
if (addr == FORD_BrakeSysFeatures) {
|
||||
chksum += GET_BYTE(to_push, 0) + GET_BYTE(to_push, 1); // Veh_V_ActlBrk
|
||||
chksum += GET_BYTE(to_push, 2) >> 6; // VehVActlBrk_D_Qf
|
||||
chksum += (GET_BYTE(to_push, 2) >> 2) & 0xFU; // VehVActlBrk_No_Cnt
|
||||
chksum = 0xFFU - chksum;
|
||||
} else if (addr == MSG_EngVehicleSpThrottle2) {
|
||||
} else if (addr == FORD_EngVehicleSpThrottle2) {
|
||||
chksum += (GET_BYTE(to_push, 2) >> 3) & 0xFU; // VehVActlEng_No_Cnt
|
||||
chksum += (GET_BYTE(to_push, 4) >> 5) & 0x3U; // VehVActlEng_D_Qf
|
||||
chksum += GET_BYTE(to_push, 6) + GET_BYTE(to_push, 7); // Veh_V_ActlEng
|
||||
chksum = 0xFFU - chksum;
|
||||
} else if (addr == MSG_Yaw_Data_FD1) {
|
||||
} else if (addr == FORD_Yaw_Data_FD1) {
|
||||
chksum += GET_BYTE(to_push, 0) + GET_BYTE(to_push, 1); // VehRol_W_Actl
|
||||
chksum += GET_BYTE(to_push, 2) + GET_BYTE(to_push, 3); // VehYaw_W_Actl
|
||||
chksum += GET_BYTE(to_push, 5); // VehRollYaw_No_Cnt
|
||||
@@ -121,20 +143,22 @@ static bool ford_get_quality_flag_valid(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
bool valid = false;
|
||||
if (addr == MSG_BrakeSysFeatures) {
|
||||
if (addr == FORD_BrakeSysFeatures) {
|
||||
valid = (GET_BYTE(to_push, 2) >> 6) == 0x3U; // VehVActlBrk_D_Qf
|
||||
} else if (addr == MSG_EngVehicleSpThrottle2) {
|
||||
} else if (addr == FORD_EngVehicleSpThrottle2) {
|
||||
valid = ((GET_BYTE(to_push, 4) >> 5) & 0x3U) == 0x3U; // VehVActlEng_D_Qf
|
||||
} else if (addr == MSG_Yaw_Data_FD1) {
|
||||
valid = (GET_BYTE(to_push, 6) >> 4) == 0xFU; // VehRolWActl_D_Qf & VehYawWActl_D_Qf
|
||||
} else if (addr == FORD_Yaw_Data_FD1) {
|
||||
valid = ((GET_BYTE(to_push, 6) >> 4) & 0x3U) == 0x3U; // VehYawWActl_D_Qf
|
||||
} else {
|
||||
}
|
||||
return valid;
|
||||
}
|
||||
|
||||
const uint16_t FORD_PARAM_LONGITUDINAL = 1;
|
||||
const uint16_t FORD_PARAM_CANFD = 2;
|
||||
|
||||
bool ford_longitudinal = false;
|
||||
bool ford_canfd = false;
|
||||
|
||||
const LongitudinalLimits FORD_LONG_LIMITS = {
|
||||
// acceleration cmd limits (used for brakes)
|
||||
@@ -150,17 +174,21 @@ const LongitudinalLimits FORD_LONG_LIMITS = {
|
||||
.inactive_gas = 0, // -5.0 m/s^2
|
||||
};
|
||||
|
||||
#define INACTIVE_CURVATURE 1000U
|
||||
#define INACTIVE_CURVATURE_RATE 4096U
|
||||
#define INACTIVE_PATH_OFFSET 512U
|
||||
#define INACTIVE_PATH_ANGLE 1000U
|
||||
#define FORD_INACTIVE_CURVATURE 1000U
|
||||
#define FORD_INACTIVE_CURVATURE_RATE 4096U
|
||||
#define FORD_INACTIVE_PATH_OFFSET 512U
|
||||
#define FORD_INACTIVE_PATH_ANGLE 1000U
|
||||
|
||||
#define FORD_CANFD_INACTIVE_CURVATURE_RATE 1024U
|
||||
|
||||
#define FORD_MAX_SPEED_DELTA 2.0 // m/s
|
||||
|
||||
static bool ford_lkas_msg_check(int addr) {
|
||||
return (addr == MSG_ACCDATA_3)
|
||||
|| (addr == MSG_Lane_Assist_Data1)
|
||||
|| (addr == MSG_LateralMotionControl)
|
||||
|| (addr == MSG_IPMA_Data);
|
||||
return (addr == FORD_ACCDATA_3)
|
||||
|| (addr == FORD_Lane_Assist_Data1)
|
||||
|| (addr == FORD_LateralMotionControl)
|
||||
|| (addr == FORD_LateralMotionControl2)
|
||||
|| (addr == FORD_IPMA_Data);
|
||||
}
|
||||
|
||||
// Curvature rate limits
|
||||
@@ -192,19 +220,19 @@ static int ford_rx_hook(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
// Update in motion state from standstill signal
|
||||
if (addr == MSG_DesiredTorqBrk) {
|
||||
if (addr == FORD_DesiredTorqBrk) {
|
||||
// Signal: VehStop_D_Stat
|
||||
vehicle_moving = ((GET_BYTE(to_push, 3) >> 3) & 0x3U) == 0U;
|
||||
}
|
||||
|
||||
// Update vehicle speed
|
||||
if (addr == MSG_BrakeSysFeatures) {
|
||||
if (addr == FORD_BrakeSysFeatures) {
|
||||
// Signal: Veh_V_ActlBrk
|
||||
update_sample(&vehicle_speed, ROUND(((GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1)) * 0.01 / 3.6 * VEHICLE_SPEED_FACTOR));
|
||||
}
|
||||
|
||||
// Check vehicle speed against a second source
|
||||
if (addr == MSG_EngVehicleSpThrottle2) {
|
||||
if (addr == FORD_EngVehicleSpThrottle2) {
|
||||
// Disable controls if speeds from ABS and PCM ECUs are too far apart.
|
||||
// Signal: Veh_V_ActlEng
|
||||
float filtered_pcm_speed = ((GET_BYTE(to_push, 6) << 8) | GET_BYTE(to_push, 7)) * 0.01 / 3.6;
|
||||
@@ -214,23 +242,23 @@ static int ford_rx_hook(CANPacket_t *to_push) {
|
||||
}
|
||||
|
||||
// Update vehicle yaw rate
|
||||
if (addr == MSG_Yaw_Data_FD1) {
|
||||
if (addr == FORD_Yaw_Data_FD1) {
|
||||
// Signal: VehYaw_W_Actl
|
||||
float ford_yaw_rate = (((GET_BYTE(to_push, 2) << 8U) | GET_BYTE(to_push, 3)) * 0.0002) - 6.5;
|
||||
float current_curvature = ford_yaw_rate / MAX(vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR, 0.1);
|
||||
// convert current curvature into units on CAN for comparison with desired curvature
|
||||
update_sample(&angle_meas, ROUND(current_curvature * (float)FORD_STEERING_LIMITS.angle_deg_to_can));
|
||||
update_sample(&angle_meas, ROUND(current_curvature * FORD_STEERING_LIMITS.angle_deg_to_can));
|
||||
}
|
||||
|
||||
// Update gas pedal
|
||||
if (addr == MSG_EngVehicleSpThrottle) {
|
||||
if (addr == FORD_EngVehicleSpThrottle) {
|
||||
// Pedal position: (0.1 * val) in percent
|
||||
// Signal: ApedPos_Pc_ActlArb
|
||||
gas_pressed = (((GET_BYTE(to_push, 0) & 0x03U) << 8) | GET_BYTE(to_push, 1)) > 0U;
|
||||
}
|
||||
|
||||
// Update brake pedal and cruise state
|
||||
if (addr == MSG_EngBrakeData) {
|
||||
if (addr == FORD_EngBrakeData) {
|
||||
// Signal: BpedDrvAppl_D_Actl
|
||||
brake_pressed = ((GET_BYTE(to_push, 0) >> 4) & 0x3U) == 2U;
|
||||
|
||||
@@ -249,17 +277,24 @@ static int ford_rx_hook(CANPacket_t *to_push) {
|
||||
}
|
||||
|
||||
static int ford_tx_hook(CANPacket_t *to_send) {
|
||||
int tx = 1;
|
||||
int addr = GET_ADDR(to_send);
|
||||
|
||||
if (ford_longitudinal) {
|
||||
tx = msg_allowed(to_send, FORD_LONG_TX_MSGS, FORD_LONG_TX_LEN);
|
||||
int tx;
|
||||
if (ford_canfd) {
|
||||
if (ford_longitudinal) {
|
||||
tx = msg_allowed(to_send, FORD_CANFD_LONG_TX_MSGS, FORD_CANFD_LONG_TX_LEN);
|
||||
} else {
|
||||
tx = msg_allowed(to_send, FORD_CANFD_STOCK_TX_MSGS, FORD_CANFD_STOCK_TX_LEN);
|
||||
}
|
||||
} else {
|
||||
tx = msg_allowed(to_send, FORD_STOCK_TX_MSGS, FORD_STOCK_TX_LEN);
|
||||
if (ford_longitudinal) {
|
||||
tx = msg_allowed(to_send, FORD_LONG_TX_MSGS, FORD_LONG_TX_LEN);
|
||||
} else {
|
||||
tx = msg_allowed(to_send, FORD_STOCK_TX_MSGS, FORD_STOCK_TX_LEN);
|
||||
}
|
||||
}
|
||||
|
||||
// Safety check for ACCDATA accel and brake requests
|
||||
if (addr == MSG_ACCDATA) {
|
||||
if (addr == FORD_ACCDATA) {
|
||||
// Signal: AccPrpl_A_Rq
|
||||
int gas = ((GET_BYTE(to_send, 6) & 0x3U) << 8) | GET_BYTE(to_send, 7);
|
||||
// Signal: AccBrkTot_A_Rq
|
||||
@@ -282,7 +317,7 @@ static int ford_tx_hook(CANPacket_t *to_send) {
|
||||
// Safety check for Steering_Data_FD1 button signals
|
||||
// Note: Many other signals in this message are not relevant to safety (e.g. blinkers, wiper switches, high beam)
|
||||
// which we passthru in OP.
|
||||
if (addr == MSG_Steering_Data_FD1) {
|
||||
if (addr == FORD_Steering_Data_FD1) {
|
||||
// Violation if resume button is pressed while controls not allowed, or
|
||||
// if cancel button is pressed when cruise isn't engaged.
|
||||
bool violation = false;
|
||||
@@ -295,7 +330,7 @@ static int ford_tx_hook(CANPacket_t *to_send) {
|
||||
}
|
||||
|
||||
// Safety check for Lane_Assist_Data1 action
|
||||
if (addr == MSG_Lane_Assist_Data1) {
|
||||
if (addr == FORD_Lane_Assist_Data1) {
|
||||
// Do not allow steering using Lane_Assist_Data1 (Lane-Departure Aid).
|
||||
// This message must be sent for Lane Centering to work, and can include
|
||||
// values such as the steering angle or lane curvature for debugging,
|
||||
@@ -307,7 +342,7 @@ static int ford_tx_hook(CANPacket_t *to_send) {
|
||||
}
|
||||
|
||||
// Safety check for LateralMotionControl action
|
||||
if (addr == MSG_LateralMotionControl) {
|
||||
if (addr == FORD_LateralMotionControl) {
|
||||
// Signal: LatCtl_D_Rq
|
||||
bool steer_control_enabled = ((GET_BYTE(to_send, 4) >> 2) & 0x7U) != 0U;
|
||||
unsigned int raw_curvature = (GET_BYTE(to_send, 0) << 3) | (GET_BYTE(to_send, 1) >> 5);
|
||||
@@ -316,10 +351,31 @@ static int ford_tx_hook(CANPacket_t *to_send) {
|
||||
unsigned int raw_path_offset = (GET_BYTE(to_send, 5) << 2) | (GET_BYTE(to_send, 6) >> 6);
|
||||
|
||||
// These signals are not yet tested with the current safety limits
|
||||
bool violation = (raw_curvature_rate != INACTIVE_CURVATURE_RATE) || (raw_path_angle != INACTIVE_PATH_ANGLE) || (raw_path_offset != INACTIVE_PATH_OFFSET);
|
||||
bool violation = (raw_curvature_rate != FORD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
|
||||
|
||||
// Check angle error and steer_control_enabled
|
||||
int desired_curvature = raw_curvature - INACTIVE_CURVATURE; // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature
|
||||
int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE; // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature
|
||||
violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
|
||||
|
||||
if (violation) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// Safety check for LateralMotionControl2 action
|
||||
if (addr == FORD_LateralMotionControl2) {
|
||||
// Signal: LatCtl_D2_Rq
|
||||
bool steer_control_enabled = ((GET_BYTE(to_send, 0) >> 4) & 0x7U) != 0U;
|
||||
unsigned int raw_curvature = (GET_BYTE(to_send, 2) << 3) | (GET_BYTE(to_send, 3) >> 5);
|
||||
unsigned int raw_curvature_rate = (GET_BYTE(to_send, 6) << 3) | (GET_BYTE(to_send, 7) >> 5);
|
||||
unsigned int raw_path_angle = ((GET_BYTE(to_send, 3) & 0x1FU) << 6) | (GET_BYTE(to_send, 4) >> 2);
|
||||
unsigned int raw_path_offset = ((GET_BYTE(to_send, 4) & 0x3U) << 8) | GET_BYTE(to_send, 5);
|
||||
|
||||
// These signals are not yet tested with the current safety limits
|
||||
bool violation = (raw_curvature_rate != FORD_CANFD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET);
|
||||
|
||||
// Check angle error and steer_control_enabled
|
||||
int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE; // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature
|
||||
violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS);
|
||||
|
||||
if (violation) {
|
||||
@@ -344,7 +400,7 @@ static int ford_fwd_hook(int bus_num, int addr) {
|
||||
if (ford_lkas_msg_check(addr)) {
|
||||
// Block stock LKAS and UI messages
|
||||
bus_fwd = -1;
|
||||
} else if (ford_longitudinal && (addr == MSG_ACCDATA)) {
|
||||
} else if (ford_longitudinal && (addr == FORD_ACCDATA)) {
|
||||
// Block stock ACC message
|
||||
bus_fwd = -1;
|
||||
} else {
|
||||
@@ -367,6 +423,7 @@ static const addr_checks* ford_init(uint16_t param) {
|
||||
UNUSED(param);
|
||||
#ifdef ALLOW_DEBUG
|
||||
ford_longitudinal = GET_FLAG(param, FORD_PARAM_LONGITUDINAL);
|
||||
ford_canfd = GET_FLAG(param, FORD_PARAM_CANFD);
|
||||
#endif
|
||||
return &ford_rx_checks;
|
||||
}
|
||||
|
||||
@@ -1,59 +1,69 @@
|
||||
const SteeringLimits SUBARU_STEERING_LIMITS = {
|
||||
.max_steer = 2047,
|
||||
.max_rt_delta = 940,
|
||||
.max_rt_interval = 250000,
|
||||
.max_rate_up = 50,
|
||||
.max_rate_down = 70,
|
||||
.driver_torque_factor = 50,
|
||||
.driver_torque_allowance = 60,
|
||||
.type = TorqueDriverLimited,
|
||||
};
|
||||
#define SUBARU_STEERING_LIMITS_GENERATOR(steer_max, rate_up, rate_down) \
|
||||
{ \
|
||||
.max_steer = (steer_max), \
|
||||
.max_rt_delta = 940, \
|
||||
.max_rt_interval = 250000, \
|
||||
.max_rate_up = (rate_up), \
|
||||
.max_rate_down = (rate_down), \
|
||||
.driver_torque_factor = 50, \
|
||||
.driver_torque_allowance = 60, \
|
||||
.type = TorqueDriverLimited, \
|
||||
} \
|
||||
|
||||
const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = {
|
||||
.max_steer = 1000,
|
||||
.max_rt_delta = 940,
|
||||
.max_rt_interval = 250000,
|
||||
.max_rate_up = 40,
|
||||
.max_rate_down = 40,
|
||||
.driver_torque_factor = 50,
|
||||
.driver_torque_allowance = 60,
|
||||
.type = TorqueDriverLimited,
|
||||
};
|
||||
const SteeringLimits SUBARU_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70);
|
||||
const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40);
|
||||
|
||||
|
||||
#define MSG_SUBARU_Brake_Status 0x13c
|
||||
#define MSG_SUBARU_CruiseControl 0x240
|
||||
#define MSG_SUBARU_Throttle 0x40
|
||||
#define MSG_SUBARU_Steering_Torque 0x119
|
||||
#define MSG_SUBARU_Wheel_Speeds 0x13a
|
||||
|
||||
#define MSG_SUBARU_ES_LKAS 0x122
|
||||
#define MSG_SUBARU_ES_Brake 0x220
|
||||
#define MSG_SUBARU_ES_Distance 0x221
|
||||
#define MSG_SUBARU_ES_Status 0x222
|
||||
#define MSG_SUBARU_ES_DashStatus 0x321
|
||||
#define MSG_SUBARU_ES_LKAS_State 0x322
|
||||
#define MSG_SUBARU_ES_Infotainment 0x323
|
||||
|
||||
#define SUBARU_MAIN_BUS 0
|
||||
#define SUBARU_ALT_BUS 1
|
||||
#define SUBARU_CAM_BUS 2
|
||||
|
||||
#define SUBARU_COMMON_TX_MSGS(alt_bus) \
|
||||
{MSG_SUBARU_ES_LKAS, SUBARU_MAIN_BUS, 8}, \
|
||||
{MSG_SUBARU_ES_Distance, alt_bus, 8}, \
|
||||
{MSG_SUBARU_ES_DashStatus, SUBARU_MAIN_BUS, 8}, \
|
||||
{MSG_SUBARU_ES_LKAS_State, SUBARU_MAIN_BUS, 8}, \
|
||||
{MSG_SUBARU_ES_Infotainment, SUBARU_MAIN_BUS, 8}, \
|
||||
|
||||
#define SUBARU_COMMON_ADDR_CHECKS(alt_bus) \
|
||||
{.msg = {{MSG_SUBARU_Throttle, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{MSG_SUBARU_Steering_Torque, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{MSG_SUBARU_Wheel_Speeds, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{MSG_SUBARU_Brake_Status, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{MSG_SUBARU_CruiseControl, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 50000U}, { 0 }, { 0 }}}, \
|
||||
|
||||
const CanMsg SUBARU_TX_MSGS[] = {
|
||||
{0x122, 0, 8},
|
||||
{0x221, 0, 8},
|
||||
{0x321, 0, 8},
|
||||
{0x322, 0, 8},
|
||||
{0x323, 0, 8},
|
||||
SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS)
|
||||
};
|
||||
#define SUBARU_TX_MSGS_LEN (sizeof(SUBARU_TX_MSGS) / sizeof(SUBARU_TX_MSGS[0]))
|
||||
|
||||
const CanMsg SUBARU_GEN2_TX_MSGS[] = {
|
||||
{0x122, 0, 8},
|
||||
{0x221, 1, 8},
|
||||
{0x321, 0, 8},
|
||||
{0x322, 0, 8},
|
||||
{0x323, 0, 8}
|
||||
SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
|
||||
};
|
||||
#define SUBARU_GEN2_TX_MSGS_LEN (sizeof(SUBARU_GEN2_TX_MSGS) / sizeof(SUBARU_GEN2_TX_MSGS[0]))
|
||||
|
||||
AddrCheckStruct subaru_addr_checks[] = {
|
||||
{.msg = {{ 0x40, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x119, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x13a, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x13c, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x240, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 50000U}, { 0 }, { 0 }}},
|
||||
SUBARU_COMMON_ADDR_CHECKS(SUBARU_MAIN_BUS)
|
||||
};
|
||||
#define SUBARU_ADDR_CHECK_LEN (sizeof(subaru_addr_checks) / sizeof(subaru_addr_checks[0]))
|
||||
addr_checks subaru_rx_checks = {subaru_addr_checks, SUBARU_ADDR_CHECK_LEN};
|
||||
|
||||
AddrCheckStruct subaru_gen2_addr_checks[] = {
|
||||
{.msg = {{ 0x40, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x119, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x13a, 1, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x13c, 1, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x240, 1, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 50000U}, { 0 }, { 0 }}},
|
||||
SUBARU_COMMON_ADDR_CHECKS(SUBARU_ALT_BUS)
|
||||
};
|
||||
#define SUBARU_GEN2_ADDR_CHECK_LEN (sizeof(subaru_gen2_addr_checks) / sizeof(subaru_gen2_addr_checks[0]))
|
||||
addr_checks subaru_gen2_rx_checks = {subaru_gen2_addr_checks, SUBARU_GEN2_ADDR_CHECK_LEN};
|
||||
@@ -88,10 +98,10 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
|
||||
|
||||
if (valid) {
|
||||
const int bus = GET_BUS(to_push);
|
||||
const int alt_bus = subaru_gen2 ? 1 : 0;
|
||||
const int alt_bus = subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS;
|
||||
|
||||
int addr = GET_ADDR(to_push);
|
||||
if ((addr == 0x119) && (bus == 0)) {
|
||||
if ((addr == MSG_SUBARU_Steering_Torque) && (bus == SUBARU_MAIN_BUS)) {
|
||||
int torque_driver_new;
|
||||
torque_driver_new = ((GET_BYTES(to_push, 0, 4) >> 16) & 0x7FFU);
|
||||
torque_driver_new = -1 * to_signed(torque_driver_new, 11);
|
||||
@@ -99,25 +109,25 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if ((addr == 0x240) && (bus == alt_bus)) {
|
||||
if ((addr == MSG_SUBARU_CruiseControl) && (bus == alt_bus)) {
|
||||
bool cruise_engaged = GET_BIT(to_push, 41U) != 0U;
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
|
||||
// update vehicle moving with any non-zero wheel speed
|
||||
if ((addr == 0x13a) && (bus == alt_bus)) {
|
||||
if ((addr == MSG_SUBARU_Wheel_Speeds) && (bus == alt_bus)) {
|
||||
vehicle_moving = ((GET_BYTES(to_push, 0, 4) >> 12) != 0U) || (GET_BYTES(to_push, 4, 4) != 0U);
|
||||
}
|
||||
|
||||
if ((addr == 0x13c) && (bus == alt_bus)) {
|
||||
if ((addr == MSG_SUBARU_Brake_Status) && (bus == alt_bus)) {
|
||||
brake_pressed = ((GET_BYTE(to_push, 7) >> 6) & 1U);
|
||||
}
|
||||
|
||||
if ((addr == 0x40) && (bus == 0)) {
|
||||
if ((addr == MSG_SUBARU_Throttle) && (bus == SUBARU_MAIN_BUS)) {
|
||||
gas_pressed = GET_BYTE(to_push, 4) != 0U;
|
||||
}
|
||||
|
||||
generic_rx_checks((addr == 0x122) && (bus == 0));
|
||||
generic_rx_checks((addr == MSG_SUBARU_ES_LKAS) && (bus == SUBARU_MAIN_BUS));
|
||||
}
|
||||
return valid;
|
||||
}
|
||||
@@ -134,7 +144,7 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
|
||||
}
|
||||
|
||||
// steer cmd checks
|
||||
if (addr == 0x122) {
|
||||
if (addr == MSG_SUBARU_ES_LKAS) {
|
||||
int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 16) & 0x1FFFU);
|
||||
desired_torque = -1 * to_signed(desired_torque, 13);
|
||||
|
||||
@@ -150,19 +160,18 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
|
||||
static int subaru_fwd_hook(int bus_num, int addr) {
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2; // forward to camera
|
||||
if (bus_num == SUBARU_MAIN_BUS) {
|
||||
bus_fwd = SUBARU_CAM_BUS; // forward to camera
|
||||
}
|
||||
|
||||
if (bus_num == 2) {
|
||||
if (bus_num == SUBARU_CAM_BUS) {
|
||||
// Global platform
|
||||
// 0x122 ES_LKAS
|
||||
// 0x321 ES_DashStatus
|
||||
// 0x322 ES_LKAS_State
|
||||
// 0x323 INFOTAINMENT_STATUS
|
||||
bool block_lkas = (addr == 0x122) || (addr == 0x321) || (addr == 0x322) || (addr == 0x323);
|
||||
bool block_lkas = ((addr == MSG_SUBARU_ES_LKAS) ||
|
||||
(addr == MSG_SUBARU_ES_DashStatus) ||
|
||||
(addr == MSG_SUBARU_ES_LKAS_State) ||
|
||||
(addr == MSG_SUBARU_ES_Infotainment));
|
||||
if (!block_lkas) {
|
||||
bus_fwd = 0; // Main CAN
|
||||
bus_fwd = SUBARU_MAIN_BUS; // Main CAN
|
||||
}
|
||||
}
|
||||
|
||||
@@ -188,5 +197,3 @@ const safety_hooks subaru_hooks = {
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.fwd = subaru_fwd_hook,
|
||||
};
|
||||
|
||||
|
||||
|
||||
@@ -9,17 +9,32 @@ const SteeringLimits SUBARU_PG_STEERING_LIMITS = {
|
||||
.type = TorqueDriverLimited,
|
||||
};
|
||||
|
||||
// Preglobal platform
|
||||
// 0x161 is ES_CruiseThrottle
|
||||
// 0x164 is ES_LKAS
|
||||
|
||||
#define MSG_SUBARU_PG_CruiseControl 0x144
|
||||
#define MSG_SUBARU_PG_Throttle 0x140
|
||||
#define MSG_SUBARU_PG_Wheel_Speeds 0xD4
|
||||
#define MSG_SUBARU_PG_Brake_Pedal 0xD1
|
||||
#define MSG_SUBARU_PG_ES_LKAS 0x164
|
||||
#define MSG_SUBARU_PG_ES_Distance 0x161
|
||||
#define MSG_SUBARU_PG_Steering_Torque 0x371
|
||||
|
||||
#define SUBARU_PG_MAIN_BUS 0
|
||||
#define SUBARU_PG_CAM_BUS 2
|
||||
|
||||
const CanMsg SUBARU_PG_TX_MSGS[] = {
|
||||
{0x161, 0, 8},
|
||||
{0x164, 0, 8}
|
||||
{MSG_SUBARU_PG_ES_Distance, SUBARU_PG_MAIN_BUS, 8},
|
||||
{MSG_SUBARU_PG_ES_LKAS, SUBARU_PG_MAIN_BUS, 8}
|
||||
};
|
||||
#define SUBARU_PG_TX_MSGS_LEN (sizeof(SUBARU_PG_TX_MSGS) / sizeof(SUBARU_PG_TX_MSGS[0]))
|
||||
|
||||
// TODO: do checksum and counter checks after adding the signals to the outback dbc file
|
||||
AddrCheckStruct subaru_preglobal_addr_checks[] = {
|
||||
{.msg = {{0x140, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x371, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x144, 0, 8, .expected_timestep = 50000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{MSG_SUBARU_PG_Throttle, SUBARU_PG_MAIN_BUS, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{MSG_SUBARU_PG_Steering_Torque, SUBARU_PG_MAIN_BUS, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{MSG_SUBARU_PG_CruiseControl, SUBARU_PG_MAIN_BUS, 8, .expected_timestep = 50000U}, { 0 }, { 0 }}},
|
||||
};
|
||||
#define SUBARU_PG_ADDR_CHECK_LEN (sizeof(subaru_preglobal_addr_checks) / sizeof(subaru_preglobal_addr_checks[0]))
|
||||
addr_checks subaru_preglobal_rx_checks = {subaru_preglobal_addr_checks, SUBARU_PG_ADDR_CHECK_LEN};
|
||||
@@ -28,9 +43,11 @@ static int subaru_preglobal_rx_hook(CANPacket_t *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, &subaru_preglobal_rx_checks, NULL, NULL, NULL, NULL);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0U)) {
|
||||
const int bus = GET_BUS(to_push);
|
||||
|
||||
if (valid && (bus == SUBARU_PG_MAIN_BUS)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
if (addr == 0x371) {
|
||||
if (addr == MSG_SUBARU_PG_Steering_Torque) {
|
||||
int torque_driver_new;
|
||||
torque_driver_new = (GET_BYTE(to_push, 3) >> 5) + (GET_BYTE(to_push, 4) << 3);
|
||||
torque_driver_new = to_signed(torque_driver_new, 11);
|
||||
@@ -38,25 +55,25 @@ static int subaru_preglobal_rx_hook(CANPacket_t *to_push) {
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if (addr == 0x144) {
|
||||
if (addr == MSG_SUBARU_PG_CruiseControl) {
|
||||
bool cruise_engaged = GET_BIT(to_push, 49U) != 0U;
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
|
||||
// update vehicle moving with any non-zero wheel speed
|
||||
if (addr == 0xD4) {
|
||||
if (addr == MSG_SUBARU_PG_Wheel_Speeds) {
|
||||
vehicle_moving = ((GET_BYTES(to_push, 0, 4) >> 12) != 0U) || (GET_BYTES(to_push, 4, 4) != 0U);
|
||||
}
|
||||
|
||||
if (addr == 0xD1) {
|
||||
if (addr == MSG_SUBARU_PG_Brake_Pedal) {
|
||||
brake_pressed = ((GET_BYTES(to_push, 0, 4) >> 16) & 0xFFU) > 0U;
|
||||
}
|
||||
|
||||
if (addr == 0x140) {
|
||||
if (addr == MSG_SUBARU_PG_Throttle) {
|
||||
gas_pressed = GET_BYTE(to_push, 0) != 0U;
|
||||
}
|
||||
|
||||
generic_rx_checks((addr == 0x164));
|
||||
generic_rx_checks((addr == MSG_SUBARU_PG_ES_LKAS));
|
||||
}
|
||||
return valid;
|
||||
}
|
||||
@@ -71,7 +88,7 @@ static int subaru_preglobal_tx_hook(CANPacket_t *to_send) {
|
||||
}
|
||||
|
||||
// steer cmd checks
|
||||
if (addr == 0x164) {
|
||||
if (addr == MSG_SUBARU_PG_ES_LKAS) {
|
||||
int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 8) & 0x1FFFU);
|
||||
desired_torque = -1 * to_signed(desired_torque, 13);
|
||||
|
||||
@@ -86,17 +103,14 @@ static int subaru_preglobal_tx_hook(CANPacket_t *to_send) {
|
||||
static int subaru_preglobal_fwd_hook(int bus_num, int addr) {
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2; // Camera CAN
|
||||
if (bus_num == SUBARU_PG_MAIN_BUS) {
|
||||
bus_fwd = SUBARU_PG_CAM_BUS; // Camera CAN
|
||||
}
|
||||
|
||||
if (bus_num == 2) {
|
||||
// Preglobal platform
|
||||
// 0x161 is ES_CruiseThrottle
|
||||
// 0x164 is ES_LKAS
|
||||
int block_msg = ((addr == 0x161) || (addr == 0x164));
|
||||
if (bus_num == SUBARU_PG_CAM_BUS) {
|
||||
int block_msg = ((addr == MSG_SUBARU_PG_ES_Distance) || (addr == MSG_SUBARU_PG_ES_LKAS));
|
||||
if (!block_msg) {
|
||||
bus_fwd = 0; // Main CAN
|
||||
bus_fwd = SUBARU_PG_MAIN_BUS; // Main CAN
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -103,7 +103,7 @@ static int toyota_rx_hook(CANPacket_t *to_push) {
|
||||
|
||||
// sample gas pedal
|
||||
if (!gas_interceptor_detected) {
|
||||
gas_pressed = ((GET_BYTE(to_push, 0) >> 4) & 1U) == 0U;
|
||||
gas_pressed = GET_BIT(to_push, 4U) == 0U;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -115,8 +115,8 @@ static int toyota_rx_hook(CANPacket_t *to_push) {
|
||||
|
||||
// most cars have brake_pressed on 0x226, corolla and rav4 on 0x224
|
||||
if (((addr == 0x224) && toyota_alt_brake) || ((addr == 0x226) && !toyota_alt_brake)) {
|
||||
int byte = (addr == 0x224) ? 0 : 4;
|
||||
brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1U) != 0U;
|
||||
uint8_t bit = (addr == 0x224) ? 5U : 37U;
|
||||
brake_pressed = GET_BIT(to_push, bit) != 0U;
|
||||
}
|
||||
|
||||
// sample gas interceptor
|
||||
@@ -191,8 +191,8 @@ static int toyota_tx_hook(CANPacket_t *to_send) {
|
||||
// only sent to prevent dash errors, no actuation is accepted
|
||||
if (addr == 0x191) {
|
||||
// check the STEER_REQUEST, STEER_REQUEST_2, SETME_X64 STEER_ANGLE_CMD signals
|
||||
bool lta_request = (GET_BYTE(to_send, 0) & 1U) != 0U;
|
||||
bool lta_request2 = ((GET_BYTE(to_send, 3) >> 1) & 1U) != 0U;
|
||||
bool lta_request = GET_BIT(to_send, 0U) != 0U;
|
||||
bool lta_request2 = GET_BIT(to_send, 25U) != 0U;
|
||||
int setme_x64 = GET_BYTE(to_send, 5);
|
||||
int lta_angle = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
|
||||
lta_angle = to_signed(lta_angle, 16);
|
||||
|
||||
@@ -67,7 +67,7 @@ typedef struct {
|
||||
const bool has_steer_req_tolerance;
|
||||
|
||||
// angle cmd limits
|
||||
const int angle_deg_to_can;
|
||||
const float angle_deg_to_can;
|
||||
const struct lookup_t angle_rate_up_lookup;
|
||||
const struct lookup_t angle_rate_down_lookup;
|
||||
const int max_angle_error; // used to limit error between meas and cmd while enabled
|
||||
|
||||
@@ -75,6 +75,44 @@ bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool s
|
||||
return ret;
|
||||
}
|
||||
|
||||
void llcan_irq_disable(CAN_TypeDef *CAN_obj) {
|
||||
if (CAN_obj == CAN1) {
|
||||
NVIC_DisableIRQ(CAN1_TX_IRQn);
|
||||
NVIC_DisableIRQ(CAN1_RX0_IRQn);
|
||||
NVIC_DisableIRQ(CAN1_SCE_IRQn);
|
||||
} else if (CAN_obj == CAN2) {
|
||||
NVIC_DisableIRQ(CAN2_TX_IRQn);
|
||||
NVIC_DisableIRQ(CAN2_RX0_IRQn);
|
||||
NVIC_DisableIRQ(CAN2_SCE_IRQn);
|
||||
#ifdef CAN3
|
||||
} else if (CAN_obj == CAN3) {
|
||||
NVIC_DisableIRQ(CAN3_TX_IRQn);
|
||||
NVIC_DisableIRQ(CAN3_RX0_IRQn);
|
||||
NVIC_DisableIRQ(CAN3_SCE_IRQn);
|
||||
#endif
|
||||
} else {
|
||||
}
|
||||
}
|
||||
|
||||
void llcan_irq_enable(CAN_TypeDef *CAN_obj) {
|
||||
if (CAN_obj == CAN1) {
|
||||
NVIC_EnableIRQ(CAN1_TX_IRQn);
|
||||
NVIC_EnableIRQ(CAN1_RX0_IRQn);
|
||||
NVIC_EnableIRQ(CAN1_SCE_IRQn);
|
||||
} else if (CAN_obj == CAN2) {
|
||||
NVIC_EnableIRQ(CAN2_TX_IRQn);
|
||||
NVIC_EnableIRQ(CAN2_RX0_IRQn);
|
||||
NVIC_EnableIRQ(CAN2_SCE_IRQn);
|
||||
#ifdef CAN3
|
||||
} else if (CAN_obj == CAN3) {
|
||||
NVIC_EnableIRQ(CAN3_TX_IRQn);
|
||||
NVIC_EnableIRQ(CAN3_RX0_IRQn);
|
||||
NVIC_EnableIRQ(CAN3_SCE_IRQn);
|
||||
#endif
|
||||
} else {
|
||||
}
|
||||
}
|
||||
|
||||
bool llcan_init(CAN_TypeDef *CAN_obj) {
|
||||
bool ret = true;
|
||||
|
||||
@@ -110,23 +148,10 @@ bool llcan_init(CAN_TypeDef *CAN_obj) {
|
||||
// enable certain CAN interrupts
|
||||
register_set_bits(&(CAN_obj->IER), CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_ERRIE | CAN_IER_LECIE | CAN_IER_BOFIE | CAN_IER_EPVIE | CAN_IER_EWGIE | CAN_IER_FOVIE0 | CAN_IER_FFIE0);
|
||||
|
||||
if (CAN_obj == CAN1) {
|
||||
NVIC_EnableIRQ(CAN1_TX_IRQn);
|
||||
NVIC_EnableIRQ(CAN1_RX0_IRQn);
|
||||
NVIC_EnableIRQ(CAN1_SCE_IRQn);
|
||||
} else if (CAN_obj == CAN2) {
|
||||
NVIC_EnableIRQ(CAN2_TX_IRQn);
|
||||
NVIC_EnableIRQ(CAN2_RX0_IRQn);
|
||||
NVIC_EnableIRQ(CAN2_SCE_IRQn);
|
||||
#ifdef CAN3
|
||||
} else if (CAN_obj == CAN3) {
|
||||
NVIC_EnableIRQ(CAN3_TX_IRQn);
|
||||
NVIC_EnableIRQ(CAN3_RX0_IRQn);
|
||||
NVIC_EnableIRQ(CAN3_SCE_IRQn);
|
||||
#endif
|
||||
} else {
|
||||
print("Invalid CAN: initialization failed\n");
|
||||
}
|
||||
// clear overrun flag on init
|
||||
CAN_obj->RF0R &= ~(CAN_RF0R_FOVR0);
|
||||
|
||||
llcan_irq_enable(CAN_obj);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -7,22 +7,44 @@ void flash_unlock(void) {
|
||||
FLASH->KEYR = 0xCDEF89AB;
|
||||
}
|
||||
|
||||
bool flash_erase_sector(uint8_t sector, bool unlocked) {
|
||||
// don't erase the bootloader(sector 0)
|
||||
if (sector != 0 && sector < 12 && unlocked) {
|
||||
FLASH->CR = (sector << 3) | FLASH_CR_SER;
|
||||
FLASH->CR |= FLASH_CR_STRT;
|
||||
while (FLASH->SR & FLASH_SR_BSY);
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
void flash_lock(void) {
|
||||
FLASH->CR |= FLASH_CR_LOCK;
|
||||
}
|
||||
|
||||
void flash_write_word(void *prog_ptr, uint32_t data) {
|
||||
uint32_t *pp = prog_ptr;
|
||||
FLASH->CR = FLASH_CR_PSIZE_1 | FLASH_CR_PG;
|
||||
*pp = data;
|
||||
while (FLASH->SR & FLASH_SR_BSY);
|
||||
bool flash_erase_sector(uint16_t sector) {
|
||||
#ifdef BOOTSTUB
|
||||
// don't erase the bootloader(sector 0)
|
||||
uint16_t min_sector = 1U;
|
||||
uint16_t max_sector = 11U;
|
||||
#else
|
||||
uint16_t min_sector = LOGGING_FLASH_SECTOR_A;
|
||||
uint16_t max_sector = LOGGING_FLASH_SECTOR_B;
|
||||
#endif
|
||||
|
||||
bool ret = false;
|
||||
if ((sector >= min_sector) && (sector <= max_sector) && (!flash_is_locked())) {
|
||||
FLASH->CR = (sector << 3) | FLASH_CR_SER;
|
||||
FLASH->CR |= FLASH_CR_STRT;
|
||||
while ((FLASH->SR & FLASH_SR_BSY) != 0U);
|
||||
ret = true;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
void flash_write_word(uint32_t *prog_ptr, uint32_t data) {
|
||||
#ifndef BOOTSTUB
|
||||
// don't write to any region besides the logging region
|
||||
if ((prog_ptr >= (uint32_t *)LOGGING_FLASH_BASE_A) && (prog_ptr < (uint32_t *)(LOGGING_FLASH_BASE_B + LOGGING_FLASH_SECTOR_SIZE))) {
|
||||
#endif
|
||||
|
||||
uint32_t *pp = prog_ptr;
|
||||
FLASH->CR = FLASH_CR_PSIZE_1 | FLASH_CR_PG;
|
||||
*pp = data;
|
||||
while ((FLASH->SR & FLASH_SR_BSY) != 0U);
|
||||
|
||||
#ifndef BOOTSTUB
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void flush_write_buffer(void) { }
|
||||
|
||||
@@ -29,6 +29,12 @@ void uart_rx_ring(uart_ring *q){
|
||||
uint8_t c = q->uart->DR; // This read after reading SR clears a bunch of interrupts
|
||||
|
||||
uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size;
|
||||
|
||||
if ((next_w_ptr == q->r_ptr_rx) && q->overwrite) {
|
||||
// overwrite mode: drop oldest byte
|
||||
q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size;
|
||||
}
|
||||
|
||||
// Do not overwrite buffer data
|
||||
if (next_w_ptr != q->r_ptr_rx) {
|
||||
q->elems_rx[q->w_ptr_rx] = c;
|
||||
|
||||
@@ -38,6 +38,12 @@
|
||||
#define PROVISION_CHUNK_ADDRESS 0x1FFF79E0U
|
||||
#define DEVICE_SERIAL_NUMBER_ADDRESS 0x1FFF79C0U
|
||||
|
||||
#define LOGGING_FLASH_SECTOR_A 10U
|
||||
#define LOGGING_FLASH_SECTOR_B 11U
|
||||
#define LOGGING_FLASH_BASE_A 0x080C0000U
|
||||
#define LOGGING_FLASH_BASE_B 0x080E0000U
|
||||
#define LOGGING_FLASH_SECTOR_SIZE 0x20000U
|
||||
|
||||
#include "can_definitions.h"
|
||||
#include "comms_definitions.h"
|
||||
|
||||
@@ -65,6 +71,7 @@
|
||||
#include "stm32fx/board.h"
|
||||
#include "stm32fx/clock.h"
|
||||
#include "drivers/watchdog.h"
|
||||
#include "stm32fx/llflash.h"
|
||||
|
||||
#if defined(PANDA) || defined(BOOTSTUB)
|
||||
#include "drivers/spi.h"
|
||||
@@ -80,9 +87,7 @@
|
||||
#include "stm32fx/llexti.h"
|
||||
#endif
|
||||
|
||||
#ifdef BOOTSTUB
|
||||
#include "stm32fx/llflash.h"
|
||||
#else
|
||||
#ifndef BOOTSTUB
|
||||
#include "stm32fx/llbxcan.h"
|
||||
#endif
|
||||
|
||||
|
||||
@@ -158,6 +158,34 @@ bool llcan_set_speed(FDCAN_GlobalTypeDef *CANx, uint32_t speed, uint32_t data_sp
|
||||
return ret;
|
||||
}
|
||||
|
||||
void llcan_irq_disable(FDCAN_GlobalTypeDef *CANx) {
|
||||
if (CANx == FDCAN1) {
|
||||
NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
|
||||
NVIC_DisableIRQ(FDCAN1_IT1_IRQn);
|
||||
} else if (CANx == FDCAN2) {
|
||||
NVIC_DisableIRQ(FDCAN2_IT0_IRQn);
|
||||
NVIC_DisableIRQ(FDCAN2_IT1_IRQn);
|
||||
} else if (CANx == FDCAN3) {
|
||||
NVIC_DisableIRQ(FDCAN3_IT0_IRQn);
|
||||
NVIC_DisableIRQ(FDCAN3_IT1_IRQn);
|
||||
} else {
|
||||
}
|
||||
}
|
||||
|
||||
void llcan_irq_enable(FDCAN_GlobalTypeDef *CANx) {
|
||||
if (CANx == FDCAN1) {
|
||||
NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
|
||||
NVIC_EnableIRQ(FDCAN1_IT1_IRQn);
|
||||
} else if (CANx == FDCAN2) {
|
||||
NVIC_EnableIRQ(FDCAN2_IT0_IRQn);
|
||||
NVIC_EnableIRQ(FDCAN2_IT1_IRQn);
|
||||
} else if (CANx == FDCAN3) {
|
||||
NVIC_EnableIRQ(FDCAN3_IT0_IRQn);
|
||||
NVIC_EnableIRQ(FDCAN3_IT1_IRQn);
|
||||
} else {
|
||||
}
|
||||
}
|
||||
|
||||
bool llcan_init(FDCAN_GlobalTypeDef *CANx) {
|
||||
uint32_t can_number = CAN_NUM_FROM_CANIF(CANx);
|
||||
bool ret = fdcan_request_init(CANx);
|
||||
@@ -213,7 +241,7 @@ bool llcan_init(FDCAN_GlobalTypeDef *CANx) {
|
||||
CANx->IE &= 0x0U; // Reset all interrupts
|
||||
// Messages for INT0
|
||||
CANx->IE |= FDCAN_IE_RF0NE; // Rx FIFO 0 new message
|
||||
CANx->IE |= FDCAN_IE_PEDE | FDCAN_IE_PEAE | FDCAN_IE_BOE | FDCAN_IE_EPE | FDCAN_IE_ELOE | FDCAN_IE_TEFLE | FDCAN_IE_RF0LE;
|
||||
CANx->IE |= FDCAN_IE_PEDE | FDCAN_IE_PEAE | FDCAN_IE_BOE | FDCAN_IE_EPE | FDCAN_IE_RF0LE;
|
||||
|
||||
// Messages for INT1 (Only TFE works??)
|
||||
CANx->ILS |= FDCAN_ILS_TFEL;
|
||||
@@ -224,18 +252,7 @@ bool llcan_init(FDCAN_GlobalTypeDef *CANx) {
|
||||
print(CAN_NAME_FROM_CANIF(CANx)); print(" llcan_init timed out (2)!\n");
|
||||
}
|
||||
|
||||
if (CANx == FDCAN1) {
|
||||
NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
|
||||
NVIC_EnableIRQ(FDCAN1_IT1_IRQn);
|
||||
} else if (CANx == FDCAN2) {
|
||||
NVIC_EnableIRQ(FDCAN2_IT0_IRQn);
|
||||
NVIC_EnableIRQ(FDCAN2_IT1_IRQn);
|
||||
} else if (CANx == FDCAN3) {
|
||||
NVIC_EnableIRQ(FDCAN3_IT0_IRQn);
|
||||
NVIC_EnableIRQ(FDCAN3_IT1_IRQn);
|
||||
} else {
|
||||
print("Invalid CAN: initialization failed\n");
|
||||
}
|
||||
llcan_irq_enable(CANx);
|
||||
|
||||
} else {
|
||||
print(CAN_NAME_FROM_CANIF(CANx)); print(" llcan_init timed out (1)!\n");
|
||||
@@ -244,7 +261,9 @@ bool llcan_init(FDCAN_GlobalTypeDef *CANx) {
|
||||
}
|
||||
|
||||
void llcan_clear_send(FDCAN_GlobalTypeDef *CANx) {
|
||||
CANx->TXBCR = 0xFFFFU; // Abort message transmission on error interrupt
|
||||
// Clear error interrupts
|
||||
CANx->IR |= (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EW | FDCAN_IR_EP | FDCAN_IR_ELO | FDCAN_IR_BO | FDCAN_IR_TEFL | FDCAN_IR_RF0L);
|
||||
// from datasheet: "Transmit cancellation is not intended for Tx FIFO operation."
|
||||
// so we need to clear pending transmission manually by resetting FDCAN core
|
||||
CANx->IR |= 0x3FCFFFFFU; // clear all interrupts
|
||||
bool ret = llcan_init(CANx);
|
||||
UNUSED(ret);
|
||||
}
|
||||
|
||||
@@ -7,27 +7,49 @@ void flash_unlock(void) {
|
||||
FLASH->KEYR1 = 0xCDEF89AB;
|
||||
}
|
||||
|
||||
bool flash_erase_sector(uint8_t sector, bool unlocked) {
|
||||
// don't erase the bootloader(sector 0)
|
||||
if (sector != 0 && sector < 8 && unlocked) {
|
||||
FLASH->CR1 = (sector << 8) | FLASH_CR_SER;
|
||||
FLASH->CR1 |= FLASH_CR_START;
|
||||
while (FLASH->SR1 & FLASH_SR_QW);
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
void flash_lock(void) {
|
||||
FLASH->CR1 |= FLASH_CR_LOCK;
|
||||
}
|
||||
|
||||
void flash_write_word(void *prog_ptr, uint32_t data) {
|
||||
uint32_t *pp = prog_ptr;
|
||||
FLASH->CR1 |= FLASH_CR_PG;
|
||||
*pp = data;
|
||||
while (FLASH->SR1 & FLASH_SR_QW);
|
||||
bool flash_erase_sector(uint16_t sector) {
|
||||
#ifdef BOOTSTUB
|
||||
// don't erase the bootloader(sector 0)
|
||||
uint16_t min_sector = 1U;
|
||||
uint16_t max_sector = 7U;
|
||||
#else
|
||||
uint16_t min_sector = LOGGING_FLASH_SECTOR_A;
|
||||
uint16_t max_sector = LOGGING_FLASH_SECTOR_B;
|
||||
#endif
|
||||
|
||||
bool ret = false;
|
||||
if ((sector >= min_sector) && (sector <= max_sector) && (!flash_is_locked())) {
|
||||
FLASH->CR1 = (sector << 8) | FLASH_CR_SER;
|
||||
FLASH->CR1 |= FLASH_CR_START;
|
||||
while ((FLASH->SR1 & FLASH_SR_QW) != 0U);
|
||||
ret = true;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
void flash_write_word(uint32_t *prog_ptr, uint32_t data) {
|
||||
#ifndef BOOTSTUB
|
||||
// don't write to any region besides the logging region
|
||||
if ((prog_ptr >= (uint32_t *)LOGGING_FLASH_BASE_A) && (prog_ptr < (uint32_t *)(LOGGING_FLASH_BASE_B + LOGGING_FLASH_SECTOR_SIZE))) {
|
||||
#endif
|
||||
|
||||
uint32_t *pp = prog_ptr;
|
||||
FLASH->CR1 |= FLASH_CR_PG;
|
||||
*pp = data;
|
||||
while ((FLASH->SR1 & FLASH_SR_QW) != 0U);
|
||||
|
||||
#ifndef BOOTSTUB
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void flush_write_buffer(void) {
|
||||
if (FLASH->SR1 & FLASH_SR_WBNE) {
|
||||
if ((FLASH->SR1 & FLASH_SR_WBNE) != 0U) {
|
||||
FLASH->CR1 |= FLASH_CR_FW;
|
||||
while (FLASH->SR1 & FLASH_CR_FW);
|
||||
while ((FLASH->SR1 & FLASH_CR_FW) != 0U);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -79,7 +79,7 @@ void SPI4_IRQ_Handler(void) {
|
||||
|
||||
|
||||
void llspi_init(void) {
|
||||
REGISTER_INTERRUPT(SPI4_IRQn, SPI4_IRQ_Handler, SPI_IRQ_RATE, FAULT_INTERRUPT_RATE_SPI_DMA)
|
||||
REGISTER_INTERRUPT(SPI4_IRQn, SPI4_IRQ_Handler, (SPI_IRQ_RATE * 2U), FAULT_INTERRUPT_RATE_SPI)
|
||||
REGISTER_INTERRUPT(DMA2_Stream2_IRQn, DMA2_Stream2_IRQ_Handler, SPI_IRQ_RATE, FAULT_INTERRUPT_RATE_SPI_DMA)
|
||||
REGISTER_INTERRUPT(DMA2_Stream3_IRQn, DMA2_Stream3_IRQ_Handler, SPI_IRQ_RATE, FAULT_INTERRUPT_RATE_SPI_DMA)
|
||||
|
||||
|
||||
@@ -16,6 +16,12 @@ void uart_rx_ring(uart_ring *q){
|
||||
uint8_t c = q->uart->RDR; // This read after reading SR clears a bunch of interrupts
|
||||
|
||||
uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size;
|
||||
|
||||
if ((next_w_ptr == q->r_ptr_rx) && q->overwrite) {
|
||||
// overwrite mode: drop oldest byte
|
||||
q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size;
|
||||
}
|
||||
|
||||
// Do not overwrite buffer data
|
||||
if (next_w_ptr != q->r_ptr_rx) {
|
||||
q->elems_rx[q->w_ptr_rx] = c;
|
||||
|
||||
@@ -46,6 +46,12 @@ separate IRQs for RX and TX.
|
||||
#define PROVISION_CHUNK_ADDRESS 0x080FFFE0U
|
||||
#define DEVICE_SERIAL_NUMBER_ADDRESS 0x080FFFC0U
|
||||
|
||||
#define LOGGING_FLASH_SECTOR_A 5U
|
||||
#define LOGGING_FLASH_SECTOR_B 6U
|
||||
#define LOGGING_FLASH_BASE_A 0x080A0000U
|
||||
#define LOGGING_FLASH_BASE_B 0x080C0000U
|
||||
#define LOGGING_FLASH_SECTOR_SIZE 0x20000U
|
||||
|
||||
#include "can_definitions.h"
|
||||
#include "comms_definitions.h"
|
||||
|
||||
@@ -67,6 +73,7 @@ separate IRQs for RX and TX.
|
||||
#include "stm32h7/interrupt_handlers.h"
|
||||
#include "drivers/timers.h"
|
||||
#include "drivers/watchdog.h"
|
||||
#include "stm32h7/llflash.h"
|
||||
|
||||
#if !defined(BOOTSTUB) && defined(PANDA)
|
||||
#include "drivers/uart.h"
|
||||
@@ -80,9 +87,7 @@ separate IRQs for RX and TX.
|
||||
#include "stm32h7/llexti.h"
|
||||
#endif
|
||||
|
||||
#ifdef BOOTSTUB
|
||||
#include "stm32h7/llflash.h"
|
||||
#else
|
||||
#ifndef BOOTSTUB
|
||||
#include "stm32h7/llfdcan.h"
|
||||
#endif
|
||||
|
||||
|
||||
@@ -1,8 +1,10 @@
|
||||
#!/usr/bin/env python3
|
||||
import argparse
|
||||
from typing import List, Optional
|
||||
from tqdm import tqdm
|
||||
from panda import Panda
|
||||
from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE, DATA_IDENTIFIER_TYPE
|
||||
from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, InvalidSubAddressError, \
|
||||
SESSION_TYPE, DATA_IDENTIFIER_TYPE
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser()
|
||||
@@ -11,6 +13,7 @@ if __name__ == "__main__":
|
||||
parser.add_argument("--no-obd", action="store_true", help="Bus 1 will not be multiplexed to the OBD-II port")
|
||||
parser.add_argument("--debug", action="store_true")
|
||||
parser.add_argument("--addr")
|
||||
parser.add_argument("--sub_addr", "--subaddr", help="A hex sub-address or `scan` to scan the full sub-address range")
|
||||
parser.add_argument("--bus")
|
||||
parser.add_argument('-s', '--serial', help="Serial number of panda to use")
|
||||
args = parser.parse_args()
|
||||
@@ -22,6 +25,17 @@ if __name__ == "__main__":
|
||||
addrs += [0x18da0000 + (i << 8) + 0xf1 for i in range(256)]
|
||||
results = {}
|
||||
|
||||
sub_addrs: List[Optional[int]] = [None]
|
||||
if args.sub_addr:
|
||||
if args.sub_addr == "scan":
|
||||
sub_addrs = list(range(0xff + 1))
|
||||
else:
|
||||
sub_addrs = [int(args.sub_addr, base=16)]
|
||||
if sub_addrs[0] > 0xff: # type: ignore
|
||||
print(f"Invalid sub-address: 0x{sub_addrs[0]:X}, needs to be in range 0x0 to 0xff")
|
||||
parser.print_help()
|
||||
exit()
|
||||
|
||||
uds_data_ids = {}
|
||||
for std_id in DATA_IDENTIFIER_TYPE:
|
||||
uds_data_ids[std_id.value] = std_id.name
|
||||
@@ -51,42 +65,50 @@ if __name__ == "__main__":
|
||||
# skip functional broadcast addrs
|
||||
if addr == 0x7df or addr == 0x18db33f1:
|
||||
continue
|
||||
t.set_description(hex(addr))
|
||||
|
||||
if args.bus:
|
||||
bus = int(args.bus)
|
||||
else:
|
||||
bus = 1 if panda.has_obd() else 0
|
||||
rx_addr = addr + int(args.rxoffset, base=16) if args.rxoffset else None
|
||||
uds_client = UdsClient(panda, addr, rx_addr, bus, timeout=0.2, debug=args.debug)
|
||||
# Check for anything alive at this address, and switch to the highest
|
||||
# available diagnostic session without security access
|
||||
try:
|
||||
uds_client.tester_present()
|
||||
uds_client.diagnostic_session_control(SESSION_TYPE.DEFAULT)
|
||||
uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
|
||||
except NegativeResponseError:
|
||||
pass
|
||||
except MessageTimeoutError:
|
||||
continue
|
||||
|
||||
# Run queries against all standard UDS data identifiers, plus selected
|
||||
# non-standardized identifier ranges if requested
|
||||
resp = {}
|
||||
for uds_data_id in sorted(uds_data_ids):
|
||||
# Try all sub-addresses for addr. By default, this is None
|
||||
for sub_addr in sub_addrs:
|
||||
sub_addr_str = hex(sub_addr) if sub_addr is not None else None
|
||||
t.set_description(f"{hex(addr)}, {sub_addr_str}")
|
||||
uds_client = UdsClient(panda, addr, rx_addr, bus, sub_addr=sub_addr, timeout=0.2, debug=args.debug)
|
||||
# Check for anything alive at this address, and switch to the highest
|
||||
# available diagnostic session without security access
|
||||
try:
|
||||
data = uds_client.read_data_by_identifier(uds_data_id) # type: ignore
|
||||
if data:
|
||||
resp[uds_data_id] = data
|
||||
except (NegativeResponseError, MessageTimeoutError):
|
||||
uds_client.tester_present()
|
||||
uds_client.diagnostic_session_control(SESSION_TYPE.DEFAULT)
|
||||
uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
|
||||
except NegativeResponseError:
|
||||
pass
|
||||
except MessageTimeoutError:
|
||||
continue
|
||||
except InvalidSubAddressError as e:
|
||||
print(f'*** Skipping address {hex(addr)}: {e}')
|
||||
break
|
||||
|
||||
if resp.keys():
|
||||
results[addr] = resp
|
||||
# Run queries against all standard UDS data identifiers, plus selected
|
||||
# non-standardized identifier ranges if requested
|
||||
resp = {}
|
||||
for uds_data_id in sorted(uds_data_ids):
|
||||
try:
|
||||
data = uds_client.read_data_by_identifier(uds_data_id) # type: ignore
|
||||
if data:
|
||||
resp[uds_data_id] = data
|
||||
except (NegativeResponseError, MessageTimeoutError, InvalidSubAddressError):
|
||||
pass
|
||||
|
||||
if resp.keys():
|
||||
results[(addr, sub_addr)] = resp
|
||||
|
||||
if len(results.items()):
|
||||
for addr, resp in results.items():
|
||||
print(f"\n\n*** Results for address 0x{addr:X} ***\n\n")
|
||||
for (addr, sub_addr), resp in results.items():
|
||||
sub_addr_str = f", sub-address 0x{sub_addr:X}" if sub_addr is not None else ""
|
||||
print(f"\n\n*** Results for address 0x{addr:X}{sub_addr_str} ***\n\n")
|
||||
for rid, dat in resp.items():
|
||||
print(f"0x{rid:02X} {uds_data_ids[rid]}: {dat}")
|
||||
else:
|
||||
|
||||
+105
-46
@@ -17,7 +17,7 @@ from .base import BaseHandle
|
||||
from .constants import FW_PATH, McuType
|
||||
from .dfu import PandaDFU
|
||||
from .isotp import isotp_send, isotp_recv
|
||||
from .spi import PandaSpiHandle, PandaSpiException
|
||||
from .spi import PandaSpiHandle, PandaSpiException, PandaProtocolMismatch
|
||||
from .usb import PandaUsbHandle
|
||||
|
||||
__version__ = '0.0.10'
|
||||
@@ -26,7 +26,6 @@ __version__ = '0.0.10'
|
||||
LOGLEVEL = os.environ.get('LOGLEVEL', 'INFO').upper()
|
||||
logging.basicConfig(level=LOGLEVEL, format='%(message)s')
|
||||
|
||||
USBPACKET_MAX_SIZE = 0x40
|
||||
CANPACKET_HEAD_SIZE = 0x6
|
||||
DLC_TO_LEN = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64]
|
||||
LEN_TO_DLC = {length: dlc for (dlc, length) in enumerate(DLC_TO_LEN)}
|
||||
@@ -122,6 +121,24 @@ def ensure_can_health_packet_version(fn):
|
||||
return fn(self, *args, **kwargs)
|
||||
return wrapper
|
||||
|
||||
def parse_timestamp(dat):
|
||||
a = struct.unpack("HBBBBBB", dat)
|
||||
if a[0] == 0:
|
||||
return None
|
||||
|
||||
try:
|
||||
return datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
|
||||
except ValueError:
|
||||
return None
|
||||
|
||||
def unpack_log(dat):
|
||||
return {
|
||||
'id': struct.unpack("H", dat[:2])[0],
|
||||
'timestamp': parse_timestamp(dat[2:10]),
|
||||
'uptime': struct.unpack("I", dat[10:14])[0],
|
||||
'msg': bytes(dat[14:]).decode('utf-8', 'ignore').strip('\x00'),
|
||||
}
|
||||
|
||||
class ALTERNATIVE_EXPERIENCE:
|
||||
DEFAULT = 0
|
||||
DISABLE_DISENGAGE_ON_GAS = 1
|
||||
@@ -183,9 +200,9 @@ class Panda:
|
||||
|
||||
CAN_PACKET_VERSION = 4
|
||||
HEALTH_PACKET_VERSION = 14
|
||||
CAN_HEALTH_PACKET_VERSION = 4
|
||||
CAN_HEALTH_PACKET_VERSION = 5
|
||||
HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBBHBHH")
|
||||
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBB")
|
||||
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")
|
||||
|
||||
F2_DEVICES = (HW_TYPE_PEDAL, )
|
||||
F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
|
||||
@@ -236,6 +253,7 @@ class Panda:
|
||||
FLAG_GM_HW_CAM_LONG = 2
|
||||
|
||||
FLAG_FORD_LONG_CONTROL = 1
|
||||
FLAG_FORD_CANFD = 2
|
||||
|
||||
def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True):
|
||||
self._connect_serial = serial
|
||||
@@ -265,10 +283,14 @@ class Panda:
|
||||
def connect(self, claim=True, wait=False):
|
||||
self.close()
|
||||
|
||||
# try USB first, then SPI
|
||||
self._handle, serial, self.bootstub, bcd = self.usb_connect(self._connect_serial, claim=claim, wait=wait)
|
||||
if self._handle is None:
|
||||
self._handle, serial, self.bootstub, bcd = self.spi_connect(self._connect_serial)
|
||||
self._handle = None
|
||||
while self._handle is None:
|
||||
# try USB first, then SPI
|
||||
self._handle, serial, self.bootstub, bcd = self.usb_connect(self._connect_serial, claim=claim)
|
||||
if self._handle is None:
|
||||
self._handle, serial, self.bootstub, bcd = self.spi_connect(self._connect_serial)
|
||||
if not wait:
|
||||
break
|
||||
|
||||
if self._handle is None:
|
||||
raise Exception("failed to connect to panda")
|
||||
@@ -303,16 +325,30 @@ class Panda:
|
||||
self.set_power_save(0)
|
||||
|
||||
@staticmethod
|
||||
def spi_connect(serial):
|
||||
def spi_connect(serial, ignore_version=False):
|
||||
# get UID to confirm slave is present and up
|
||||
handle = None
|
||||
spi_serial = None
|
||||
bootstub = None
|
||||
spi_version = None
|
||||
try:
|
||||
handle = PandaSpiHandle()
|
||||
dat = handle.controlRead(Panda.REQUEST_IN, 0xc3, 0, 0, 12, timeout=100)
|
||||
spi_serial = binascii.hexlify(dat).decode()
|
||||
bootstub = Panda.flasher_present(handle)
|
||||
|
||||
# connect by protcol version
|
||||
try:
|
||||
dat = handle.get_protocol_version()
|
||||
spi_serial = binascii.hexlify(dat[:12]).decode()
|
||||
pid = dat[13]
|
||||
if pid not in (0xcc, 0xee):
|
||||
raise PandaSpiException("invalid bootstub status")
|
||||
bootstub = pid == 0xee
|
||||
spi_version = dat[14]
|
||||
except PandaSpiException:
|
||||
# fallback, we'll raise a protocol mismatch below
|
||||
dat = handle.controlRead(Panda.REQUEST_IN, 0xc3, 0, 0, 12, timeout=100)
|
||||
spi_serial = binascii.hexlify(dat).decode()
|
||||
bootstub = Panda.flasher_present(handle)
|
||||
spi_version = 0
|
||||
except PandaSpiException:
|
||||
pass
|
||||
|
||||
@@ -322,49 +358,53 @@ class Panda:
|
||||
spi_serial = None
|
||||
bootstub = False
|
||||
|
||||
# ensure our protocol version matches the panda
|
||||
if handle is not None and not ignore_version:
|
||||
if spi_version != handle.PROTOCOL_VERSION:
|
||||
err = f"panda protocol mismatch: expected {handle.PROTOCOL_VERSION}, got {spi_version}. reflash panda"
|
||||
raise PandaProtocolMismatch(err)
|
||||
|
||||
return handle, spi_serial, bootstub, None
|
||||
|
||||
@staticmethod
|
||||
def usb_connect(serial, claim=True, wait=False):
|
||||
def usb_connect(serial, claim=True):
|
||||
handle, usb_serial, bootstub, bcd = None, None, None, None
|
||||
while 1:
|
||||
context = usb1.USBContext()
|
||||
context.open()
|
||||
try:
|
||||
for device in context.getDeviceList(skip_on_error=True):
|
||||
if device.getVendorID() == 0xbbaa and device.getProductID() in (0xddcc, 0xddee):
|
||||
try:
|
||||
this_serial = device.getSerialNumber()
|
||||
except Exception:
|
||||
continue
|
||||
context = usb1.USBContext()
|
||||
context.open()
|
||||
try:
|
||||
for device in context.getDeviceList(skip_on_error=True):
|
||||
if device.getVendorID() == 0xbbaa and device.getProductID() in (0xddcc, 0xddee):
|
||||
try:
|
||||
this_serial = device.getSerialNumber()
|
||||
except Exception:
|
||||
continue
|
||||
|
||||
if serial is None or this_serial == serial:
|
||||
logging.debug("opening device %s %s", this_serial, hex(device.getProductID()))
|
||||
if serial is None or this_serial == serial:
|
||||
logging.debug("opening device %s %s", this_serial, hex(device.getProductID()))
|
||||
|
||||
usb_serial = this_serial
|
||||
bootstub = device.getProductID() == 0xddee
|
||||
handle = device.open()
|
||||
if sys.platform not in ("win32", "cygwin", "msys", "darwin"):
|
||||
handle.setAutoDetachKernelDriver(True)
|
||||
if claim:
|
||||
handle.claimInterface(0)
|
||||
# handle.setInterfaceAltSetting(0, 0) # Issue in USB stack
|
||||
usb_serial = this_serial
|
||||
bootstub = device.getProductID() == 0xddee
|
||||
handle = device.open()
|
||||
if sys.platform not in ("win32", "cygwin", "msys", "darwin"):
|
||||
handle.setAutoDetachKernelDriver(True)
|
||||
if claim:
|
||||
handle.claimInterface(0)
|
||||
# handle.setInterfaceAltSetting(0, 0) # Issue in USB stack
|
||||
|
||||
# bcdDevice wasn't always set to the hw type, ignore if it's the old constant
|
||||
this_bcd = device.getbcdDevice()
|
||||
if this_bcd is not None and this_bcd != 0x2300:
|
||||
bcd = bytearray([this_bcd >> 8, ])
|
||||
# bcdDevice wasn't always set to the hw type, ignore if it's the old constant
|
||||
this_bcd = device.getbcdDevice()
|
||||
if this_bcd is not None and this_bcd != 0x2300:
|
||||
bcd = bytearray([this_bcd >> 8, ])
|
||||
|
||||
break
|
||||
except Exception:
|
||||
logging.exception("USB connect error")
|
||||
if not wait or handle is not None:
|
||||
break
|
||||
context.close()
|
||||
break
|
||||
except Exception:
|
||||
logging.exception("USB connect error")
|
||||
|
||||
usb_handle = None
|
||||
if handle is not None:
|
||||
usb_handle = PandaUsbHandle(handle)
|
||||
else:
|
||||
context.close()
|
||||
|
||||
return usb_handle, usb_serial, bootstub, bcd
|
||||
|
||||
@@ -395,7 +435,7 @@ class Panda:
|
||||
|
||||
@staticmethod
|
||||
def spi_list():
|
||||
_, serial, _, _ = Panda.spi_connect(None)
|
||||
_, serial, _, _ = Panda.spi_connect(None, ignore_version=True)
|
||||
if serial is not None:
|
||||
return [serial, ]
|
||||
return []
|
||||
@@ -630,6 +670,10 @@ class Panda:
|
||||
"canfd_enabled": a[19],
|
||||
"brs_enabled": a[20],
|
||||
"canfd_non_iso": a[21],
|
||||
"irq0_call_rate": a[22],
|
||||
"irq1_call_rate": a[23],
|
||||
"irq2_call_rate": a[24],
|
||||
"can_core_reset_count": a[25],
|
||||
}
|
||||
|
||||
# ******************* control *******************
|
||||
@@ -716,6 +760,10 @@ class Panda:
|
||||
def get_secret(self):
|
||||
return self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 1, 0, 0x10)
|
||||
|
||||
def get_interrupt_call_rate(self, irqnum):
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xc4, int(irqnum), 0, 4)
|
||||
return struct.unpack("I", dat)[0]
|
||||
|
||||
# ******************* configuration *******************
|
||||
|
||||
def set_power_save(self, power_save_enabled=0):
|
||||
@@ -939,8 +987,7 @@ class Panda:
|
||||
|
||||
def get_datetime(self):
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xa0, 0, 0, 8)
|
||||
a = struct.unpack("HBBBBBB", dat)
|
||||
return datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
|
||||
return parse_timestamp(dat)
|
||||
|
||||
# ****************** Timer *****************
|
||||
def get_microsecond_timer(self):
|
||||
@@ -971,3 +1018,15 @@ class Panda:
|
||||
# ****************** Debug *****************
|
||||
def set_green_led(self, enabled):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf7, int(enabled), 0, b'')
|
||||
|
||||
# ****************** Logging *****************
|
||||
def get_logs(self, last_id=None, get_all=False):
|
||||
assert (last_id is None) or (0 <= last_id < 0xFFFF)
|
||||
|
||||
logs = []
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xfd, 1 if get_all else 0, last_id if last_id is not None else 0xFFFF, 0x40)
|
||||
while len(dat) > 0:
|
||||
if len(dat) == 0x40:
|
||||
logs.append(unpack_log(dat))
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xfd, 0, 0xFFFF, 0x40)
|
||||
return logs
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
from abc import ABC, abstractmethod
|
||||
from typing import List
|
||||
|
||||
from .constants import McuType
|
||||
|
||||
@@ -24,7 +23,7 @@ class BaseHandle(ABC):
|
||||
...
|
||||
|
||||
@abstractmethod
|
||||
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
|
||||
def bulkWrite(self, endpoint: int, data: bytes, timeout: int = TIMEOUT) -> int:
|
||||
...
|
||||
|
||||
@abstractmethod
|
||||
|
||||
@@ -5,6 +5,8 @@ from typing import List, NamedTuple
|
||||
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
|
||||
FW_PATH = os.path.join(BASEDIR, "board/obj/")
|
||||
|
||||
USBPACKET_MAX_SIZE = 0x40
|
||||
|
||||
class McuConfig(NamedTuple):
|
||||
mcu: str
|
||||
mcu_idcode: int
|
||||
|
||||
+155
-63
@@ -1,4 +1,5 @@
|
||||
import binascii
|
||||
import ctypes
|
||||
import os
|
||||
import fcntl
|
||||
import math
|
||||
@@ -8,15 +9,18 @@ import logging
|
||||
import threading
|
||||
from contextlib import contextmanager
|
||||
from functools import reduce
|
||||
from typing import List, Optional
|
||||
from typing import Callable, List, Optional
|
||||
|
||||
from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT
|
||||
from .constants import McuType, MCU_TYPE_BY_IDCODE
|
||||
from .constants import McuType, MCU_TYPE_BY_IDCODE, USBPACKET_MAX_SIZE
|
||||
from .utils import crc8_pedal
|
||||
|
||||
try:
|
||||
import spidev
|
||||
import spidev2
|
||||
except ImportError:
|
||||
spidev = None
|
||||
spidev2 = None
|
||||
|
||||
# Constants
|
||||
SYNC = 0x5A
|
||||
@@ -28,7 +32,7 @@ CHECKSUM_START = 0xAB
|
||||
MIN_ACK_TIMEOUT_MS = 100
|
||||
MAX_XFER_RETRY_COUNT = 5
|
||||
|
||||
XFER_SIZE = 1000
|
||||
XFER_SIZE = 0x40*31
|
||||
|
||||
DEV_PATH = "/dev/spidev0.0"
|
||||
|
||||
@@ -36,6 +40,9 @@ DEV_PATH = "/dev/spidev0.0"
|
||||
class PandaSpiException(Exception):
|
||||
pass
|
||||
|
||||
class PandaProtocolMismatch(PandaSpiException):
|
||||
pass
|
||||
|
||||
class PandaSpiUnavailable(PandaSpiException):
|
||||
pass
|
||||
|
||||
@@ -54,6 +61,17 @@ class PandaSpiTransferFailed(PandaSpiException):
|
||||
|
||||
SPI_LOCK = threading.Lock()
|
||||
|
||||
class PandaSpiTransfer(ctypes.Structure):
|
||||
_fields_ = [
|
||||
('rx_buf', ctypes.c_uint64),
|
||||
('tx_buf', ctypes.c_uint64),
|
||||
('tx_length', ctypes.c_uint32),
|
||||
('rx_length_max', ctypes.c_uint32),
|
||||
('timeout', ctypes.c_uint32),
|
||||
('endpoint', ctypes.c_uint8),
|
||||
('expect_disconnect', ctypes.c_uint8),
|
||||
]
|
||||
|
||||
class SpiDevice:
|
||||
"""
|
||||
Provides locked, thread-safe access to a panda's SPI interface.
|
||||
@@ -89,82 +107,161 @@ class SpiDevice:
|
||||
self._spidev.close()
|
||||
|
||||
|
||||
|
||||
class PandaSpiHandle(BaseHandle):
|
||||
"""
|
||||
A class that mimics a libusb1 handle for panda SPI communications.
|
||||
"""
|
||||
def __init__(self):
|
||||
|
||||
PROTOCOL_VERSION = 2
|
||||
|
||||
def __init__(self) -> None:
|
||||
self.dev = SpiDevice()
|
||||
|
||||
self._transfer_raw: Callable[[SpiDevice, int, bytes, int, int, bool], bytes] = self._transfer_spidev
|
||||
|
||||
if "KERN" in os.environ:
|
||||
self._transfer_raw = self._transfer_kernel_driver
|
||||
|
||||
self.tx_buf = bytearray(1024)
|
||||
self.rx_buf = bytearray(1024)
|
||||
tx_buf_raw = ctypes.c_char.from_buffer(self.tx_buf)
|
||||
rx_buf_raw = ctypes.c_char.from_buffer(self.rx_buf)
|
||||
|
||||
self.ioctl_data = PandaSpiTransfer()
|
||||
self.ioctl_data.tx_buf = ctypes.addressof(tx_buf_raw)
|
||||
self.ioctl_data.rx_buf = ctypes.addressof(rx_buf_raw)
|
||||
self.fileno = self.dev._spidev.fileno()
|
||||
|
||||
# helpers
|
||||
def _calc_checksum(self, data: List[int]) -> int:
|
||||
def _calc_checksum(self, data: bytes) -> int:
|
||||
cksum = CHECKSUM_START
|
||||
for b in data:
|
||||
cksum ^= b
|
||||
return cksum
|
||||
|
||||
def _wait_for_ack(self, spi, ack_val: int, timeout: int, tx: int) -> None:
|
||||
def _wait_for_ack(self, spi, ack_val: int, timeout: int, tx: int, length: int = 1) -> bytes:
|
||||
timeout_s = max(MIN_ACK_TIMEOUT_MS, timeout) * 1e-3
|
||||
|
||||
start = time.monotonic()
|
||||
while (timeout == 0) or ((time.monotonic() - start) < timeout_s):
|
||||
dat = spi.xfer2([tx, ])[0]
|
||||
if dat == NACK:
|
||||
dat = spi.xfer2([tx, ] * length)
|
||||
if dat[0] == NACK:
|
||||
raise PandaSpiNackResponse
|
||||
elif dat == ack_val:
|
||||
return
|
||||
elif dat[0] == ack_val:
|
||||
return bytes(dat)
|
||||
|
||||
raise PandaSpiMissingAck
|
||||
|
||||
def _transfer(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000, expect_disconnect: bool = False) -> bytes:
|
||||
def _transfer_spidev(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000, expect_disconnect: bool = False) -> bytes:
|
||||
max_rx_len = max(USBPACKET_MAX_SIZE, max_rx_len)
|
||||
|
||||
logging.debug("- send header")
|
||||
packet = struct.pack("<BBHH", SYNC, endpoint, len(data), max_rx_len)
|
||||
packet += bytes([self._calc_checksum(packet), ])
|
||||
spi.xfer2(packet)
|
||||
|
||||
logging.debug("- waiting for header ACK")
|
||||
self._wait_for_ack(spi, HACK, MIN_ACK_TIMEOUT_MS, 0x11)
|
||||
|
||||
logging.debug("- sending data")
|
||||
packet = bytes([*data, self._calc_checksum(data)])
|
||||
spi.xfer2(packet)
|
||||
|
||||
if expect_disconnect:
|
||||
logging.debug("- expecting disconnect, returning")
|
||||
return b""
|
||||
else:
|
||||
logging.debug("- waiting for data ACK")
|
||||
preread_len = USBPACKET_MAX_SIZE + 1 # read enough for a controlRead
|
||||
dat = self._wait_for_ack(spi, DACK, timeout, 0x13, length=3 + preread_len)
|
||||
|
||||
# get response length, then response
|
||||
response_len = struct.unpack("<H", dat[1:3])[0]
|
||||
if response_len > max_rx_len:
|
||||
raise PandaSpiException(f"response length greater than max ({max_rx_len} {response_len})")
|
||||
|
||||
# read rest
|
||||
remaining = (response_len + 1) - preread_len
|
||||
if remaining > 0:
|
||||
dat += bytes(spi.readbytes(remaining))
|
||||
|
||||
|
||||
dat = dat[:3 + response_len + 1]
|
||||
if self._calc_checksum(dat) != 0:
|
||||
raise PandaSpiBadChecksum
|
||||
|
||||
return dat[3:-1]
|
||||
|
||||
def _transfer_kernel_driver(self, spi, endpoint: int, data, timeout: int, max_rx_len: int = 1000, expect_disconnect: bool = False) -> bytes:
|
||||
self.tx_buf[:len(data)] = data
|
||||
self.ioctl_data.endpoint = endpoint
|
||||
self.ioctl_data.tx_length = len(data)
|
||||
self.ioctl_data.rx_length_max = max_rx_len
|
||||
self.ioctl_data.expect_disconnect = int(expect_disconnect)
|
||||
|
||||
# TODO: use our own ioctl request
|
||||
try:
|
||||
ret = fcntl.ioctl(self.fileno, spidev2.SPI_IOC_RD_LSB_FIRST, self.ioctl_data)
|
||||
except OSError as e:
|
||||
raise PandaSpiException from e
|
||||
if ret < 0:
|
||||
raise PandaSpiException(f"ioctl returned {ret}")
|
||||
return bytes(self.rx_buf[:ret])
|
||||
|
||||
def _transfer(self, endpoint: int, data, timeout: int, max_rx_len: int = 1000, expect_disconnect: bool = False) -> bytes:
|
||||
logging.debug("starting transfer: endpoint=%d, max_rx_len=%d", endpoint, max_rx_len)
|
||||
logging.debug("==============================================")
|
||||
|
||||
n = 0
|
||||
start_time = time.monotonic()
|
||||
exc = PandaSpiException()
|
||||
while (time.monotonic() - start_time) < timeout*1e-3:
|
||||
while (timeout == 0) or (time.monotonic() - start_time) < timeout*1e-3:
|
||||
n += 1
|
||||
logging.debug("\ntry #%d", n)
|
||||
try:
|
||||
logging.debug("- send header")
|
||||
packet = struct.pack("<BBHH", SYNC, endpoint, len(data), max_rx_len)
|
||||
packet += bytes([reduce(lambda x, y: x^y, packet) ^ CHECKSUM_START])
|
||||
spi.xfer2(packet)
|
||||
with self.dev.acquire() as spi:
|
||||
try:
|
||||
return self._transfer_raw(spi, endpoint, data, timeout, max_rx_len, expect_disconnect)
|
||||
except PandaSpiException as e:
|
||||
exc = e
|
||||
logging.debug("SPI transfer failed, retrying", exc_info=True)
|
||||
|
||||
to = timeout - (time.monotonic() - start_time)*1e3
|
||||
logging.debug("- waiting for header ACK")
|
||||
self._wait_for_ack(spi, HACK, int(to), 0x11)
|
||||
raise exc
|
||||
|
||||
# send data
|
||||
logging.debug("- sending data")
|
||||
packet = bytes([*data, self._calc_checksum(data)])
|
||||
spi.xfer2(packet)
|
||||
def get_protocol_version(self) -> bytes:
|
||||
vers_str = b"VERSION"
|
||||
def _get_version(spi) -> bytes:
|
||||
spi.writebytes(vers_str)
|
||||
|
||||
if expect_disconnect:
|
||||
logging.debug("- expecting disconnect, returning")
|
||||
return b""
|
||||
else:
|
||||
to = timeout - (time.monotonic() - start_time)*1e3
|
||||
logging.debug("- waiting for data ACK")
|
||||
self._wait_for_ack(spi, DACK, int(to), 0x13)
|
||||
logging.debug("- waiting for echo")
|
||||
start = time.monotonic()
|
||||
while True:
|
||||
version_bytes = spi.readbytes(len(vers_str) + 2)
|
||||
if bytes(version_bytes).startswith(vers_str):
|
||||
break
|
||||
if (time.monotonic() - start) > 0.01:
|
||||
raise PandaSpiMissingAck
|
||||
|
||||
# get response length, then response
|
||||
response_len_bytes = bytes(spi.xfer2(b"\x00" * 2))
|
||||
response_len = struct.unpack("<H", response_len_bytes)[0]
|
||||
if response_len > max_rx_len:
|
||||
raise PandaSpiException("response length greater than max")
|
||||
rlen = struct.unpack("<H", bytes(version_bytes[-2:]))[0]
|
||||
if rlen > 1000:
|
||||
raise PandaSpiException("response length greater than max")
|
||||
|
||||
logging.debug("- receiving response")
|
||||
dat = bytes(spi.xfer2(b"\x00" * (response_len + 1)))
|
||||
if self._calc_checksum([DACK, *response_len_bytes, *dat]) != 0:
|
||||
raise PandaSpiBadChecksum
|
||||
|
||||
return dat[:-1]
|
||||
except PandaSpiException as e:
|
||||
exc = e
|
||||
logging.debug("SPI transfer failed, retrying", exc_info=True)
|
||||
# get response
|
||||
dat = spi.readbytes(rlen + 1)
|
||||
resp = dat[:-1]
|
||||
calculated_crc = crc8_pedal(bytes(version_bytes + resp))
|
||||
if calculated_crc != dat[-1]:
|
||||
raise PandaSpiBadChecksum
|
||||
return bytes(resp)
|
||||
|
||||
exc = PandaSpiException()
|
||||
with self.dev.acquire() as spi:
|
||||
for _ in range(10):
|
||||
try:
|
||||
return _get_version(spi)
|
||||
except PandaSpiException as e:
|
||||
exc = e
|
||||
logging.debug("SPI get protocol version failed, retrying", exc_info=True)
|
||||
raise exc
|
||||
|
||||
# libusb1 functions
|
||||
@@ -172,29 +269,24 @@ class PandaSpiHandle(BaseHandle):
|
||||
self.dev.close()
|
||||
|
||||
def controlWrite(self, request_type: int, request: int, value: int, index: int, data, timeout: int = TIMEOUT, expect_disconnect: bool = False):
|
||||
with self.dev.acquire() as spi:
|
||||
return self._transfer(spi, 0, struct.pack("<BHHH", request, value, index, 0), timeout, expect_disconnect=expect_disconnect)
|
||||
return self._transfer(0, struct.pack("<BHHH", request, value, index, 0), timeout, expect_disconnect=expect_disconnect)
|
||||
|
||||
def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT):
|
||||
with self.dev.acquire() as spi:
|
||||
return self._transfer(spi, 0, struct.pack("<BHHH", request, value, index, length), timeout)
|
||||
return self._transfer(0, struct.pack("<BHHH", request, value, index, length), timeout, max_rx_len=length)
|
||||
|
||||
# TODO: implement these properly
|
||||
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
|
||||
with self.dev.acquire() as spi:
|
||||
for x in range(math.ceil(len(data) / XFER_SIZE)):
|
||||
self._transfer(spi, endpoint, data[XFER_SIZE*x:XFER_SIZE*(x+1)], timeout)
|
||||
return len(data)
|
||||
def bulkWrite(self, endpoint: int, data: bytes, timeout: int = TIMEOUT) -> int:
|
||||
for x in range(math.ceil(len(data) / XFER_SIZE)):
|
||||
self._transfer(endpoint, data[XFER_SIZE*x:XFER_SIZE*(x+1)], timeout)
|
||||
return len(data)
|
||||
|
||||
def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
|
||||
ret: List[int] = []
|
||||
with self.dev.acquire() as spi:
|
||||
for _ in range(math.ceil(length / XFER_SIZE)):
|
||||
d = self._transfer(spi, endpoint, [], timeout, max_rx_len=XFER_SIZE)
|
||||
ret += d
|
||||
if len(d) < XFER_SIZE:
|
||||
break
|
||||
return bytes(ret)
|
||||
ret = b""
|
||||
for _ in range(math.ceil(length / XFER_SIZE)):
|
||||
d = self._transfer(endpoint, [], timeout, max_rx_len=XFER_SIZE)
|
||||
ret += d
|
||||
if len(d) < XFER_SIZE:
|
||||
break
|
||||
return ret
|
||||
|
||||
|
||||
class STBootloaderSPIHandle(BaseSTBootloaderHandle):
|
||||
|
||||
+14
-9
@@ -229,7 +229,10 @@ class NegativeResponseError(Exception):
|
||||
class InvalidServiceIdError(Exception):
|
||||
pass
|
||||
|
||||
class InvalidSubFunctioneError(Exception):
|
||||
class InvalidSubFunctionError(Exception):
|
||||
pass
|
||||
|
||||
class InvalidSubAddressError(Exception):
|
||||
pass
|
||||
|
||||
_negative_response_codes = {
|
||||
@@ -299,12 +302,12 @@ def get_dtc_status_names(status):
|
||||
|
||||
class CanClient():
|
||||
def __init__(self, can_send: Callable[[int, bytes, int], None], can_recv: Callable[[], List[Tuple[int, int, bytes, int]]],
|
||||
tx_addr: int, rx_addr: int, bus: int, sub_addr: int = None, debug: bool = False):
|
||||
tx_addr: int, rx_addr: int, bus: int, sub_addr: Optional[int] = None, debug: bool = False):
|
||||
self.tx = can_send
|
||||
self.rx = can_recv
|
||||
self.tx_addr = tx_addr
|
||||
self.rx_addr = rx_addr
|
||||
self.rx_buff = deque() # type: Deque[bytes]
|
||||
self.rx_buff: Deque[bytes] = deque()
|
||||
self.sub_addr = sub_addr
|
||||
self.bus = bus
|
||||
self.debug = debug
|
||||
@@ -345,6 +348,8 @@ class CanClient():
|
||||
|
||||
# Cut off sub addr in first byte
|
||||
if self.sub_addr is not None:
|
||||
if rx_data[0] != self.sub_addr:
|
||||
raise InvalidSubAddressError(f"isotp - rx: invalid sub-address: {rx_data[0]}, expected: {self.sub_addr}")
|
||||
rx_data = rx_data[1:]
|
||||
|
||||
self.rx_buff.append(rx_data)
|
||||
@@ -468,7 +473,7 @@ class IsoTpMessage():
|
||||
# assert len(rx_data) == self.max_len, f"isotp - rx: invalid CAN frame length: {len(rx_data)}"
|
||||
|
||||
if rx_data[0] >> 4 == ISOTP_FRAME_TYPE.SINGLE:
|
||||
self.rx_len = rx_data[0] & 0xFF
|
||||
self.rx_len = rx_data[0] & 0x0F
|
||||
assert self.rx_len < self.max_len, f"isotp - rx: invalid single frame length: {self.rx_len}"
|
||||
self.rx_dat = rx_data[1:1 + self.rx_len]
|
||||
self.rx_idx = 0
|
||||
@@ -566,7 +571,7 @@ def get_rx_addr_for_tx_addr(tx_addr, rx_offset=0x8):
|
||||
|
||||
|
||||
class UdsClient():
|
||||
def __init__(self, panda, tx_addr: int, rx_addr: int = None, bus: int = 0, sub_addr: int = None, timeout: float = 1,
|
||||
def __init__(self, panda, tx_addr: int, rx_addr: Optional[int] = None, bus: int = 0, sub_addr: Optional[int] = None, timeout: float = 1,
|
||||
debug: bool = False, tx_timeout: float = 1, response_pending_timeout: float = 10):
|
||||
self.bus = bus
|
||||
self.tx_addr = tx_addr
|
||||
@@ -579,7 +584,7 @@ class UdsClient():
|
||||
self.response_pending_timeout = response_pending_timeout
|
||||
|
||||
# generic uds request
|
||||
def _uds_request(self, service_type: SERVICE_TYPE, subfunction: int = None, data: bytes = None) -> bytes:
|
||||
def _uds_request(self, service_type: SERVICE_TYPE, subfunction: Optional[int] = None, data: Optional[bytes] = None) -> bytes:
|
||||
req = bytes([service_type])
|
||||
if subfunction is not None:
|
||||
req += bytes([subfunction])
|
||||
@@ -630,7 +635,7 @@ class UdsClient():
|
||||
resp_sfn = resp[1] if len(resp) > 1 else None
|
||||
if subfunction != resp_sfn:
|
||||
resp_sfn_hex = hex(resp_sfn) if resp_sfn is not None else None
|
||||
raise InvalidSubFunctioneError(f'invalid response subfunction: {resp_sfn_hex:x}')
|
||||
raise InvalidSubFunctionError(f'invalid response subfunction: {resp_sfn_hex}')
|
||||
|
||||
# return data (exclude service id and sub-function id)
|
||||
return resp[(1 if subfunction is None else 2):]
|
||||
@@ -667,7 +672,7 @@ class UdsClient():
|
||||
def tester_present(self, ):
|
||||
self._uds_request(SERVICE_TYPE.TESTER_PRESENT, subfunction=0x00)
|
||||
|
||||
def access_timing_parameter(self, timing_parameter_type: TIMING_PARAMETER_TYPE, parameter_values: bytes = None):
|
||||
def access_timing_parameter(self, timing_parameter_type: TIMING_PARAMETER_TYPE, parameter_values: Optional[bytes] = None):
|
||||
write_custom_values = timing_parameter_type == TIMING_PARAMETER_TYPE.SET_TO_GIVEN_VALUES
|
||||
read_values = (timing_parameter_type == TIMING_PARAMETER_TYPE.READ_CURRENTLY_ACTIVE or
|
||||
timing_parameter_type == TIMING_PARAMETER_TYPE.READ_EXTENDED_SET)
|
||||
@@ -710,7 +715,7 @@ class UdsClient():
|
||||
"data": resp[2:], # TODO: parse the reset of response
|
||||
}
|
||||
|
||||
def link_control(self, link_control_type: LINK_CONTROL_TYPE, baud_rate_type: BAUD_RATE_TYPE = None):
|
||||
def link_control(self, link_control_type: LINK_CONTROL_TYPE, baud_rate_type: Optional[BAUD_RATE_TYPE] = None):
|
||||
data: Optional[bytes]
|
||||
|
||||
if link_control_type == LINK_CONTROL_TYPE.VERIFY_BAUDRATE_TRANSITION_WITH_FIXED_BAUDRATE:
|
||||
|
||||
+1
-2
@@ -1,5 +1,4 @@
|
||||
import struct
|
||||
from typing import List
|
||||
|
||||
from .base import BaseHandle, BaseSTBootloaderHandle, TIMEOUT
|
||||
from .constants import McuType
|
||||
@@ -17,7 +16,7 @@ class PandaUsbHandle(BaseHandle):
|
||||
def controlRead(self, request_type: int, request: int, value: int, index: int, length: int, timeout: int = TIMEOUT):
|
||||
return self._libusb_handle.controlRead(request_type, request, value, index, length, timeout)
|
||||
|
||||
def bulkWrite(self, endpoint: int, data: List[int], timeout: int = TIMEOUT) -> int:
|
||||
def bulkWrite(self, endpoint: int, data: bytes, timeout: int = TIMEOUT) -> int:
|
||||
return self._libusb_handle.bulkWrite(endpoint, data, timeout) # type: ignore
|
||||
|
||||
def bulkRead(self, endpoint: int, length: int, timeout: int = TIMEOUT) -> bytes:
|
||||
|
||||
@@ -0,0 +1,12 @@
|
||||
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
|
||||
+5
-1
@@ -34,7 +34,11 @@ libkf = env.SharedLibrary(f'{generated_folder}/libkf', lib_target)
|
||||
|
||||
lenv = envCython.Clone()
|
||||
lenv["LINKFLAGS"] += [libkf[0].get_labspath()]
|
||||
lenv["LIBS"] = ['zmq', common] + lenv["LIBS"]
|
||||
|
||||
# for SWAGLOG support
|
||||
if common != "":
|
||||
lenv["LIBS"] = ['zmq', common] + lenv["LIBS"]
|
||||
|
||||
ekf_sym_so = lenv.Program('#rednose/helpers/ekf_sym_pyx.so', [ekf_sym_pyx, ekf_sym_cc, common_ekf])
|
||||
lenv.Depends(ekf_sym_so, libkf)
|
||||
|
||||
|
||||
@@ -9,8 +9,8 @@ def write_code(folder, name, code, header):
|
||||
if not os.path.exists(folder):
|
||||
os.mkdir(folder)
|
||||
|
||||
open(os.path.join(folder, f"{name}.cpp"), 'w').write(code)
|
||||
open(os.path.join(folder, f"{name}.h"), 'w').write(header)
|
||||
open(os.path.join(folder, f"{name}.cpp"), 'w', encoding='utf-8').write(code)
|
||||
open(os.path.join(folder, f"{name}.h"), 'w', encoding='utf-8').write(header)
|
||||
|
||||
|
||||
def load_code(folder, name, lib_name=None):
|
||||
@@ -20,7 +20,7 @@ def load_code(folder, name, lib_name=None):
|
||||
shared_fn = os.path.join(folder, f"lib{lib_name}.{shared_ext}")
|
||||
header_fn = os.path.join(folder, f"{name}.h")
|
||||
|
||||
with open(header_fn) as f:
|
||||
with open(header_fn, encoding='utf-8') as f:
|
||||
header = f.read()
|
||||
|
||||
# is the only thing that can be parsed by cffi
|
||||
|
||||
@@ -204,14 +204,14 @@ def gen_code(folder, name, f_sym, dt_sym, x_sym, obs_eqs, dim_x, dim_err, eskf_p
|
||||
|
||||
# merge code blocks
|
||||
header += "}"
|
||||
code = "\n".join([pre_code, code, open(os.path.join(TEMPLATE_DIR, "ekf_c.c")).read(), post_code])
|
||||
code = "\n".join([pre_code, code, open(os.path.join(TEMPLATE_DIR, "ekf_c.c"), encoding='utf-8').read(), post_code])
|
||||
|
||||
# write to file
|
||||
if not os.path.exists(folder):
|
||||
os.mkdir(folder)
|
||||
|
||||
open(os.path.join(folder, f"{name}.h"), 'w').write(header) # header is used for ffi import
|
||||
open(os.path.join(folder, f"{name}.cpp"), 'w').write(code)
|
||||
open(os.path.join(folder, f"{name}.h"), 'w', encoding='utf-8').write(header) # header is used for ffi import
|
||||
open(os.path.join(folder, f"{name}.cpp"), 'w', encoding='utf-8').write(code)
|
||||
|
||||
|
||||
class EKF_sym():
|
||||
|
||||
@@ -36,7 +36,7 @@ class FeatureHandler():
|
||||
c_code += "#include <string.h>\n"
|
||||
c_code += "#define K %d\n" % K
|
||||
c_code += "extern \"C\" {\n"
|
||||
c_code += "\n" + open(os.path.join(TEMPLATE_DIR, "feature_handler.c")).read()
|
||||
c_code += "\n" + open(os.path.join(TEMPLATE_DIR, "feature_handler.c"), encoding='utf-8').read()
|
||||
c_code += "\n}\n"
|
||||
|
||||
filename = f"{FeatureHandler.name}_{K}"
|
||||
@@ -98,7 +98,7 @@ class FeatureHandler():
|
||||
real = np.isfinite(last_idxs)
|
||||
self.tracks[last_idxs[real].astype(int)] = self.tracks[real]
|
||||
|
||||
mask = np.ones(self.MAX_TRACKS, np.bool)
|
||||
mask = np.ones(self.MAX_TRACKS, bool)
|
||||
mask[last_idxs[real].astype(int)] = 0
|
||||
empty_idxs = np.arange(self.MAX_TRACKS)[mask]
|
||||
|
||||
|
||||
@@ -54,7 +54,7 @@ class LstSqComputer():
|
||||
code += "\n#define KDIM %d\n" % K
|
||||
code += "extern \"C\" {\n"
|
||||
code += sympy_code
|
||||
code += "\n" + open(os.path.join(TEMPLATE_DIR, "compute_pos.c")).read() + "\n"
|
||||
code += "\n" + open(os.path.join(TEMPLATE_DIR, "compute_pos.c"), encoding='utf-8').read() + "\n"
|
||||
code += "}\n"
|
||||
|
||||
header += "\nvoid compute_pos(double *to_c, double *in_poses, double *in_img_positions, double *param, double *pos);\n"
|
||||
|
||||
@@ -55,8 +55,8 @@ git commit -a -m "openpilot v$VERSION release"
|
||||
# Build panda firmware
|
||||
pushd panda/
|
||||
CERT=/data/pandaextra/certs/release RELEASE=1 scons -u .
|
||||
mv board/obj/panda.bin.signed /tmp/panda.bin.signed
|
||||
mv board/obj/panda_h7.bin.signed /tmp/panda_h7.bin.signed
|
||||
mkdir /tmp/panda_obj/
|
||||
mv board/obj/panda.bin.signed board/obj/panda_h7.bin.signed board/obj/bootstub.panda.bin board/obj/bootstub.panda_h7.bin /tmp/panda_obj/
|
||||
popd
|
||||
|
||||
# Build
|
||||
@@ -84,8 +84,7 @@ rm selfdrive/modeld/models/supercombo.onnx
|
||||
|
||||
# Move back signed panda fw
|
||||
mkdir -p panda/board/obj
|
||||
mv /tmp/panda.bin.signed panda/board/obj/panda.bin.signed
|
||||
mv /tmp/panda_h7.bin.signed panda/board/obj/panda_h7.bin.signed
|
||||
mv /tmp/panda_obj/* panda/board/obj/
|
||||
|
||||
# Restore third_party
|
||||
git checkout third_party/
|
||||
|
||||
@@ -189,7 +189,6 @@ selfdrive/controls/lib/lateral_planner.py
|
||||
selfdrive/controls/lib/longcontrol.py
|
||||
selfdrive/controls/lib/longitudinal_planner.py
|
||||
selfdrive/controls/lib/pid.py
|
||||
selfdrive/controls/lib/radar_helpers.py
|
||||
selfdrive/controls/lib/vehicle_model.py
|
||||
|
||||
selfdrive/controls/lib/lateral_mpc_lib/.gitignore
|
||||
@@ -439,6 +438,7 @@ third_party/libyuv/larch64/**
|
||||
third_party/snpe/include/**
|
||||
third_party/snpe/dsp**
|
||||
|
||||
third_party/acados/.gitignore
|
||||
third_party/acados/x86_64/**
|
||||
third_party/acados/larch64/**
|
||||
third_party/acados/include/**
|
||||
|
||||
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|
||||
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After Width: | Height: | Size: 466 B |
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After Width: | Height: | Size: 780 B |
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After Width: | Height: | Size: 489 B |
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After Width: | Height: | Size: 910 B |
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Reference in New Issue
Block a user