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openpilot v0.9.2 release

Browse Source 
date: 2023-05-18T22:02:42
master commit: c7d3b28b93faa6c955fb24bc64031512ee985ee9
This commit is contained in:
Vehicle Researcher
2023-05-18 22:02:42 +00:00
parent bcd4bb4821
commit cfd8323ccb
446 changed files with 8909 additions and 6008 deletions
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.gitignore
-3
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@@ -46,9 +46,6 @@ selfdrive/mapd/default_speeds_by_region.json
system/proclogd/proclogd
selfdrive/ui/_ui
selfdrive/test/longitudinal_maneuvers/out
selfdrive/visiond/visiond
selfdrive/sensord/_gpsd
selfdrive/sensord/_sensord
system/camerad/camerad
system/camerad/test/ae_gray_test
selfdrive/modeld/_modeld
Jenkinsfile
Vendored
+26 -13
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@@ -19,6 +19,9 @@ source ~/.bash_profile
if [ -f /TICI ]; then
source /etc/profile
fi
if [ -f /data/openpilot/launch_env.sh ]; then
source /data/openpilot/launch_env.sh
fi
ln -snf ${env.TEST_DIR} /data/pythonpath
@@ -125,6 +128,21 @@ pipeline {
}
*/
stage('tizi-tests') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tizi", [
["build openpilot", "cd selfdrive/manager && ./build.py"],
["test boardd loopback", "SINGLE_PANDA=1 python selfdrive/boardd/tests/test_boardd_loopback.py"],
["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
["test camerad", "python system/camerad/test/test_camerad.py"],
["test exposure", "python system/camerad/test/test_exposure.py"],
["test amp", "python system/hardware/tici/tests/test_amplifier.py"],
])
}
}
stage('build') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
environment {
@@ -156,16 +174,17 @@ pipeline {
steps {
phone_steps("tici-common", [
["build", "cd selfdrive/manager && ./build.py"],
["test power draw", "python system/hardware/tici/test_power_draw.py"],
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"],
["test power draw", "python system/hardware/tici/tests/test_power_draw.py"],
["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
["test pigeond", "python system/sensord/tests/test_pigeond.py"],
["test manager", "python selfdrive/manager/test/test_manager.py"],
["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
])
}
}
stage('camerad-ar') {
stage('camerad') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tici-ar0231", [
@@ -173,12 +192,6 @@ pipeline {
["test camerad", "python system/camerad/test/test_camerad.py"],
["test exposure", "python system/camerad/test/test_exposure.py"],
])
}
}
stage('camerad-ox') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tici-ox03c10", [
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "python system/camerad/test/test_camerad.py"],
@@ -192,11 +205,11 @@ pipeline {
steps {
phone_steps("tici-lsmc", [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
])
phone_steps("tici-bmx-lsm", [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
])
}
}
README.md
+6 -5
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@@ -42,7 +42,7 @@ To use openpilot in a car, you need four things
* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
* This software. The setup procedure of the comma three allows the user to enter a URL for custom software.
The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
* One of [the 200+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
@@ -67,7 +67,7 @@ Documentation related to openpilot development can be found on [docs.comma.ai](h
You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions).
And [follow us on Twitter](https://twitter.com/comma_ai).
@@ -108,7 +108,10 @@ Directory Structure
├── clocksd # Broadcasts current time
├── hardware # Hardware abstraction classes
├── logcatd # systemd journal as a service
└── proclogd # Logs information from /proc
├── loggerd # Logger and uploader of car data
├── proclogd # Logs information from /proc
├── sensord # IMU interface code
└── ubloxd # u-blox GNSS module interface code
└── selfdrive # Code needed to drive the car
├── assets # Fonts, images, and sounds for UI
├── athena # Allows communication with the app
@@ -117,12 +120,10 @@ Directory Structure
├── controls # Planning and controls
├── debug # Tools to help you debug and do car ports
├── locationd # Precise localization and vehicle parameter estimation
├── loggerd # Logger and uploader of car data
├── manager # Daemon that starts/stops all other daemons as needed
├── modeld # Driving and monitoring model runners
├── monitoring # Daemon to determine driver attention
├── navd # Turn-by-turn navigation
├── sensord # IMU interface code
├── test # Unit tests, system tests, and a car simulator
└── ui # The UI
RELEASES.md
+27
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@@ -1,3 +1,30 @@
Version 0.9.2 (2023-05-22)
========================
* New driving model
* Reduced turn diving
* Trained on a new dataset
* UI updates
* New experimental mode visualization
* Draw MPC path instead of model-predicted path
* AGNOS 7
* Faster boot time
* Fixes rare no sounds bug
* Fixes bootsplash bug at extreme temperatures
* Buick LaCrosse 2017-19 support thanks to koch-cf!
* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
* Ford Bronco Sport 2021-22 support
* Ford Escape 2020-22 support
* Ford Explorer 2020-22 support
* Ford Kuga 2020-22 support
* Ford Maverick 2022-23 support
* Genesis GV80 2023 support thanks to JWingate80!
* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
* Kia Niro EV 2023 support thanks to JosselinLecocq!
* Lexus ES 2017-18 support
* Lincoln Aviator 2021 support
* Škoda Fabia 2022-23 support thanks to jyoung8607!
Version 0.9.1 (2023-02-28)
========================
* New driving model
SConstruct
+24 -18
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@@ -5,6 +5,10 @@ import sysconfig
import platform
import numpy as np
import SCons.Errors
SCons.Warnings.warningAsException(True)
TICI = os.path.isfile('/TICI')
AGNOS = TICI
@@ -118,7 +122,7 @@ else:
f"#third_party/libyuv/{yuv_dir}/lib",
f"{brew_prefix}/lib",
f"{brew_prefix}/Library",
f"{brew_prefix}/opt/openssl/lib",
f"{brew_prefix}/opt/openssl@3.0/lib",
f"{brew_prefix}/Cellar",
"/System/Library/Frameworks/OpenGL.framework/Libraries",
]
@@ -131,7 +135,7 @@ else:
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
cpppath += [
f"{brew_prefix}/include",
f"{brew_prefix}/opt/openssl/include",
f"{brew_prefix}/opt/openssl@3.0/include",
]
# Linux 86_64
else:
@@ -310,8 +314,14 @@ else:
qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
elif arch != "Darwin":
qt_libs += ["GL"]
qt_env['QT3DIR'] = qt_env['QTDIR']
# compatibility for older SCons versions
try:
qt_env.Tool('qt3')
except SCons.Errors.UserError:
qt_env.Tool('qt')
qt_env.Tool('qt')
qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
qt_flags = [
"-D_REENTRANT",
@@ -395,12 +405,17 @@ SConscript(['rednose/SConscript'])
# Build system services
SConscript([
'system/camerad/SConscript',
'system/clocksd/SConscript',
'system/proclogd/SConscript',
'system/ubloxd/SConscript',
'system/loggerd/SConscript',
])
if arch != "Darwin":
SConscript(['system/logcatd/SConscript'])
SConscript([
'system/camerad/SConscript',
'system/sensord/SConscript',
'system/logcatd/SConscript',
])
# Build openpilot
@@ -417,25 +432,16 @@ SConscript(['third_party/SConscript'])
SConscript(['common/kalman/SConscript'])
SConscript(['common/transformations/SConscript'])
SConscript(['selfdrive/modeld/SConscript'])
SConscript(['selfdrive/boardd/SConscript'])
SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
SConscript(['selfdrive/boardd/SConscript'])
SConscript(['selfdrive/loggerd/SConscript'])
SConscript(['selfdrive/locationd/SConscript'])
SConscript(['selfdrive/sensord/SConscript'])
SConscript(['selfdrive/ui/SConscript'])
SConscript(['selfdrive/navd/SConscript'])
SConscript(['selfdrive/modeld/SConscript'])
SConscript(['selfdrive/ui/SConscript'])
if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
if (arch in ['x86_64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'):
SConscript(['tools/replay/SConscript'])
opendbc = abspath([File('opendbc/can/libdbc.so')])
Export('opendbc')
SConscript(['tools/cabana/SConscript'])
external_sconscript = GetOption('external_sconscript')
cereal/car.capnp
+8 -6
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@@ -43,6 +43,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
overheat @19;
calibrationIncomplete @20;
calibrationInvalid @21;
calibrationRecalibrating @117;
controlsMismatch @22;
pcmEnable @23;
pcmDisable @24;
@@ -65,7 +66,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
lowBattery @48;
vehicleModelInvalid @50;
accFaulted @51;
accFaultedTemp @115;
sensorDataInvalid @52;
commIssue @53;
commIssueAvgFreq @109;
@@ -114,6 +114,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
canBusMissing @111;
controlsdLagging @112;
resumeBlocked @113;
steerTimeLimit @115;
vehicleSensorsInvalid @116;
radarCanErrorDEPRECATED @15;
communityFeatureDisallowedDEPRECATED @62;
@@ -579,7 +581,7 @@ struct CarParams {
noOutput @19; # like silent but without silent CAN TXs
hondaBosch @20;
volkswagenPq @21;
subaruLegacy @22; # pre-Global platform
subaruPreglobal @22; # pre-Global platform
hyundaiLegacy @23;
hyundaiCommunity @24;
volkswagenMlb @25;
@@ -612,6 +614,7 @@ struct CarParams {
brand @6 :Text;
bus @7 :UInt8;
logging @8 :Bool;
obdMultiplexing @9 :Bool;
}
enum Ecu {
@@ -630,10 +633,11 @@ struct CarParams {
shiftByWire @16;
adas @19;
cornerRadar @21;
hvac @20;
parkingAdas @7; # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
# Toyota only
dsu @6;
apgs @7;
# Honda only
vsa @13; # Vehicle Stability Assist
@@ -642,10 +646,8 @@ struct CarParams {
# Chrysler only
hcp @18; # Hybrid Control Processor
# Hyundai only
vcu @20; # Vehicle (Motor) Control Unit
debug @17;
unused @22;
}
enum FingerprintSource {
cereal/log.capnp
+100 -39
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@@ -46,6 +46,7 @@ struct InitData {
chffrIos @3;
tici @4;
pc @5;
tizi @6;
}
struct PandaInfo {
@@ -139,16 +140,6 @@ struct FrameData {
targetGreyFraction @22 :Float32;
exposureValPercent @27 :Float32;
# Focus
lensPos @11 :Int32;
lensSag @12 :Float32;
lensErr @13 :Float32;
lensTruePos @14 :Float32;
focusVal @16 :List(Int16);
focusConf @17 :List(UInt8);
sharpnessScore @18 :List(UInt16);
recoverState @19 :Int32;
transform @10 :List(Float32);
image @6 :Data;
@@ -171,6 +162,14 @@ struct FrameData {
globalGainDEPRECATED @5 :Int32;
androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
lensPosDEPRECATED @11 :Int32;
lensSagDEPRECATED @12 :Float32;
lensErrDEPRECATED @13 :Float32;
lensTruePosDEPRECATED @14 :Float32;
focusValDEPRECATED @16 :List(Int16);
focusConfDEPRECATED @17 :List(UInt8);
sharpnessScoreDEPRECATED @18 :List(UInt16);
recoverStateDEPRECATED @19 :Int32;
struct AndroidCaptureResult {
sensitivity @0 :Int32;
frameDuration @1 :Int64;
@@ -409,10 +408,16 @@ struct PandaState @0xa7649e2575e4591e {
powerSaveEnabled @16 :Bool;
uptime @17 :UInt32;
faults @18 :List(FaultType);
harnessStatus @21 :HarnessStatus;
heartbeatLost @22 :Bool;
interruptLoad @25 :Float32;
fanPower @28 :UInt8;
fanStallCount @34 :UInt8;
spiChecksumErrorCount @33 :UInt16;
harnessStatus @21 :HarnessStatus;
sbu1Voltage @35 :Float32;
sbu2Voltage @36 :Float32;
# can health
canState0 @29 :PandaCanState;
@@ -428,6 +433,9 @@ struct PandaState @0xa7649e2575e4591e {
alternativeExperience @23 :Int16;
safetyRxChecksInvalid @32 :Bool;
voltage @0 :UInt32;
current @1 :UInt32;
enum FaultStatus {
none @0;
faultTemp @1;
@@ -460,6 +468,8 @@ struct PandaState @0xa7649e2575e4591e {
interruptRateExti @22;
interruptRateSpi @23;
interruptRateUart7 @24;
sirenMalfunction @25;
heartbeatLoopWatchdog @26;
# Update max fault type in boardd when adding faults
}
@@ -482,15 +492,6 @@ struct PandaState @0xa7649e2575e4591e {
flipped @2;
}
startedSignalDetectedDEPRECATED @5 :Bool;
voltageDEPRECATED @0 :UInt32;
currentDEPRECATED @1 :UInt32;
hasGpsDEPRECATED @6 :Bool;
fanSpeedRpmDEPRECATED @11 :UInt16;
usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
safetyParamDEPRECATED @20 :Int16;
safetyParam2DEPRECATED @26 :UInt32;
struct PandaCanState {
busOff @0 :Bool;
busOffCnt @1 :UInt32;
@@ -525,6 +526,13 @@ struct PandaState @0xa7649e2575e4591e {
noChange @7;
}
}
startedSignalDetectedDEPRECATED @5 :Bool;
hasGpsDEPRECATED @6 :Bool;
fanSpeedRpmDEPRECATED @11 :UInt16;
usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
safetyParamDEPRECATED @20 :Int16;
safetyParam2DEPRECATED @26 :UInt32;
}
struct PeripheralState {
@@ -581,7 +589,7 @@ struct RadarState @0x9a185389d6fdd05f {
}
struct LiveCalibrationData {
calStatus @1 :Int8;
calStatus @11 :Status;
calCycle @2 :Int32;
calPerc @3 :Int8;
validBlocks @9 :Int32;
@@ -595,8 +603,16 @@ struct LiveCalibrationData {
wideFromDeviceEuler @10 :List(Float32);
warpMatrixDEPRECATED @0 :List(Float32);
calStatusDEPRECATED @1 :Int8;
warpMatrix2DEPRECATED @5 :List(Float32);
warpMatrixBigDEPRECATED @6 :List(Float32);
enum Status {
uncalibrated @0;
calibrated @1;
invalid @2;
recalibrating @3;
}
}
struct LiveTracks {
@@ -794,6 +810,17 @@ struct ControlsState @0x97ff69c53601abf1 {
canMonoTimesDEPRECATED @21 :List(UInt64);
}
# All SI units and in device frame
struct XYZTData @0xc3cbae1fd505ae80 {
x @0 :List(Float32);
y @1 :List(Float32);
z @2 :List(Float32);
t @3 :List(Float32);
xStd @4 :List(Float32);
yStd @5 :List(Float32);
zStd @6 :List(Float32);
}
struct ModelDataV2 {
frameId @0 :UInt32;
frameIdExtra @20 :UInt32;
@@ -827,16 +854,6 @@ struct ModelDataV2 {
# Model perceived motion
temporalPose @21 :Pose;
# All SI units and in device frame
struct XYZTData {
x @0 :List(Float32);
y @1 :List(Float32);
z @2 :List(Float32);
t @3 :List(Float32);
xStd @4 :List(Float32);
yStd @5 :List(Float32);
zStd @6 :List(Float32);
}
struct LeadDataV2 {
prob @0 :Float32; # probability that car is your lead at time t
@@ -995,6 +1012,11 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
y @1 :List(Float32);
}
}
struct UiPlan {
frameId @2 :UInt32;
position @0 :XYZTData;
accel @1 :List(Float32);
}
struct LateralPlan @0xe1e9318e2ae8b51e {
modelMonoTime @31 :UInt64;
@@ -1100,6 +1122,7 @@ struct LiveLocationKalman {
deviceStable @22 :Bool = true;
timeSinceReset @23 :Float64;
excessiveResets @24 :Bool;
timeToFirstFix @25 :Float32;
enum Status {
uninitialized @0;
@@ -1172,13 +1195,22 @@ struct GnssMeasurements {
gpsTimeOfWeek @2 :Float64;
correctedMeasurements @3 :List(CorrectedMeasurement);
ephemerisStatuses @9 :List(EphemerisStatus);
kalmanPositionECEF @4 :LiveLocationKalman.Measurement;
kalmanVelocityECEF @5 :LiveLocationKalman.Measurement;
positionECEF @6 :LiveLocationKalman.Measurement;
velocityECEF @7 :LiveLocationKalman.Measurement;
timeToFirstFix @8 :Float32;
# Todo sync this with timing pulse of ublox
struct EphemerisStatus {
constellationId @0 :ConstellationId;
svId @1 :UInt8;
type @2 :EphemerisType;
source @3 :EphemerisSource;
}
struct CorrectedMeasurement {
constellationId @0 :ConstellationId;
svId @1 :UInt8;
@@ -1191,11 +1223,11 @@ struct GnssMeasurements {
# Satellite position and velocity [x,y,z]
satPos @7 :List(Float64);
satVel @8 :List(Float64);
ephemerisSource @9 :EphemerisSource;
ephemerisSourceDEPRECATED @9 :EphemerisSourceDEPRECATED;
}
struct EphemerisSource {
type @0 :EphemerisSourceType;
struct EphemerisSourceDEPRECATED {
type @0 :EphemerisType;
# first epoch in file:
gpsWeek @1 :Int16; # -1 if Nav
gpsTimeOfWeek @2 :Int32; # -1 if Nav. Integer for seconds is good enough for logs.
@@ -1212,13 +1244,20 @@ struct GnssMeasurements {
glonass @6;
}
enum EphemerisSourceType {
enum EphemerisType {
nav @0;
# Different ultra-rapid files:
nasaUltraRapid @1;
glonassIacUltraRapid @2;
qcom @3;
}
enum EphemerisSource {
gnssChip @0;
internet @1;
cache @2;
unknown @3;
}
}
struct UbloxGnss {
@@ -1229,6 +1268,19 @@ struct UbloxGnss {
hwStatus @3 :HwStatus;
hwStatus2 @4 :HwStatus2;
glonassEphemeris @5 :GlonassEphemeris;
satReport @6 :SatReport;
}
struct SatReport {
#received time of week in gps time in seconds and gps week
iTow @0 :UInt32;
svs @1 :List(SatInfo);
struct SatInfo {
svId @0 :UInt8;
gnssId @1 :UInt8;
flagsBitfield @2 :UInt32;
}
}
struct MeasurementReport {
@@ -1322,7 +1374,7 @@ struct UbloxGnss {
iDot @26 :Float64;
codesL2 @27 :Float64;
gpsWeek @28 :Float64;
gpsWeekDEPRECATED @28 :Float64;
l2 @29 :Float64;
svAcc @30 :Float64;
@@ -1340,6 +1392,8 @@ struct UbloxGnss {
ionoBeta @39 :List(Float64);
towCount @40 :UInt32;
toeWeek @41 :UInt16;
tocWeek @42 :UInt16;
}
struct IonoData {
@@ -1418,7 +1472,7 @@ struct UbloxGnss {
age @17 :UInt8;
svHealth @18 :UInt8;
tk @19 :UInt16;
tkDEPRECATED @19 :UInt16;
tb @20 :UInt16;
tauN @21 :Float64;
@@ -1430,7 +1484,12 @@ struct UbloxGnss {
p3 @26 :UInt8;
p4 @27 :UInt8;
freqNum @28 :UInt32;
freqNumDEPRECATED @28 :UInt32;
n4 @29 :UInt8;
nt @30 :UInt16;
freqNum @31 :Int16;
tkSeconds @32 :UInt32;
}
}
@@ -1864,7 +1923,6 @@ struct LiveParametersData {
stiffnessFactor @4 :Float32;
steerRatio @5 :Float32;
sensorValid @6 :Bool;
yawRate @7 :Float32;
posenetSpeed @8 :Float32;
posenetValid @9 :Bool;
angleOffsetFastStd @10 :Float32;
@@ -1872,6 +1930,8 @@ struct LiveParametersData {
stiffnessFactorStd @12 :Float32;
steerRatioStd @13 :Float32;
roll @14 :Float32;
yawRateDEPRECATED @7 :Float32;
}
struct LiveTorqueParametersData {
@@ -2081,6 +2141,7 @@ struct Event {
carControl @23 :Car.CarControl;
longitudinalPlan @24 :LongitudinalPlan;
lateralPlan @64 :LateralPlan;
uiPlan @106 :UiPlan;
ubloxGnss @34 :UbloxGnss;
ubloxRaw @39 :Data;
qcomGnss @31 :QcomGnss;
cereal/messaging/messaging.cc
-17
View File
@@ -94,20 +94,3 @@ Poller * Poller::create(std::vector<SubSocket*> sockets){
}
return p;
}
extern "C" Context * messaging_context_create() {
return Context::create();
}
extern "C" SubSocket * messaging_subsocket_create(Context* context, const char* endpoint) {
return SubSocket::create(context, std::string(endpoint));
}
extern "C" PubSocket * messaging_pubsocket_create(Context* context, const char* endpoint) {
return PubSocket::create(context, std::string(endpoint));
}
extern "C" Poller * messaging_poller_create(SubSocket** sockets, int size) {
std::vector<SubSocket*> socketsVec(sockets, sockets + size);
return Poller::create(socketsVec);
}
cereal/services.py
+1
View File
@@ -76,6 +76,7 @@ services = {
"navThumbnail": (True, 0.),
"navModel": (True, 2., 4.),
"mapRenderState": (True, 2., 1.),
"uiPlan": (True, 20., 40.),
"qRoadEncodeIdx": (False, 20.),
"userFlag": (True, 0., 1),
"microphone": (True, 10., 10),
cereal/visionipc/visionipc.pxd
+3
View File
@@ -3,6 +3,7 @@
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
@@ -40,3 +41,5 @@ cdef extern from "cereal/visionipc/visionipc_client.h":
VisionBuf * recv(VisionIpcBufExtra *, int)
bool connect(bool)
bool is_connected()
@staticmethod
set[VisionStreamType] getAvailableStreams(string, bool)
cereal/visionipc/visionipc_pyx.pyx
+4
View File
@@ -97,3 +97,7 @@ cdef class VisionIpcClient:
def is_connected(self):
return self.client.is_connected()
@staticmethod
def available_streams(string name, bool block):
return cppVisionIpcClient.getAvailableStreams(name, block)
common/gpio.py
+12 -1
View File
@@ -1,4 +1,5 @@
from typing import Optional
import glob
from typing import Optional, List
def gpio_init(pin: int, output: bool) -> None:
try:
@@ -23,3 +24,13 @@ def gpio_read(pin: int) -> Optional[bool]:
print(f"Failed to set gpio {pin} value: {e}")
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:
actions = f.read().strip().split(',')
if action in actions:
irq = int(fn.split('/')[-2])
ret.append(irq)
return ret
common/i2c.cc
+1 -1
View File
@@ -15,7 +15,7 @@
#define UNUSED(x) (void)(x)
#ifdef QCOM2
// TODO: decide if we want to isntall libi2c-dev everywhere
// TODO: decide if we want to install libi2c-dev everywhere
extern "C" {
#include <linux/i2c-dev.h>
#include <i2c/smbus.h>
common/params.cc
+31 -24
View File
@@ -92,15 +92,15 @@ std::unordered_map<std::string, uint32_t> keys = {
{"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
{"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
{"CarBatteryCapacity", PERSISTENT},
{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"CarParamsCache", CLEAR_ON_MANAGER_START},
{"CarParamsPersistent", PERSISTENT},
{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"CompletedTrainingVersion", PERSISTENT},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"DashcamOverride", PERSISTENT},
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"CurrentBootlog", PERSISTENT},
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"DisablePowerDown", PERSISTENT},
{"ExperimentalMode", PERSISTENT},
{"ExperimentalModeConfirmed", PERSISTENT},
@@ -111,7 +111,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"DoReboot", CLEAR_ON_MANAGER_START},
{"DoShutdown", CLEAR_ON_MANAGER_START},
{"DoUninstall", CLEAR_ON_MANAGER_START},
{"FirmwareObdQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"ForcePowerDown", CLEAR_ON_MANAGER_START},
{"GitBranch", PERSISTENT},
{"GitCommit", PERSISTENT},
@@ -137,8 +137,8 @@ std::unordered_map<std::string, uint32_t> keys = {
{"IsTestedBranch", CLEAR_ON_MANAGER_START},
{"IsReleaseBranch", CLEAR_ON_MANAGER_START},
{"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
{"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"LaikadEphemerisV2", PERSISTENT | DONT_LOG},
{"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
{"LanguageSetting", PERSISTENT},
{"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
{"LastGPSPosition", PERSISTENT},
@@ -150,29 +150,30 @@ std::unordered_map<std::string, uint32_t> keys = {
{"LiveParameters", PERSISTENT},
{"LiveTorqueCarParams", PERSISTENT},
{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"NavSettingTime24h", PERSISTENT},
{"NavSettingLeftSide", PERSISTENT},
{"NavdRender", PERSISTENT},
{"ObdMultiplexingDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"OpenpilotEnabledToggle", PERSISTENT},
{"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"PandaSignatures", CLEAR_ON_MANAGER_START},
{"Passive", PERSISTENT},
{"PrimeType", PERSISTENT},
{"RecordFront", PERSISTENT},
{"RecordFrontLock", PERSISTENT}, // for the internal fleet
{"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"ShouldDoUpdate", CLEAR_ON_MANAGER_START},
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"SshEnabled", PERSISTENT},
{"SubscriberInfo", PERSISTENT},
{"TermsVersion", PERSISTENT},
{"Timezone", PERSISTENT},
{"TrainingVersion", PERSISTENT},
{"UbloxAvailable", PERSISTENT},
{"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"UpdateFailedCount", CLEAR_ON_MANAGER_START},
{"UpdaterState", CLEAR_ON_MANAGER_START},
{"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
@@ -190,17 +191,18 @@ std::unordered_map<std::string, uint32_t> keys = {
{"ApiCache_NavDestinations", PERSISTENT},
{"ApiCache_Owner", PERSISTENT},
{"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"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_IGNITION_ON},
{"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},
};
} // namespace
@@ -304,14 +306,19 @@ std::map<std::string, std::string> Params::readAll() {
void Params::clearAll(ParamKeyType key_type) {
FileLock file_lock(params_path + "/.lock");
if (key_type == ALL) {
util::remove_files_in_dir(getParamPath());
} else {
for (auto &[key, type] : keys) {
if (type & key_type) {
unlink(getParamPath(key).c_str());
// 1) delete params of key_type
// 2) delete files that are not defined in the keys.
if (DIR *d = opendir(getParamPath().c_str())) {
struct dirent *de = NULL;
while ((de = readdir(d))) {
if (de->d_type != DT_DIR) {
auto it = keys.find(de->d_name);
if (it == keys.end() || (it->second & key_type)) {
unlink(getParamPath(de->d_name).c_str());
}
}
}
closedir(d);
}
fsync_dir(getParamPath());
common/params.h
+2 -2
View File
@@ -7,8 +7,8 @@
enum ParamKeyType {
PERSISTENT = 0x02,
CLEAR_ON_MANAGER_START = 0x04,
CLEAR_ON_IGNITION_ON = 0x08,
CLEAR_ON_IGNITION_OFF = 0x10,
CLEAR_ON_ONROAD_TRANSITION = 0x08,
CLEAR_ON_OFFROAD_TRANSITION = 0x10,
DONT_LOG = 0x20,
ALL = 0xFFFFFFFF
};
common/params_pyx.pyx
+2 -2
View File
@@ -9,8 +9,8 @@ cdef extern from "common/params.h":
cpdef enum ParamKeyType:
PERSISTENT
CLEAR_ON_MANAGER_START
CLEAR_ON_IGNITION_ON
CLEAR_ON_IGNITION_OFF
CLEAR_ON_ONROAD_TRANSITION
CLEAR_ON_OFFROAD_TRANSITION
ALL
cdef cppclass c_Params "Params":
common/statlog.cc
+1
View File
@@ -5,6 +5,7 @@
#include "common/statlog.h"
#include "common/util.h"
#include <cstdarg>
#include <stdio.h>
#include <mutex>
#include <zmq.h>
common/swaglog.cc
+1
View File
@@ -5,6 +5,7 @@
#include "common/swaglog.h"
#include <cassert>
#include <cstdarg>
#include <cstring>
#include <limits>
#include <mutex>
common/util.cc
-16
View File
@@ -99,22 +99,6 @@ std::map<std::string, std::string> read_files_in_dir(const std::string &path) {
return ret;
}
void remove_files_in_dir(const std::string &path) {
DIR *d = opendir(path.c_str());
if (!d) return;
std::string fn;
struct dirent *de = NULL;
while ((de = readdir(d))) {
if (de->d_type != DT_DIR) {
fn = path + "/" + de->d_name;
unlink(fn.c_str());
}
}
closedir(d);
}
int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
int fd = HANDLE_EINTR(open(path, flags, mode));
if (fd == -1) {
common/util.h
-1
View File
@@ -81,7 +81,6 @@ std::string dir_name(std::string const& path);
// **** file fhelpers *****
std::string read_file(const std::string& fn);
std::map<std::string, std::string> read_files_in_dir(const std::string& path);
void remove_files_in_dir(const std::string& path);
int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664);
FILE* safe_fopen(const char* filename, const char* mode);
common/version.h
+1 -1
View File
@@ -1 +1 @@
#define COMMA_VERSION "0.9.1"
#define COMMA_VERSION "0.9.2"
docs/CARS.md
+255 -239
View File
@@ -2,249 +2,264 @@
# Supported Cars
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.
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.
# 237 Supported Cars
# 252 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Harness Kit<br>&nbsp;|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Honda Nidec</a>||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Honda Nidec</a>||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Honda Bosch A</a>||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">J533</a>||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">J533</a>||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">J533</a>||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533</a>||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533</a>||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533</a>||
|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II</a>||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II</a>||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM</a>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM</a>||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">GM</a>||
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">OBD-II</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">FCA</a>||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA</a>||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">FCA</a>||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">FCA</a>||
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-22">FCA</a>||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Hyundai H</a>||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C</a>||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A</a>||
|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K</a>||
|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 2022-23">Hyundai L</a>||
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">OBD-II</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">GM</a>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A</a>||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec</a>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A</a>|<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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A</a>||
|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec</a>||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A</a>||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A</a>||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Honda Bosch A</a>||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec</a>||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec</a>||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec</a>||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A</a>||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A</a>||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec</a>||
|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-21">Honda Nidec</a>||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec</a>||
|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-22">Honda Nidec</a>||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B</a>||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Hyundai E</a>||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Hyundai K</a>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Hyundai J</a>||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Hyundai E</a>||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Hyundai Q</a>||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Hyundai Q</a>||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Hyundai K</a>||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Hyundai C</a>||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Hyundai H</a>||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Hyundai C</a>||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Hyundai H</a>||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Hyundai C</a>||
|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-21">Hyundai H</a>||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Hyundai B</a>||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Hyundai G</a>||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O</a>||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Hyundai I</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Hyundai H</a>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Santa Cruz 2021-22[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2021-22">Hyundai N</a>||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Hyundai D</a>||
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Hyundai L</a>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022">Hyundai L</a>||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Hyundai L</a>||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Hyundai E</a>||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Hyundai A</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Hyundai A</a>||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Hyundai L</a>||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Hyundai N</a>||
|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Hyundai N</a>||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Hyundai L</a>||
|Hyundai|Tucson Hybrid 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022">Hyundai N</a>||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Hyundai E</a>||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">FCA</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA</a>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Hyundai E</a>||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Hyundai P</a>||
|Kia|EV6 (with HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022">Hyundai P</a>||
|Kia|EV6 (without HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022">Hyundai L</a>||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G</a>||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A</a>||
|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A</a>||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021">Hyundai F</a>||
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2022">Hyundai H</a>||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A</a>||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Hyundai C</a>||
|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Hyundai D</a>||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Hyundai B</a>||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Hyundai G</a>||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Hyundai A</a>||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Hyundai C</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Hyundai E</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Sorento 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2022-23">Hyundai K</a>||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Hyundai A</a>||
|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Hyundai N</a>||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Hyundai N</a>||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Hyundai C</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Hyundai K</a>||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H</a>||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota</a>||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota</a>||
|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota</a>||
|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota</a>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota</a>||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota</a>||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota</a>||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota</a>||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota</a>||
|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2017-20">Toyota</a>||
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota</a>||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota</a>||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota</a>||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Toyota</a>||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota</a>||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota</a>||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota</a>||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533</a>|<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>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda</a>||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda</a>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B</a>||
|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-22">Nissan A</a>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A</a>||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A</a>||
|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-22">Ram</a>||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533</a>||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533</a>||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A</a>||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Subaru A</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Subaru A</a>||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Subaru A</a>||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Subaru A</a>||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Subaru A</a>||
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Subaru B</a>||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B</a>||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A</a>||
|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533</a>[<sup>10</sup>](#footnotes)||
|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533</a>||
|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2018-19">J533</a>||
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533</a>||
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533</a>||
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533</a>[<sup>10</sup>](#footnotes)||
|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">J533</a>||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Toyota</a>||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Toyota</a>||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Toyota</a>||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Toyota</a>||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Toyota</a>||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Toyota</a>||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Toyota</a>||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Toyota</a>||
|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Toyota</a>||
|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Toyota</a>||
|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-19">Toyota</a>||
|Toyota|C-HR Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2022">Toyota</a>||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-22">Toyota</a>||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Toyota</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Toyota</a>||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Toyota</a>||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Toyota</a>||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota</a>||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Toyota</a>||
|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Toyota</a>||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Toyota</a>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Toyota</a>||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Toyota</a>||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Toyota</a>||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Toyota</a>||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Toyota</a>||
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Toyota</a>||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Toyota</a>||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Toyota</a>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Toyota</a>||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Toyota</a>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Toyota</a>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Toyota</a>||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Toyota</a>|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Toyota</a>|<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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">J533</a>|<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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">J533</a>|<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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">J533</a>|<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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">J533</a>||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">J533</a>||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533</a>||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533</a>||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533</a>|<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>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">J533</a>|<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>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">J533</a>|<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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533</a>||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533</a>||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533</a>||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">J533</a>||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">J533</a>||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533</a>||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533</a>||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533</a>||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">J533</a>|<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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533</a>||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533</a>||
|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533</a>||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533</a>||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533</a>||
|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2020-22">J533</a>[<sup>10</sup>](#footnotes)||
|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2020-22">J533</a>[<sup>10</sup>](#footnotes)||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533</a>[<sup>10</sup>](#footnotes)||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533</a>[<sup>10</sup>](#footnotes)||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533</a>||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">J533</a>||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">J533</a>||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">J533</a>||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">J533</a>||
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2017">J533</a>||
|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Ford|Maverick 2022-23|Co-Pilot360 Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Hyundai M connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Hyundai M connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Honda|Passport 2019-22|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Hyundai J connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Hyundai Q connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Hyundai Q connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Hyundai I connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Hyundai D connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Tucson Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Hyundai P connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Hyundai P connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Hyundai D connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Lincoln|Aviator 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2021">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-23">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Ram connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Subaru B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2017">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
<a id="footnotes"></a>
<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 />
@@ -275,6 +290,7 @@ If your car has the following packages or features, then it's a good candidate f
| Make | Required Package/Features |
| ---- | ------------------------- |
| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
| Ford | Any car with Lane Centering will likely work. |
| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
| Nissan | Any car with ProPILOT will likely work. |
laika/__init__.py
+7
View File
@@ -1,2 +1,9 @@
import logging
import os
from .astro_dog import AstroDog
assert AstroDog
# setup logging
LOGLEVEL = os.environ.get('LOGLEVEL', 'INFO').upper()
logging.basicConfig(level=LOGLEVEL, format='%(message)s')
laika/astro_dog.py
+46 -16
View File
@@ -9,7 +9,7 @@ from .ephemeris import Ephemeris, EphemerisType, GLONASSEphemeris, GPSEphemeris,
from .downloader import download_orbits_gps, download_orbits_russia_src, download_nav, download_ionex, download_dcb, download_prediction_orbits_russia_src
from .downloader import download_cors_station
from .trop import saast
from .iono import IonexMap, parse_ionex
from .iono import IonexMap, parse_ionex, get_slant_delay
from .dcb import DCB, parse_dcbs
from .gps_time import GPSTime
from .dgps import get_closest_station_names, parse_dgps
@@ -33,9 +33,14 @@ class AstroDog:
def __init__(self, auto_update=True,
cache_dir='/tmp/gnss/',
dgps=False,
valid_const=('GPS', 'GLONASS'),
valid_const=(ConstellationId.GPS, ConstellationId.GLONASS),
valid_ephem_types=EphemerisType.all_orbits(),
clear_old_ephemeris=False):
for const in valid_const:
if not isinstance(const, ConstellationId):
raise TypeError(f"valid_const must be a list of ConstellationId, got {const}")
self.auto_update = auto_update
self.cache_dir = cache_dir
self.clear_old_ephemeris = clear_old_ephemeris
@@ -44,6 +49,7 @@ class AstroDog:
valid_ephem_types = [valid_ephem_types]
self.pull_orbit = len(set(EphemerisType.all_orbits()) & set(valid_ephem_types)) > 0
self.pull_nav = EphemerisType.NAV in valid_ephem_types
self.use_qcom_poly = EphemerisType.QCOM_POLY in valid_ephem_types
self.valid_const = valid_const
self.valid_ephem_types = valid_ephem_types
@@ -54,12 +60,14 @@ class AstroDog:
self.dgps_delays = []
self.ionex_maps: List[IonexMap] = []
self.orbits: DefaultDict[str, List[PolyEphemeris]] = defaultdict(list)
self.qcom_polys: DefaultDict[str, List[PolyEphemeris]] = defaultdict(list)
self.navs: DefaultDict[str, List[Union[GPSEphemeris, GLONASSEphemeris]]] = defaultdict(list)
self.dcbs: DefaultDict[str, List[DCB]] = defaultdict(list)
self.cached_ionex: Optional[IonexMap] = None
self.cached_dgps = None
self.cached_orbit: DefaultDict[str, Optional[PolyEphemeris]] = defaultdict(lambda: None)
self.cached_qcom_polys: DefaultDict[str, Optional[PolyEphemeris]] = defaultdict(lambda: None)
self.cached_nav: DefaultDict[str, Union[GPSEphemeris, GLONASSEphemeris, None]] = defaultdict(lambda: None)
self.cached_dcb: DefaultDict[str, Optional[DCB]] = defaultdict(lambda: None)
@@ -96,6 +104,9 @@ class AstroDog:
result[prn] = obj
return result
def get_all_ephem_prns(self):
return set(self.orbits.keys()).union(set(self.navs.keys())).union(set(self.qcom_polys.keys()))
def get_navs(self, time):
if time not in self.navs_fetched_times:
self.get_nav_data(time)
@@ -108,6 +119,12 @@ class AstroDog:
self.cached_orbit[prn] = orbit
return orbit
def get_qcom_poly(self, prn: str, time: GPSTime):
poly = self._get_latest_valid_data(self.qcom_polys[prn], self.cached_qcom_polys[prn], None, time, True)
if poly is not None:
self.cached_qcom_polys[prn] = poly
return poly
def get_orbits(self, time):
if time not in self.orbit_fetched_times:
self.get_orbit_data(time)
@@ -129,13 +146,16 @@ class AstroDog:
self.cached_dgps = latest_data
return latest_data
def add_qcom_polys(self, new_ephems: Dict[str, List[Ephemeris]]):
self._add_ephems(new_ephems, self.qcom_polys)
def add_orbits(self, new_ephems: Dict[str, List[Ephemeris]]):
self._add_ephems(new_ephems, self.orbits, self.orbit_fetched_times)
self._add_ephems(new_ephems, self.orbits)
def add_navs(self, new_ephems: Dict[str, List[Ephemeris]]):
self._add_ephems(new_ephems, self.navs, self.navs_fetched_times)
self._add_ephems(new_ephems, self.navs)
def _add_ephems(self, new_ephems: Dict[str, List[Ephemeris]], ephems_dict, fetched_times):
def _add_ephems(self, new_ephems: Dict[str, List[Ephemeris]], ephems_dict):
for k, v in new_ephems.items():
if len(v) > 0:
if self.clear_old_ephemeris:
@@ -143,9 +163,10 @@ class AstroDog:
else:
ephems_dict[k].extend(v)
def add_ephem_fetched_time(self, ephems, fetched_times):
min_epochs = []
max_epochs = []
for v in new_ephems.values():
for v in ephems.values():
if len(v) > 0:
min_ephem, max_ephem = self.get_epoch_range(v)
min_epochs.append(min_ephem)
@@ -162,9 +183,9 @@ class AstroDog:
fetched_ephems = {}
if 'GPS' in self.valid_const:
if ConstellationId.GPS in self.valid_const:
fetched_ephems = download_and_parse(ConstellationId.GPS, parse_rinex_nav_msg_gps)
if 'GLONASS' in self.valid_const:
if ConstellationId.GLONASS in self.valid_const:
for k, v in download_and_parse(ConstellationId.GLONASS, parse_rinex_nav_msg_glonass).items():
fetched_ephems.setdefault(k, []).extend(v)
self.add_navs(fetched_ephems)
@@ -180,7 +201,7 @@ class AstroDog:
with ThreadPoolExecutor() as executor:
futures_other = [executor.submit(download_orbits_russia_src, t, self.cache_dir, self.valid_ephem_types) for t in time_steps]
futures_gps = None
if "GPS" in self.valid_const:
if ConstellationId.GPS in self.valid_const:
futures_gps = [executor.submit(download_orbits_gps, t, self.cache_dir, self.valid_ephem_types) for t in time_steps]
ephems_other = parse_sp3_orbits([f.result() for f in futures_other if f.result()], self.valid_const, skip_before_epoch)
@@ -195,7 +216,7 @@ class AstroDog:
result = download_prediction_orbits_russia_src(gps_time, self.cache_dir)
if result is not None:
result = [result]
elif "GPS" in self.valid_const:
elif ConstellationId.GPS in self.valid_const:
# Slower fallback. Russia src prediction orbits are published from 2022
result = [download_orbits_gps(t, self.cache_dir, self.valid_ephem_types) for t in [gps_time - SECS_IN_DAY, gps_time]]
if result is None:
@@ -209,7 +230,7 @@ class AstroDog:
ephems_sp3 = self.download_parse_orbit(time)
if sum([len(v) for v in ephems_sp3.values()]) < 5:
raise RuntimeError(f'No orbit data found. For Time {time.as_datetime()} constellations {self.valid_const} valid ephem types {self.valid_ephem_types}')
self.add_ephem_fetched_time(ephems_sp3, self.orbit_fetched_times)
self.add_orbits(ephems_sp3)
def get_dcb_data(self, time):
@@ -257,7 +278,7 @@ class AstroDog:
return eph.get_tgd()
return None
def get_sat_info(self, prn, time):
def get_eph(self, prn, time):
if get_constellation(prn) not in self.valid_const:
return None
eph = None
@@ -265,6 +286,12 @@ class AstroDog:
eph = self.get_orbit(prn, time)
if not eph and self.pull_nav:
eph = self.get_nav(prn, time)
if not eph and self.use_qcom_poly:
eph = self.get_qcom_poly(prn, time)
return eph
def get_sat_info(self, prn, time):
eph = self.get_eph(prn, time)
if eph:
return eph.get_sat_info(time)
return None
@@ -285,7 +312,7 @@ class AstroDog:
return None
def get_frequency(self, prn, time, signal='C1C'):
if get_constellation(prn) == 'GPS':
if get_constellation(prn) == ConstellationId.GPS:
switch = {'1': constants.GPS_L1,
'2': constants.GPS_L2,
'5': constants.GPS_L5,
@@ -296,7 +323,7 @@ class AstroDog:
if freq:
return freq
raise NotImplementedError("Dont know this GPS frequency: ", signal, prn)
elif get_constellation(prn) == 'GLONASS':
elif get_constellation(prn) == ConstellationId.GLONASS:
n = self.get_glonass_channel(prn, time)
if n is None:
return None
@@ -319,7 +346,6 @@ class AstroDog:
el, az = get_el_az(rcv_pos, sat_pos)
if el < 0.2:
return None
if self.dgps and not no_dgps:
return self._get_delay_dgps(prn, rcv_pos, time)
@@ -330,7 +356,11 @@ class AstroDog:
# When using internet we expect all data or return None
if self.auto_update and (ionex is None or dcb is None or freq is None):
return None
iono_delay = ionex.get_delay(rcv_pos, az, el, sat_pos, time, freq) if ionex is not None else 0.
if ionex is not None:
iono_delay = ionex.get_delay(rcv_pos, az, el, sat_pos, time, freq)
else:
# 5m vertical delay is a good default
iono_delay = get_slant_delay(rcv_pos, az, el, sat_pos, time, freq, vertical_delay=5.0)
trop_delay = saast(rcv_pos, el)
code_bias = dcb.get_delay(signal) if dcb is not None else 0.
return iono_delay + trop_delay + code_bias
laika/dgps.py
+3 -4
View File
@@ -8,8 +8,7 @@ from . import raw_gnss as raw
from . import opt
from .rinex_file import RINEXFile
from .downloader import download_cors_coords
from .helpers import get_constellation
from .helpers import get_constellation, ConstellationId
def mean_filter(delay):
d2 = delay.copy()
@@ -79,7 +78,7 @@ def get_station_position(station_id, cache_dir='/tmp/gnss/', time=GPSTime.from_d
return ((time - epoch)/SECS_IN_YEAR)*np.array(vel) + np.array(pos)
def parse_dgps(station_id, station_obs_file_path, dog, max_distance=100000, required_constellations=['GPS']):
def parse_dgps(station_id, station_obs_file_path, dog, max_distance=100000, required_constellations=[ConstellationId.GPS]):
station_pos = get_station_position(station_id, cache_dir=dog.cache_dir)
obsdata = RINEXFile(station_obs_file_path)
measurements = raw.read_rinex_obs(obsdata)
@@ -122,7 +121,7 @@ def parse_dgps(station_id, station_obs_file_path, dog, max_distance=100000, requ
# could this be biased? Only use GPS for convenience.
model_delays = {}
for prn in station_delays['C1C']:
if get_constellation(prn) == 'GPS':
if get_constellation(prn) == ConstellationId.GPS:
model_delays[prn] = np.nan*np.zeros(n)
for i in range(n):
model_delays[prn][i] = dog.get_delay(prn, times[i], station_pos, no_dgps=True)
laika/downloader.py
+7 -6
View File
@@ -8,6 +8,7 @@ import pycurl
import re
import time
import socket
import logging
from datetime import datetime, timedelta
from urllib.parse import urlparse
@@ -42,7 +43,7 @@ def retryable(f):
try:
return f(url_base, *args, **kwargs)
except DownloadFailed as e:
print(e)
logging.warning(e)
# none of them succeeded
raise DownloadFailed("Multiple URL failures attempting to pull file(s)")
return wrapped
@@ -98,7 +99,7 @@ def ftp_download_files(url_base, folder_path, cacheDir, filenames):
if "/" in filename:
continue
filepath = os.path.join(folder_path_abs, filename)
print("pulling from", url_base, "to", filepath)
logging.debug("pulling from", url_base, "to", filepath)
if not os.path.isfile(filepath):
os.makedirs(folder_path_abs, exist_ok=True)
@@ -141,7 +142,7 @@ def http_download_files(url_base, folder_path, cacheDir, filenames):
continue
filepath = os.path.join(folder_path_abs, filename)
if not os.path.isfile(filepath):
print("pulling from", url_base, "to", filepath)
logging.debug("pulling from", url_base, "to", filepath)
os.makedirs(folder_path_abs, exist_ok=True)
url_path = url_base + folder_path + filename
handle = pycurl.Curl()
@@ -170,7 +171,7 @@ def http_download_files(url_base, folder_path, cacheDir, filenames):
# if there are downloads left to be done, repeat, and don't overwrite
_, requests_processing = fetcher.perform()
if requests_processing > 0:
print("some requests stalled, retrying them")
logging.warning("some requests stalled, retrying them")
return http_download_files(url_base, folder_path, cacheDir, filenames)
return filepaths
@@ -229,7 +230,7 @@ def download_files(url_base, folder_path, cacheDir, filenames):
@retryable
def download_file(url_base, folder_path, filename_zipped):
url = url_base + folder_path + filename_zipped
print('Downloading ' + url)
logging.debug('Downloading ' + url)
if url.startswith('https://'):
return https_download_file(url)
elif url.startswith('ftp://'):
@@ -478,5 +479,5 @@ def download_cors_station(time, station_name, cache_dir):
filepath = download_and_cache_file(url_bases, folder_path, cache_dir+'cors_obs/', filename, compression='.gz')
return filepath
except DownloadFailed:
print("File not downloaded, check availability on server.")
logging.warning("File not downloaded, check availability on server.")
return None
laika/ephemeris.capnp
+106
View File
@@ -0,0 +1,106 @@
@0xb3ca6d2462778bb1;
struct Ephemeris {
# This is according to the rinex (2?) format
svId @0 :UInt16;
year @1 :UInt16;
month @2 :UInt16;
day @3 :UInt16;
hour @4 :UInt16;
minute @5 :UInt16;
second @6 :Float32;
af0 @7 :Float64;
af1 @8 :Float64;
af2 @9 :Float64;
iode @10 :Float64;
crs @11 :Float64;
deltaN @12 :Float64;
m0 @13 :Float64;
cuc @14 :Float64;
ecc @15 :Float64;
cus @16 :Float64;
a @17 :Float64; # note that this is not the root!!
toe @18 :Float64;
cic @19 :Float64;
omega0 @20 :Float64;
cis @21 :Float64;
i0 @22 :Float64;
crc @23 :Float64;
omega @24 :Float64;
omegaDot @25 :Float64;
iDot @26 :Float64;
codesL2 @27 :Float64;
gpsWeekDEPRECATED @28 :Float64;
l2 @29 :Float64;
svAcc @30 :Float64;
svHealth @31 :Float64;
tgd @32 :Float64;
iodc @33 :Float64;
transmissionTime @34 :Float64;
fitInterval @35 :Float64;
toc @36 :Float64;
ionoCoeffsValid @37 :Bool;
ionoAlpha @38 :List(Float64);
ionoBeta @39 :List(Float64);
towCount @40 :UInt32;
toeWeek @41 :UInt16;
tocWeek @42 :UInt16;
}
struct GlonassEphemeris {
svId @0 :UInt16;
year @1 :UInt16;
dayInYear @2 :UInt16;
hour @3 :UInt16;
minute @4 :UInt16;
second @5 :Float32;
x @6 :Float64;
xVel @7 :Float64;
xAccel @8 :Float64;
y @9 :Float64;
yVel @10 :Float64;
yAccel @11 :Float64;
z @12 :Float64;
zVel @13 :Float64;
zAccel @14 :Float64;
svType @15 :UInt8;
svURA @16 :Float32;
age @17 :UInt8;
svHealth @18 :UInt8;
tkDEPRECATED @19 :UInt16;
tb @20 :UInt16;
tauN @21 :Float64;
deltaTauN @22 :Float64;
gammaN @23 :Float64;
p1 @24 :UInt8;
p2 @25 :UInt8;
p3 @26 :UInt8;
p4 @27 :UInt8;
freqNumDEPRECATED @28 :UInt32;
n4 @29 :UInt8;
nt @30 :UInt16;
freqNum @31 :Int16;
tkSeconds @32 :UInt32;
}
struct EphemerisCache {
gpsEphemerides @0 :List(Ephemeris);
glonassEphemerides @1 :List(GlonassEphemeris);
}
laika/ephemeris.py
+106 -201
View File
@@ -1,4 +1,3 @@
import json
import warnings
from abc import ABC, abstractmethod
from collections import defaultdict
@@ -7,7 +6,7 @@ from typing import Dict, List, Optional
import numpy as np
import numpy.polynomial.polynomial as poly
from datetime import datetime, timedelta
from datetime import datetime
from math import sin, cos, sqrt, fabs, atan2
from .gps_time import GPSTime, utc_to_gpst
@@ -15,6 +14,12 @@ from .constants import SPEED_OF_LIGHT, SECS_IN_MIN, SECS_IN_HR, SECS_IN_DAY, \
SECS_IN_WEEK, EARTH_ROTATION_RATE, EARTH_GM
from .helpers import get_constellation, get_prn_from_nmea_id
import capnp
import os
capnp.remove_import_hook()
capnp_path = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "ephemeris.capnp"))
ephemeris_structs = capnp.load(capnp_path)
def read4(f, rinex_ver):
line = f.readline()[:-1]
@@ -24,95 +29,6 @@ def read4(f, rinex_ver):
return float(line[4:23]), float(line[23:42]), float(line[42:61]), float(line[61:80])
def convert_ublox_gps_ephem(ublox_ephem, current_time: Optional[datetime] = None):
# Week time of ephemeris gps msg has a roll-over period of 10 bits (19.6 years)
# The latest roll-over was on 2019-04-07
week = ublox_ephem.gpsWeek
if current_time is None:
# Each message is incremented to be greater or equal than week 1877 (2015-12-27).
# To skip this use the current_time argument
week += 1024
if week < 1877:
week += 1024
else:
roll_overs = GPSTime.from_datetime(current_time).week // 1024
week += (roll_overs - (week // 1024)) * 1024
# GPS week refers to current week, the ephemeris can be valid for the next
# if toe equals 0, this can be verified by the TOW count if it is within the
# last 2 hours of the week (gps ephemeris valid for 4hours)
if ublox_ephem.toe == 0 and ublox_ephem.towCount*6 >= (SECS_IN_WEEK - 2*SECS_IN_HR):
week += 1
ephem = {}
ephem['sv_id'] = ublox_ephem.svId
ephem['toe'] = GPSTime(week, ublox_ephem.toe)
ephem['toc'] = GPSTime(week, ublox_ephem.toc)
ephem['af0'] = ublox_ephem.af0
ephem['af1'] = ublox_ephem.af1
ephem['af2'] = ublox_ephem.af2
ephem['tgd'] = ublox_ephem.tgd
ephem['sqrta'] = np.sqrt(ublox_ephem.a)
ephem['dn'] = ublox_ephem.deltaN
ephem['m0'] = ublox_ephem.m0
ephem['ecc'] = ublox_ephem.ecc
ephem['w'] = ublox_ephem.omega
ephem['cus'] = ublox_ephem.cus
ephem['cuc'] = ublox_ephem.cuc
ephem['crc'] = ublox_ephem.crc
ephem['crs'] = ublox_ephem.crs
ephem['cic'] = ublox_ephem.cic
ephem['cis'] = ublox_ephem.cis
ephem['inc'] = ublox_ephem.i0
ephem['inc_dot'] = ublox_ephem.iDot
ephem['omegadot'] = ublox_ephem.omegaDot
ephem['omega0'] = ublox_ephem.omega0
ephem['healthy'] = ublox_ephem.svHealth == 0.0
epoch = ephem['toe']
return GPSEphemeris(ephem, epoch)
def convert_ublox_glonass_ephem(ublox_ephem, current_time: Optional[datetime] = None):
ephem = {}
ephem['prn'] = 'R%02i' % ublox_ephem.svId
etime = datetime.strptime(f"{ublox_ephem.year}-{ublox_ephem.dayInYear}", "%Y-%j")
# glonass time: UTC + 3h
time_in_day = timedelta(hours=ublox_ephem.hour, minutes=ublox_ephem.minute, seconds=ublox_ephem.second)
ephem['toc'] = GPSTime.from_datetime(etime + time_in_day - timedelta(hours=3))
ephem['toe'] = GPSTime.from_datetime(etime + timedelta(minutes=(ublox_ephem.tb*15 - 180)))
ephem['x'] = ublox_ephem.x # km
ephem['x_vel'] = ublox_ephem.xVel # km/s
ephem['x_acc'] = ublox_ephem.xAccel # km/s*s
ephem['y'] = ublox_ephem.y # km
ephem['y_vel'] = ublox_ephem.yVel # km/s
ephem['y_acc'] = ublox_ephem.yAccel # km/s*s
ephem['z'] = ublox_ephem.z # km
ephem['z_vel'] = ublox_ephem.zVel # km/s
ephem['z_acc'] = ublox_ephem.zAccel # km/s*s
ephem['healthy'] = ublox_ephem.svHealth == 0.0
ephem['age'] = ublox_ephem.age # age of information [days]
# tauN compared to ephemeris from gdc.cddis.eosdis.nasa.gov is times -1
ephem['min_tauN'] = ublox_ephem.tauN * (-1) # time correction relative to GLONASS tc
ephem['GammaN'] = ublox_ephem.gammaN
# TODO: channel is in string 7, which is not parsed
ephem['freq_num'] = "1"
# NOTE: ublox_ephem.tk is in a different format than rinex tk
return GLONASSEphemeris(ephem, ephem['toe'])
class EphemerisType(IntEnum):
# Matches the enum in log.capnp
NAV = 0
@@ -138,17 +54,16 @@ class EphemerisType(IntEnum):
class Ephemeris(ABC):
def __init__(self, prn: str, data, epoch: GPSTime, eph_type: EphemerisType, healthy: bool, max_time_diff: float,
def __init__(self, prn: str, epoch: GPSTime, eph_type: EphemerisType, healthy: bool, max_time_diff: float,
file_epoch: Optional[GPSTime] = None, file_name=None):
self.prn = prn
self.data = data
self.epoch = epoch
self.eph_type = eph_type
self.healthy = healthy
self.max_time_diff = max_time_diff
self.file_epoch = file_epoch
self.file_name = file_name
self.file_source = '' if file_name is None else file_name.split('/')[-1][:3] # File source for the ephemeris (e.g. igu, igr, Sta)
self.__json = None
def valid(self, time):
return abs(time - self.epoch) <= self.max_time_diff
@@ -169,54 +84,24 @@ class Ephemeris(ABC):
def _get_sat_info(self, time):
pass
def to_json(self):
if self.__json is None:
dict = self.__dict__
dict['ephemeris_class'] = self.__class__.__name__
self.__json = {'ephemeris': json.dumps(dict, cls=EphemerisSerializer)}
return self.__json
@classmethod
def from_json(cls, json_dct):
dct = json.loads(json_dct['ephemeris'], object_hook=ephemeris_deserialize_hook)
obj = cls.__new__(globals()[dct['ephemeris_class']])
obj.__dict__.update(dct)
obj.__json = json_dct
return obj
def ephemeris_deserialize_hook(dct):
if 'week' in dct:
return GPSTime(dct['week'], dct['tow'])
return dct
class EphemerisSerializer(json.JSONEncoder):
def default(self, o):
if isinstance(o, GPSTime):
return o.__dict__
if isinstance(o, np.ndarray):
return o.tolist()
return json.JSONEncoder.default(self, o)
class GLONASSEphemeris(Ephemeris):
def __init__(self, data, epoch, file_name=None):
super().__init__(data['prn'], data, epoch, EphemerisType.NAV, data['healthy'], max_time_diff=25*SECS_IN_MIN, file_name=file_name)
self.channel = data['freq_num']
self.to_json()
def __init__(self, data, file_name=None):
self.epoch = GPSTime.from_glonass(data.n4, data.nt, data.tb*15*SECS_IN_MIN)
super().__init__('R%02i' % data.svId, self.epoch, EphemerisType.NAV, data.svHealth==0, max_time_diff=25*SECS_IN_MIN, file_name=file_name)
self.data = data
self.epoch = GPSTime.from_glonass(data.n4, data.nt, data.tb*15 * SECS_IN_MIN)
self.channel = data.freqNum
def _get_sat_info(self, time: GPSTime):
# see the russian doc for this:
# http://gauss.gge.unb.ca/GLONASS.ICD.pdf
eph = self.data
tdiff = time - utc_to_gpst(eph['toe'])
tdiff = time - self.epoch
# Clock correction (except for general relativity which is applied later)
clock_err = eph['min_tauN'] + tdiff * (eph['GammaN'])
clock_rate_err = eph['GammaN']
clock_err = -eph.tauN + tdiff * eph.gammaN
clock_rate_err = eph.gammaN
def glonass_diff_eq(state, acc):
J2 = 1.0826257e-3
@@ -238,14 +123,14 @@ class GLONASSEphemeris(Ephemeris):
return ders
init_state = np.empty(6)
init_state[0] = eph['x']
init_state[1] = eph['y']
init_state[2] = eph['z']
init_state[3] = eph['x_vel']
init_state[4] = eph['y_vel']
init_state[5] = eph['z_vel']
init_state[0] = eph.x
init_state[1] = eph.y
init_state[2] = eph.z
init_state[3] = eph.xVel
init_state[4] = eph.yVel
init_state[5] = eph.zVel
init_state = 1000*init_state
acc = 1000*np.array([eph['x_acc'], eph['y_acc'], eph['z_acc']])
acc = 1000*np.array([eph.xAccel, eph.yAccel, eph.zAccel])
state = init_state
tstep = 90
if tdiff < 0:
@@ -271,9 +156,9 @@ 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,
max_time_diff: int=SECS_IN_HR):
super().__init__(prn, data, epoch, ephem_type, healthy, max_time_diff=max_time_diff, file_epoch=file_epoch, file_name=file_name)
super().__init__(prn, epoch, ephem_type, healthy, max_time_diff=max_time_diff, file_epoch=file_epoch, file_name=file_name)
self.data = data
self.tgd = tgd
self.to_json()
def _get_sat_info(self, time: GPSTime):
dt = time - self.data['t0']
@@ -290,27 +175,32 @@ class PolyEphemeris(Ephemeris):
class GPSEphemeris(Ephemeris):
def __init__(self, data, epoch, file_name=None):
super().__init__('G%02i' % data['sv_id'], data, epoch, EphemerisType.NAV, data['healthy'], max_time_diff=2*SECS_IN_HR, file_name=file_name)
def __init__(self, data, file_name=None):
self.toe = GPSTime(data.toeWeek, data.toe)
self.toc = GPSTime(data.tocWeek, data.toc)
self.epoch = self.toc
super().__init__('G%02i' % data.svId, self.epoch, EphemerisType.NAV, data.svHealth==0, max_time_diff=2*SECS_IN_HR, file_name=file_name)
self.max_time_diff_tgd = SECS_IN_DAY
self.to_json()
self.data = data
self.sqrta = np.sqrt(data.a)
def get_tgd(self):
return self.data['tgd']
return self.datatgd
def _get_sat_info(self, time: GPSTime):
eph = self.data
tdiff = time - eph['toc'] # Time of clock
clock_err = eph['af0'] + tdiff * (eph['af1'] + tdiff * eph['af2'])
clock_rate_err = eph['af1'] + 2 * tdiff * eph['af2']
tdiff = time - self.toc # Time of clock
clock_err = eph.af0 + tdiff * (eph.af1 + tdiff * eph.af2)
clock_rate_err = eph.af1 + 2 * tdiff * eph.af2\
# Orbit propagation
tdiff = time - eph['toe'] # Time of ephemeris (might be different from time of clock)
tdiff = time - self.toe # Time of ephemeris (might be different from time of clock)
# Calculate position per IS-GPS-200D p 97 Table 20-IV
a = eph['sqrta'] * eph['sqrta'] # [m] Semi-major axis
ma_dot = sqrt(EARTH_GM / (a * a * a)) + eph['dn'] # [rad/sec] Corrected mean motion
ma = eph['m0'] + ma_dot * tdiff # [rad] Corrected mean anomaly
a = self.sqrta * self.sqrta # [m] Semi-major axis
ma_dot = sqrt(EARTH_GM / (a * a * a)) + eph.deltaN # [rad/sec] Corrected mean motion
ma = eph.m0 + ma_dot * tdiff # [rad] Corrected mean anomaly
# Iteratively solve for the Eccentric Anomaly (from Keith Alter and David Johnston)
ea = ma # Starting value for E
@@ -318,37 +208,37 @@ class GPSEphemeris(Ephemeris):
ea_old = 2222
while fabs(ea - ea_old) > 1.0E-14:
ea_old = ea
tempd1 = 1.0 - eph['ecc'] * cos(ea_old)
ea = ea + (ma - ea_old + eph['ecc'] * sin(ea_old)) / tempd1
tempd1 = 1.0 - eph.ecc * cos(ea_old)
ea = ea + (ma - ea_old + eph.ecc * sin(ea_old)) / tempd1
ea_dot = ma_dot / tempd1
# Relativistic correction term
einstein = -4.442807633E-10 * eph['ecc'] * eph['sqrta'] * sin(ea)
einstein = -4.442807633E-10 * eph.ecc * self.sqrta * sin(ea)
# Begin calc for True Anomaly and Argument of Latitude
tempd2 = sqrt(1.0 - eph['ecc'] * eph['ecc'])
tempd2 = sqrt(1.0 - eph.ecc * eph.ecc)
# [rad] Argument of Latitude = True Anomaly + Argument of Perigee
al = atan2(tempd2 * sin(ea), cos(ea) - eph['ecc']) + eph['w']
al = atan2(tempd2 * sin(ea), cos(ea) - eph.ecc) + eph.omega
al_dot = tempd2 * ea_dot / tempd1
# Calculate corrected argument of latitude based on position
cal = al + eph['cus'] * sin(2.0 * al) + eph['cuc'] * cos(2.0 * al)
cal_dot = al_dot * (1.0 + 2.0 * (eph['cus'] * cos(2.0 * al) -
eph['cuc'] * sin(2.0 * al)))
cal = al + eph.cus * sin(2.0 * al) + eph.cuc * cos(2.0 * al)
cal_dot = al_dot * (1.0 + 2.0 * (eph.cus * cos(2.0 * al) -
eph.cuc * sin(2.0 * al)))
# Calculate corrected radius based on argument of latitude
r = a * tempd1 + eph['crc'] * cos(2.0 * al) + eph['crs'] * sin(2.0 * al)
r_dot = (a * eph['ecc'] * sin(ea) * ea_dot +
2.0 * al_dot * (eph['crs'] * cos(2.0 * al) -
eph['crc'] * sin(2.0 * al)))
r = a * tempd1 + eph.crc * cos(2.0 * al) + eph.crs * sin(2.0 * al)
r_dot = (a * eph.ecc * sin(ea) * ea_dot +
2.0 * al_dot * (eph.crs * cos(2.0 * al) -
eph.crc * sin(2.0 * al)))
# Calculate inclination based on argument of latitude
inc = (eph['inc'] + eph['inc_dot'] * tdiff +
eph['cic'] * cos(2.0 * al) +
eph['cis'] * sin(2.0 * al))
inc_dot = (eph['inc_dot'] +
2.0 * al_dot * (eph['cis'] * cos(2.0 * al) -
eph['cic'] * sin(2.0 * al)))
inc = (eph.i0 + eph.iDot * tdiff +
eph.cic * cos(2.0 * al) +
eph.cis * sin(2.0 * al))
inc_dot = (eph.iDot +
2.0 * al_dot * (eph.cis * cos(2.0 * al) -
eph.cic * sin(2.0 * al)))
# Calculate position and velocity in orbital plane
x = r * cos(cal)
@@ -357,8 +247,8 @@ class GPSEphemeris(Ephemeris):
y_dot = r_dot * sin(cal) + x * cal_dot
# Corrected longitude of ascending node
om_dot = eph['omegadot'] - EARTH_ROTATION_RATE
om = eph['omega0'] + tdiff * om_dot - EARTH_ROTATION_RATE * eph['toe'].tow
om_dot = eph.omegaDot - EARTH_ROTATION_RATE
om = eph.omega0 + tdiff * om_dot - EARTH_ROTATION_RATE * self.toe.tow
# Compute the satellite's position in Earth-Centered Earth-Fixed coordinates
pos = np.empty(3)
@@ -507,24 +397,26 @@ def parse_rinex_nav_msg_gps(file_name):
line = ' ' + line # Shift 1 char to the right
line = line.replace('D', 'E') # Handle bizarro float format
e = {'epoch': epoch, 'sv_id': sv_id}
e['toc'] = epoch
e = {'svId': sv_id}
# TODO are TOC and TOE the same?
e['toc'] = epoch.tow
e['tocWeek'] = epoch.week
e['af0'] = float(line[23:42])
e['af1'] = float(line[42:61])
e['af2'] = float(line[61:80])
e['iode'], e['crs'], e['dn'], e['m0'] = read4(f, rinex_ver)
e['cuc'], e['ecc'], e['cus'], e['sqrta'] = read4(f, rinex_ver)
toe_tow, e['cic'], e['omega0'], e['cis'] = read4(f, rinex_ver)
e['inc'], e['crc'], e['w'], e['omegadot'] = read4(f, rinex_ver)
e['inc_dot'], e['l2_codes'], toe_week, e['l2_pflag'] = read4(f, rinex_ver)
e['sv_accuracy'], e['health'], e['tgd'], e['iodc'] = read4(f, rinex_ver)
e['iode'], e['crs'], e['deltaN'], e['m0'] = read4(f, rinex_ver)
e['cuc'], e['ecc'], e['cus'], sqrta = read4(f, rinex_ver)
e['a'] = sqrta ** 2
e['toe'], e['cic'], e['omega0'], e['cis'] = read4(f, rinex_ver)
e['i0'], e['crc'], e['omega'], e['omegaDot'] = read4(f, rinex_ver)
e['iDot'], e['codesL2'], e['toeWeek'], l2_pflag = read4(f, rinex_ver)
e['svAcc'], e['svHealth'], e['tgd'], e['iodc'] = read4(f, rinex_ver)
f.readline() # Discard last row
e['toe'] = GPSTime(toe_week, toe_tow)
e['healthy'] = (e['health'] == 0.0)
data_struct = ephemeris_structs.Ephemeris.new_message(**e)
ephem = GPSEphemeris(e, epoch, file_name=file_name)
ephem = GPSEphemeris(data_struct, file_name=file_name)
ephems[ephem.prn].append(ephem)
f.close()
return ephems
@@ -550,26 +442,39 @@ def parse_rinex_nav_msg_glonass(file_name):
got_header = True
continue
if rinex_ver == 3:
prn = line[:3]
epoch = GPSTime.from_datetime(datetime.strptime(line[4:23], "%y %m %d %H %M %S"))
sv_id = int(line[1:3])
epoch = utc_to_gpst(GPSTime.from_datetime(datetime.strptime(line[4:23], "%y %m %d %H %M %S")))
elif rinex_ver == 2:
prn = 'R%02i' % int(line[0:2])
epoch = GPSTime.from_datetime(datetime.strptime(line[3:20], "%y %m %d %H %M %S"))
sv_id = int(line[0:2])
epoch = utc_to_gpst(GPSTime.from_datetime(datetime.strptime(line[3:20], "%y %m %d %H %M %S")))
line = ' ' + line # Shift 1 char to the right
line = line.replace('D', 'E') # Handle bizarro float format
e = {'epoch': epoch, 'prn': prn}
e['toe'] = epoch
e['min_tauN'] = float(line[23:42])
e['GammaN'] = float(line[42:61])
e['tk'] = float(line[61:80])
e = {'svId': sv_id}
e['n4'], e['nt'], toe_seconds = epoch.as_glonass()
tb = toe_seconds / (15 * SECS_IN_MIN)
e['x'], e['x_vel'], e['x_acc'], e['health'] = read4(f, rinex_ver)
e['y'], e['y_vel'], e['y_acc'], e['freq_num'] = read4(f, rinex_ver)
e['z'], e['z_vel'], e['z_acc'], e['age'] = read4(f, rinex_ver)
e['tb'] = tb
e['healthy'] = (e['health'] == 0.0)
ephems[prn].append(GLONASSEphemeris(e, epoch, file_name=file_name))
e['tauN'] = -float(line[23:42])
e['gammaN'] = float(line[42:61])
e['tkSeconds'] = float(line[61:80])
e['x'], e['xVel'], e['xAccel'], e['svHealth'] = read4(f, rinex_ver)
e['y'], e['yVel'], e['yAccel'], e['freqNum'] = read4(f, rinex_ver)
e['z'], e['zVel'], e['zAccel'], e['age'] = read4(f, rinex_ver)
# TODO unclear why glonass sometimes has nav messages 3s after correct one
if abs(tb - int(tb)) > 1e-3:
continue
data_struct = ephemeris_structs.GlonassEphemeris.new_message(**e)
ephem = GLONASSEphemeris(data_struct, file_name=file_name)
ephems[ephem.prn].append(ephem)
f.close()
return ephems
@@ -580,9 +485,9 @@ def parse_qcom_ephem(qcom_poly, current_week):
t0 = data.t0
# fix glonass time
prn = get_prn_from_nmea_id(svId)
if prn == 'GLONASS':
if prn[0] == 'R':
# TODO should handle leap seconds better
epoch = GPSTime(current_week, (t0 + 3*SECS_IN_WEEK) % (SECS_IN_WEEK) + 18)
epoch = GPSTime(current_week, (t0 - 3*SECS_IN_HR + SECS_IN_DAY) % (SECS_IN_WEEK) + 18)
else:
epoch = GPSTime(current_week, t0)
poly_data = {}
@@ -595,4 +500,4 @@ def parse_qcom_ephem(qcom_poly, current_week):
poly_data['clock'] = [1e-3*data.other[3], 1e-3*data.other[2], 1e-3*data.other[1], 1e-3*data.other[0]]
poly_data['deg'] = 3
poly_data['deg_t'] = 3
return PolyEphemeris(prn, poly_data, epoch, ephem_type=EphemerisType.QCOM_POLY, max_time_diff=180)
return PolyEphemeris(prn, poly_data, epoch, ephem_type=EphemerisType.QCOM_POLY, max_time_diff=300, file_name='qcom')
laika/gps_time.py
+11
View File
@@ -152,6 +152,17 @@ class GPSTime:
def as_datetime(self):
return tow_to_datetime(self.tow, self.week)
def as_glonass(self):
time_utc = gpst_to_utc(self)
datetime_utc = time_utc.as_datetime()
datetime_glonass = datetime_utc + datetime.timedelta(hours=3)
year = datetime_glonass.year
cycle = (year - 1992) // 4
days = (datetime_glonass - datetime.datetime(1992 + cycle*4, 1, 1)).days + 1
tod = (datetime_glonass - datetime_glonass.replace(hour=0, minute=0, second=0, microsecond=0)).total_seconds()
return cycle, days, tod
def as_unix_timestamp(self):
return (gpst_to_utc(self).as_datetime() - datetime.datetime(1970, 1, 1)).total_seconds()
laika/helpers.py
+5 -10
View File
@@ -26,7 +26,7 @@ class ConstellationId(IntEnum):
if c in RINEX_ID_TO_CONSTELLATION:
return RINEX_ID_TO_CONSTELLATION[c]
else:
return None
raise ValueError("Unknown rinex constellation id: ", c)
@classmethod
def from_qcom_source(cls, report_source: int):
@@ -97,14 +97,12 @@ def get_closest(time, candidates, recv_pos=None):
default=None,
)
def get_constellation(prn: str):
identifier = prn[0]
constellation = ConstellationId.from_rinex_char(identifier)
if constellation is not None:
return constellation.name
return None
return ConstellationId.from_rinex_char(identifier)
def get_sv_id(prn: str):
return int(prn[1:])
def get_constellation_and_sv_id(nmea_id):
for c, ranges in CONSTELLATION_TO_NMEA_RANGES.items():
@@ -123,11 +121,8 @@ def get_prn_from_nmea_id(nmea_id: int):
def get_nmea_id_from_prn(prn: str):
constellation = get_constellation(prn)
if constellation is None:
raise ValueError(f"Constellation not found for prn {prn}")
sv_id = int(prn[1:]) # satellite id
return get_nmea_id_from_constellation_and_svid(ConstellationId[constellation], sv_id)
return get_nmea_id_from_constellation_and_svid(constellation, sv_id)
def get_nmea_id_from_constellation_and_svid(constellation: ConstellationId, sv_id: int):
laika/iono.py
+14 -5
View File
@@ -9,6 +9,17 @@ from .gps_time import GPSTime
# Altitude of Ionospheric-pierce-point
IPP_ALT = 6821000
def get_alpha_beta(rcv_pos, el):
geocentric_alt = np.linalg.norm(rcv_pos)
alpha = np.pi/2 + el
beta = np.arcsin(geocentric_alt*np.sin(alpha)/IPP_ALT)
return alpha, beta
def get_slant_delay(rcv_pos, az, el, sat_pos, time, freq, vertical_delay):
alpha, beta = get_alpha_beta(rcv_pos, el)
slant_delay = vertical_delay * ((1 - ((EARTH_RADIUS * np.sin(beta)) /
(EARTH_RADIUS + 3.5e5))**2)**(-0.5))
return slant_delay
def closest_in_list(lst, val, num=2):
"""
@@ -134,18 +145,16 @@ class IonexMap:
# To get a delay from a TEC map, we need to calculate
# the ionospheric pierce point, geometry described here
# https://en.wikipedia.org/wiki/Ionospheric_pierce_point
alpha, beta = get_alpha_beta(rcv_pos, el)
conv = LocalCoord.from_ecef(rcv_pos)
geocentric_alt = np.linalg.norm(rcv_pos)
alpha = np.pi/2 + el
beta = np.arcsin(geocentric_alt*np.sin(alpha)/IPP_ALT)
gamma = np.pi - alpha - beta
geocentric_alt = np.linalg.norm(rcv_pos)
ipp_dist = geocentric_alt*np.sin(gamma)/np.sin(beta)
ipp_ned = conv.ecef2ned(sat_pos)*(ipp_dist)/np.linalg.norm(sat_pos)
ipp_geo = conv.ned2geodetic(ipp_ned)
factor = 40.30E16 / (freq**2) * 10**(self.exp)
vertical_delay = self.get_TEC(ipp_geo, time) * factor
slant_delay = vertical_delay * ((1 - ((EARTH_RADIUS * np.sin(beta)) /
(EARTH_RADIUS + 3.5e5))**2)**(-0.5))
slant_delay = get_slant_delay(rcv_pos, az, el, sat_pos, time, freq, vertical_delay)
return slant_delay
@staticmethod
laika/opt.py
+35 -34
View File
@@ -7,22 +7,28 @@ from .helpers import ConstellationId
from .raw_gnss import GNSSMeasurement
def gauss_newton(fun, b, xtol=1e-8, max_n=25):
def gauss_newton(fun, b, M, xtol=1e-8, max_n=25):
W = np.linalg.inv(M)
for _ in range(max_n):
# Compute function and jacobian on current estimate
r, J = fun(b)
# Update estimate
delta = np.linalg.pinv(J) @ r
# Update estimate, WLS https://en.wikipedia.org/wiki/Weighted_least_squares
delta = np.linalg.pinv(J.T.dot(W).dot(J)).dot(J.T).dot(W) @ r
b -= delta
# Check step size for stopping condition
if np.linalg.norm(delta) < xtol:
break
return b
r, J = fun(b)
Mb = np.linalg.pinv(J.T.dot(W).dot(J))
x_std = np.sqrt(np.diagonal(Mb))
return b, r, x_std
def calc_pos_fix(measurements, posfix_functions=None, x0=None, no_weight=False, signal='C1C', min_measurements=6):
def calc_pos_fix(measurements, posfix_functions=None, x0=None, signal='C1C', min_measurements=5):
'''
Calculates gps fix using gauss newton method
To solve the problem a minimal of 4 measurements are required.
@@ -35,15 +41,16 @@ def calc_pos_fix(measurements, posfix_functions=None, x0=None, no_weight=False,
x0 = [0, 0, 0, 0, 0]
if len(measurements) < min_measurements:
return [],[]
return [],[],[]
Fx_pos = pr_residual(measurements, posfix_functions, signal=signal, no_weight=no_weight, no_nans=True)
x = gauss_newton(Fx_pos, x0)
residual, _ = Fx_pos(x, no_weight=True)
return x.tolist(), residual.tolist()
Fx_pos = pr_residual(measurements, posfix_functions, signal=signal, no_nans=True)
meas_cov = np.diag([meas.observables_std[signal]**2 for meas in measurements])
x, residual, x_std = gauss_newton(Fx_pos, x0, meas_cov)
return x.tolist(), residual.tolist(), x_std
def calc_vel_fix(measurements, est_pos, velfix_function=None, v0=None, no_weight=False, signal='D1C', min_measurements=6):
def calc_vel_fix(measurements, est_pos, velfix_function=None, v0=None, signal='D1C', min_measurements=5):
'''
Calculates gps velocity fix using gauss newton method
returns:
@@ -54,12 +61,13 @@ def calc_vel_fix(measurements, est_pos, velfix_function=None, v0=None, no_weight
v0 = [0, 0, 0, 0]
if len(measurements) < min_measurements:
return [], []
return [], [], []
Fx_vel = prr_residual(measurements, est_pos, velfix_function, signal=signal, no_weight=no_weight, no_nans=True)
v = gauss_newton(Fx_vel, v0)
residual, _ = Fx_vel(v, no_weight=True)
return v.tolist(), residual.tolist()
Fx_vel = prr_residual(measurements, est_pos, velfix_function, signal=signal, no_nans=True)
meas_cov = np.diag([meas.observables_std[signal]**2 for meas in measurements])
v, residual, x_std = gauss_newton(Fx_vel, v0, meas_cov)
return v.tolist(), residual.tolist(), x_std
def get_posfix_sympy_fun(constellation):
@@ -73,7 +81,6 @@ def get_posfix_sympy_fun(constellation):
# Knowns
pr = sympy.Symbol('pr')
sat_x, sat_y, sat_z = sympy.Symbol('sat_x'), sympy.Symbol('sat_y'), sympy.Symbol('sat_z')
weight = sympy.Symbol('weight')
theta = (EARTH_ROTATION_RATE * (pr - bc) / SPEED_OF_LIGHT)*zero_theta
val = sympy.sqrt(
@@ -83,15 +90,15 @@ def get_posfix_sympy_fun(constellation):
)
if constellation == ConstellationId.GLONASS:
res = weight * (val - (pr - bc - bg))
res = val - (pr - bc - bg)
elif constellation == ConstellationId.GPS:
res = weight * (val - (pr - bc))
res = val - (pr - bc)
else:
raise NotImplementedError(f"Constellation {constellation} not supported")
res = [res] + [sympy.diff(res, v) for v in var]
return sympy.lambdify([x, y, z, bc, bg, pr, zero_theta, sat_x, sat_y, sat_z, weight], res, modules=["numpy"])
return sympy.lambdify([x, y, z, bc, bg, pr, zero_theta, sat_x, sat_y, sat_z], res, modules=["numpy"])
def get_velfix_sympy_func():
@@ -105,7 +112,6 @@ def get_velfix_sympy_func():
sv_x, sv_y, sv_z = sympy.Symbol('sv_x'), sympy.Symbol('sv_y'), sympy.Symbol('sv_z')
sat_vel = np.array([sv_x, sv_y, sv_z])
observables = sympy.Symbol('observables')
weight = sympy.Symbol('weight')
# unknown, receiver velocity
v_x, v_y, v_z = sympy.Symbol('v_x'), sympy.Symbol('v_y'), sympy.Symbol('v_z')
@@ -114,27 +120,24 @@ def get_velfix_sympy_func():
loss = sat_pos - est_pos
loss /= sympy.sqrt(loss.dot(loss))
nv = loss.dot(sat_vel - vel)
ov = (observables - vel_o)
res = (nv - ov)*weight
res = loss.dot(sat_vel - vel) - (observables - vel_o)
res = [res] + [sympy.diff(res, v) for v in [v_x, v_y, v_z, vel_o]]
return sympy.lambdify([
ep_x, ep_y, ep_z, sp_x, sp_y, sp_z,
sv_x, sv_y, sv_z, observables, weight,
sv_x, sv_y, sv_z, observables,
v_x, v_y, v_z, vel_o
],
res, modules=["numpy"])
def pr_residual(measurements: List[GNSSMeasurement], posfix_functions=None, signal='C1C', no_weight=False, no_nans=False):
def pr_residual(measurements: List[GNSSMeasurement], posfix_functions=None, signal='C1C', no_nans=False):
if posfix_functions is None:
posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)}
def Fx_pos(inp, no_weight=no_weight):
def Fx_pos(inp):
vals, gradients = [], []
for meas in measurements:
@@ -153,20 +156,19 @@ def pr_residual(measurements: List[GNSSMeasurement], posfix_functions=None, sign
gradients.append(np.nan)
continue
w = 1.0 if no_weight or meas.observables_std[signal] == 0 else (1 / meas.observables_std[signal])
val, *gradient = posfix_functions[meas.constellation_id](*inp, pr, zero_theta, *sat_pos, w)
val, *gradient = posfix_functions[meas.constellation_id](*inp, pr, zero_theta, *sat_pos)
vals.append(val)
gradients.append(gradient)
return np.asarray(vals), np.asarray(gradients)
return Fx_pos
def prr_residual(measurements: List[GNSSMeasurement], est_pos, velfix_function=None, signal='D1C', no_weight=False, no_nans=False):
def prr_residual(measurements: List[GNSSMeasurement], est_pos, velfix_function=None, signal='D1C', no_nans=False):
if velfix_function is None:
velfix_function = get_velfix_sympy_func()
def Fx_vel(vel, no_weight=no_weight):
def Fx_vel(vel):
vals, gradients = [], []
for meas in measurements:
@@ -177,12 +179,11 @@ def prr_residual(measurements: List[GNSSMeasurement], est_pos, velfix_function=N
continue
sat_pos = meas.sat_pos_final if meas.corrected else meas.sat_pos
weight = 1.0 if no_weight or meas.observables_std[signal] == 0 else (1 / meas.observables_std[signal])
val, *gradient = velfix_function(est_pos[0], est_pos[1], est_pos[2],
sat_pos[0], sat_pos[1], sat_pos[2],
meas.sat_vel[0], meas.sat_vel[1], meas.sat_vel[2],
meas.observables[signal], weight,
meas.observables[signal],
vel[0], vel[1], vel[2], vel[3])
vals.append(val)
gradients.append(gradient)
laika/raw_gnss.py
+12 -9
View File
@@ -92,10 +92,13 @@ class GNSSMeasurement:
self.processed = True
return True
def correct(self, est_pos, dog):
def correct(self, est_pos, dog, correct_delay=True):
for obs in self.observables:
if obs[0] == 'C': # or obs[0] == 'L':
delay = dog.get_delay(self.prn, self.recv_time, est_pos, signal=obs)
if correct_delay:
delay = dog.get_delay(self.prn, self.recv_time, est_pos, signal=obs)
else:
delay = 0.0
if delay is not None:
self.observables_final[obs] = (self.observables[obs] +
self.sat_clock_err*constants.SPEED_OF_LIGHT -
@@ -147,10 +150,10 @@ def process_measurements(measurements: List[GNSSMeasurement], dog) -> List[GNSSM
return proc_measurements
def correct_measurements(measurements: List[GNSSMeasurement], est_pos, dog) -> List[GNSSMeasurement]:
def correct_measurements(measurements: List[GNSSMeasurement], est_pos, dog, correct_delay=True) -> List[GNSSMeasurement]:
corrected_measurements = []
for meas in measurements:
if meas.correct(est_pos, dog):
if meas.correct(est_pos, dog, correct_delay=correct_delay):
corrected_measurements.append(meas)
return corrected_measurements
@@ -195,12 +198,12 @@ def read_raw_qcom(report):
time_bias_ms = report.timeBias
else:
raise NotImplementedError('Only GPS (0), SBAS (1) and GLONASS (6) are supported from qcom, not:', {report.source})
#print(recv_time, report.source, time_bias_ms, dr)
# logging.debug(recv_time, report.source, time_bias_ms, dr)
measurements = []
for i in report.sv:
nmea_id = i.svId # todo change svId to nmea_id in cereal message. Or better: change the publisher to publish correct svId's, since constellation id is also given
if nmea_id == 255:
# todo nmea_id is not valid. Fix publisher
# TODO nmea_id is not valid. Fix publisher
continue
_, sv_id = get_constellation_and_sv_id(nmea_id)
if not i.measurementStatus.measurementNotUsable and i.measurementStatus.satelliteTimeIsKnown:
@@ -217,9 +220,9 @@ def read_raw_qcom(report):
observables_std['D1C'] = i.unfilteredSpeedUncertainty
observables['S1C'] = (i.carrierNoise/100.) if i.carrierNoise != 0 else np.nan
observables['L1C'] = np.nan
#print(" %.5f %3d %10.2f %7.2f %7.2f %.2f %d" % (recv_time.tow, nmea_id,
# observables['C1C'], observables_std['C1C'],
# observables_std['D1C'], observables['S1C'], i.latency), i.observationState, i.measurementStatus.fineOrCoarseVelocity)
# logging.debug(" %.5f %3d %10.2f %7.2f %7.2f %.2f %d" % (recv_time.tow, nmea_id,
# observables['C1C'], observables_std['C1C'],
# observables_std['D1C'], observables['S1C'], i.latency), i.observationState, i.measurementStatus.fineOrCoarseVelocity)
glonass_freq = (i.glonassFrequencyIndex - 7) if constellation_id == ConstellationId.GLONASS else np.nan
measurements.append(GNSSMeasurement(constellation_id, sv_id,
recv_time.week,
laika/rinex_file.py
+3 -3
View File
@@ -11,7 +11,7 @@
import datetime
import numpy as np
import logging
def floatornan(x):
if x == '' or x[-1] == ' ':
@@ -49,10 +49,10 @@ class RINEXFile:
self._read_header(f)
self._read_data(f)
except TypeError:
print("TypeError, file likely not downloaded.")
logging.exception("TypeError, file likely not downloaded.")
raise DownloadError("file download failure")
except FileNotFoundError:
print("File not found in directory.")
logging.exception("File not found in directory.")
raise DownloadError("file missing in download cache")
def _read_header(self, f):
version_line = padline(f.readline(), 80)
launch_env.sh
+1 -1
View File
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
export VECLIB_MAXIMUM_THREADS=1
if [ -z "$AGNOS_VERSION" ]; then
export AGNOS_VERSION="6.2"
export AGNOS_VERSION="7.1"
fi
if [ -z "$PASSIVE" ]; then
opendbc/.gitignore
+1
View File
@@ -9,6 +9,7 @@
.sconsign.dblite
can/*.so
can/*.a
can/build/
can/obj/
can/packer_pyx.cpp
opendbc/acura_ilx_2016_can_generated.dbc
+1 -1
View File
@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
opendbc/acura_rdx_2018_can_generated.dbc
+1 -1
View File
@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
opendbc/acura_rdx_2020_can_generated.dbc
+3 -3
View File
@@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
opendbc/can/SConscript
+8 -1
View File
@@ -5,7 +5,14 @@ import os
envDBC = env.Clone()
dbc_file_path = '-DDBC_FILE_PATH=\'"%s"\'' % (envDBC.Dir("..").abspath)
envDBC['CXXFLAGS'] += [dbc_file_path]
libdbc = envDBC.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "common.cc"], LIBS=[common, "capnp", "kj", "zmq"])
src = ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]
libs = [common, "capnp", "kj", "zmq"]
# shared library for openpilot
libdbc = envDBC.SharedLibrary('libdbc', src, LIBS=libs)
# static library for tools like cabana
envDBC.Library('libdbc_static', src, LIBS=libs)
# Build packer and parser
lenv = envCython.Clone()
opendbc/can/common.h
+3 -1
View File
@@ -37,6 +37,7 @@ unsigned int pedal_checksum(uint32_t address, const Signal &sig, const std::vect
class MessageState {
public:
std::string name;
uint32_t address;
unsigned int size;
@@ -80,11 +81,12 @@ public:
CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter);
#ifndef DYNAMIC_CAPNP
void update_string(const std::string &data, bool sendcan);
void update_strings(const std::vector<std::string> &data, std::vector<SignalValue> &vals, bool sendcan);
void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
#endif
void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
void UpdateValid(uint64_t sec);
std::vector<SignalValue> query_latest();
void query_latest(std::vector<SignalValue> &vals, uint64_t last_ts = 0);
};
class CANPacker {
opendbc/can/common.pxd
+2 -3
View File
@@ -78,9 +78,8 @@ cdef extern from "common.h":
bool can_valid
bool bus_timeout
CANParser(int, string, vector[MessageParseOptions], vector[SignalParseOptions])
void update_string(string, bool)
vector[SignalValue] query_latest()
void update_strings(vector[string]&, vector[SignalValue]&, bool)
cdef cppclass CANPacker:
CANPacker(string)
vector[uint8_t] pack(uint32_t, vector[SignalPackValue])
vector[uint8_t] pack(uint32_t, vector[SignalPackValue]&)
opendbc/can/common_dbc.h
+1 -1
View File
@@ -84,6 +84,6 @@ typedef struct ChecksumState {
} ChecksumState;
DBC* dbc_parse(const std::string& dbc_path);
DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum = nullptr);
DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum = nullptr, bool allow_duplicate_msg_name=false);
const DBC* dbc_lookup(const std::string& dbc_name);
std::vector<std::string> get_dbc_names();
opendbc/can/dbc.cc
+11 -3
View File
@@ -98,10 +98,11 @@ void set_signal_type(Signal& s, ChecksumState* chk, const std::string& dbc_name,
}
}
DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum) {
DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum, bool allow_duplicate_msg_name) {
uint32_t address = 0;
std::set<uint32_t> address_set;
std::set<std::string> msg_name_set;
std::map<uint32_t, std::set<std::string>> signal_name_sets;
std::map<uint32_t, std::vector<Signal>> signals;
DBC* dbc = new DBC;
dbc->name = dbc_name;
@@ -134,8 +135,11 @@ DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, Ch
// check for duplicates
DBC_ASSERT(address_set.find(address) == address_set.end(), "Duplicate message address: " << address << " (" << msg.name << ")");
address_set.insert(address);
DBC_ASSERT(msg_name_set.find(msg.name) == msg_name_set.end(), "Duplicate message name: " << msg.name);
msg_name_set.insert(msg.name);
if (!allow_duplicate_msg_name) {
DBC_ASSERT(msg_name_set.find(msg.name) == msg_name_set.end(), "Duplicate message name: " << msg.name);
msg_name_set.insert(msg.name);
}
} else if (startswith(line, "SG_ ")) {
// new signal
int offset = 0;
@@ -162,6 +166,10 @@ DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, Ch
sig.msb = sig.start_bit;
}
DBC_ASSERT(sig.lsb < (64 * 8) && sig.msb < (64 * 8), "Signal out of bounds: " << line);
// Check for duplicate signal names
DBC_ASSERT(signal_name_sets[address].find(sig.name) == signal_name_sets[address].end(), "Duplicate signal name: " << sig.name);
signal_name_sets[address].insert(sig.name);
} else if (startswith(line, "VAL_ ")) {
// new signal value/definition
bool ret = std::regex_search(line, match, val_regexp);
opendbc/can/parser.cc
+30 -18
View File
@@ -33,7 +33,7 @@ int64_t get_raw_value(const std::vector<uint8_t> &msg, const Signal &sig) {
bool MessageState::parse(uint64_t sec, const std::vector<uint8_t> &dat) {
for (int i = 0; i < parse_sigs.size(); i++) {
auto &sig = parse_sigs[i];
const auto &sig = parse_sigs[i];
int64_t tmp = get_raw_value(dat, sig);
if (sig.is_signed) {
@@ -124,6 +124,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
assert(false);
}
state.name = msg->name;
state.size = msg->size;
assert(state.size <= 64); // max signal size is 64 bytes
@@ -162,6 +163,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name, bool ignore_checksum
for (const auto& msg : dbc->msgs) {
MessageState state = {
.name = msg.name,
.address = msg.address,
.size = msg.size,
.ignore_checksum = ignore_checksum,
@@ -202,14 +204,24 @@ void CANParser::update_string(const std::string &data, bool sendcan) {
UpdateValid(last_sec);
}
void CANParser::update_strings(const std::vector<std::string> &data, std::vector<SignalValue> &vals, bool sendcan) {
uint64_t current_sec = 0;
for (const auto &d : data) {
update_string(d, sendcan);
if (current_sec == 0) {
current_sec = last_sec;
}
}
query_latest(vals, current_sec);
}
void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
//DEBUG("got %d messages\n", cans.size());
bool bus_empty = true;
// parse the messages
for (int i = 0; i < cans.size(); i++) {
auto cmsg = cans[i];
for (const auto cmsg : cans) {
if (cmsg.getSrc() != bus) {
// DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
continue;
@@ -287,9 +299,9 @@ void CANParser::UpdateValid(uint64_t sec) {
if (state.check_threshold > 0 && (missing || timed_out)) {
if (show_missing && !bus_timeout) {
if (missing) {
LOGE("0x%X NOT SEEN", state.address);
LOGE("0x%X '%s' NOT SEEN", state.address, state.name.c_str());
} else if (timed_out) {
LOGE("0x%X TIMED OUT", state.address);
LOGE("0x%X '%s' TIMED OUT", state.address, state.name.c_str());
}
}
_valid = false;
@@ -299,25 +311,25 @@ void CANParser::UpdateValid(uint64_t sec) {
can_valid = (can_invalid_cnt < CAN_INVALID_CNT) && _counters_valid;
}
std::vector<SignalValue> CANParser::query_latest() {
std::vector<SignalValue> ret;
void CANParser::query_latest(std::vector<SignalValue> &vals, uint64_t last_ts) {
if (last_ts == 0) {
last_ts = last_sec;
}
for (auto& kv : message_states) {
auto& state = kv.second;
if (last_sec != 0 && state.last_seen_nanos != last_sec) continue;
if (last_ts != 0 && state.last_seen_nanos < last_ts) {
continue;
}
for (int i = 0; i < state.parse_sigs.size(); i++) {
const Signal &sig = state.parse_sigs[i];
ret.push_back((SignalValue){
.address = state.address,
.ts_nanos = state.last_seen_nanos,
.name = sig.name,
.value = state.vals[i],
.all_values = state.all_vals[i],
});
SignalValue &v = vals.emplace_back();
v.address = state.address;
v.ts_nanos = state.last_seen_nanos;
v.name = sig.name;
v.value = state.vals[i];
v.all_values = state.all_vals[i];
state.all_vals[i].clear();
}
}
return ret;
}
opendbc/can/parser_pyx.pyx
+21 -28
View File
@@ -1,6 +1,7 @@
# distutils: language = c++
# cython: c_string_encoding=ascii, language_level=3
from cython.operator cimport dereference as deref, preincrement as preinc
from libcpp.string cimport string
from libcpp.vector cimport vector
from libcpp.unordered_set cimport unordered_set
@@ -51,7 +52,7 @@ cdef class CANParser:
self.address_to_msg_name[msg.address] = name
self.vl[msg.address] = {}
self.vl[name] = self.vl[msg.address]
self.vl_all[msg.address] = defaultdict(list)
self.vl_all[msg.address] = {}
self.vl_all[name] = self.vl_all[msg.address]
self.ts_nanos[msg.address] = {}
self.ts_nanos[name] = self.ts_nanos[msg.address]
@@ -101,37 +102,29 @@ cdef class CANParser:
message_options_v.push_back(mpo)
self.can = new cpp_CANParser(bus, dbc_name, message_options_v, signal_options_v)
self.update_vl()
cdef unordered_set[uint32_t] update_vl(self):
cdef unordered_set[uint32_t] updated_addrs
new_vals = self.can.query_latest()
for cv in new_vals:
# Cast char * directly to unicode
cv_name = <unicode>cv.name
self.vl[cv.address][cv_name] = cv.value
self.vl_all[cv.address][cv_name].extend(cv.all_values)
self.ts_nanos[cv.address][cv_name] = cv.ts_nanos
updated_addrs.insert(cv.address)
return updated_addrs
def update_string(self, dat, sendcan=False):
for v in self.vl_all.values():
v.clear()
self.can.update_string(dat, sendcan)
return self.update_vl()
self.update_strings([])
def update_strings(self, strings, sendcan=False):
for v in self.vl_all.values():
v.clear()
for l in v.values():
l.clear()
cdef vector[SignalValue] new_vals
cdef unordered_set[uint32_t] updated_addrs
self.can.update_strings(strings, new_vals, sendcan)
cdef vector[SignalValue].iterator it = new_vals.begin()
cdef SignalValue* cv
while it != new_vals.end():
cv = &deref(it)
# Cast char * directly to unicode
cv_name = <unicode>cv.name
self.vl[cv.address][cv_name] = cv.value
self.vl_all[cv.address][cv_name] = cv.all_values
self.ts_nanos[cv.address][cv_name] = cv.ts_nanos
updated_addrs.insert(cv.address)
preinc(it)
updated_addrs = set()
for s in strings:
self.can.update_string(s, sendcan)
updated_addrs.update(self.update_vl())
return updated_addrs
@property
opendbc/gm_global_a_powertrain_generated.dbc
+5
View File
@@ -263,6 +263,11 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO
SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX
BO_ 967 EVDriveMode: 4 XXX
SG_ SinglePedalModeActive : 7|1@0+ (1,0) [0|1] "" XXX
SG_ SinglePedalModeRisingEdge : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SinglePedalModeFallingEdge : 22|1@0+ (1,0) [0|1] "" XXX
BO_ 977 ECMCruiseControl: 8 K20_ECM
SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO
SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO
opendbc/honda_accord_2018_can_generated.dbc
+3 -3
View File
@@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
opendbc/honda_civic_ex_2022_can_generated.dbc
+15 -3
View File
@@ -375,7 +375,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -396,7 +396,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -445,6 +445,12 @@ BO_ 432 STANDSTILL: 7 VSA
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
BO_ 446 BRAKE_MODULE: 3 VSA
SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_FAULT : 22|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
BO_ 456 ACC_CONTROL: 8 XXX
SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX
SG_ IDLESTOP_ALLOW : 8|1@0+ (1,0) [0|1] "" XXX
@@ -459,6 +465,11 @@ BO_ 456 ACC_CONTROL: 8 XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
BO_ 467 CRUISE_FAULT_STATUS: 8 XXX
SG_ CRUISE_FAULT : 3|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
BO_ 829 LKAS_HUD: 8 ADAS
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
@@ -470,7 +481,7 @@ BO_ 829 LKAS_HUD: 8 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
@@ -496,6 +507,7 @@ BO_ 254913108 LKAS_HUD_2: 8 ADAS
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
CM_ 446 "If exists, describes cruise faults and what the PCM uses for brake press detection.";
CM_ SG_ 456 IDLESTOP_ALLOW "allows car to turn off engine at a standstill";
CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2";
opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
+3 -3
View File
@@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
opendbc/honda_civic_touring_2016_can_generated.dbc
+1 -1
View File
@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
opendbc/honda_crv_ex_2017_can_generated.dbc
+3 -3
View File
@@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
opendbc/honda_crv_executive_2016_can_generated.dbc
+2 -2
View File
@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
@@ -306,7 +306,7 @@ BO_ 404 STEERING_CONTROL: 4 EON
SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ SET_ME_X00_2 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
opendbc/honda_crv_touring_2016_can_generated.dbc
+2 -2
View File
@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
@@ -308,7 +308,7 @@ BO_ 404 STEERING_CONTROL: 4 EON
SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ SET_ME_X00_2 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
opendbc/honda_fit_ex_2018_can_generated.dbc
+1 -1
View File
@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
opendbc/honda_insight_ex_2019_can_generated.dbc
+3 -3
View File
@@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
opendbc/honda_odyssey_exl_2018_generated.dbc
+1 -1
View File
@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
+1 -1
View File
@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
opendbc/subaru_global_2017_generated.dbc
+12
View File
@@ -316,10 +316,22 @@ 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
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
SG_ Signal1 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ LKAS_State_Infotainment : 22|3@0+ (1,0) [0|7] "" XXX
SG_ Signal2 : 24|1@0+ (1,0) [0|1] "" XXX
CM_ SG_ 545 Cruise_Throttle "RPM-like output signal";
CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set";
CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance";
CM_ SG_ 545 Cruise_Soft_Disable "Eyesight Temporary disable, sets CruiseControl Activated = 0";
CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM";
CM_ SG_ 546 Signal3 "0 when cruise_activated = 1";
CM_ SG_ 803 Signal1 "Seems to be static, set only on some cars";
CM_ SG_ 803 Signal2 "Seems to be static, set only on some cars";
VAL_ 803 LKAS_Blue_Lines 0 "no modifier" 2 "changes lines to blue";
VAL_ 803 LKAS_State_Infotainment 0 "none" 2 "Obstacle Detected" 3 "Keep Hands On Wheel" 4 "Keep Hands On Wheel Off";
VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";
opendbc/toyota_new_mc_pt_generated.dbc
+4
View File
@@ -127,6 +127,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX
SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
@@ -547,6 +548,9 @@ BO_ 610 EPS_STATUS: 5 EPS
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
BO_ 1178 BRAKE_RELATED: 8 XXX
SG_ BRAKE_PRESSED : 48|1@0+ (1,0) [0|1] "" XXX
CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
CM_ SG_ 548 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";
opendbc/toyota_nodsu_pt_generated.dbc
+1
View File
@@ -127,6 +127,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX
SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
opendbc/toyota_tnga_k_pt_generated.dbc
+1
View File
@@ -127,6 +127,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX
SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
opendbc/vw_golf_mk4.dbc
+67 -23
View File
@@ -770,23 +770,36 @@ BO_ 1340 Fahrwerk_1: 1 XXX
SG_ Ansteuererung_Fahrzeugniveau : 0|4@1+ (1,0) [0|15] "" XXX
BO_ 1472 EPB_1: 8 XXX
SG_ Textmeldungen_EPB : 52|4@1+ (1,0) [0|0] "" XXX
SG_ Aufmerksamkeits_Gtong_EPB : 51|1@1+ (1,0) [0|0] "" XXX
SG_ Fehler_Gong_EBP : 50|1@1+ (1,0) [0|0] "" XXX
SG_ Warnton_EPB : 49|1@1+ (1,0) [0|0] "" XXX
SG_ Funktionslampe_EPB : 48|1@1+ (1,0) [0|0] "" XXX
SG_ Frei_EPB_1_1 : 33|15@1+ (1,0) [0|0] "" XXX
SG_ Fehlerspeichereintrag_EPB : 32|1@1+ (1,0) [0|0] "" XXX
SG_ Neigungswinkel : 24|8@1+ (1,-128) [-128|127] "g" XXX
SG_ Verzoegerungsanforderung__EPB_ : 24|8@1+ (0.5,0) [0|255] "g" XXX
SG_ Status_Neigungswinkelgeber : 15|1@1+ (1,0) [0|0] "" XXX
SG_ Schalterinfo_Parkbremse : 13|2@1+ (1,0) [0|0] "" XXX
SG_ Erreichte_Spannkraft : 8|5@1+ (1,0) [0|30] "kN" XXX
SG_ Checksumme_Parkbremse : 8|8@1+ (1,0) [0|255] "" XXX
SG_ Schalterstatus_Parkbremse : 7|1@1+ (1,0) [0|0] "" XXX
SG_ Status_Parkbremse : 6|1@1+ (1,0) [0|0] "" XXX
SG_ Fehlerstatus_Parkbremse : 4|2@1+ (1,0) [0|0] "" XXX
SG_ Zaehler_Parkbremse : 0|4@1+ (1,0) [0|0] "" XXX
SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 0|4@1+ (1,0) [0|15] "" XXX
SG_ EP1__Text : 52|4@1+ (1,0) [0|8] "" Vector__XXX
SG_ EP1_Failure_gelb : 51|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_Failure_BKL : 50|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_Warnton : 49|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_Fkt_Lampe : 48|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ EP1_Freigabe_Ver : 33|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_Failureeintr : 32|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_Neig_winkel : 16|8@1+ (1,-128) [-128|127] "g" XXX
SG_ EP1_Verzoegerung : 24|8@1+ (0.048,-7.968) [-7.968|4.224] "g" XXX
SG_ EP1_Sta_NWS : 15|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_Schalterinfo : 13|2@1+ (1,0) [0|3] "" XXX
SG_ EP1_Spannkraft : 8|5@1+ (1,0) [0|30] "kN" XXX
SG_ EP1_Sta_Schalter : 7|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_Sta_EPB : 6|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_Failure_Sta : 4|2@1+ (1,0) [0|3] "" XXX
SG_ EP1_AutoHold_zul : 34|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_AutoHold_active : 35|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_SleepInd : 36|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_Status_Kl_15 : 37|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_Lampe_AutoP : 38|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_Bremslicht : 39|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_Warnton1 : 40|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_Warnton2 : 41|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_AnfShLock : 42|1@1+ (1,0) [0|1] "" XXX
SG_ EPB_Autoholdlampe : 43|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_KuppModBer : 45|2@1+ (1,0) [0|3] "" XXX
SG_ EP1_HydrHalten : 47|1@1+ (1,0) [0|1] "" XXX
SG_ EP1_QualNeigWi : 44|1@1+ (1,0) [0|1] "" XXX
BO_ 1326 Diag_Lenkhilfe: 3 XXX
SG_ Werkstattcode__Diag_ : 16|8@1+ (1,0) [0|0] "" XXX
@@ -1086,10 +1099,10 @@ BO_ 872 ACC_System: 8 XXX
SG_ ACS_Sollbeschl : 24|11@1+ (0.005,-7.22) [-7.22|3.005] "Unit_MeterPerSeconSquar" XXX
SG_ ACS_Anhaltewunsch : 38|1@1+ (1,0) [0|1] "" XXX
SG_ ACS_Fehler : 39|1@1+ (1,0) [0|1] "" XXX
SG_ ACS_zul_Regelabw : 40|8@1+ (1,0.005) [0|1.265] "Unit_MeterPerSeconSquar" XXX
SG_ ACS_max_AendGrad : 48|8@1+ (1,0.02) [0.02|5.06] "Unit_MeterPerSeconSquar" XXX
SG_ ACS_zul_Regelabw : 40|8@1+ (0.005,0) [0|1.265] "Unit_MeterPerSeconSquar" XXX
SG_ ACS_max_AendGrad : 48|8@1+ (0.02,0) [0.02|5.06] "Unit_MeterPerSeconSquar" XXX
BO_ 1386 ACC_GRA_Anziege: 8 XXX
BO_ 1386 ACC_GRA_Anzeige: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ ACA_StaACC : 8|3@1+ (1,0) [0|7] "" XXX
SG_ ACA_ID_StaACC : 11|5@1+ (1,0) [0|31] "" XXX
@@ -1100,7 +1113,7 @@ BO_ 1386 ACC_GRA_Anziege: 8 XXX
SG_ ACA_kmh_mph : 32|1@1+ (1,0) [0|1] "" XXX
SG_ ACA_Akustik1 : 33|1@1+ (1,0) [0|1] "" XXX
SG_ ACA_Akustik2 : 34|1@1+ (1,0) [0|1] "" XXX
SG_ ACA_PrioDisp : 35|1@1+ (1,0) [0|1] "" XXX
SG_ ACA_PrioDisp : 35|2@1+ (1,0) [0|3] "" XXX
SG_ ACA_gemZeitl : 40|4@1+ (1,0) [0|15] "" XXX
SG_ ACA_ACC_Verz : 44|1@1+ (1,0) [0|1] "" XXX
SG_ ACA_StaGRA : 48|3@1+ (1,0) [0|7] "" XXX
@@ -1153,8 +1166,8 @@ BO_ 644 Motor_Bremse: 6 XXX
SG_ MOB_COUNTER : 8|4@1+ (1,0) [0|15] "" Bremse_MK25AESP
SG_ TSK_v_Begrenzung_aktiv : 15|1@0+ (1,0) [0|1] "" XXX
SG_ TSK_ax_Getriebe_01 : 40|8@1+ (0.048,0) [0|255] "m/s2" XXX
SG_ MOB_Bremsstgr : 16|11@1+ (0.76,0) [0|100] "Unit_PerCent" Vector__XXX
SG_ MOB_Bremsmom : 27|13@1+ (1,0) [0|8190] "Unit_NewtoMeter" Bremse_MK25AESP
SG_ MOB_Bremsstgr : 16|11@1+ (0.048852,0) [0|100] "Unit_PerCent" Vector__XXX
SG_ MOB_Bremsmom : 27|13@1+ (4,0) [0|32760] "Unit_NewtoMeter" Bremse_MK25AESP
BO_ 870 AWV: 5 XXX
SG_ AWV_2_Gurtstraffer : 39|1@1+ (1,0) [0|1] "" Bremsbooster
@@ -1531,5 +1544,36 @@ CM_ SG_ 1470 XX_DLCORTLC2 "Might be DLC or TLC, might have wrong size";
CM_ SG_ 1550 MFA_v_Signal_02 "0=km/h, 1=mph";
VAL_ 872 ACS_Sta_ADR 2 "ADR_passiv" 0 "ADR_nicht_aktiv" 1 "ADR_aktiv" 3 "irrev_Fehler" ;
VAL_ 872 ACS_ADR_Schub 1 "Verz_begr_auf_Schub" 0 "Verz_nicht_begr_auf_Schub" ;
VAL_ 872 ACS_Schubabsch 1 "SA_nicht_zulaessig" 0 "SA_zulaessig" ;
VAL_ 872 ACS_StSt_Info 3 "Systemfehler" 0 "Motorlauf_nn" 1 "Stoppverbot_Motoranlauf_nn" 2 "Motoranlauf_notwendig" ;
VAL_ 872 ACS_MomEingriff 1 "MomEingr_verhindern" 0 "keine_Beeinfl_MomEingr_Mot" ;
VAL_ 872 ACS_Typ_ACC 0 "Basis_ACC" 1 "ACC_mit_FollowToStop" 3 "frei" 2 "frei" ;
VAL_ 872 ACS_FreigSollB 0 "Sollbeschl_nicht_freigeg" 1 "Sollbeschl_freigeg" ;
VAL_ 872 ACS_Sollbeschl 2046 "ADR_nicht_aktiv" 2047 "Fehler" ;
VAL_ 872 ACS_Anhaltewunsch 0 "kein_Haltewunsch" 1 "Fzg_haelt_an" ;
VAL_ 872 ACS_Fehler 1 "Fehlerspeichereintrag" 0 "kein_Fehlerspeichereintrag" ;
VAL_ 872 ACS_zul_Regelabw 254 "ADR_nicht_aktiv" 255 "Fehler" ;
VAL_ 872 ACS_max_AendGrad 254 "Neutralwert" 0 "Neutralwert" 255 "Fehler" ;
VAL_ 978 LH2_Sta_HCA 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active";
VAL_ 1088 Waehlhebelposition__Getriebe_1_ 8 "P" 7 "R" 6 "N" 5 "D" 9 "U" 12 "S" 14 "T" 10 "T" 11 "T";
VAL_ 1386 ACA_StaACC 6 "ACC_rev_aus" 0 "Hauptschalter_aus" 4 "ACC_im_Hintergrund" 3 "ACC_aktiv" 1 "Reserve" 2 "ACC_passiv" 7 "ACC_irrev_aus" 5 "frei" ;
VAL_ 1386 ACA_ID_StaACC 0 "keine_Anzeige" ;
VAL_ 1386 ACA_Fahrerhinw 1 "Ein" 0 "Aus" ;
VAL_ 1386 ACA_AnzDisplay 1 "Anzeige_erw" 0 "Anzeige_nicht_erw" ;
VAL_ 1386 ACA_Zeitluecke 3 "Zeitluecke3" 10 "Zeitluecke10" 4 "Zeitluecke4" 14 "Zeitluecke14" 11 "Zeitluecke11" 2 "Zeitluecke2" 13 "Zeitluecke13" 9 "Zeitluecke9" 1 "Zeitluecke1" 8 "Zeitluecke8" 5 "Zeitluecke5" 15 "Zeitluecke15" 0 "nicht_definiert" 12 "Zeitluecke12" 6 "Zeitluecke6" 7 "Zeitluecke7" ;
VAL_ 1386 ACA_V_Wunsch 255 "kein_Wert_im_Speicher" ;
VAL_ 1386 ACA_kmh_mph 0 "km_h" 1 "mph" ;
VAL_ 1386 ACA_Akustik1 0 "kein_Gong" 1 "Gong" ;
VAL_ 1386 ACA_Akustik2 0 "kein_Summer" 1 "Summer" ;
VAL_ 1386 ACA_PrioDisp 1 "mittlere_Prio" 3 "keine_Anzeige_Anf" 0 "hohe_Prio" 2 "niedrige_Prio" ;
VAL_ 1386 ACA_gemZeitl 6 "Zeitluecke6" 2 "Zeitluecke2" 7 "Zeitluecke7" 13 "Zeitluecke13" 11 "Zeitluecke11" 4 "Zeitluecke4" 8 "Zeitluecke8" 12 "Zeitluecke12" 10 "Zeitluecke10" 0 "Kein_Objekt_erfasst" 1 "Zeitluecke1" 3 "Zeitluecke3" 9 "Zeitluecke9" 15 "Zeitluecke15" 14 "Zeitluecke14" 5 "Zeitluecke5" ;
VAL_ 1386 ACA_ACC_Verz 0 "ACC_verzoegert_nicht" 1 "ACC_verzoegert" ;
VAL_ 1386 ACA_StaGRA 3 "GRA_aktiv" 4 "GRA_uebertreten" 2 "GRA_passiv" 0 "Hauptschalter_aus" 6 "frei" 7 "GRA_Fehler" 1 "Reserve" 5 "frei" ;
VAL_ 1386 ACA_ID_StaGRA 0 "keine_Anzeige" ;
VAL_ 1386 ACA_Codierung 0 "ACC" 1 "GRA" ;
VAL_ 1386 ACA_Tachokranz 0 "nicht_beleuchtet" 1 "beleuchtet" ;
VAL_ 1386 ACA_Aend_Zeitluecke 1 "Anzeige_angef" 0 "keine_Anzeige" ;
opendbc/vw_mqb_2010.dbc
+30 -18
View File
@@ -1211,18 +1211,19 @@ BO_ 1602 WIV_01: 8 Motor_Diesel_MQB
SG_ WIV_W_min : 48|7@1+ (1000,0) [0|127000] "Unit_KiloMeter" Gateway_MQB
SG_ WIV_W_max : 56|7@1+ (1000,0) [0|127000] "Unit_KiloMeter" Gateway_MQB
BO_ 294 HCA_01: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_0X3 : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Assist_Torque : 16|14@1+ (1,0) [0|300] "Nm" XXX
SG_ Assist_Requested : 30|1@1+ (1,0) [0|1] "" XXX
SG_ Assist_VZ : 31|1@1+ (1,0) [0|1] "" XXX
SG_ HCA_Available : 32|1@1+ (1,0) [0|1] "" XXX
SG_ HCA_Standby : 33|1@1+ (1,0) [0|1] "" XXX
SG_ HCA_Active : 34|1@1+ (1,0) [0|1] "" XXX
SG_ SET_ME_0XFE : 40|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_0X07 : 48|8@1+ (1,0) [0|255] "" XXX
BO_ 294 HCA_01: 8 Frontsensorik
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX
SG_ HCA_01_Vib_Freq : 12|4@1+ (1,15) [15|30] "Unit_Hertz" Vector__XXX
SG_ HCA_01_LM_Offset : 16|9@1+ (1,0) [0|511] "Unit_centiNewtoMeter" Vector__XXX
SG_ EA_ACC_Sollstatus : 25|2@1+ (1,0) [0|3] "" Frontradar
SG_ EA_Ruckprofil : 27|3@1+ (1,0) [0|7] "" Vector__XXX
SG_ HCA_01_Sendestatus : 30|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ HCA_01_LM_OffSign : 31|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ HCA_01_Status_HCA : 32|4@1+ (1,0) [0|15] "" Vector__XXX
SG_ HCA_01_Vib_Amp : 36|4@1+ (0.2,0) [0|3] "Unit_NewtoMeter" Vector__XXX
SG_ EA_Ruckfreigabe : 40|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ EA_ACC_Wunschgeschwindigkeit : 41|10@1+ (0.32,0) [0|327.04] "Unit_KiloMeterPerHour" Frontradar
BO_ 159 LH_EPS_03: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -1420,12 +1421,16 @@ CM_ SG_ 159 EPS_VZ_Lenkmoment "Steering input by driver, direction";
CM_ SG_ 159 EPS_Berechneter_LW "Raw steering angle, degrees";
CM_ SG_ 159 EPS_VZ_BLW "Raw steering angle, direction";
CM_ SG_ 173 COUNTERXX "Message not renamed to COUNTER because J533 rate-limiting makes it look like messages are being lost";
CM_ SG_ 294 SET_ME_0X3 "May be zero when sent by older cameras";
CM_ SG_ 294 SET_ME_0X07 "May be zero when sent by older cameras";
CM_ SG_ 294 SET_ME_0XFE "May be zero when sent by older cameras";
CM_ SG_ 294 Assist_Torque "Heading control input, torque";
CM_ SG_ 294 Assist_VZ "Heading control input, direction (sign)";
CM_ SG_ 294 HCA_Available "Must be 1 for steering rack to accept HCA commands";
CM_ SG_ 294 HCA_01_Vib_Freq "Frequenz der Lenkradvibration";
CM_ SG_ 294 HCA_01_LM_Offset "Von HCA angefordertes Lenkmoment (Betrag)";
CM_ SG_ 294 EA_ACC_Sollstatus "Status-Anforderung ACC von Emergency Alert. Statuswechsel bei Flanke. Solange Wert=1, wird EA_ACC_Wunschgeschwindigkeit übernommen. Wert=2 führt zu Zustand ¿ACC_GRA_passiv¿";
CM_ SG_ 294 EA_Ruckprofil "Emergency Alert Anforderung an ESP, welcher Ruck verwendet werden soll. Eine Umsetzung der Ruckanforderung im ESP erfolgt nur mit gesetztem Bit 'EA_Ruckfreigabe'.";
CM_ SG_ 294 HCA_01_Sendestatus "Gibt den Sendestatus der HCA_01 an (notwendig für IL-Unterstützung)";
CM_ SG_ 294 HCA_01_LM_OffSign "Vorzeichen des HCA-Lenkmoments";
CM_ SG_ 294 HCA_01_Status_HCA "Statusinformation vom HCA und Manoevrierassistent für Handshakemechanismus mit der Lenkung";
CM_ SG_ 294 HCA_01_Vib_Amp "Momentenamplitude der Lenkradvibration";
CM_ SG_ 294 EA_Ruckfreigabe "Emergency Alert Freigabit für die Warnruck-Anforderung an das ESP";
CM_ SG_ 294 EA_ACC_Wunschgeschwindigkeit "Emergency Alert Anforderung neue Wunschgeschwindigkeit";
CM_ SG_ 302 ACC_Hold_Request "Active request for ABS brake hold in ACC_Hold_Type";
CM_ SG_ 302 ACC_Boost_Request "Hybrid engine start related";
CM_ SG_ 302 ACC_Freewheel_Request "Active request for DSG sailing/coasting in ACC_Freewheel_Type";
@@ -1475,6 +1480,13 @@ CM_ SG_ 1720 KBI_Variante_USA "In diesem Signal wird die HW-Variante des Kombis
VAL_ 159 EPS_HCA_Status 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active" ;
VAL_ 173 GE_Fahrstufe 5 "P" 6 "R" 7 "N" 8 "D" 9 "S" 10 "E" 13 "T" 14 "T" ;
VAL_ 288 TSK_Status 0 "init" 1 "disabled" 2 "enabled" 3 "regulating" 4 "accel_pedal_override" 5 "brake_only" 6 "temp_fault" 7 "perm_fault" ;
VAL_ 294 EA_ACC_Sollstatus 0 "Init" 1 "ACC_aktivieren" 2 "ACC_deaktivieren" ;
VAL_ 294 EA_Ruckprofil 0 "Init" 1 "Profil_1" 2 "Profil_2" 3 "Profil_3" 4 "Profil_4" 5 "Profil_5" 6 "Profil_6" 7 "Profil_7" ;
VAL_ 294 HCA_01_Sendestatus 0 "HCA_sendet_mit_1000ms" 1 "HCA_sendet_mit_20ms" ;
VAL_ 294 HCA_01_LM_OffSign 0 "positives_Vorzeichen" 1 "negatives_Vorzeichen" ;
VAL_ 294 HCA_01_Status_HCA 0 "deaktiviert" 1 "reserviert" 2 "reserviert" 3 "funktionsbereit" 4 "reserviert" 5 "HCA_Momenteneingriff_1" 6 "MA_Aktiv" 7 "HCA_Momenteneingriff_2" 8 "reserviert" 9 "reserviert" 10 "reserviert" 11 "reserviert" 12 "reserviert" 13 "reserviert" 14 "reserviert" 15 "reserviert" ;
VAL_ 294 EA_Ruckfreigabe 0 "keine_Freigabe" 1 "Freigabe" ;
VAL_ 294 EA_ACC_Wunschgeschwindigkeit 1023 "Init" ;
VAL_ 780 ACC_Wunschgeschw_02 1023 "keine_Anzeige" ;
VAL_ 780 ACC_Status_Prim_Anz 0 "Symbol nicht beleuchtet" 1 "Farbe 1 (typisch 'gruen')" 2 "Farbe 2 (typisch 'rot')" 3 "Farbe 3 (typisch 'gelb')" ;
VAL_ 780 ACC_Abstandsindex 0 "Sonderanzeige_graue_Fahrbahn" 1022 "Sonderanzeige_graue_Fahrbahn" 1023 "Sonderanzeige_Fahrbahn_mit_gruenem_roten_Bereich" ;
panda/board/README.md
+4 -7
View File
@@ -4,18 +4,15 @@ Programming
**Panda**
```
./recover.sh # flash bootstub
```
```
./flash.sh # flash application
./recover.py # flash bootstub
./flash.py # flash application
```
Troubleshooting
----
If your panda will not flash and green LED is on, use `recover.sh`.
If panda is blinking fast with green LED, use `flash.sh`.
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.
panda/board/SConscript
+2 -1
View File
@@ -102,7 +102,8 @@ def get_key_header(name):
from Crypto.PublicKey import RSA
public_fn = File(f'../certs/{name}.pub').srcnode().abspath
rsa = RSA.importKey(open(public_fn).read())
with open(public_fn) as f:
rsa = RSA.importKey(f.read())
assert(rsa.size_in_bits() == 1024)
rr = pow(2**1024, 2, rsa.n)
panda/board/boards/black.h
+7 -4
View File
@@ -25,7 +25,7 @@ void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
void black_enable_can_transceivers(bool enabled) {
for(uint8_t i=1U; i<=4U; i++){
// Leave main CAN always on for CAN-based ignition detection
if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
black_enable_can_transceiver(i, true);
} else {
black_enable_can_transceiver(i, enabled);
@@ -83,7 +83,7 @@ void black_set_can_mode(uint8_t mode){
switch (mode) {
case CAN_MODE_NORMAL:
case CAN_MODE_OBD_CAN2:
if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(harness.status == HARNESS_STATUS_FLIPPED)) {
// B12,B13: disable OBD mode
set_gpio_mode(GPIOB, 12, MODE_INPUT);
set_gpio_mode(GPIOB, 13, MODE_INPUT);
@@ -160,7 +160,7 @@ void black_init(void) {
black_set_can_mode(CAN_MODE_NORMAL);
// flip CAN0 and CAN2 if we are flipped
if (car_harness_status == HARNESS_STATUS_FLIPPED) {
if (harness.status == HARNESS_STATUS_FLIPPED) {
can_flip_buses(0, 2);
}
}
@@ -191,6 +191,9 @@ const board board_black = {
.has_canfd = false,
.has_rtc_battery = false,
.fan_max_rpm = 0U,
.avdd_mV = 3300U,
.fan_stall_recovery = false,
.fan_enable_cooldown_time = 0U,
.init = black_init,
.enable_can_transceiver = black_enable_can_transceiver,
.enable_can_transceivers = black_enable_can_transceivers,
@@ -204,4 +207,4 @@ const board board_black = {
.set_phone_power = unused_set_phone_power,
.set_siren = unused_set_siren,
.read_som_gpio = unused_read_som_gpio
};
};
panda/board/boards/board_declarations.h
+4 -1
View File
@@ -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);
typedef void (*board_board_tick)(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted);
typedef bool (*board_read_som_gpio)(void);
struct board {
@@ -25,6 +25,9 @@ struct board {
const bool has_canfd;
const bool has_rtc_battery;
const uint16_t fan_max_rpm;
const uint16_t avdd_mV;
const bool fan_stall_recovery;
const uint8_t fan_enable_cooldown_time;
board_init init;
board_enable_can_transceiver enable_can_transceiver;
board_enable_can_transceivers enable_can_transceivers;
panda/board/boards/dos.h
+11 -12
View File
@@ -25,7 +25,7 @@ void dos_enable_can_transceiver(uint8_t transceiver, bool enabled) {
void dos_enable_can_transceivers(bool enabled) {
for(uint8_t i=1U; i<=4U; i++){
// Leave main CAN always on for CAN-based ignition detection
if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
dos_enable_can_transceiver(i, true);
} else {
dos_enable_can_transceiver(i, enabled);
@@ -53,9 +53,9 @@ void dos_set_bootkick(bool enabled){
set_gpio_output(GPIOC, 4, !enabled);
}
void dos_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen) {
if (ignition && !usb_enum) {
// enable bootkick if ignition seen
void dos_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
if ((ignition && !usb_enum) || harness_inserted) {
// enable bootkick if ignition seen or if plugged into a harness
dos_set_bootkick(true);
} else if (heartbeat_seen) {
// disable once openpilot is up
@@ -69,7 +69,7 @@ void dos_set_can_mode(uint8_t mode){
switch (mode) {
case CAN_MODE_NORMAL:
case CAN_MODE_OBD_CAN2:
if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(harness.status == HARNESS_STATUS_FLIPPED)) {
// B12,B13: disable OBD mode
set_gpio_mode(GPIOB, 12, MODE_INPUT);
set_gpio_mode(GPIOB, 13, MODE_INPUT);
@@ -140,12 +140,8 @@ void dos_init(void) {
set_gpio_output(GPIOC, 11, 1);
#ifdef ENABLE_SPI
// A4-A7: SPI
set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
register_set_bits(&(GPIOA->OSPEEDR), GPIO_OSPEEDER_OSPEEDR4 | GPIO_OSPEEDER_OSPEEDR5 | GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7);
// SPI init
gpio_spi_init();
#endif
// C8: FAN PWM aka TIM3_CH3
@@ -181,7 +177,7 @@ void dos_init(void) {
dos_set_can_mode(CAN_MODE_NORMAL);
// flip CAN0 and CAN2 if we are flipped
if (car_harness_status == HARNESS_STATUS_FLIPPED) {
if (harness.status == HARNESS_STATUS_FLIPPED) {
can_flip_buses(0, 2);
}
@@ -219,6 +215,9 @@ const board board_dos = {
.has_canfd = false,
.has_rtc_battery = true,
.fan_max_rpm = 6500U,
.avdd_mV = 3300U,
.fan_stall_recovery = true,
.fan_enable_cooldown_time = 3U,
.init = dos_init,
.enable_can_transceiver = dos_enable_can_transceiver,
.enable_can_transceivers = dos_enable_can_transceivers,
panda/board/boards/grey.h
+3
View File
@@ -45,6 +45,9 @@ const board board_grey = {
.has_canfd = false,
.has_rtc_battery = false,
.fan_max_rpm = 0U,
.avdd_mV = 3300U,
.fan_stall_recovery = false,
.fan_enable_cooldown_time = 0U,
.init = grey_init,
.enable_can_transceiver = white_enable_can_transceiver,
.enable_can_transceivers = white_enable_can_transceivers,
panda/board/boards/pedal.h
+3
View File
@@ -83,6 +83,9 @@ const board board_pedal = {
.has_canfd = false,
.has_rtc_battery = false,
.fan_max_rpm = 0U,
.avdd_mV = 3300U,
.fan_stall_recovery = false,
.fan_enable_cooldown_time = 0U,
.init = pedal_init,
.enable_can_transceiver = pedal_enable_can_transceiver,
.enable_can_transceivers = pedal_enable_can_transceivers,
panda/board/boards/red.h
+6 -3
View File
@@ -22,7 +22,7 @@ void red_enable_can_transceiver(uint8_t transceiver, bool enabled) {
}
void red_enable_can_transceivers(bool enabled) {
uint8_t main_bus = (car_harness_status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
uint8_t main_bus = (harness.status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
for (uint8_t i=1U; i<=4U; i++) {
// Leave main CAN always on for CAN-based ignition detection
if (i == main_bus) {
@@ -53,7 +53,7 @@ void red_set_can_mode(uint8_t mode) {
switch (mode) {
case CAN_MODE_NORMAL:
case CAN_MODE_OBD_CAN2:
if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(harness.status == HARNESS_STATUS_FLIPPED)) {
// B12,B13: disable normal mode
set_gpio_pullup(GPIOB, 12, PULL_NONE);
set_gpio_mode(GPIOB, 12, MODE_ANALOG);
@@ -147,7 +147,7 @@ void red_init(void) {
red_set_can_mode(CAN_MODE_NORMAL);
// flip CAN0 and CAN2 if we are flipped
if (car_harness_status == HARNESS_STATUS_FLIPPED) {
if (harness.status == HARNESS_STATUS_FLIPPED) {
can_flip_buses(0, 2);
}
}
@@ -178,6 +178,9 @@ const board board_red = {
.has_canfd = true,
.has_rtc_battery = false,
.fan_max_rpm = 0U,
.avdd_mV = 3300U,
.fan_stall_recovery = false,
.fan_enable_cooldown_time = 0U,
.init = red_init,
.enable_can_transceiver = red_enable_can_transceiver,
.enable_can_transceivers = red_enable_can_transceivers,
panda/board/boards/red_chiplet.h
+5 -8
View File
@@ -24,7 +24,7 @@ void red_chiplet_enable_can_transceiver(uint8_t transceiver, bool enabled) {
}
void red_chiplet_enable_can_transceivers(bool enabled) {
uint8_t main_bus = (car_harness_status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
uint8_t main_bus = (harness.status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
for (uint8_t i=1U; i<=4U; i++) {
// Leave main CAN always on for CAN-based ignition detection
if (i == main_bus) {
@@ -45,13 +45,13 @@ void red_chiplet_init(void) {
// A8, A3: OBD_SBU1_RELAY, OBD_SBU2_RELAY
set_gpio_output_type(GPIOA, 8, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_pullup(GPIOA, 8, PULL_NONE);
set_gpio_mode(GPIOA, 8, MODE_OUTPUT);
set_gpio_output(GPIOA, 8, 1);
set_gpio_mode(GPIOA, 8, MODE_OUTPUT);
set_gpio_output_type(GPIOA, 3, OUTPUT_TYPE_OPEN_DRAIN);
set_gpio_pullup(GPIOA, 3, PULL_NONE);
set_gpio_mode(GPIOA, 3, MODE_OUTPUT);
set_gpio_output(GPIOA, 3, 1);
set_gpio_mode(GPIOA, 3, MODE_OUTPUT);
// G11,B10,D7,B11: transceiver enable
set_gpio_pullup(GPIOG, 11, PULL_NONE);
@@ -70,13 +70,10 @@ void red_chiplet_init(void) {
set_gpio_pullup(GPIOD, 3, PULL_NONE);
set_gpio_mode(GPIOD, 3, MODE_OUTPUT);
//B0: 5VOUT_S
// B0: 5VOUT_S
set_gpio_pullup(GPIOB, 0, PULL_NONE);
set_gpio_mode(GPIOB, 0, MODE_ANALOG);
// Turn on USB load switch.
red_chiplet_set_fan_or_usb_load_switch(true);
// Initialize harness
harness_init();
@@ -95,7 +92,7 @@ void red_chiplet_init(void) {
red_set_can_mode(CAN_MODE_NORMAL);
// flip CAN0 and CAN2 if we are flipped
if (car_harness_status == HARNESS_STATUS_FLIPPED) {
if (harness.status == HARNESS_STATUS_FLIPPED) {
can_flip_buses(0, 2);
}
}
panda/board/boards/red_v2.h
+12 -1
View File
@@ -2,6 +2,14 @@
// Red Panda V2 with chiplet + Harness //
// ///////////////////// //
void red_panda_v2_init(void) {
// common chiplet init
red_chiplet_init();
// Turn on USB load switch
red_chiplet_set_fan_or_usb_load_switch(true);
}
const board board_red_v2 = {
.board_type = "Red_v2",
.board_tick = unused_board_tick,
@@ -14,7 +22,10 @@ const board board_red_v2 = {
.has_canfd = true,
.has_rtc_battery = true,
.fan_max_rpm = 0U,
.init = red_chiplet_init,
.avdd_mV = 3300U,
.fan_stall_recovery = false,
.fan_enable_cooldown_time = 0U,
.init = red_panda_v2_init,
.enable_can_transceiver = red_chiplet_enable_can_transceiver,
.enable_can_transceivers = red_chiplet_enable_can_transceivers,
.set_led = red_set_led,
panda/board/boards/tres.h
+7 -8
View File
@@ -19,9 +19,9 @@ void tres_set_bootkick(bool enabled){
}
bool tres_ignition_prev = false;
void tres_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen) {
void tres_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
UNUSED(usb_enum);
if (ignition && !tres_ignition_prev) {
if ((ignition && !tres_ignition_prev) || harness_inserted) {
// enable bootkick on rising edge of ignition
tres_set_bootkick(true);
} else if (heartbeat_seen) {
@@ -62,11 +62,7 @@ void tres_init(void) {
uart_init(&uart_ring_som_debug, 115200);
// SPI init
set_gpio_alternate(GPIOE, 11, GPIO_AF5_SPI4);
set_gpio_alternate(GPIOE, 12, GPIO_AF5_SPI4);
set_gpio_alternate(GPIOE, 13, GPIO_AF5_SPI4);
set_gpio_alternate(GPIOE, 14, GPIO_AF5_SPI4);
register_set_bits(&(GPIOE->OSPEEDR), GPIO_OSPEEDR_OSPEED11 | GPIO_OSPEEDR_OSPEED12 | GPIO_OSPEEDR_OSPEED13 | GPIO_OSPEEDR_OSPEED14);
gpio_spi_init();
// fan setup
set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
@@ -97,7 +93,10 @@ const board board_tres = {
.has_spi = true,
.has_canfd = true,
.has_rtc_battery = true,
.fan_max_rpm = 6500U, // TODO: verify this, copied from dos
.fan_max_rpm = 6600U,
.avdd_mV = 1800U,
.fan_stall_recovery = false,
.fan_enable_cooldown_time = 3U,
.init = tres_init,
.enable_can_transceiver = red_chiplet_enable_can_transceiver,
.enable_can_transceivers = red_chiplet_enable_can_transceivers,
panda/board/boards/uno.h
+9 -5
View File
@@ -27,7 +27,7 @@ void uno_enable_can_transceiver(uint8_t transceiver, bool enabled) {
void uno_enable_can_transceivers(bool enabled) {
for(uint8_t i=1U; i<=4U; i++){
// Leave main CAN always on for CAN-based ignition detection
if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
uno_enable_can_transceiver(i, true);
} else {
uno_enable_can_transceiver(i, enabled);
@@ -102,7 +102,7 @@ void uno_set_can_mode(uint8_t mode){
switch (mode) {
case CAN_MODE_NORMAL:
case CAN_MODE_OBD_CAN2:
if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(harness.status == HARNESS_STATUS_FLIPPED)) {
// B12,B13: disable OBD mode
set_gpio_mode(GPIOB, 12, MODE_INPUT);
set_gpio_mode(GPIOB, 13, MODE_INPUT);
@@ -126,10 +126,11 @@ void uno_set_can_mode(uint8_t mode){
}
}
void uno_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen) {
void uno_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen, bool harness_inserted) {
UNUSED(ignition);
UNUSED(usb_enum);
UNUSED(heartbeat_seen);
UNUSED(harness_inserted);
if (bootkick_timer != 0U) {
bootkick_timer--;
} else {
@@ -210,12 +211,12 @@ void uno_init(void) {
uno_set_can_mode(CAN_MODE_NORMAL);
// flip CAN0 and CAN2 if we are flipped
if (car_harness_status == HARNESS_STATUS_FLIPPED) {
if (harness.status == HARNESS_STATUS_FLIPPED) {
can_flip_buses(0, 2);
}
// Switch to phone usb mode if harness connection is powered by less than 7V
if(adc_get_voltage() < 7000U){
if((adc_get_mV(ADCCHAN_VIN) * VIN_READOUT_DIVIDER) < 7000U){
uno_set_usb_switch(true);
} else {
uno_set_usb_switch(false);
@@ -251,6 +252,9 @@ const board board_uno = {
.has_canfd = false,
.has_rtc_battery = true,
.fan_max_rpm = 5100U,
.avdd_mV = 3300U,
.fan_stall_recovery = false,
.fan_enable_cooldown_time = 0U,
.init = uno_init,
.enable_can_transceiver = uno_enable_can_transceiver,
.enable_can_transceivers = uno_enable_can_transceivers,
panda/board/boards/unused_funcs.h
+2 -1
View File
@@ -22,10 +22,11 @@ uint32_t unused_read_current(void) {
return 0U;
}
void unused_board_tick(bool ignition, bool usb_enum, bool heartbeat_seen) {
void 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);
}
bool unused_read_som_gpio(void) {
panda/board/boards/white.h
+5 -2
View File
@@ -142,7 +142,7 @@ void white_set_can_mode(uint8_t mode){
}
uint32_t white_read_current(void){
return adc_get(ADCCHAN_CURRENT);
return adc_get_raw(ADCCHAN_CURRENT);
}
bool white_check_ignition(void){
@@ -214,7 +214,7 @@ void white_grey_common_init(void) {
white_set_can_mode(CAN_MODE_NORMAL);
// Init usb power mode
uint32_t voltage = adc_get_voltage();
uint32_t voltage = adc_get_mV(ADCCHAN_VIN) * VIN_READOUT_DIVIDER;
// Init in CDP mode only if panda is powered by 12V.
// Otherwise a PC would not be able to flash a standalone panda
if (voltage > 8000U) { // 8V threshold
@@ -247,6 +247,9 @@ const board board_white = {
.has_canfd = false,
.has_rtc_battery = false,
.fan_max_rpm = 0U,
.avdd_mV = 3300U,
.fan_stall_recovery = false,
.fan_enable_cooldown_time = 0U,
.init = white_init,
.enable_can_transceiver = white_enable_can_transceiver,
.enable_can_transceivers = white_enable_can_transceivers,
panda/board/config.h
+3
View File
@@ -8,12 +8,15 @@
//#define DEBUG_SPI
//#define DEBUG_FAULTS
//#define DEBUG_COMMS
//#define DEBUG_FAN
#define CAN_INIT_TIMEOUT_MS 500U
#define DEEPSLEEP_WAKEUP_DELAY 3U
#define USBPACKET_MAX_SIZE 0x40U
#define MAX_CAN_MSGS_PER_BULK_TRANSFER 51U
#define VIN_READOUT_DIVIDER 11U
// USB definitions
#define USB_VID 0xBBAAU
panda/board/drivers/bxcan.h
+3 -3
View File
@@ -111,7 +111,7 @@ void process_can(uint8_t can_number) {
// check for empty mailbox
CANPacket_t to_send;
if ((CAN->TSR & (CAN_TSR_TERR0 | CAN_TSR_ALST0)) != 0) { // last TX failed due to error arbitration lost
can_health[can_number].total_rx_lost_cnt += 1U;
can_health[can_number].total_tx_lost_cnt += 1U;
CAN->TSR |= (CAN_TSR_TERR0 | CAN_TSR_ALST0);
}
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
@@ -167,7 +167,7 @@ void can_rx(uint8_t 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_tx_lost_cnt += 1U;
can_health[can_number].total_rx_lost_cnt += 1U;
CAN->RF0R &= ~(CAN_RF0R_FOVR0);
}
@@ -191,7 +191,7 @@ void can_rx(uint8_t can_number) {
can_set_checksum(&to_push);
// forwarding (panda only)
int bus_fwd_num = safety_fwd_hook(bus_number, &to_push);
int bus_fwd_num = safety_fwd_hook(bus_number, to_push.addr);
if (bus_fwd_num != -1) {
CANPacket_t to_send;
panda/board/drivers/can_common.h
+2 -1
View File
@@ -199,7 +199,7 @@ void ignition_can_hook(CANPacket_t *to_push) {
// GM exception
if ((addr == 0x160) && (len == 5)) {
// this message isn't all zeros when ignition is on
ignition_can = GET_BYTES_04(to_push) != 0U;
ignition_can = GET_BYTES(to_push, 0, 4) != 0U;
ignition_can_cnt = 0U;
}
@@ -257,6 +257,7 @@ void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook) {
}
} else {
safety_tx_blocked += 1U;
to_push->returned = 0U;
to_push->rejected = 1U;
// data changed
panda/board/drivers/fake_siren.h
+10 -8
View File
@@ -1,27 +1,29 @@
#include "stm32h7/lli2c.h"
#define CODEC_I2C_ADDR 0x10
// 1Vpp sine wave with 1V offset
const uint8_t fake_siren_lut[360] = { 134U, 135U, 137U, 138U, 139U, 140U, 141U, 143U, 144U, 145U, 146U, 148U, 149U, 150U, 151U, 152U, 154U, 155U, 156U, 157U, 158U, 159U, 160U, 162U, 163U, 164U, 165U, 166U, 167U, 168U, 169U, 170U, 171U, 172U, 174U, 175U, 176U, 177U, 177U, 178U, 179U, 180U, 181U, 182U, 183U, 184U, 185U, 186U, 186U, 187U, 188U, 189U, 190U, 190U, 191U, 192U, 193U, 193U, 194U, 195U, 195U, 196U, 196U, 197U, 197U, 198U, 199U, 199U, 199U, 200U, 200U, 201U, 201U, 202U, 202U, 202U, 203U, 203U, 203U, 203U, 204U, 204U, 204U, 204U, 204U, 204U, 204U, 205U, 205U, 205U, 205U, 205U, 205U, 205U, 204U, 204U, 204U, 204U, 204U, 204U, 204U, 203U, 203U, 203U, 203U, 202U, 202U, 202U, 201U, 201U, 200U, 200U, 199U, 199U, 199U, 198U, 197U, 197U, 196U, 196U, 195U, 195U, 194U, 193U, 193U, 192U, 191U, 190U, 190U, 189U, 188U, 187U, 186U, 186U, 185U, 184U, 183U, 182U, 181U, 180U, 179U, 178U, 177U, 177U, 176U, 175U, 174U, 172U, 171U, 170U, 169U, 168U, 167U, 166U, 165U, 164U, 163U, 162U, 160U, 159U, 158U, 157U, 156U, 155U, 154U, 152U, 151U, 150U, 149U, 148U, 146U, 145U, 144U, 143U, 141U, 140U, 139U, 138U, 137U, 135U, 134U, 133U, 132U, 130U, 129U, 128U, 127U, 125U, 124U, 123U, 122U, 121U, 119U, 118U, 117U, 116U, 115U, 113U, 112U, 111U, 110U, 109U, 108U, 106U, 105U, 104U, 103U, 102U, 101U, 100U, 99U, 98U, 97U, 96U, 95U, 94U, 93U, 92U, 91U, 90U, 89U, 88U, 87U, 86U, 85U, 84U, 83U, 82U, 82U, 81U, 80U, 79U, 78U, 78U, 77U, 76U, 76U, 75U, 74U, 74U, 73U, 72U, 72U, 71U, 71U, 70U, 70U, 69U, 69U, 68U, 68U, 67U, 67U, 67U, 66U, 66U, 66U, 65U, 65U, 65U, 65U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 63U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 65U, 65U, 65U, 65U, 66U, 66U, 66U, 67U, 67U, 67U, 68U, 68U, 69U, 69U, 70U, 70U, 71U, 71U, 72U, 72U, 73U, 74U, 74U, 75U, 76U, 76U, 77U, 78U, 78U, 79U, 80U, 81U, 82U, 82U, 83U, 84U, 85U, 86U, 87U, 88U, 89U, 90U, 91U, 92U, 93U, 94U, 95U, 96U, 97U, 98U, 99U, 100U, 101U, 102U, 103U, 104U, 105U, 106U, 108U, 109U, 110U, 111U, 112U, 113U, 115U, 116U, 117U, 118U, 119U, 121U, 122U, 123U, 124U, 125U, 127U, 128U, 129U, 130U, 132U, 133U };
bool fake_siren_enabled = false;
void fake_siren_codec_enable(bool enabled) {
if(enabled) {
bool success = false;
if (enabled) {
bool success = true;
success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x2B, (1U << 1)); // Left speaker mix from INA1
success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x2C, (1U << 1)); // Right speaker mix from INA1
success &= i2c_set_reg_mask(I2C5, CODEC_I2C_ADDR, 0x3D, 0x1F, 0b11111); // Left speaker volume
success &= i2c_set_reg_mask(I2C5, CODEC_I2C_ADDR, 0x3E, 0x1F, 0b11111); // Right speaker volume
success &= i2c_set_reg_mask(I2C5, CODEC_I2C_ADDR, 0x3D, 0x17, 0b11111); // Left speaker volume
success &= i2c_set_reg_mask(I2C5, CODEC_I2C_ADDR, 0x3E, 0x17, 0b11111); // Right speaker volume
success &= i2c_set_reg_mask(I2C5, CODEC_I2C_ADDR, 0x37, 0b101, 0b111); // INA gain
success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x4C, (1U << 7)); // Enable INA
success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x51, (1U << 7)); // Disable global shutdown
if (!success) {
print("Failed to setup the codec for fake siren\n");
print("Siren codec enable failed\n");
fault_occurred(FAULT_SIREN_MALFUNCTION);
}
} else {
// Disable INA input. Make sure to retry a few times if the I2C bus is busy.
for(uint8_t i=0U; i<10U; i++) {
for (uint8_t i=0U; i<10U; i++) {
if (i2c_clear_reg_bits(I2C5, CODEC_I2C_ADDR, 0x4C, (1U << 7))) {
break;
}
@@ -56,7 +58,7 @@ void fake_siren_init(void) {
register_set(&DMA1_Stream1->M0AR, (uint32_t) fake_siren_lut, 0xFFFFFFFFU);
register_set(&DMA1_Stream1->PAR, (uint32_t) &(DAC1->DHR8R1), 0xFFFFFFFFU);
DMA1_Stream1->NDTR = sizeof(fake_siren_lut);
register_set(&DMA1_Stream1->FCR, 0U, 0xFFFFFFFFU);
register_set(&DMA1_Stream1->FCR, 0U, 0x00000083U);
DMA1_Stream1->CR = (0b11 << DMA_SxCR_PL_Pos);
DMA1_Stream1->CR |= DMA_SxCR_MINC | DMA_SxCR_CIRC | (1 << DMA_SxCR_DIR_Pos);
@@ -71,4 +73,4 @@ void fake_siren_init(void) {
// Enable the I2C to the codec
i2c_init(I2C5);
fake_siren_codec_enable(false);
}
}
panda/board/drivers/fan.h
+64 -28
View File
@@ -5,55 +5,91 @@ struct fan_state_t {
uint8_t power;
float error_integral;
uint8_t stall_counter;
uint8_t stall_threshold;
uint8_t total_stall_count;
uint8_t cooldown_counter;
} fan_state_t;
struct fan_state_t fan_state;
#define FAN_I 0.001f
#define FAN_STALL_THRESHOLD 25U
const float FAN_I = 0.001f;
void fan_set_power(uint8_t percentage){
fan_state.target_rpm = ((current_board->fan_max_rpm * MIN(100U, MAX(0U, percentage))) / 100U);
const uint8_t FAN_TICK_FREQ = 8U;
const uint8_t FAN_STALL_THRESHOLD_MIN = 3U;
const uint8_t FAN_STALL_THRESHOLD_MAX = 8U;
void fan_set_power(uint8_t percentage) {
fan_state.target_rpm = ((current_board->fan_max_rpm * CLAMP(percentage, 0U, 100U)) / 100U);
}
// Call this at 8Hz
void fan_tick(void){
void llfan_init(void);
void fan_init(void) {
fan_state.stall_threshold = FAN_STALL_THRESHOLD_MIN;
fan_state.cooldown_counter = current_board->fan_enable_cooldown_time * FAN_TICK_FREQ;
llfan_init();
}
// Call this at FAN_TICK_FREQ
void fan_tick(void) {
if (current_board->fan_max_rpm > 0U) {
// 4 interrupts per rotation
uint16_t fan_rpm_fast = fan_state.tach_counter * (60U * 8U / 4U);
// Measure fan RPM
uint16_t fan_rpm_fast = fan_state.tach_counter * (60U * FAN_TICK_FREQ / 4U); // 4 interrupts per rotation
fan_state.tach_counter = 0U;
fan_state.rpm = (fan_rpm_fast + (3U * fan_state.rpm)) / 4U;
// Enable fan if we want it to spin
current_board->set_fan_enabled(fan_state.target_rpm > 0U);
// Stall detection
if (fan_state.power > 0U) {
if (fan_rpm_fast == 0U) {
fan_state.stall_counter = MIN(fan_state.stall_counter + 1U, 255U);
bool fan_stalled = false;
if (current_board->fan_stall_recovery) {
if (fan_state.target_rpm > 0U) {
if (fan_rpm_fast == 0U) {
fan_state.stall_counter = MIN(fan_state.stall_counter + 1U, 255U);
} else {
fan_state.stall_counter = 0U;
}
if (fan_state.stall_counter > (fan_state.stall_threshold*FAN_TICK_FREQ)) {
fan_stalled = true;
fan_state.stall_counter = 0U;
fan_state.stall_threshold = CLAMP(fan_state.stall_threshold + 2U, FAN_STALL_THRESHOLD_MIN, FAN_STALL_THRESHOLD_MAX);
fan_state.total_stall_count += 1U;
// datasheet gives this range as the minimum startup duty
fan_state.error_integral = CLAMP(fan_state.error_integral, 20.0f, 45.0f);
}
} else {
fan_state.stall_counter = 0U;
fan_state.stall_threshold = FAN_STALL_THRESHOLD_MIN;
}
}
if (fan_state.stall_counter > FAN_STALL_THRESHOLD) {
// Stall detected, power cycling fan controller
current_board->set_fan_enabled(false);
#ifdef DEBUG_FAN
puth(fan_state.target_rpm);
print(" "); puth(fan_rpm_fast);
print(" "); puth(fan_state.power);
print(" "); puth(fan_state.stall_counter);
print("\n");
#endif
// clip integral, can't fully reset otherwise we may always be stuck in stall detection
fan_state.error_integral = MIN(50.0f, MAX(0.0f, fan_state.error_integral));
}
// Cooldown counter
if (fan_state.target_rpm > 0U) {
fan_state.cooldown_counter = current_board->fan_enable_cooldown_time * FAN_TICK_FREQ;
} else {
fan_state.stall_counter = 0U;
fan_state.error_integral = 0.0f;
if (fan_state.cooldown_counter > 0U) {
fan_state.cooldown_counter--;
}
}
// Update controller
float feedforward = (fan_state.target_rpm * 100.0f) / current_board->fan_max_rpm;
float error = fan_state.target_rpm - fan_rpm_fast;
if (fan_state.target_rpm == 0U) {
fan_state.error_integral = 0.0f;
} else {
float error = fan_state.target_rpm - fan_rpm_fast;
fan_state.error_integral += FAN_I * error;
}
fan_state.power = CLAMP(fan_state.error_integral, 0U, 100U);
fan_state.error_integral += FAN_I * error;
fan_state.error_integral = MIN(70.0f, MAX(-70.0f, fan_state.error_integral));
fan_state.power = MIN(100U, MAX(0U, feedforward + fan_state.error_integral));
// Set PWM and enable line
pwm_set(TIM3, 3, fan_state.power);
current_board->set_fan_enabled(!fan_stalled && ((fan_state.target_rpm > 0U) || (fan_state.cooldown_counter > 0U)));
}
}
panda/board/drivers/fdcan.h
+9 -5
View File
@@ -61,9 +61,6 @@ void update_can_health_pkt(uint8_t can_number, bool error_irq) {
if (error_irq) {
can_health[can_number].total_error_cnt += 1U;
if ((CANx->IR & (FDCAN_IR_RF0L)) != 0) {
can_health[can_number].total_rx_lost_cnt += 1U;
}
if ((CANx->IR & (FDCAN_IR_TEFL)) != 0) {
can_health[can_number].total_tx_lost_cnt += 1U;
}
@@ -88,6 +85,7 @@ void process_can(uint8_t can_number) {
can_health[can_number].total_tx_cnt += 1U;
uint32_t TxFIFOSA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET) + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_SIZE);
// get the index of the next TX FIFO element (0 to FDCAN_TX_FIFO_EL_CNT - 1)
uint8_t tx_index = (CANx->TXFQS >> FDCAN_TXFQS_TFQPI_Pos) & 0x1F;
// only send if we have received a packet
canfd_fifo *fifo;
@@ -145,9 +143,15 @@ void can_rx(uint8_t can_number) {
// can is live
pending_can_live = 1;
// getting new message index (0 to 63)
// get the index of the next RX FIFO element (0 to FDCAN_RX_FIFO_0_EL_CNT - 1)
uint8_t rx_fifo_idx = (uint8_t)((CANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3F);
// Recommended to offset get index by at least +1 if RX FIFO is in overwrite mode and full (datasheet)
if((CANx->RXF0S & FDCAN_RXF0S_F0F) == FDCAN_RXF0S_F0F) {
rx_fifo_idx = ((rx_fifo_idx + 1U) >= FDCAN_RX_FIFO_0_EL_CNT) ? 0U : (rx_fifo_idx + 1U);
can_health[can_number].total_rx_lost_cnt += 1U; // At least one message was lost
}
uint32_t RxFIFO0SA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET);
CANPacket_t to_push;
canfd_fifo *fifo;
@@ -173,7 +177,7 @@ void can_rx(uint8_t can_number) {
can_set_checksum(&to_push);
// forwarding (panda only)
int bus_fwd_num = safety_fwd_hook(bus_number, &to_push);
int bus_fwd_num = safety_fwd_hook(bus_number, to_push.addr);
if (bus_fwd_num != -1) {
CANPacket_t to_send;
panda/board/drivers/harness.h
+70 -32
View File
@@ -1,8 +1,16 @@
uint8_t car_harness_status = 0U;
#define HARNESS_STATUS_NC 0U
#define HARNESS_STATUS_NORMAL 1U
#define HARNESS_STATUS_FLIPPED 2U
struct harness_t {
uint8_t status;
uint16_t sbu1_voltage_mV;
uint16_t sbu2_voltage_mV;
bool relay_driven;
bool sbu_adc_lock;
};
struct harness_t harness;
struct harness_configuration {
const bool has_harness;
GPIO_TypeDef *GPIO_SBU1;
@@ -17,26 +25,42 @@ struct harness_configuration {
uint8_t adc_channel_SBU2;
};
// this function will be the API for tici
void set_intercept_relay(bool intercept) {
if (car_harness_status != HARNESS_STATUS_NC) {
if (intercept) {
print("switching harness to intercept (relay on)\n");
} else {
print("switching harness to passthrough (relay off)\n");
if (current_board->harness_config->has_harness) {
bool drive_relay = intercept;
if (harness.status == HARNESS_STATUS_NC) {
// no harness, no relay to drive
drive_relay = false;
}
if(car_harness_status == HARNESS_STATUS_NORMAL){
set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !intercept);
if (drive_relay) {
harness.relay_driven = true;
}
// wait until we're not reading the analog voltages anymore
while (harness.sbu_adc_lock == true) {}
if (harness.status == HARNESS_STATUS_NORMAL) {
set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, true);
set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !drive_relay);
} else {
set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !intercept);
set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !drive_relay);
set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, true);
}
if (!drive_relay) {
harness.relay_driven = false;
}
}
}
bool harness_check_ignition(void) {
bool ret = false;
switch(car_harness_status){
// wait until we're not reading the analog voltages anymore
while (harness.sbu_adc_lock == true) {}
switch(harness.status){
case HARNESS_STATUS_NORMAL:
ret = !get_gpio_input(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1);
break;
@@ -50,27 +74,46 @@ bool harness_check_ignition(void) {
}
uint8_t harness_detect_orientation(void) {
uint8_t ret = HARNESS_STATUS_NC;
uint8_t ret = harness.status;
#ifndef BOOTSTUB
uint32_t sbu1_voltage = adc_get(current_board->harness_config->adc_channel_SBU1);
uint32_t sbu2_voltage = adc_get(current_board->harness_config->adc_channel_SBU2);
// We can't detect orientation if the relay is being driven
if (!harness.relay_driven && current_board->harness_config->has_harness) {
harness.sbu_adc_lock = true;
set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_ANALOG);
set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_ANALOG);
// Detect connection and orientation
if((sbu1_voltage < HARNESS_CONNECTED_THRESHOLD) || (sbu2_voltage < HARNESS_CONNECTED_THRESHOLD)){
if (sbu1_voltage < sbu2_voltage) {
// orientation flipped (PANDA_SBU1->HARNESS_SBU1(relay), PANDA_SBU2->HARNESS_SBU2(ign))
ret = HARNESS_STATUS_FLIPPED;
harness.sbu1_voltage_mV = adc_get_mV(current_board->harness_config->adc_channel_SBU1);
harness.sbu2_voltage_mV = adc_get_mV(current_board->harness_config->adc_channel_SBU2);
uint16_t detection_threshold = current_board->avdd_mV / 2U;
// Detect connection and orientation
if((harness.sbu1_voltage_mV < detection_threshold) || (harness.sbu2_voltage_mV < detection_threshold)){
if (harness.sbu1_voltage_mV < harness.sbu2_voltage_mV) {
// orientation flipped (PANDA_SBU1->HARNESS_SBU1(relay), PANDA_SBU2->HARNESS_SBU2(ign))
ret = HARNESS_STATUS_FLIPPED;
} else {
// orientation normal (PANDA_SBU2->HARNESS_SBU1(relay), PANDA_SBU1->HARNESS_SBU2(ign))
ret = HARNESS_STATUS_NORMAL;
}
} else {
// orientation normal (PANDA_SBU2->HARNESS_SBU1(relay), PANDA_SBU1->HARNESS_SBU2(ign))
ret = HARNESS_STATUS_NORMAL;
ret = HARNESS_STATUS_NC;
}
// Pins are not 5V tolerant in ADC mode
set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
harness.sbu_adc_lock = false;
}
#endif
return ret;
}
void harness_tick(void) {
harness.status = harness_detect_orientation();
}
void harness_init(void) {
// delay such that the connection is fully made before trying orientation detection
current_board->set_led(LED_BLUE, true);
@@ -78,18 +121,13 @@ void harness_init(void) {
current_board->set_led(LED_BLUE, false);
// try to detect orientation
uint8_t ret = harness_detect_orientation();
if (ret != HARNESS_STATUS_NC) {
print("detected car harness with orientation "); puth2(ret); print("\n");
car_harness_status = ret;
// set the SBU lines to be inputs before using the relay. The lines are not 5V tolerant in ADC mode!
set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
// keep busses connected by default
set_intercept_relay(false);
harness.status = harness_detect_orientation();
if (harness.status != HARNESS_STATUS_NC) {
print("detected car harness with orientation "); puth2(harness.status); print("\n");
} else {
print("failed to detect car harness!\n");
}
// keep buses connected by default
set_intercept_relay(false);
}
panda/board/drivers/rtc.h
-36
View File
@@ -1,6 +1,3 @@
#define RCC_BDCR_OPTIONS_LSE (RCC_BDCR_RTCEN | RCC_BDCR_RTCSEL_0 | RCC_BDCR_LSEON)
#define RCC_BDCR_OPTIONS_LSI (RCC_BDCR_RTCEN | RCC_BDCR_RTCSEL_1)
#define YEAR_OFFSET 2000U
typedef struct __attribute__((packed)) timestamp_t {
@@ -21,39 +18,6 @@ uint16_t from_bcd(uint8_t value){
return (((value & 0xF0U) >> 4U) * 10U) + (value & 0x0FU);
}
void rtc_init(void){
uint32_t bdcr_opts = 0U;
uint32_t bdcr_mask = 0U;
if (current_board->has_rtc_battery) {
bdcr_opts = RCC_BDCR_OPTIONS_LSE;
bdcr_mask = RCC_BDCR_MASK_LSE;
} else {
bdcr_opts = RCC_BDCR_OPTIONS_LSI;
bdcr_mask = RCC_BDCR_MASK_LSI;
RCC->CSR |= RCC_CSR_LSION;
while((RCC->CSR & RCC_CSR_LSIRDY) == 0){}
}
// Initialize RTC module and clock if not done already.
if((RCC->BDCR & bdcr_mask) != bdcr_opts){
print("Initializing RTC\n");
// Reset backup domain
register_set_bits(&(RCC->BDCR), RCC_BDCR_BDRST);
// Disable write protection
disable_bdomain_protection();
// Clear backup domain reset
register_clear_bits(&(RCC->BDCR), RCC_BDCR_BDRST);
// Set RTC options
register_set(&(RCC->BDCR), bdcr_opts, bdcr_mask);
// Enable write protection
enable_bdomain_protection();
}
}
void rtc_set_time(timestamp_t time){
print("Setting RTC time\n");
panda/board/drivers/simple_watchdog.h
+26
View File
@@ -0,0 +1,26 @@
typedef struct simple_watchdog_state_t {
uint32_t fault;
uint32_t last_ts;
uint32_t threshold;
} simple_watchdog_state_t;
simple_watchdog_state_t wd_state;
void simple_watchdog_kick(void) {
uint32_t ts = microsecond_timer_get();
uint32_t et = get_ts_elapsed(ts, wd_state.last_ts);
if (et > wd_state.threshold) {
print("WD timeout 0x"); puth(et); print("\n");
fault_occurred(wd_state.fault);
}
wd_state.last_ts = ts;
}
void simple_watchdog_init(uint32_t fault, uint32_t threshold) {
wd_state.fault = fault;
wd_state.threshold = threshold;
wd_state.last_ts = microsecond_timer_get();
}
panda/board/drivers/spi.h
+61 -33
View File
@@ -3,6 +3,10 @@
#define SPI_BUF_SIZE 1024U
#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
#ifdef STM32H7
__attribute__((section(".ram_d1"))) uint8_t spi_buf_rx[SPI_BUF_SIZE];
__attribute__((section(".ram_d1"))) uint8_t spi_buf_tx[SPI_BUF_SIZE];
@@ -27,10 +31,13 @@ enum {
SPI_STATE_DATA_TX
};
bool spi_tx_dma_done = false;
uint8_t spi_state = SPI_STATE_HEADER;
uint8_t spi_endpoint;
uint16_t spi_data_len_mosi;
uint16_t spi_data_len_miso;
uint16_t spi_checksum_error_count = 0;
#define SPI_HEADER_SIZE 7U
@@ -40,10 +47,6 @@ void llspi_mosi_dma(uint8_t *addr, int len);
void llspi_miso_dma(uint8_t *addr, int len);
void spi_init(void) {
// clear buffers (for debugging)
(void)memset(spi_buf_rx, 0, SPI_BUF_SIZE);
(void)memset(spi_buf_tx, 0, SPI_BUF_SIZE);
// platform init
llspi_init();
@@ -61,8 +64,10 @@ bool check_checksum(uint8_t *data, uint16_t len) {
return checksum == 0U;
}
void spi_handle_rx(void) {
uint8_t next_rx_state = SPI_STATE_HEADER;
void spi_rx_done(void) {
uint16_t response_len = 0U;
uint8_t next_rx_state = SPI_STATE_HEADER_NACK;
bool checksum_valid = false;
// parse header
spi_endpoint = spi_buf_rx[1];
@@ -70,45 +75,47 @@ void spi_handle_rx(void) {
spi_data_len_miso = (spi_buf_rx[5] << 8) | spi_buf_rx[4];
if (spi_state == SPI_STATE_HEADER) {
if ((spi_buf_rx[0] == SPI_SYNC_BYTE) && check_checksum(spi_buf_rx, SPI_HEADER_SIZE)) {
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
spi_buf_tx[0] = SPI_HACK;
next_rx_state = SPI_STATE_HEADER_ACK;
response_len = 1U;
} else {
// response: NACK and reset state machine
print("- incorrect header sync or checksum "); hexdump(spi_buf_rx, SPI_HEADER_SIZE);
spi_buf_tx[0] = SPI_NACK;
next_rx_state = SPI_STATE_HEADER_NACK;
response_len = 1U;
}
llspi_miso_dma(spi_buf_tx, 1);
} else if (spi_state == SPI_STATE_DATA_RX) {
// We got everything! Based on the endpoint specified, call the appropriate handler
uint16_t response_len = 0U;
bool reponse_ack = false;
if (check_checksum(&(spi_buf_rx[SPI_HEADER_SIZE]), spi_data_len_mosi + 1U)) {
bool response_ack = false;
checksum_valid = check_checksum(&(spi_buf_rx[SPI_HEADER_SIZE]), spi_data_len_mosi + 1U);
if (checksum_valid) {
if (spi_endpoint == 0U) {
if (spi_data_len_mosi >= sizeof(ControlPacket_t)) {
ControlPacket_t ctrl;
(void)memcpy(&ctrl, &spi_buf_rx[SPI_HEADER_SIZE], sizeof(ControlPacket_t));
response_len = comms_control_handler(&ctrl, &spi_buf_tx[3]);
reponse_ack = true;
response_ack = true;
} else {
print("SPI: insufficient data for control handler\n");
}
} else if ((spi_endpoint == 1U) || (spi_endpoint == 0x81U)) {
if (spi_data_len_mosi == 0U) {
response_len = comms_can_read(&(spi_buf_tx[3]), spi_data_len_miso);
reponse_ack = true;
response_ack = true;
} else {
print("SPI: did not expect data for can_read\n");
}
} else if (spi_endpoint == 2U) {
comms_endpoint2_write(&spi_buf_rx[SPI_HEADER_SIZE], spi_data_len_mosi);
reponse_ack = true;
response_ack = true;
} else if (spi_endpoint == 3U) {
if (spi_data_len_mosi > 0U) {
comms_can_write(&spi_buf_rx[SPI_HEADER_SIZE], spi_data_len_mosi);
reponse_ack = true;
response_ack = true;
} else {
print("SPI: did expect data for can_write\n");
}
@@ -117,35 +124,56 @@ void spi_handle_rx(void) {
}
} else {
// Checksum was incorrect
reponse_ack = false;
print("- incorrect data checksum\n");
response_ack = false;
print("- incorrect data checksum ");
puth2(spi_data_len_mosi);
print("\n");
hexdump(spi_buf_rx, SPI_HEADER_SIZE);
hexdump(&(spi_buf_rx[SPI_HEADER_SIZE]), MIN(spi_data_len_mosi, 64));
print("\n");
}
// Setup response header
spi_buf_tx[0] = reponse_ack ? SPI_DACK : SPI_NACK;
spi_buf_tx[1] = response_len & 0xFFU;
spi_buf_tx[2] = (response_len >> 8) & 0xFFU;
if (!response_ack) {
spi_buf_tx[0] = SPI_NACK;
next_rx_state = SPI_STATE_HEADER_NACK;
response_len = 1U;
} else {
// Setup response header
spi_buf_tx[0] = SPI_DACK;
spi_buf_tx[1] = response_len & 0xFFU;
spi_buf_tx[2] = (response_len >> 8) & 0xFFU;
// Add checksum
uint8_t checksum = SPI_CHECKSUM_START;
for(uint16_t i = 0U; i < (response_len + 3U); i++) {
checksum ^= spi_buf_tx[i];
// Add checksum
uint8_t checksum = SPI_CHECKSUM_START;
for(uint16_t i = 0U; i < (response_len + 3U); i++) {
checksum ^= spi_buf_tx[i];
}
spi_buf_tx[response_len + 3U] = checksum;
response_len += 4U;
next_rx_state = SPI_STATE_DATA_TX;
}
spi_buf_tx[response_len + 3U] = checksum;
// Write response
llspi_miso_dma(spi_buf_tx, response_len + 4U);
next_rx_state = SPI_STATE_DATA_TX;
} else {
print("SPI: RX unexpected state: "); puth(spi_state); print("\n");
}
// send out response
if (response_len == 0U) {
print("SPI: no response\n");
spi_buf_tx[0] = SPI_NACK;
spi_state = SPI_STATE_HEADER_NACK;
response_len = 1U;
}
llspi_miso_dma(spi_buf_tx, response_len);
spi_state = next_rx_state;
if (!checksum_valid && (spi_checksum_error_count < __UINT16_MAX__)) {
spi_checksum_error_count += 1U;
}
}
void spi_handle_tx(bool timed_out) {
if ((spi_state == SPI_STATE_HEADER_NACK) || timed_out) {
void spi_tx_done(bool reset) {
if ((spi_state == SPI_STATE_HEADER_NACK) || reset) {
// Reset state
spi_state = SPI_STATE_HEADER;
llspi_mosi_dma(spi_buf_rx, SPI_HEADER_SIZE);
panda/board/drivers/usb.h
+7 -13
View File
@@ -24,6 +24,7 @@ typedef union _USB_Setup {
USB_Setup_TypeDef;
bool usb_enumerated = false;
uint16_t usb_last_frame_num = 0U;
void usb_init(void);
void usb_cb_ep3_out_complete(void);
@@ -471,6 +472,12 @@ char to_hex_char(int a) {
return ret;
}
void usb_tick(void) {
uint16_t current_frame_num = (USBx_DEVICE->DSTS & USB_OTG_DSTS_FNSOF_Msk) >> USB_OTG_DSTS_FNSOF_Pos;
usb_enumerated = (current_frame_num != usb_last_frame_num);
usb_last_frame_num = current_frame_num;
}
void usb_setup(void) {
int resp_len;
ControlPacket_t control_req;
@@ -673,24 +680,11 @@ void usb_irqhandler(void) {
print("connector ID status change\n");
}
if ((gintsts & USB_OTG_GINTSTS_ESUSP) != 0) {
print("ESUSP detected\n");
}
if ((gintsts & USB_OTG_GINTSTS_EOPF) != 0) {
usb_enumerated = true;
}
if ((gintsts & USB_OTG_GINTSTS_USBRST) != 0) {
print("USB reset\n");
usb_enumerated = false;
usb_reset();
}
if ((gintsts & USB_OTG_GINTSTS_USBSUSP) != 0) {
usb_enumerated = false;
}
if ((gintsts & USB_OTG_GINTSTS_ENUMDNE) != 0) {
print("enumeration done");
// Full speed, ENUMSPD
panda/board/drivers/watchdog.h
+30
View File
@@ -0,0 +1,30 @@
// TODO: why doesn't it define these?
#ifdef STM32F2
#define IWDG_PR_PR_Msk 0x7U
#define IWDG_RLR_RL_Msk 0xFFFU
#endif
typedef enum {
WATCHDOG_50_MS = (400U - 1U),
WATCHDOG_500_MS = 4000U,
} WatchdogTimeout;
void watchdog_feed(void) {
IND_WDG->KR = 0xAAAAU;
}
void watchdog_init(WatchdogTimeout timeout) {
// enable watchdog
IND_WDG->KR = 0xCCCCU;
IND_WDG->KR = 0x5555U;
// 32KHz / 4 prescaler = 8000Hz
register_set(&(IND_WDG->PR), 0x0U, IWDG_PR_PR_Msk);
register_set(&(IND_WDG->RLR), timeout, IWDG_RLR_RL_Msk);
// wait for watchdog to be updated
while (IND_WDG->SR != 0U);
// start the countdown
watchdog_feed();
}
panda/board/faults.h
+3 -1
View File
@@ -2,7 +2,7 @@
#define FAULT_STATUS_TEMPORARY 1U
#define FAULT_STATUS_PERMANENT 2U
// Fault types
// Fault types, matches cereal.log.PandaState.FaultType
#define FAULT_RELAY_MALFUNCTION (1U << 0)
#define FAULT_UNUSED_INTERRUPT_HANDLED (1U << 1)
#define FAULT_INTERRUPT_RATE_CAN_1 (1U << 2)
@@ -28,6 +28,8 @@
#define FAULT_INTERRUPT_RATE_EXTI (1U << 22)
#define FAULT_INTERRUPT_RATE_SPI (1U << 23)
#define FAULT_INTERRUPT_RATE_UART_7 (1U << 24)
#define FAULT_SIREN_MALFUNCTION (1U << 25)
#define FAULT_HEARTBEAT_LOOP_WATCHDOG (1U << 26)
// Permanent faults
#define PERMANENT_FAULTS 0U
panda/board/flash.py
Executable
+17
View File
@@ -0,0 +1,17 @@
#!/usr/bin/env python3
import os
import subprocess
from panda import Panda
board_path = os.path.dirname(os.path.realpath(__file__))
if __name__ == "__main__":
subprocess.check_call(f"scons -C {board_path}/.. -j$(nproc) {board_path}", shell=True)
serials = Panda.list()
print(f"found {len(serials)} panda(s) - {serials}")
for s in serials:
print("flashing", s)
with Panda(serial=s) as p:
p.flash()
panda/board/flash.sh
-5
View File
@@ -1,5 +0,0 @@
#!/usr/bin/env sh
set -e
scons -u -j$(nproc)
printf %b 'from python import Panda\nfor serial in Panda.list(): Panda(serial).flash()' | PYTHONPATH=.. python3
panda/board/flasher.h
+13
View File
@@ -2,6 +2,8 @@
uint32_t *prog_ptr = NULL;
bool unlocked = false;
void spi_init(void);
#ifdef uart_ring
void debug_ring_callback(uart_ring *ring) {}
#endif
@@ -41,6 +43,11 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
resp[1] = 0xff;
}
break;
// **** 0xc1: get hardware type
case 0xc1:
resp[0] = hw_type;
resp_len = 1;
break;
// **** 0xc3: fetch MCU UID
case 0xc3:
#ifdef UID_BASE
@@ -289,6 +296,12 @@ void soft_flasher_start(void) {
// enable USB
usb_init();
// enable SPI
if (current_board->has_spi) {
gpio_spi_init();
spi_init();
}
// green LED on for flashing
current_board->set_led(LED_GREEN, 1);
panda/board/health.h
+10 -7
View File
@@ -1,7 +1,6 @@
// When changing these structs, python/__init__.py needs to be kept up to date!
#define HEALTH_PACKET_VERSION 11
#define HEALTH_PACKET_VERSION 14
struct __attribute__((packed)) health_t {
uint32_t uptime_pkt;
uint32_t voltage_pkt;
@@ -26,6 +25,10 @@ struct __attribute__((packed)) health_t {
float interrupt_load;
uint8_t fan_power;
uint8_t safety_rx_checks_invalid;
uint16_t spi_checksum_error_count;
uint8_t fan_stall_count;
uint16_t sbu1_voltage_mV;
uint16_t sbu2_voltage_mV;
};
#define CAN_HEALTH_PACKET_VERSION 4
@@ -38,11 +41,11 @@ typedef struct __attribute__((packed)) {
uint8_t last_stored_error; // last LEC positive error code stored
uint8_t last_data_error; // DLEC (for CANFD only)
uint8_t last_data_stored_error; // last DLEC positive error code stored (for CANFD only)
uint8_t receive_error_cnt; // REC
uint8_t transmit_error_cnt; // TEC
uint32_t total_error_cnt; // How many times any error interrupt were invoked
uint32_t total_tx_lost_cnt; // Tx event FIFO element Lost
uint32_t total_rx_lost_cnt; // Rx FIFO 0 message Lost
uint8_t receive_error_cnt; // Actual state of the receive error counter, values between 0 and 127. FDCAN_ECR.REC
uint8_t transmit_error_cnt; // Actual state of the transmit error counter, values between 0 and 255. FDCAN_ECR.TEC
uint32_t total_error_cnt; // How many times any error interrupt was invoked
uint32_t total_tx_lost_cnt; // Tx event FIFO element lost
uint32_t total_rx_lost_cnt; // Rx FIFO 0 message lost due to FIFO full condition
uint32_t total_tx_cnt;
uint32_t total_rx_cnt;
uint32_t total_fwd_cnt; // Messages forwarded from one bus to another
panda/board/main.c
+16 -3
View File
@@ -5,6 +5,7 @@
#include "drivers/usb.h"
#include "drivers/gmlan_alt.h"
#include "drivers/kline_init.h"
#include "drivers/simple_watchdog.h"
#include "early_init.h"
#include "provision.h"
@@ -143,6 +144,7 @@ void __attribute__ ((noinline)) enable_fpu(void) {
// called at 8Hz
uint8_t loop_counter = 0U;
uint8_t previous_harness_status = HARNESS_STATUS_NC;
void tick_handler(void) {
if (TICK_TIMER->SR != 0) {
// siren
@@ -150,6 +152,8 @@ void tick_handler(void) {
// tick drivers at 8Hz
fan_tick();
usb_tick();
simple_watchdog_kick();
// decimated to 1Hz
if (loop_counter == 0U) {
@@ -177,8 +181,11 @@ void tick_handler(void) {
current_board->set_led(LED_BLUE, (uptime_cnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
// tick drivers at 1Hz
harness_tick();
const bool recent_heartbeat = heartbeat_counter == 0U;
current_board->board_tick(check_started(), usb_enumerated, recent_heartbeat);
current_board->board_tick(check_started(), usb_enumerated, recent_heartbeat, ((harness.status != previous_harness_status) && (harness.status != HARNESS_STATUS_NC)));
previous_harness_status = harness.status;
// increase heartbeat counter and cap it at the uint32 limit
if (heartbeat_counter < __UINT32_MAX__) {
@@ -194,7 +201,7 @@ void tick_handler(void) {
siren_countdown -= 1U;
}
if (controls_allowed) {
if (controls_allowed || heartbeat_engaged) {
controls_allowed_countdown = 30U;
} else if (controls_allowed_countdown > 0U) {
controls_allowed_countdown -= 1U;
@@ -229,6 +236,9 @@ void tick_handler(void) {
heartbeat_lost = true;
}
// clear heartbeat engaged state
heartbeat_engaged = false;
if (current_safety_mode != SAFETY_SILENT) {
set_safety_mode(SAFETY_SILENT, 0U);
}
@@ -353,7 +363,7 @@ int main(void) {
}
if (current_board->fan_max_rpm > 0U) {
llfan_init();
fan_init();
}
microsecond_timer_init();
@@ -364,6 +374,9 @@ int main(void) {
// enable CAN TXs
current_board->enable_can_transceivers(true);
// init watchdog for heartbeat loop, fed at 8Hz
simple_watchdog_init(FAULT_HEARTBEAT_LOOP_WATCHDOG, (3U * 1000000U / 8U));
// 8Hz timer
REGISTER_INTERRUPT(TICK_TIMER_IRQ, tick_handler, 10U, FAULT_INTERRUPT_RATE_TICK)
tick_timer_init();
panda/board/main_comms.h
+9 -3
View File
@@ -9,10 +9,10 @@ int get_health_pkt(void *dat) {
struct health_t * health = (struct health_t*)dat;
health->uptime_pkt = uptime_cnt;
health->voltage_pkt = adc_get_voltage();
health->voltage_pkt = adc_get_mV(ADCCHAN_VIN) * VIN_READOUT_DIVIDER;
health->current_pkt = current_board->read_current();
//Use the GPIO pin to determine ignition or use a CAN based logic
// Use the GPIO pin to determine ignition or use a CAN based logic
health->ignition_line_pkt = (uint8_t)(current_board->check_ignition());
health->ignition_can_pkt = (uint8_t)(ignition_can);
@@ -23,7 +23,7 @@ int get_health_pkt(void *dat) {
health->tx_buffer_overflow_pkt = tx_buffer_overflow;
health->rx_buffer_overflow_pkt = rx_buffer_overflow;
health->gmlan_send_errs_pkt = gmlan_send_errs;
health->car_harness_status_pkt = car_harness_status;
health->car_harness_status_pkt = harness.status;
health->safety_mode_pkt = (uint8_t)(current_safety_mode);
health->safety_param_pkt = current_safety_param;
health->alternative_experience_pkt = alternative_experience;
@@ -31,12 +31,18 @@ int get_health_pkt(void *dat) {
health->heartbeat_lost_pkt = (uint8_t)(heartbeat_lost);
health->safety_rx_checks_invalid = safety_rx_checks_invalid;
health->spi_checksum_error_count = spi_checksum_error_count;
health->fault_status_pkt = fault_status;
health->faults_pkt = faults;
health->interrupt_load = interrupt_load;
health->fan_power = fan_state.power;
health->fan_stall_count = fan_state.total_stall_count;
health->sbu1_voltage_mV = harness.sbu1_voltage_mV;
health->sbu2_voltage_mV = harness.sbu2_voltage_mV;
return sizeof(*health);
}
panda/board/pedal/main.c
+3 -3
View File
@@ -244,8 +244,8 @@ void TIM3_IRQ_Handler(void) {
void pedal(void) {
// read/write
pdl0 = adc_get(ADCCHAN_ACCEL0);
pdl1 = adc_get(ADCCHAN_ACCEL1);
pdl0 = adc_get_raw(ADCCHAN_ACCEL0);
pdl1 = adc_get_raw(ADCCHAN_ACCEL1);
// write the pedal to the DAC
if (state == NO_FAULT) {
@@ -302,7 +302,7 @@ int main(void) {
timer_init(TIM3, 15);
NVIC_EnableIRQ(TIM3_IRQn);
watchdog_init();
watchdog_init(WATCHDOG_50_MS);
print("**** INTERRUPTS ON ****\n");
enable_interrupts();
panda/board/recover.py
Executable
+26
View File
@@ -0,0 +1,26 @@
#!/usr/bin/env python3
import os
import time
import subprocess
from panda import Panda, PandaDFU
board_path = os.path.dirname(os.path.realpath(__file__))
if __name__ == "__main__":
subprocess.check_call(f"scons -C {board_path}/.. -j$(nproc) {board_path}", shell=True)
for s in Panda.list():
print("putting", s, "in DFU mode")
with Panda(serial=s) as p:
p.reset(enter_bootstub=True)
p.reset(enter_bootloader=True)
# wait for reset pandas to come back up
time.sleep(1)
dfu_serials = PandaDFU.list()
print(f"found {len(dfu_serials)} panda(s) in DFU - {dfu_serials}")
for s in dfu_serials:
print("flashing", s)
PandaDFU(s).recover()
panda/board/recover.sh
-8
View File
@@ -1,8 +0,0 @@
#!/usr/bin/env sh
set -e
scons -u -j$(nproc)
# Recovers panda from DFU mode only, use flash.sh after power cycling panda
printf %b 'from python import Panda\nfor serial in Panda.list(): Panda(serial).reset(enter_bootstub=True); Panda(serial).reset(enter_bootloader=True)' | PYTHONPATH=.. python3
sleep 1
printf %b 'from python import PandaDFU\nfor serial in PandaDFU.list(): PandaDFU(serial).recover()' | PYTHONPATH=.. python3

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